diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0121.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..246b673ab05a537f0378ea479e2aa2bba08e2466
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ec040ab0e955eadb239df5a920e4bec3089fc2edeb964c4775384b74e7aa34
+size 4916355
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0122.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0122.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb5049115360faa72fc2efe6baf2b487ba1d7696
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0122.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f08f1a759956f85a8755979ce2df11e8e6997dbc9b1675472904f86c34a62f21
+size 5818735
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0124.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0124.h5
new file mode 100644
index 0000000000000000000000000000000000000000..84fc84b4ebaf38c3582ee9205913a4f9991e032c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0124.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a80ec50a48fac732d65a44083a3e363de2c4eb856db1c2e28a4d21272a4c291c
+size 6056466
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0125.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0125.h5
new file mode 100644
index 0000000000000000000000000000000000000000..662c51cef8626bb6ab936843f653b765916a1b09
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0125.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3239e4cb4e3ea31e5f2743c6203da68cca19b64e850d8ee061a475c0229cea
+size 4174857
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0128.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0128.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1bdd9204e2525c35b3fbee428aa88108fe37c3a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0128.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d12ec787c8f82d70a0a8f031aead9424e3ca675704522a439d6f83cd9a939e
+size 4853626
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0129.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0129.h5
new file mode 100644
index 0000000000000000000000000000000000000000..01b9d3d69e5d03d26b7cdc83bcf4486bd7a6c6e2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0129.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44bd6e64517892a89531f6075120dffa20d8c78aaabb8d06e6a9e464cb06c04e
+size 4790046
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0130.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0130.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b3b7bb9adcaba7a496b4c4a346efce9786abbbe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0130.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efc488371f164973893195f157dfa270a72ba172825c799697854ecb698c2adc
+size 4416527
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0131.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0131.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8718382067aa9e6671f36e1a2518c8f25febad9e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0131.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d563d09d8d1539483ce17b13646b20a2f3d08c6d84a92dc802d7a2db0b63405
+size 5129589
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0133.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0133.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3fdbdffe851f5a79440dbbc50f42cfbe78dcd257
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0133.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07d89264fd3b536daf30723bdd39298c9e7ff8a2b7596afa125440d6d4693130
+size 5198392
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0136.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0136.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8690a6757f0a2f23a39803f42e65ce369483cb1e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0136.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57b8eea403b9700ffeef7d07f7c472fcdd8a2211fcbb8788dea7c6740077a9b9
+size 4372880
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0137.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0137.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f76bdee88e0c74eaa00e91c0d306ee859306d32
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0137.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c23f9ce4f3d346cfc8e507e52960049fb15d1863d4d693ae641a3c9556f40c9
+size 5603444
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0139.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0139.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b1327aa47f96e3b7a23f3455d28203ef1eeec8e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0139.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff76e803b4c2475cce1a6e5dee0ee227c2566a72799f11a4d28849c32541fb4f
+size 4931658
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0140.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0140.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a57162b53edaa4007c18f099ce23387aea518257
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0140.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5abe5ac2afb7a97fdf823c2233793c6013676d3052e0bc7773ee6d38436e5787
+size 5352025
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0141.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0141.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03671e5aaee6f11be7b55276c0c7f2adfd995499
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0141.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6802dc85ef25c3016f38f4c6321a1491966bc211478596a5790e938d779a15b
+size 5057995
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0143.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0143.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61de129d38de072b827fe3979e4014fc2c384527
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0143.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba30f434876badbc3ec8f7e93e9d012c025282b7f5b96ece97c7e42313522f8b
+size 5307861
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0145.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0145.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f76fccd7e1e7f33a97545e1503ada1fb1603d137
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0145.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b92a99fa24a1870ac2739a2be2413d48c409916d87259f954ede249917fe0fe
+size 5563118
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0146.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0146.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3fc116ed0231a4abc2343a2b20f947b4d297d11
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0146.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8834ae2dbc1d7967271e1de744f266b9cc840b90f88ed64c30331115e2ca7bc1
+size 5545832
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0153.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0153.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19dcb0e26b0aa3d119e732dba7d32490f0109c38
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0153.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d603fe949bec48f2187953643052e5e8698c36b5abe151474208bd9fdaa599fd
+size 5079934
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0155.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0155.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0292b1652473669da8b6271e8acd81bb4768de60
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0155.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac31eaf798fc5299b6212e742b3757201711eb06ce1209204889efe6e4ee3a0
+size 6326552
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0157.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0157.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3fa0821d3d8617987fe2f4c2a6b1f73b2c7aafc5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0157.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2abd620628566fc62bbcd3b02911cb88d2822240e6de47385e5e75c2efd893e
+size 4408285
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0161.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0161.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7bd94a31ac1606aaea43fcbc697dea4c09cf28c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0161.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c4367be566daabbb58a1c04257d1645c7c860de83d07ef5c4d57d74bd65b634
+size 5025334
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0162.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0162.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b2669b86d0d9193f8c7f7815124055981dafc39
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0162.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ceba006ff8e60c6ded4f164628f88cee63d299a970bd37ba138bc294f373d1c
+size 5656582
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0163.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0163.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a760dd091c91c894be1d940eef0fc6bca6ab278
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0163.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9efa749ac9a16eb8e535d2f62de74efd162431c2c9be3acd316556bbe46258ec
+size 4603956
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0167.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0167.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9819a9ec5a6bf6a582296c125b26a7208532d93e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0167.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b764b2b0600d859dd3013da56f504f33385641ad7f66ca1862151e2279e28e46
+size 4347361
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0168.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0168.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7eb40974755a23ac36c1a58c64c6b5cb11cbb4d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0168.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:690520aa882832e1ed2ddfdb8dfd3898841347358a54f077b2231fa789009ed7
+size 4643905
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0169.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0169.h5
new file mode 100644
index 0000000000000000000000000000000000000000..30a2ca90876d877192c1c40ccb89b2724b7c4e96
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0169.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca7c3332f12d3f495ee0180aea8ade05e82d8ac6e01fd67af8fa206687fbffc
+size 4042484
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0171.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0171.h5
new file mode 100644
index 0000000000000000000000000000000000000000..36fdf8309db373843caed3facf6ce234c42171f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0171.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ad19b76a1597e2b655a46e5a7b33b4bf2bb6538f12357b43d70740b7e8b512
+size 5088659
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0172.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0172.h5
new file mode 100644
index 0000000000000000000000000000000000000000..294f4c74decb42900003cf2b3caab98231db9263
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0172.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd484afece808aa33589bb52aa74fabccaed7fa1ad934ae4cbf432d89062507
+size 4691804
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5e3dacae0b3ebc83bd1d3ea0f2387bb1a7e9ae9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":852,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":845,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":841,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":852,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":117,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":119,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":120,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":917,"success":true,"robot_type":"ur5e"}
+{"episode_index":121,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":122,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":124,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":125,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":128,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":852,"success":true,"robot_type":"ur5e"}
+{"episode_index":129,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":130,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":131,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":835,"success":true,"robot_type":"ur5e"}
+{"episode_index":133,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":136,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":137,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":139,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":140,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":141,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":143,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":145,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":885,"success":true,"robot_type":"ur5e"}
+{"episode_index":146,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":153,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":155,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":852,"success":true,"robot_type":"ur5e"}
+{"episode_index":157,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":161,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":162,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":163,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":167,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":168,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":169,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":171,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":172,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e5d122b5de2ce953d8f444eb82ebda8b26f1767c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-02T02:12:11","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.13558517545409,-1.0050263640886916,0.71338606911949],"aabb_xy":[[-0.15547621533443026,-1.0176821753733887],[-0.11569413557374977,-0.992370552803995]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.5618893719183006,0.49991491880915584,0.71338606911949],"aabb_xy":[[-0.6418893751761435,0.41991841101717187],[-0.4818893686604576,0.5799114266011398]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.14539072088916083,-1.301498396577508,0.71338606911949],"aabb_xy":[[-0.1791662800798538,-1.315536891790673],[-0.11161516169846786,-1.2874599013643426]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.08761340275210427,1.7281799799415016,0.71338606911949],"aabb_xy":[[0.06511698131824017,1.7056799801347542],[0.11010982418596837,1.750679979748249]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.20837000124605254,0.5473757569889144,0.71338606911949],"aabb_xy":[[-0.2723700044646904,0.500652645089906],[-0.14436999802741468,0.5940988688879227]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.09051542289030057,-1.6687200577396255,0.71338606911949],"aabb_xy":[[-0.1063999161556257,-1.6830729980384496],[-0.0746309296249754,-1.6543671174408014]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.5587561328725261,-1.2371709600498766,0.71338606911949],"aabb_xy":[[0.5109499652587575,-1.3021709627569356],[0.6065623004862948,-1.1721709573428176]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.06608328703100008,0.004931893109581864,0.71338606911949],"aabb_xy":[[-0.07019923714307273,0.0008163380767363662],[-0.061967336918927404,0.009047448142427361]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.6081326367111664,-2.2642947256956307,0.71338606911949],"aabb_xy":[[0.5859601097345154,-2.2864703928517534],[0.6303051636878171,-2.242119058539507]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.2815737277713118,1.1680579469109107,0.71338606911949],"aabb_xy":[[-0.31505289503235273,1.134578833539804],[-0.24809456051027085,1.201537060282018]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.5063463671112703,-1.310614415750497,0.71338606911949],"aabb_xy":[[-0.5239792027047979,-1.3282373617661198],[-0.4887135315177428,-1.2929914697348739]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[0.10978761949250315,0.7988775106083268,0.71338606911949],"aabb_xy":[[0.06702091261308296,0.7348775071865242],[0.15255432637192334,0.8628775140301291]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.3430800589984905,-0.048808046789798,0.71338606911949],"aabb_xy":[[-0.3607556895870888,-0.06648826306920075],[-0.32540442840989214,-0.031127830510395253]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.4446428125338596,-1.661692343208937,0.71338606911949],"aabb_xy":[[-0.45928621808789255,-1.676351062865721],[-0.4299994069798266,-1.6470336235521525]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.5863875697194569,1.4682521098882693,0.71338606911949],"aabb_xy":[[-0.614232606500064,1.4374676111499576],[-0.5585425329388497,1.499036608626581]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.4752091831106622,1.0484373410508647,0.71338606911949],"aabb_xy":[[0.4377091826133039,1.0444686575027462],[0.5127091836080204,1.0524060245989832]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.0941741028562314,1.5663174548984196,0.71338606911949],"aabb_xy":[[0.06377599175708779,1.5359105528967496],[0.12457221395537496,1.5967243569000886]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.32011099315470437,1.8003233187323207,0.71338606911949],"aabb_xy":[[0.3113089378457316,1.7925119925773914],[0.328913048463677,1.8081346448872495]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.2261992796374812,-2.491585422460701,0.71338606911949],"aabb_xy":[[0.1461992774747187,-2.571540606086844],[0.3061992818002437,-2.4116302388345567]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.47667555204520173,-1.8180413094843875,0.71338606911949],"aabb_xy":[[0.39167555362777856,-1.9029156049466724],[0.561675550462625,-1.7331670140221025]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.5923455956831163,0.3567844588588738,0.71338606911949],"aabb_xy":[[0.5842319410097392,0.34867864240484464],[0.6004592503564934,0.3648902753129028]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.18988021054013682,-0.09096743474940672,0.71338606911949],"aabb_xy":[[-0.19597483842825517,-0.09953682930107544],[-0.18378558265201853,-0.082398040197738]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.6560552918854509,1.10467277583628,0.71338606911949],"aabb_xy":[[-0.6711575933464689,1.0895712542052176],[-0.6409529904244327,1.1197742974673415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646519481042504,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3105.png","name":"3105"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3105.png","name":"3105"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1532.png","name":"1532"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2334.png","name":"2334"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6098.png","name":"6098"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3124.png","name":"3124"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.2477826290216,"rotation_z_degrees":87.83384809948399,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009528197070368248,0.006720425353094882,0.013380574170725464]},{"name":"camera_2","offset_m":[0.017520535258541792,-0.009189650848525624,0.0031204640440703826]},{"name":"camera_3","offset_m":[-0.0013384483214795365,-0.011796950578047683,0.012999108834157062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012952290952144572,-0.0017195266181053667,0.00045440357976820516],"end_effector_yaw_offset_degrees":0.8646788336113667},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002941065372052704,-0.0015545516737328607,0.0012645394918640368],"end_effector_yaw_offset_degrees":0.355144485183982},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012589202494942284,-0.0003091518394041559,0.001754021867330171],"end_effector_yaw_offset_degrees":0.021357818235719694}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004891249408894162,-0.001649357761588186],"position_m":[0.3335087505911058,0.08365064223841182,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004245267436236643,-0.0032965919439676317],"position_m":[0.35035473256376337,0.23230340805603236,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019293370763234451,-0.00058185868680079],"position_m":[0.21537066292367654,-0.08778185868680079,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004815351868723827,0.0010962404388676905],"position_m":[0.25121535186872385,-0.3346037595611323,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0a876a5fc23005eebd4250da24463537da61443ae95886d4b2e2dc9570e2e91d","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0003.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3105/tex_ceiling_textures_3124/tex_floor_textures_6098/tex_table_textures_1532/tex_wall_textures_2334","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5773859425697625554,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5773859425697625554,"visual_seed":5773859425697625554,"scene_id":"lab_003","finished_at":"2026-09-02T02:15:10"}
+{"episode_id":"ep_000001","started_at":"2026-09-02T02:15:13","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.03232203984759263,-2.4168338890127123,0.71338606911949],"aabb_xy":[[-0.05482203966149502,-2.421308505383193],[-0.009822040033690256,-2.412359272642232]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.4585372823468512,-0.3278587045646959,0.71338606911949],"aabb_xy":[[0.39453728523474546,-0.3768910743591065],[0.5225372794589569,-0.2788263347702853]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.022621282213387772,1.1572788717197935,0.71338606911949],"aabb_xy":[[0.007449112931754435,1.1421100147915904],[0.03779345149502111,1.172447728647997]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.4409179061758668,0.9083140488132138,0.71338606911949],"aabb_xy":[[-0.47538038418895456,0.901650371630291],[-0.406455428162779,0.9149777259961367]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.2108275747915146,-1.886000582072022,0.71338606911949],"aabb_xy":[[-0.2268895022500322,-1.9710005838846136],[-0.19476564733299692,-1.80100058025943]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.5998869010067137,-0.8922417629054837,0.71338606911949],"aabb_xy":[[-0.6117589840182148,-0.9772417625991341],[-0.5880148179952126,-0.8072417632118334]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.10921612747464848,0.6401016172061156,0.71338606911949],"aabb_xy":[[-0.1708068866986413,0.5761016190970688],[-0.04762536825065568,0.7041016153151626]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.07950312847477348,-0.7285717087780539,0.71338606911949],"aabb_xy":[[-0.10200226420100045,-0.7510717095563169],[-0.057003992748546506,-0.7060717079997909]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.0909845367087837,-0.8862212220449261,0.71338606911949],"aabb_xy":[[-0.12848453750077915,-0.8925890630031162],[-0.053484535916788256,-0.879853381086736]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.635053825735824,0.15739830505495744,0.71338606911949],"aabb_xy":[[-0.6391319836428737,0.15331732480669413],[-0.6309756678287743,0.16147928530322075]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.26225586631868714,-2.152967735024751,0.71338606911949],"aabb_xy":[[-0.2774187392956242,-2.1681331923198703],[-0.24709299334175006,-2.137802277729633]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.3747517898776409,-0.8877860983735808,0.71338606911949],"aabb_xy":[[0.30475178806889547,-0.9091398671377682],[0.44475179168638634,-0.8664323296093934]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.6155841494648187,-1.468338029114222,0.71338606911949],"aabb_xy":[[0.5355841473020562,-1.5482932127403657],[0.6955841516275811,-1.3883828454880784]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.132867820216359,-2.560491028049129,0.71338606911949],"aabb_xy":[[-0.14987791750640964,-2.5766255165474026],[-0.11585772292630833,-2.5443565395508547]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.28946375483435094,0.9111858592185107,0.71338606911949],"aabb_xy":[[0.2344682770136915,0.8561858577846037],[0.3444592326550103,0.9661858606524175]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.23848174238139053,1.262869817405944,0.71338606911949],"aabb_xy":[[0.18446614609949047,1.1988698145136871],[0.2924973386632905,1.3268698202982014]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.4563460371201391,-2.086186831703663,0.71338606911949],"aabb_xy":[[0.4195514039952328,-2.123092706800245],[0.4931406702450453,-2.0492809566070807]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[0.3327729955193639,1.752865463111283,0.71338606911949],"aabb_xy":[[0.2427729957961897,1.7297921105761032],[0.42277299524253803,1.7759388156464628]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.6490111798226027,-0.046768121207587665,0.71338606911949],"aabb_xy":[[-0.6709198619619536,-0.0686687880276784],[-0.6271024976832515,-0.024867454387496928]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.5948060610013295,-0.19147831055391062,0.71338606911949],"aabb_xy":[[0.5573060610575631,-0.1997714005887472],[0.6323060609450959,-0.18318522051907404]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.5577749357326911,-1.6916380594392213,0.71338606911949],"aabb_xy":[[0.5155905215718605,-1.7556380597164325],[0.599959349893522,-1.62763805916201]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665116528873137,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6776.png","name":"6776"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6776.png","name":"6776"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9926.png","name":"9926"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8673.png","name":"8673"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":558.0541192493558,"rotation_z_degrees":93.10715085232161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01627305982722845,-0.007434054424982265,-0.002562772678706731]},{"name":"camera_2","offset_m":[-0.01855098997759541,-0.006460203290327659,0.014854889932858804]},{"name":"camera_3","offset_m":[-0.01881154700655751,0.00099684770337774,-0.013630311783718665]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008648134445832837,-0.0011866804583272345,0.000738816077281477],"end_effector_yaw_offset_degrees":0.4469403615851726},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00032427591206371596,-0.00037055593713195955,0.00036498768242295776],"end_effector_yaw_offset_degrees":0.611268318595253},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012890519049891082,-0.0010912353107851388,0.00034942984544309406],"end_effector_yaw_offset_degrees":-0.0451409425370668}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00325875753000088,-0.0033109670615244957],"position_m":[0.3351412424699991,0.08198903293847551,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002115450392568344,0.0026241708507816278],"position_m":[0.3524845496074317,0.23822417085078162,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013784361939457247,0.00467218146572669],"position_m":[0.21592156380605426,-0.08252781853427331,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003483738451272038,7.53548023638773e-05],"position_m":[0.24291626154872797,-0.33562464519763613,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d1fab3bceaef7d9fd6cc76449337a6431ef1c3a1d78f3ab6486f56e58f596984","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6776/tex_ceiling_textures_2731/tex_floor_textures_8673/tex_table_textures_5976/tex_wall_textures_9926","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4911700044707536104,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4911700044707536104,"visual_seed":4911700044707536104,"scene_id":"lab_003","finished_at":"2026-09-02T02:18:09"}
+{"episode_id":"ep_000002","started_at":"2026-09-02T02:18:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.2306153086034043,0.584714657063536,0.71338606911949],"aabb_xy":[[-0.24824814419693186,0.567091711047913],[-0.21298247300987672,0.602337603079159]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.3559819410764278,1.3091320033487048,0.71338606911949],"aabb_xy":[[0.3519037831693781,1.3050510231004413],[0.3600600989834776,1.313212983596968]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.03293490247732289,-0.7202486204928202,0.71338606911949],"aabb_xy":[[0.022853195398749408,-0.8002486183849348],[0.04301660955589636,-0.6402486226007055]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[-0.5753470506713309,-1.3675690809257146,0.71338606911949],"aabb_xy":[[-0.6393470528917378,-1.4119421650510027],[-0.5113470484509237,-1.323195996800426]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.1202479328854239,0.9081414837704758,0.71338606911949],"aabb_xy":[[0.08345329976051763,0.8712356086738935],[0.15704256601033018,0.945047358867058]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.45067572630794595,-1.1410847322778794,0.71338606911949],"aabb_xy":[[0.43943067073732806,-1.1523265300019745],[0.4619207818785637,-1.129842934553784]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.2599334905358192,-1.5307191945111027,0.71338606911949],"aabb_xy":[[-0.2686474595857536,-1.5532191951702905],[-0.2512195214858846,-1.508219193851914]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.11763486615658314,0.7293442006865947,0.71338606911949],"aabb_xy":[[0.11267884597170194,0.7068442004844732],[0.12259088634146434,0.7518442008887165]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.4191091585654654,-2.518308068917594,0.71338606911949],"aabb_xy":[[0.3816091584598723,-2.5251302307705745],[0.4566091586710582,-2.5114859070646127]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.016048137955849806,-1.5920718152760902,0.71338606911949],"aabb_xy":[[-0.0379378855447906,-1.6820718125653393],[0.005841609633090993,-1.502071817986841]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.014870903324675111,1.5217308608942282,0.71338606911949],"aabb_xy":[[0.010754953212602445,1.5176153058613826],[0.018986853436747775,1.5258464159270737]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.4750790756365606,-0.30656999370468796,0.71338606911949],"aabb_xy":[[0.4110790792092388,-0.35373961752678446],[0.5390790720638826,-0.2594003698825916]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.36936579726167973,-1.5302133042910175,0.71338606911949],"aabb_xy":[[0.331865795746048,-1.5414400773071626],[0.40686579877731144,-1.5189865312748725]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[-0.3081537423184353,-2.061282109336238,0.71338606911949],"aabb_xy":[[-0.34565374281579353,-2.0652507928843566],[-0.27065374182107704,-2.0573134257881196]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.3022739456964935,-2.384548281764386,0.71338606911949],"aabb_xy":[[-0.31242696125064284,-2.4206178233371256],[-0.2921209301423441,-2.348478740191645]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.33956429239105596,-0.9236736431610346,0.71338606911949],"aabb_xy":[[-0.3738805695656739,-0.9736736431342123],[-0.305248015216438,-0.8736736431878569]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.18901298092464347,-2.448286435892746,0.71338606911949],"aabb_xy":[[0.1841693861634135,-2.4531380883717304],[0.19385657568587344,-2.443434783413762]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.11692326464992031,0.6537121750485193,0.71338606911949],"aabb_xy":[[0.11322000332078146,0.6500101567398014],[0.1206265259790592,0.6574141933572372]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.6885324132221862,-1.043253308754498,0.71338606911949],"aabb_xy":[[0.682437785334068,-1.0518227033061665],[0.6946270411103046,-1.034683914202829]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.15422921752395424,0.7821094293660558,0.71338606911949],"aabb_xy":[[-0.19922921899018312,0.7371095725045751],[-0.1092292160577254,0.8271092862275365]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.5348944610659491,-0.15910052689061116,0.71338606911949],"aabb_xy":[[-0.614894464323792,-0.23909703468259516],[-0.4548944578081061,-0.07910401909862722]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.18567496913538928,-1.988946224841115,0.71338606911949],"aabb_xy":[[0.1730722699983128,-2.0015416210659804],[0.1982776682724657,-1.9763508286162494]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.33980897741665395,-1.7517202715044915,0.71338606911949],"aabb_xy":[[0.3278762430548258,-1.764102424312351],[0.35174171177848196,-1.7393381186966324]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.0886633223512614,1.1856352530835448,0.71338606911949],"aabb_xy":[[0.06619855237985627,1.1631352522046843],[0.1111280923226665,1.2081352539624053]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.41106731774250727,1.5196357280090207,0.71338606911949],"aabb_xy":[[0.36107248481456566,1.4696357291137774],[0.46106215067044887,1.5696357269042644]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[0.07327511619227911,-2.400349658460172,0.71338606911949],"aabb_xy":[[0.03827511484079738,-2.4207093944169924],[0.10827511754376085,-2.3799899225033507]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.4660496060459799,0.5905220985713573,0.71338606911949],"aabb_xy":[[-0.5161470700270535,0.5265220980615455],[-0.41595214206490627,0.6545220990811691]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[0.02739101434511848,-2.2701734731276404,0.71338606911949],"aabb_xy":[[0.005218487368467642,-2.292349140283763],[0.04956354132176931,-2.247997805971517]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_28","position":[0.6593593393578194,-0.9242165708972243,0.71338606911949],"aabb_xy":[[0.6247682565037741,-0.9892165711822553],[0.6939504222118645,-0.8592165706121931]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_29","position":[-0.1739840153792631,-2.454318295026694,0.71338606911949],"aabb_xy":[[-0.18209767005264024,-2.4624241114807224],[-0.16587036070588604,-2.4462124785726647]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[0.5246348405867676,-1.7860513783142626,0.71338606911949],"aabb_xy":[[0.5207209673913451,-1.7948003937208192],[0.52854871378219,-1.7773023629077056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679066987068442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4905.png","name":"4905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8916.png","name":"8916"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2019.png","name":"2019"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5859.png","name":"5859"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":706.1655879598035,"rotation_z_degrees":78.07828968419922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00720260052406688,-0.01624879162188429,-0.007157467810150342]},{"name":"camera_2","offset_m":[0.016036787832784002,0.007633410414212852,-0.0016140829106226426]},{"name":"camera_3","offset_m":[0.0005234695554197713,0.014547274600359813,-0.019207220263069882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007157243941866074,0.0010318963478278564,3.2048814854156605e-05],"end_effector_yaw_offset_degrees":0.31398871855188526},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001179594941473315,-0.0005117168220053227,-0.0013923399928229842],"end_effector_yaw_offset_degrees":0.7875915964352391},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018775299843067543,0.0006356952378713987,-0.0018169749365144034],"end_effector_yaw_offset_degrees":-0.10705388428006724}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00339880731613858,-0.0041567654133536705],"position_m":[0.34179880731613854,0.08114323458664632,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000661039415191543,0.002726495072508074],"position_m":[0.3539389605848085,0.23832649507250808,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016603187176417698,-0.00020085614227895697],"position_m":[0.21563968128235822,-0.08740085614227895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031386197482275134,-0.003654401646192462],"position_m":[0.2432613802517725,-0.33935440164619246,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69d61e130470b8b8052ec2cfe710712a65f20b24f95456de5a7c24bf08fc2d6e","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6552/tex_ceiling_textures_5859/tex_floor_textures_2019/tex_table_textures_4905/tex_wall_textures_8916","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7991025182409904050,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7991025182409904050,"visual_seed":7991025182409904050,"scene_id":"lab_003","finished_at":"2026-09-02T02:20:55"}
+{"episode_id":"ep_000003","started_at":"2026-09-02T02:24:06","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.6425278181926745,-2.119520626469678,0.71338606911949],"aabb_xy":[[-0.6600278173270415,-2.129400253507265],[-0.6250278190583072,-2.1096409994320893]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.5234542710683427,1.092571660528915,0.71338606911949],"aabb_xy":[[0.48595427112457634,1.0842785704940785],[0.5609542710121092,1.1008647505637517]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.020993351674044036,-1.466420740388747,0.71338606911949],"aabb_xy":[[0.015026812733308244,-1.472381885048111],[0.02695989061477982,-1.4604595957293827]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.33234954193030475,-1.7057987459939588,0.71338606911949],"aabb_xy":[[-0.35484954174420713,-1.7102733623644395],[-0.30984954211640237,-1.701324129623478]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.2826317412415698,-1.8729478427426849,0.71338606911949],"aabb_xy":[[-0.2913297035322851,-1.8850728170501598],[-0.2739337789508545,-1.8608228684352104]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.2069431338246306,-1.7501349819812577,0.71338606911949],"aabb_xy":[[0.19822916477469604,-1.7726349826404457],[0.21565710287456502,-1.7276349813220693]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.41431185644143664,1.6716419078843523,0.71338606911949],"aabb_xy":[[-0.42487933609953565,1.6610968777713435],[-0.40374437678333763,1.6821869379973606]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.05459263836517647,0.6658904825939462,0.71338606911949],"aabb_xy":[[0.03209263812166107,0.6536858479341743],[0.07709263860869187,0.6780951172537182]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.17327467116833262,-1.5261860378171013,0.71338606911949],"aabb_xy":[[0.13983449597231298,-1.559629663648031],[0.2067148463643522,-1.4927424119861707]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.072109470029738,-0.7252759951510743,0.71338606911949],"aabb_xy":[[-0.00789052795104704,-0.7328775361129262],[0.15210946801052305,-0.7176744541892223]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.4776180680621921,-1.7009007998538592,0.71338606911949],"aabb_xy":[[-0.4936799955207097,-1.785900801666451],[-0.4615561406036744,-1.6159007980412674]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.6076892230629666,0.42088448762205477,0.71338606911949],"aabb_xy":[[-0.6451892242477592,0.4164662649259942],[-0.5701892218781736,0.42530271031811523]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[0.3229891234610578,-0.613032209865803,0.71338606911949],"aabb_xy":[[0.3053134928724594,-0.6307124261452056],[0.34066475404965607,-0.5953519935864001]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.2737607898751363,-1.5261065335722868,0.71338606911949],"aabb_xy":[[-0.27871681006001753,-1.5486065337744086],[-0.2688047696902552,-1.5036065333701654]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.25704493926021976,1.5930180338797864,0.71338606911949],"aabb_xy":[[0.17204494056814507,1.5610321704849073],[0.34204493795229435,1.625003897274665]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.02477321680729261,-0.23059860891551454,0.71338606911949],"aabb_xy":[[-0.034404853027722226,-0.24023592169522343],[-0.01514158058686299,-0.2209612961358056]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.5872963059375313,0.938468704038312,0.71338606911949],"aabb_xy":[[-0.6422963041392761,0.8979467374118744],[-0.5322963077357864,0.9789906706647495]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.3839853186595865,-2.207033518676386,0.71338606911949],"aabb_xy":[[0.318985317659086,-2.257819883831061],[0.44898531966008703,-2.156247153521711]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.12700991684320118,-2.240732616773289,0.71338606911949],"aabb_xy":[[-0.13709162392177462,-2.320732614665403],[-0.11692820976462767,-2.1607326188811737]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[0.5637340331268519,0.6735368038128078,0.71338606911949],"aabb_xy":[[0.5137390221674,0.6235368047772161],[0.613729044086304,0.7235368028483995]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.23848911245319604,1.452062068443912,0.71338606911949],"aabb_xy":[[-0.2834891139194249,1.4070622115824312],[-0.19348911098696722,1.4970619253053925]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.6041161449240497,-1.4973085268402404,0.71338606911949],"aabb_xy":[[0.554116145483854,-1.5472764513245565],[0.6541161443642453,-1.4473406023559239]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.4733418650168385,-1.8825313690668972,0.71338606911949],"aabb_xy":[[-0.5533418620310866,-1.9026659207403085],[-0.3933418680025906,-1.862396817393486]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.43066950506253177,-1.6512685058524967,0.71338606911949],"aabb_xy":[[0.393169504397953,-1.6669555638527187],[0.4681695057271104,-1.6355814478522743]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[-0.3413214647987695,-1.0378258473478938,0.71338606911949],"aabb_xy":[[-0.411321466930199,-1.0605878129735893],[-0.2713214626673399,-1.015063881722198]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.11690415941927923,-0.0671672676310604,0.71338606911949],"aabb_xy":[[-0.19690416267712219,-0.14716377542304437],[-0.03690415616143626,0.012829240160923572]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[-0.46565561566414504,-0.05383099485564813,0.71338606911949],"aabb_xy":[[-0.5029868921893876,-0.08848404965050044],[-0.42832433913890244,-0.019177940060795824]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[0.6430348942250317,-0.6558650877237195,0.71338606911949],"aabb_xy":[[0.6263577582319362,-0.6725650116976498],[0.6597120302181272,-0.6391651637497893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6698072165617577,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3602.png","name":"3602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3602.png","name":"3602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7758.png","name":"7758"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7447.png","name":"7447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/651.png","name":"651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":689.9166567038193,"rotation_z_degrees":57.74450066005061,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00031263024473217674,0.010447486149680652,0.004237621127642234]},{"name":"camera_2","offset_m":[0.009750901401781115,0.017492600507786827,-0.009502222353115921]},{"name":"camera_3","offset_m":[0.009333064830608268,-0.009589647092056498,0.0008065296455937523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001052098027059596,6.678896968766515e-05,0.000621594846760185],"end_effector_yaw_offset_degrees":0.5357201349762437},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001860392504747753,0.0016182289506021554,0.0012773378743307436],"end_effector_yaw_offset_degrees":-0.8736075107564991},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015814306473847935,-0.001400587292482006,0.0017448421507851334],"end_effector_yaw_offset_degrees":-0.5674723399589441}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015699842238648342,-0.003474186963323741],"position_m":[0.33683001577613514,0.08182581303667626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002956559947984427,-0.0014751231531383159],"position_m":[0.35755655994798446,0.2341248768468617,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003333274673898119,0.0017132075174012395],"position_m":[0.21396672532610186,-0.08548679248259876,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043712241706444135,0.0022502597147028873],"position_m":[0.24202877582935559,-0.3334497402852971,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5ba21c0839158998860f2b176faba34e9d8851c436be02c55e2658ca56d40054","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3602/tex_ceiling_textures_8053/tex_floor_textures_651/tex_table_textures_7758/tex_wall_textures_7447","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5996179872086378132,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5996179872086378132,"visual_seed":5996179872086378132,"scene_id":"lab_003","finished_at":"2026-09-02T02:26:46"}
+{"episode_id":"ep_000004","started_at":"2026-09-02T02:26:48","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.2521699642561976,0.6181119455296726,0.71338606911949],"aabb_xy":[[-0.30216996561708476,0.568134040954257],[-0.20216996289531033,0.6680898501050883]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.39264151223667315,-1.2021152609896988,0.71338606911949],"aabb_xy":[[-0.40451359524817426,-1.287115260683349],[-0.38076942922517204,-1.1171152612960482]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.451708746319854,-1.4158775134186212,0.71338606911949],"aabb_xy":[[-0.5157087456140221,-1.4798636537874754],[-0.38770874702568575,-1.351891373049767]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.1747746429967607,-1.599783630010334,0.71338606911949],"aabb_xy":[[0.12477464435083951,-1.6497031736697965],[0.2247746416426819,-1.5498640863508717]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.6859024541301906,-1.574075442275168,0.71338606911949],"aabb_xy":[[0.6778590942042354,-1.6590754433705341],[0.6939458140561457,-1.4890754411798013]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.4822885808896298,-0.6243923004031402,0.71338606911949],"aabb_xy":[[-0.48970103643101826,-0.6302435108247681],[-0.4748761253482413,-0.6185410899815122]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.1919925052996806,-0.5869155378273825,0.71338606911949],"aabb_xy":[[0.12699250434255338,-0.638863749761088],[0.2569925062568078,-0.5349673258936768]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.6119206720899231,0.757526799862315,0.71338606911949],"aabb_xy":[[0.5941271651550067,0.7397270542665173],[0.6297141790248396,0.7753265454581126]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.645402670295883,-0.9403102285763627,0.71338606911949],"aabb_xy":[[0.6175576335152759,-0.9710947273146744],[0.6732477070764902,-0.909525729838051]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.43866363544705655,1.3366519532872605,0.71338606911949],"aabb_xy":[[-0.4459074014933018,1.256651955083658],[-0.4314198694008112,1.4166519514908626]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.603518054156106,-0.36123424893202083,0.71338606911949],"aabb_xy":[[0.5908912668689097,-0.3707803226335936],[0.6161448414433024,-0.3516881752304478]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.07910940501961505,0.4619879433382037,0.71338606911949],"aabb_xy":[[-0.14310940141518813,0.3980246549194702],[-0.015109408624041976,0.5259512317569373]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.05216903147312202,-1.0920548295893804,0.71338606911949],"aabb_xy":[[-0.037830968250052166,-1.1151281821245598],[0.14216903119629618,-1.0689814770542]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.04460251550098315,0.790035857240607,0.71338606911949],"aabb_xy":[[-0.04039748291644008,0.7051615617783221],[0.12960251391840638,0.8749101527028921]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.6519380741427496,-1.015067686138964,0.71338606911949],"aabb_xy":[[-0.689438074086516,-1.0233607761738006],[-0.6144380741989832,-1.0067745961041275]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.43770591366061407,1.057696472292697,0.71338606911949],"aabb_xy":[[0.4176475020473737,1.0376313853835395],[0.4577643252738543,1.0777615592018543]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.5335571168988242,-0.09431255524480386,0.71338606911949],"aabb_xy":[[0.5183849476171909,-0.10948141217300723],[0.5487292861804576,-0.07914369831660052]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.17834167011655,-0.9171604018142883,0.71338606911949],"aabb_xy":[[0.13053550250278134,-0.9821604045213471],[0.22614783773031863,-0.8521603991072292]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.32162749486040987,0.8941802512519632,0.71338606911949],"aabb_xy":[[0.3143451784837461,0.8041802476424541],[0.3289098112370734,0.9841802548614721]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.5206843518949043,-1.9066845779667791,0.71338606911949],"aabb_xy":[[-0.5806843535378261,-1.9586847272587236],[-0.4606843502519824,-1.8546844286748352]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.5149625853892708,1.6108295878530847,0.71338606911949],"aabb_xy":[[-0.5649625866731106,1.5608507334624622],[-0.46496258410543073,1.6608084422437064]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[0.2071296085970984,0.6465918880963484,0.71338606911949],"aabb_xy":[[0.20368893235704125,0.642730455121984],[0.2105702848371556,0.650453321070713]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.47638248021949203,-2.362212197398117,0.71338606911949],"aabb_xy":[[0.4703454672188275,-2.3682388984670655],[0.4824194932201569,-2.3561854963291693]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.05084235036261098,-2.367763756427391,0.71338606911949],"aabb_xy":[[0.013342350257018026,-2.374585918280372],[0.08834235046820393,-2.360941594574409]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.5066283801556078,0.8309350356462026,0.71338606911949],"aabb_xy":[[-0.5866283787429272,0.7516194337080416],[-0.42662838156828836,0.9102506375843634]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[-0.17970543183929177,-0.47034969521863657,0.71338606911949],"aabb_xy":[[-0.21416777923743352,-0.504843577616459],[-0.14524308444114992,-0.43585581282081376]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[-0.2584644771946888,-0.8110417816157212,0.71338606911949],"aabb_xy":[[-0.26616766786876583,-0.818751152314459],[-0.25076128652061175,-0.803332410916983]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_27","position":[-0.0422935106862965,-2.0970408968897543,0.71338606911949],"aabb_xy":[[-0.12601573618637896,-2.1870409004244507],[0.04142871481378596,-2.0070408933550588]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[-0.6185540933021989,1.7665706382386177,0.71338606911949],"aabb_xy":[[-0.6226322512092486,1.7624896579903542],[-0.6144759353951492,1.7706516184868808]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.11027622295959438,-2.12704789632172,0.71338606911949],"aabb_xy":[[0.09891448830630822,-2.1384163627280075],[0.12163795761288054,-2.115679429915432]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[0.2175734211780742,1.6904384328502657,0.71338606911949],"aabb_xy":[[0.2006626887417324,1.6769662272576509],[0.23448415361441596,1.7039106384428802]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_31","position":[-0.2256409682813939,-2.443452095709813,0.71338606911949],"aabb_xy":[[-0.2751213894953527,-2.507452093622665],[-0.1761605470674351,-2.3794520977969613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646226903535579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6811.png","name":"6811"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6811.png","name":"6811"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/339.png","name":"339"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2771.png","name":"2771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8260.png","name":"8260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2321.png","name":"2321"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":696.0810827286722,"rotation_z_degrees":148.69552209784527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003941977874175374,0.0030250916085716867,0.01856749098854246]},{"name":"camera_2","offset_m":[-0.0005103742811522587,-0.013773427660265179,0.017639202476579154]},{"name":"camera_3","offset_m":[0.018647563900806467,-0.007326979882315867,-0.011912450637398129]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003484098806443509,-0.0006792170218886953,-0.0010358591557430583],"end_effector_yaw_offset_degrees":0.222370843069426},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007153819446702524,0.0016796685175609455,-0.001583204514224974],"end_effector_yaw_offset_degrees":-0.6355161747402591},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001889548850826764,-0.001528559154212933,-0.0017140765130987119],"end_effector_yaw_offset_degrees":0.9144170404245162}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004993394091815165,-0.0048637546777240215],"position_m":[0.33790066059081847,0.08043624532227597,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036995044883458795,0.0014777971112105307],"position_m":[0.35090049551165414,0.23707779711121055,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001013855238005428,-0.0018412459392021354],"position_m":[0.21628614476199456,-0.08904124593920214,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036125065695057877,-0.0007200387462159312],"position_m":[0.24278749343049422,-0.33642003874621595,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e7eca47bc1580e743e6641e78cd68a4a674460e039a3ddf591d79fe60e1d4b7d","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6811/tex_ceiling_textures_2321/tex_floor_textures_8260/tex_table_textures_339/tex_wall_textures_2771","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7027983701381754555,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7027983701381754555,"visual_seed":7027983701381754555,"scene_id":"lab_003","finished_at":"2026-09-02T02:29:50"}
+{"episode_id":"ep_000005","started_at":"2026-09-02T02:29:54","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.16986415922523945,1.587201393043013,0.71338606911949],"aabb_xy":[[0.10586416279791755,1.5400317692209167],[0.23386415565256136,1.6343710168651095]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.4722562899996986,-2.4068998352935917,0.71338606911949],"aabb_xy":[[-0.5132742333860695,-2.456899835924549],[-0.4312383466133277,-2.3568998346626344]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.5229388953217442,-1.392931260259824,0.71338606911949],"aabb_xy":[[-0.5399489926117949,-1.4090657487580978],[-0.5059287980316935,-1.37679677176155]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[-0.20086493112856996,-0.6761440225589395,0.71338606911949],"aabb_xy":[[-0.2648649315061036,-0.7258892894097518],[-0.13686493075103634,-0.6263987557081273]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.1858490565965326,-1.5172041977631312,0.71338606911949],"aabb_xy":[[-0.2033490558746195,-1.5345422978294772],[-0.16834905731844574,-1.4998660976967852]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.15200356487394717,0.1579404055495175,0.71338606911949],"aabb_xy":[[-0.2320035634612666,0.07862480361135661],[-0.07200356628662775,0.2372560074876784]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.5914029170024752,-2.157825805062552,0.71338606911949],"aabb_xy":[[-0.656402915559548,-2.187578338476435],[-0.5264029184454023,-2.12807327164867]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.42222282808006906,1.719941424680076,0.71338606911949],"aabb_xy":[[0.37945612120064887,1.6559414212582737],[0.46498953495948925,1.7839414281018786]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.5105143872794974,1.6913048048658177,0.71338606911949],"aabb_xy":[[-0.5213548655060122,1.674118523575169],[-0.49967390905298237,1.7084910861564664]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.35679937978506143,-1.515337337276937,0.71338606911949],"aabb_xy":[[-0.3872836299120916,-1.5653373370584327],[-0.3263151296580313,-1.4653373374954408]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.2414803034475419,-0.12451092565719302,0.71338606911949],"aabb_xy":[[-0.25394766155727755,-0.13697625029051655],[-0.22901294533780625,-0.11204560102386954]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.6217892193482311,-0.036220365562045664,0.71338606911949],"aabb_xy":[[0.5577892200540627,-0.10020650593089986],[0.6857892186423992,0.02776577480680853]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.5220501358666043,-0.4189343009972344,0.71338606911949],"aabb_xy":[[0.47207132735628843,-0.4689343010029532],[0.5720289443769202,-0.3689343009915156]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[0.6145871819502744,1.662312666186192,0.71338606911949],"aabb_xy":[[0.5505871846646258,1.6208059472333483],[0.678587179235923,1.7038193851390362]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.29680148917716564,-0.8127272248503155,0.71338606911949],"aabb_xy":[[0.28594988292829004,-0.8235865155779664],[0.30765309542604125,-0.8018679341226643]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.39321497139134404,-1.1957877543763016,0.71338606911949],"aabb_xy":[[-0.41821497066330626,-1.2121331179724637],[-0.3682149721193817,-1.179442390780139]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.4666218381288936,1.3456727351456612,0.71338606911949],"aabb_xy":[[0.455052857381957,1.3206727350287295],[0.47819081887583015,1.370672735262593]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.1686932175571464,-0.27584655130302904,0.71338606911949],"aabb_xy":[[-0.1861239326361529,-0.2931186659668798],[-0.15126250247813988,-0.2585744366391782]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.5959529506791927,0.120849380277114,0.71338606911949],"aabb_xy":[[0.560323794779233,0.08521671352026104],[0.6315821065791525,0.15648204703396695]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.5590455849645588,-1.6704291450530948,0.71338606911949],"aabb_xy":[[0.5344993693418081,-1.7006780416021319],[0.5835918005873095,-1.6401802485040577]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.5969279277530823,0.28094065240488586,0.71338606911949],"aabb_xy":[[-0.6219279269187155,0.27398840669952934],[-0.5719279285874492,0.2878928981102425]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[0.33945979168038676,1.4305404304073739,0.71338606911949],"aabb_xy":[[0.29821098065047197,1.3755404308951564],[0.38070860271030144,1.4855404299195913]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.19961147231406573,-1.1539151650831723,0.71338606911949],"aabb_xy":[[0.16502038946002048,-1.218915165368203],[0.23420255516811092,-1.088915164798141]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.6718668500246414,0.524746673899875,0.71338606911949],"aabb_xy":[[0.6625732317874908,0.48724667541174105],[0.681160468261792,0.5622466723880089]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[-0.1802881370713283,-2.0823776534187086,0.71338606911949],"aabb_xy":[[-0.23026120260384378,-2.132377653231242],[-0.13031507153881283,-2.032377653606176]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.5056436060076008,-0.8370059128370184,0.71338606911949],"aabb_xy":[[-0.5556436072914408,-0.8869847672276404],[-0.4556436047237609,-0.7870270584463962]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[-0.5564817858596263,-0.49215897528027286,0.71338606911949],"aabb_xy":[[-0.5641849765337031,-0.4998683459790108],[-0.5487785951855492,-0.4844496045815348]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710461478293118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9014.png","name":"9014"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9014.png","name":"9014"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5965.png","name":"5965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1809.png","name":"1809"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":557.3100639050188,"rotation_z_degrees":67.0189982856888,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019315304766001348,0.009558850644234763,-0.018832406005130028]},{"name":"camera_2","offset_m":[-0.001464525781774504,0.007756914100884749,-0.008981352109881144]},{"name":"camera_3","offset_m":[0.011941104924292397,0.0013007250931222902,-0.004761240006308549]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005634383105440634,0.0009023639776499616,-0.0015157357541180786],"end_effector_yaw_offset_degrees":0.6541400360184897},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013896435154562555,-0.0007582397250116761,0.0019238348669228479],"end_effector_yaw_offset_degrees":-0.4802892298538657},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00010328930954128573,0.0002992168366501391,-3.258943627724043e-05],"end_effector_yaw_offset_degrees":0.6492281370596749}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024785588962058427,0.002915266220930743],"position_m":[0.3359214411037941,0.08821526622093075,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004019563046302437,-0.0007801456790295811],"position_m":[0.35861956304630244,0.2348198543209704,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00267929740000603,0.0007266379168911511],"position_m":[0.21997929740000602,-0.08647336208310885,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00472349944879849,0.003376821894691329],"position_m":[0.25112349944879847,-0.33232317810530865,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c8801b0f833dc2870acb980b6f311698cef74c344205ac3354ac1999108692d","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9014/tex_ceiling_textures_1809/tex_floor_textures_5965/tex_table_textures_3505/tex_wall_textures_4470","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4827988100552408580,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4827988100552408580,"visual_seed":4827988100552408580,"scene_id":"lab_003","finished_at":"2026-09-02T02:32:44"}
+{"episode_id":"ep_000006","started_at":"2026-09-02T02:32:48","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.4825970586132431,0.660709937775878,0.71338606911949],"aabb_xy":[[-0.5465927560083397,0.5967099394751693],[-0.4186013612181465,0.7247099360765866]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.08316798594798702,-2.0026859406746023,0.71338606911949],"aabb_xy":[[0.05816798667602475,-2.0190313042707646],[0.1081679852199493,-1.9863405770784401]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.09725679664420239,1.3205003202415675,0.71338606911949],"aabb_xy":[[-0.12225679619594088,1.3103578363764328],[-0.07225679709246391,1.3306428041067022]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.2788910070908811,-0.4819637991420378,0.71338606911949],"aabb_xy":[[-0.28681428732962944,-0.5044637993800412],[-0.2709677268521328,-0.45946379890403444]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.46691554609462255,0.20280102604503103,0.71338606911949],"aabb_xy":[[-0.5168886116271382,0.15280102623249817],[-0.4169424805621072,0.252801025857564]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.4955709341206782,1.5026526666935953,0.71338606911949],"aabb_xy":[[0.47307093360863756,1.4801608083281967],[0.5180709346327188,1.5251445250589934]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.12267542678153831,-0.3688465448279743,0.71338606911949],"aabb_xy":[[-0.16766801349998872,-0.41384654410242305],[-0.07768284006308789,-0.32384654555352554]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.5386354630593224,1.318664707331378,0.71338606911949],"aabb_xy":[[0.48863546204018726,1.28219849159355],[0.5886354640784578,1.355130923069206]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.4021241853770564,-1.8510526238147622,0.71338606911949],"aabb_xy":[[-0.4172264868380744,-1.8661541454458237],[-0.3870218839160382,-1.8359511021836998]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.5945641004280408,-1.3137178702438008,0.71338606911949],"aabb_xy":[[-0.6320641005999127,-1.3464186056267078],[-0.5570641002561688,-1.2810171348608934]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.3737227257459561,-0.5199407976995012,0.71338606911949],"aabb_xy":[[0.32390594628112135,-0.5699407961838047],[0.42353950521079087,-0.46994079921519794]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.3963042145282894,-0.6107141622642267,0.71338606911949],"aabb_xy":[[-0.4338042160439211,-0.6219409352803716],[-0.3588042130126577,-0.5994873892480815]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.40081849693692106,0.37327674832784874,0.71338606911949],"aabb_xy":[[-0.4082309524783096,0.36742553790622073],[-0.39340604139553265,0.37912795874947663]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.08163873264445887,-1.9146029109337777,0.71338606911949],"aabb_xy":[[0.07668271245957768,-1.9371029111359],[0.08659475282934008,-1.8921029107316567]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.268943251461246,-0.5886839282017404,0.71338606911949],"aabb_xy":[[0.26091698083062004,-0.5974354231790932],[0.27696952209187203,-0.5799324332243879]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.4101652217340239,-0.20465355743771996,0.71338606911949],"aabb_xy":[[-0.4188791907839583,-0.22715355809690813],[-0.4014512526840893,-0.18215355677853168]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.44032346008117096,-1.706398146256173,0.71338606911949],"aabb_xy":[[0.35032345774715185,-1.783880500841286],[0.53032346241519,-1.6289157916710606]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.31258854958662496,0.16843569822963023,0.71338606911949],"aabb_xy":[[-0.3460677168476659,0.13495658485852324],[-0.279109382325584,0.20191481160073727]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.6110648380748598,-0.5922725062667364,0.71338606911949],"aabb_xy":[[-0.6149787112702821,-0.6010215216732933],[-0.6071509648794372,-0.5835234908601796]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.6999093616169567,0.02305011063077611,0.71338606911949],"aabb_xy":[[0.6774445916455515,0.0005501097519156062],[0.7223741315883617,0.045550111509636615]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[-0.4555106613415898,-2.47333315411709,0.71338606911949],"aabb_xy":[[-0.4683825648425299,-2.553333154530926],[-0.4426387578406496,-2.393333153703254]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[-0.4517626523711762,1.1115350671942936,0.71338606911949],"aabb_xy":[[-0.4635308391658338,1.0265350672890723],[-0.4399944655765188,1.1965350670995154]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.6582665418660787,0.20756098346026075,0.71338606911949],"aabb_xy":[[-0.675766475300062,0.19006098354002623],[-0.6407666084320952,0.22506098338049532]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[0.5239876812268287,-1.3097046228546139,0.71338606911949],"aabb_xy":[[0.5138346656726792,-1.3457741644273538],[0.534140696780978,-1.273635081281873]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.06138827501349686,-0.9825746668186905,0.71338606911949],"aabb_xy":[[-0.0963882763649786,-1.0029344027755114],[-0.026388273662015137,-0.9622149308618699]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6632415627105308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1185.png","name":"1185"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1185.png","name":"1185"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3722.png","name":"3722"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8610.png","name":"8610"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7583.png","name":"7583"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":538.2665912351242,"rotation_z_degrees":157.03389730278457,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014231835448779888,0.013880532765321276,-0.016752620485705104]},{"name":"camera_2","offset_m":[-0.0035781543607683215,-0.014611877166610547,-0.015660330533016343]},{"name":"camera_3","offset_m":[0.007849224918892346,-0.011178465722697335,-0.013790147140224822]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00193453843123398,-0.00018964656939680588,-0.0017980453649620244],"end_effector_yaw_offset_degrees":-0.02527222194793577},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010986634420788936,0.0002336903854495984,0.00033798362640347426],"end_effector_yaw_offset_degrees":0.8024945240642913},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017160311011483712,-0.0006368605925078895,-2.2103252053057125e-06],"end_effector_yaw_offset_degrees":0.3096691298151195}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026341108953874095,-0.004174250417200131],"position_m":[0.3410341108953874,0.08112574958279987,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038558639506392177,-0.0020061757080995514],"position_m":[0.35074413604936083,0.23359382429190045,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003013622031322706,-0.002427307949822024],"position_m":[0.21428637796867728,-0.08962730794982203,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001799125038731214,0.0016214624553776693],"position_m":[0.24460087496126878,-0.33407853754462236,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c17c672966d76705a53c49c826cbaa43166b7ddfb907fa1c1c26c2a196d44692","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1185/tex_ceiling_textures_7583/tex_floor_textures_8610/tex_table_textures_3722/tex_wall_textures_7622","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1049907275184935726,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1049907275184935726,"visual_seed":1049907275184935726,"scene_id":"lab_003","finished_at":"2026-09-02T02:35:29"}
+{"episode_id":"ep_000007","started_at":"2026-09-02T02:38:11","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.5236400882194698,1.159580338296374,0.71338606911949],"aabb_xy":[[0.5011400884055673,1.1551057219258936],[0.5461400880333721,1.164054954666855]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.4029343794098508,-0.9973529902792304,0.71338606911949],"aabb_xy":[[0.34794212877433983,-1.0523529920225432],[0.45792663004536177,-0.9423529885359176]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.44869442460120124,-1.850270892894157,0.71338606911949],"aabb_xy":[[-0.45993948017181907,-1.861512690618252],[-0.4374493690305834,-1.8390290951700614]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.47121538184528833,1.0536331423673078,0.71338606911949],"aabb_xy":[[-0.4962153817778063,1.0467504741463847],[-0.4462153819127705,1.0605158105882313]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.3707022752831289,-0.8624599789388374,0.71338606911949],"aabb_xy":[[-0.3838535212544183,-0.887459978695524],[-0.3575510293118395,-0.8374599791821509]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.6266156686656787,1.2065443389065815,0.71338606911949],"aabb_xy":[[-0.6314592634269088,1.2016926864275974],[-0.6217720739044489,1.2113959913855656]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.09089144965457974,1.7990052712980371,0.71338606911949],"aabb_xy":[[-0.12839144994675455,1.7949637958974338],[-0.053391449362404905,1.8030467466986408]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.6525088054965664,-1.0963639709376012,0.71338606911949],"aabb_xy":[[0.5975088058748206,-1.151347663725074],[0.7075088051183123,-1.0413802781501285]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.5096787951319783,0.6255997933653945,0.71338606911949],"aabb_xy":[[-0.574678795166281,0.5788991166850672],[-0.4446787950976755,0.6723004700457218]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.588388136522229,-1.2891074002067746,0.71338606911949],"aabb_xy":[[-0.5997498711755151,-1.3004758666130625],[-0.5770264018689428,-1.2777389338004863]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.43838643229834834,1.1494622145370266,0.71338606911949],"aabb_xy":[[-0.45727081606685854,1.1305762897566736],[-0.41950204852983813,1.1683481393173791]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.386560827398454,-2.34555804354878,0.71338606911949],"aabb_xy":[[0.2968737510903385,-2.4355580438032307],[0.4762479037065694,-2.2555580432943296]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.48426269767980534,-1.3917839428840115,0.71338606911949],"aabb_xy":[[-0.49230605760576057,-1.476783943979378],[-0.4762193377538502,-1.306783941788645]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.6698708588946414,-1.9107882975114299,0.71338606911949],"aabb_xy":[[0.6227414798928055,-1.9747882985558316],[0.7170002378964768,-1.8467882964670277]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.08889410569435352,0.9445313614432695,0.71338606911949],"aabb_xy":[[-0.11135887566575865,0.922031360564409],[-0.06642933572294842,0.96703136232213]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.2711975620575253,0.9234684790950278,0.71338606911949],"aabb_xy":[[0.2639152456808615,0.8334684754855186],[0.2784798784341888,1.0134684827045364]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.33653357927271843,0.37024793643897347,0.71338606911949],"aabb_xy":[[-0.3965335797805713,0.31340120275305205],[-0.27653357876486545,0.42709467012489466]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.6332031724496026,-0.24979797481837407,0.71338606911949],"aabb_xy":[[0.5732031715887896,-0.30122440482486046],[0.6932031733104153,-0.1983715448118877]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.5277962960414603,-2.0705287281385427,0.71338606911949],"aabb_xy":[[-0.5424397015954932,-2.085187447795327],[-0.5131528904874272,-2.0558700084817585]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.43755260749183567,0.871110842668612,0.71338606911949],"aabb_xy":[[0.37355260427319786,0.8243877307696037],[0.5015526107104735,0.9178339545676204]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.37224442212262393,-2.0197723841984287,0.71338606911949],"aabb_xy":[[-0.3923028337358642,-2.039837471107586],[-0.35218601050938364,-1.9997072972892713]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.3395794954402229,1.4511436248199021,0.71338606911949],"aabb_xy":[[0.33253918550668593,1.371143625420231],[0.3466198053737599,1.531143624219574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651560187147036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6693.png","name":"6693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6693.png","name":"6693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7231.png","name":"7231"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8314.png","name":"8314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2127.png","name":"2127"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":519.858316410233,"rotation_z_degrees":39.71625122133549,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014454056432561533,-0.006306712209920762,0.004129998736949903]},{"name":"camera_2","offset_m":[-0.007888633571188243,0.019827311962873986,0.018824444888415223]},{"name":"camera_3","offset_m":[-0.015001312407871708,-0.013714720369992843,-0.0003010849468815559]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009659864901275332,0.0010290353011820682,-0.0017418208732186522],"end_effector_yaw_offset_degrees":0.7134064947748067},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005762982970669624,-0.0011344119879587301,-0.0007397552481636204],"end_effector_yaw_offset_degrees":0.02205334482658694},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009245639545002069,-0.0011634739215228835,-0.0005952765475714626],"end_effector_yaw_offset_degrees":-0.6891507729793127}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003033154932196697,-0.0036380565956736525],"position_m":[0.34143315493219667,0.08166194340432635,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017264450100804652,-0.0022310852722708073],"position_m":[0.35287355498991957,0.2333689147277292,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004181898151637147,0.004763564128333983],"position_m":[0.21311810184836286,-0.08243643587166602,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004507781158724493,0.00016502412356321407],"position_m":[0.2418922188412755,-0.33553497587643677,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b7f2c2d6ad11b2a8511702946215660f585b06c35916cddb24ef9863654a33d","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6693/tex_ceiling_textures_2127/tex_floor_textures_8314/tex_table_textures_7231/tex_wall_textures_8710","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6556181654519793417,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6556181654519793417,"visual_seed":6556181654519793417,"scene_id":"lab_003","finished_at":"2026-09-02T02:41:18"}
+{"episode_id":"ep_000008","started_at":"2026-09-02T02:44:09","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[0.09676258906220003,-1.1668147149284143,0.71338606911949],"aabb_xy":[[0.062446311887582096,-1.216814714901592],[0.13107886623681797,-1.1168147149552365]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.5385393596657659,-2.0574239910501806,0.71338606911949],"aabb_xy":[[-0.5885181681760817,-2.1074239910559],[-0.48856055115544994,-2.0074239910444622]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.23832689319811468,1.762889896308152,0.71338606911949],"aabb_xy":[[-0.3023268895936877,1.6989266078894185],[-0.17432689680254157,1.8268531847268856]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.34382997207321164,1.078397417905967,0.71338606911949],"aabb_xy":[[-0.40382997191977843,1.0215787957129283],[-0.28382997222664486,1.1352160400990057]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.1655991993084709,1.2433558069789559,0.71338606911949],"aabb_xy":[[0.14108557521146503,1.2190912136769192],[0.19011282340547675,1.267620400280992]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.4393660524241207,-0.1998530056017631,0.71338606911949],"aabb_xy":[[-0.504366053530064,-0.22481837866989138],[-0.3743660513181774,-0.1748876325336348]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.1321095140071774,-1.8657861899665742,0.71338606911949],"aabb_xy":[[-0.16325643285076052,-1.9357861886533814],[-0.1009625951635943,-1.795786191279767]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.2249582454862339,0.5539686931903964,0.71338606911949],"aabb_xy":[[0.18995824721611398,0.5468945654954083],[0.2599582437563538,0.5610428208853846]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.45024330659332623,1.6289473284709115,0.71338606911949],"aabb_xy":[[0.4127433054085333,1.6245291057748508],[0.4877433077781189,1.6333655511669718]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[-0.33770661801819524,0.6522791271970432,0.71338606911949],"aabb_xy":[[-0.34184247435089543,0.6147791277526862],[-0.33357076168549504,0.6897791266414002]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.5712013448555078,1.3878405201885267,0.71338606911949],"aabb_xy":[[0.5487365748841025,1.365340519309666],[0.5936661148269128,1.410340521067387]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.5925735923673481,-0.8290031240453994,0.71338606911949],"aabb_xy":[[0.5855332824338112,-0.909003123445071],[0.5996139023008852,-0.749003124645728]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.11698973400653268,-0.5502734957394315,0.71338606911949],"aabb_xy":[[-0.12835146865981883,-0.5616419621457195],[-0.1056279993532465,-0.5389050293331433]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.31667356580993977,-0.8611045197555878,0.71338606911949],"aabb_xy":[[0.28834385586139955,-0.8655652619493048],[0.34500327575848,-0.8566437775618707]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.24368860744240417,-1.9637908074794685,0.71338606911949],"aabb_xy":[[0.22780411417707905,-1.9781437477782928],[0.2595731007077293,-1.9494378671806447]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.1824364868645859,-1.3279335285718274,0.71338606911949],"aabb_xy":[[0.17709891119858137,-1.3529335295009672],[0.1877740625305905,-1.3029335276426877]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.4597895356109938,-1.4276227907039811,0.71338606911949],"aabb_xy":[[0.43114020325057756,-1.456268349981057],[0.48843886797141,-1.3989772314269053]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.31142475223451105,1.5901259194374977,0.71338606911949],"aabb_xy":[[-0.37542475261204467,1.5403806525866854],[-0.24742475185697743,1.63987118628831]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.6400807177900646,1.5796708410641709,0.71338606911949],"aabb_xy":[[-0.6900581346553182,1.5296708395749223],[-0.590103300924811,1.6296708425534194]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.03044457213637386,1.1134561127098905,0.71338606911949],"aabb_xy":[[0.024862900502245096,1.1009561128921148],[0.03602624377050261,1.1259561125276658]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.021788210316889267,-0.8445985566416261,0.71338606911949],"aabb_xy":[[-0.08578820674421117,-0.8917681804637225],[0.042211786110432636,-0.7974289328195296]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.2569091483547153,-2.1082091227519606,0.71338606911949],"aabb_xy":[[-0.30690915001621,-2.158207565007663],[-0.2069091466932205,-2.0582106804962574]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.527465703239383,1.507652556385596,0.71338606911949],"aabb_xy":[[-0.5444758005294336,1.4915180678873219],[-0.5104556059493323,1.5237870448838697]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[0.6538999093711053,1.2443168067823565,0.71338606911949],"aabb_xy":[[0.638797607910087,1.229215285151294],[0.6690022108321232,1.259418328413418]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655870504728594,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8088.png","name":"8088"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8088.png","name":"8088"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2136.png","name":"2136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7465.png","name":"7465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4739.png","name":"4739"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":827.4317004227364,"rotation_z_degrees":74.36258227210061,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00598530679655517,0.003404178636124043,-0.002687006666438157]},{"name":"camera_2","offset_m":[0.01053988598403861,0.002294952989135797,0.016519331289958025]},{"name":"camera_3","offset_m":[0.0019277326972743196,-0.004543818389463531,0.014225133276396119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001761976688920439,-0.0016800050970196129,0.001243739711766419],"end_effector_yaw_offset_degrees":0.8489648573250221},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007179141201237062,0.0014880027552788655,0.0005610863725377768],"end_effector_yaw_offset_degrees":0.9538183981652386},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-1.9450619520426128e-05,0.0008196772757780033,0.0014450825925941086],"end_effector_yaw_offset_degrees":0.7338128198927201}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032864892953876927,0.002351081151646002],"position_m":[0.3416864892953877,0.08765108115164601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013503818239596621,-0.0020062889821421417],"position_m":[0.3532496181760404,0.23359371101785786,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003043050879450372,-0.0031656777685463823],"position_m":[0.21425694912054963,-0.09036567776854638,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001432114488065045,-0.0016040588632565403],"position_m":[0.24496788551193496,-0.33730405886325654,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a60705112e8ed647807129d02caa5f461000f1af71058578787e2137d54ad750","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8088/tex_ceiling_textures_4739/tex_floor_textures_7465/tex_table_textures_8437/tex_wall_textures_2136","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3435827100741637007,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3435827100741637007,"visual_seed":3435827100741637007,"scene_id":"lab_003","finished_at":"2026-09-02T02:47:16"}
+{"episode_id":"ep_000009","started_at":"2026-09-02T02:47:19","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.4879438278167697,-1.7536728913690114,0.71338606911949],"aabb_xy":[[-0.5340289190715011,-1.8176728886215665],[-0.4418587365620382,-1.6896728941164563]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.6400315566173825,-1.2247241276634693,0.71338606911949],"aabb_xy":[[-0.6900315582788772,-1.2747225699191718],[-0.5900315549558877,-1.1747256854077663]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.5431300273801312,0.1847190620881083,0.71338606911949],"aabb_xy":[[0.5206336059462671,0.16221906228136085],[0.5656264488139953,0.20721906189485573]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.20279728877132047,-0.5729800718021769,0.71338606911949],"aabb_xy":[[-0.21744069432535343,-0.587638791458961],[-0.18815388321728746,-0.5583213521453926]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.34646058468427987,1.4064781115642955,0.71338606911949],"aabb_xy":[[0.31186950183023454,1.3414781112792642],[0.381051667538325,1.4714781118493263]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.4832015743423075,0.015725997640324785,0.71338606911949],"aabb_xy":[[-0.5182015735351257,0.0047589516426621535],[-0.44820157514948916,0.02669304363798741]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.06126746811260719,-0.8150136156230152,0.71338606911949],"aabb_xy":[[-0.1262674691131077,-0.8657999807776902],[0.003732532887893325,-0.7642272504683403]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.02117652226887856,1.3723883053249444,0.71338606911949],"aabb_xy":[[-0.016323477548155,1.3677500940138025],[0.05867652208591212,1.3770265166360862]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.05673807502433681,0.7190048514439322,0.71338606911949],"aabb_xy":[[-0.10173066174278722,0.6740048521694834],[-0.011745488305886391,0.7640048507183809]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.2852890122154868,-0.9533480703043014,0.71338606911949],"aabb_xy":[[-0.29470648678534955,-0.9627642474420203],[-0.27587153764562405,-0.9439318931665822]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.2514612005742907,-1.6861001193003249,0.71338606911949],"aabb_xy":[[-0.2594551891519941,-1.6941001993954152],[-0.24346721199658733,-1.6781000392052345]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.347952471880645,1.005508000982307,0.71338606911949],"aabb_xy":[[-0.3854524725452237,0.9898209429820847],[-0.3104524712160663,1.021195058982529]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.6690925554631939,1.6685298753006408,0.71338606911949],"aabb_xy":[[-0.6926776789270888,1.603529873055209],[-0.645507431999299,1.7335298775460726]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.2353346478123805,-2.2724542127515073,0.71338606911949],"aabb_xy":[[-0.2903301256330399,-2.3274542141854138],[-0.18033916999172112,-2.2174542113176]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.14515415873543203,0.6243288766626978,0.71338606911949],"aabb_xy":[[-0.15112069767616781,0.6183677320033336],[-0.13918761979469624,0.6302900213220617]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.10433590556156225,-0.23213068840473206,0.71338606911949],"aabb_xy":[[-0.12322028933007244,-0.25101661318508484],[-0.08545152179305203,-0.21324476362437927]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.5152773297479676,1.0497214074373558,0.71338606911949],"aabb_xy":[[-0.5303796312089855,1.0346198858062936],[-0.5001750282869493,1.0648229290684175]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.13461109227793933,-1.4450151141206382,0.71338606911949],"aabb_xy":[[0.11872659901261418,-1.4593680544194623],[0.15049558554326448,-1.4306621738218142]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.6616954275612132,-0.7366777402405764,0.71338606911949],"aabb_xy":[[0.6203908844974773,-0.8006777398086934],[0.7029999706249492,-0.6726777406724592]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.41260298357780933,-1.7001742868916043,0.71338606911949],"aabb_xy":[[0.4091623073377522,-1.704035719865969],[0.41604365981786656,-1.69631285391724]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[0.4435685046438558,-0.4825828316747742,0.71338606911949],"aabb_xy":[[0.43893338949162225,-0.4864501667519228],[0.44820361979608897,-0.4787154965976255]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.0485914031378174,-1.2977209025935834,0.71338606911949],"aabb_xy":[[-0.05468603102593573,-1.3062902971452521],[-0.04249677524969909,-1.2891515080419147]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[-0.4359809885442514,-0.24364129388988198,0.71338606911949],"aabb_xy":[[-0.44942751517829477,-0.2571111455429732],[-0.4225344619102081,-0.23017144223679079]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.29488868848375926,0.4953230217334128,0.71338606911949],"aabb_xy":[[0.24479122450268564,0.431323021223601],[0.3449861524648329,0.5593230222432246]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.5870630533757326,1.1571588867975584,0.71338606911949],"aabb_xy":[[0.5170630515669872,1.135805118033371],[0.657063055184478,1.1785126555617458]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[-0.5530110709824813,-1.6382533240098085,0.71338606911949],"aabb_xy":[[-0.5578546657437112,-1.6431049764887926],[-0.5481674762212513,-1.6334016715308244]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.6063851273617827,-1.4383166919183654,0.71338606911949],"aabb_xy":[[-0.6241786342966991,-1.456116437514163],[-0.5885916204268662,-1.4205169463225678]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[0.518051806197513,-1.8052476159474233,0.71338606911949],"aabb_xy":[[0.4380518029334999,-1.8188076482563365],[0.5980518094615261,-1.7916875836385098]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[0.3266902945528847,-0.8315979782289176,0.71338606911949],"aabb_xy":[[0.2626902922100831,-0.8765388294730501],[0.39069029689568624,-0.7866571269847851]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644629663628604,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9200.png","name":"9200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9200.png","name":"9200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2906.png","name":"2906"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/679.png","name":"679"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3435.png","name":"3435"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":733.1999593743782,"rotation_z_degrees":349.9804933807878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0022924014216181704,-0.013491399897596694,-0.011402948817454614]},{"name":"camera_2","offset_m":[-0.01755223023326077,-0.004950323533250081,-0.016596921745788328]},{"name":"camera_3","offset_m":[-0.0033506123060337706,0.007487453050985728,0.016698746440198652]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00047562856598163533,-0.0014704920413641713,0.0003313161197149631],"end_effector_yaw_offset_degrees":0.41862430334550305},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011124008715697022,0.0012042201211484318,0.0009213657447787252],"end_effector_yaw_offset_degrees":-0.9242871684536582},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011529425601941221,0.0011796230349799975,0.001041234915392281],"end_effector_yaw_offset_degrees":0.7996755621041494}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0004969529172859973,-0.0004563870327413807],"position_m":[0.33790304708271396,0.08484361296725862,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014870835960872166,-0.004859206667331223],"position_m":[0.3531129164039128,0.23074079333266878,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029932544535220583,0.0016451947681125154],"position_m":[0.22029325445352205,-0.08555480523188748,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021856417502889936,-0.003057181936729535],"position_m":[0.24421435824971102,-0.33875718193672955,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e6cac896251db0db599510018e8e5fda5be09c777e33267f32341ba1413c249c","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9200/tex_ceiling_textures_3435/tex_floor_textures_65/tex_table_textures_2906/tex_wall_textures_679","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2890534105139403273,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2890534105139403273,"visual_seed":2890534105139403273,"scene_id":"lab_003","finished_at":"2026-09-02T02:50:00"}
+{"episode_id":"ep_000010","started_at":"2026-09-02T02:54:49","dimensions":{"distractor":{"count":24,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.25734018858108876,-1.3797935727184354,0.71338606911949],"aabb_xy":[[-0.2652634688198371,-1.4022935729564385],[-0.24941690834234043,-1.3572935724804318]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.5543884856138696,0.22685382593006587,0.71338606911949],"aabb_xy":[[-0.5893884838839893,0.21977969823507768],[-0.5193884873437495,0.233927953625054]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[-0.5566150367238706,-1.678396498959567,0.71338606911949],"aabb_xy":[[-0.6166150365704373,-1.7352151211526057],[-0.4966150368773037,-1.6215778767665283]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.24852858464459182,-0.7027769478765906,0.71338606911949],"aabb_xy":[[0.1835285846102891,-0.7494776245569178],[0.31352858467889455,-0.6560762711962632]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[0.33687067024974326,-1.7678408445149352,0.71338606911949],"aabb_xy":[[0.2728706729640946,-1.809347563467779],[0.4008706675353919,-1.726334125562091]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.5474670068491327,-2.1856546387787064,0.71338606911949],"aabb_xy":[[0.5022956890009639,-2.2496546359232448],[0.5926383246973018,-2.121654641634168]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.3570600582587973,-2.287068187838244,0.71338606911949],"aabb_xy":[[0.3270925013489716,-2.3170681881361297],[0.38702761516862294,-2.2570681875403587]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.3267528525581766,0.32147137753871524,0.71338606911949],"aabb_xy":[[-0.36175285253467243,0.3120067614910986],[-0.29175285258168077,0.33093599358633186]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.6333343248624015,0.3426915462167557,0.71338606911949],"aabb_xy":[[0.6284907301011715,0.33783989373777157],[0.6381779196236315,0.3475431986957398]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.49081310847877896,0.6152292498259597,0.71338606911949],"aabb_xy":[[-0.5608131100810585,0.601796456624302],[-0.4208131068764995,0.6286620430276172]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[-0.12214517973440109,-1.059545169523593,0.71338606911949],"aabb_xy":[[-0.15460688061632852,-1.089678001638495],[-0.08968347885247362,-1.0294123374086899]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.012747580020427973,1.3476090527041613,0.71338606911949],"aabb_xy":[[-0.02475242008516498,1.3407868908511802],[0.05024758012602092,1.3544312145571424]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.43140823623537056,-0.8358517513289161,0.71338606911949],"aabb_xy":[[-0.49540823693883995,-0.8818701338018373],[-0.3674082355319012,-0.7898333688559953]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.6444435545986269,-0.048497695603031854,0.71338606911949],"aabb_xy":[[0.584443552955705,-0.10049784489497604],[0.7044435562415488,0.0035024536889123256]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.33703077714097907,0.8563879020183602,0.71338606911949],"aabb_xy":[[-0.387030778424819,0.8064090476277381],[-0.28703077585713904,0.9063667564089823]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.6002009509290855,-0.004692816031089286,0.71338606911949],"aabb_xy":[[-0.6062955788172039,-0.013262210582758005],[-0.5941063230409672,0.003876578520579433]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.6671565124592052,1.1498437722864057,0.71338606911949],"aabb_xy":[[-0.6753710575748889,1.141167181988764],[-0.658941967343521,1.1585203625840468]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.04307872677049618,1.1775948972998385,0.71338606911949],"aabb_xy":[[-0.0931761907515698,1.1135948967900267],[0.0070187372105774415,1.2415948978096503]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.0696651932519724,0.308930200724022,0.71338606911949],"aabb_xy":[[-0.10716519443676518,0.30451197802796137],[-0.0321651920671796,0.3133484234200824]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.38452506639643325,-1.1555117852304235,0.71338606911949],"aabb_xy":[[0.35823624207599253,-1.1817832188850748],[0.41081389071687385,-1.1292403515757723]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.6634738833930408,-0.9452952203832627,0.71338606911949],"aabb_xy":[[-0.6786367563699779,-0.9604606776783816],[-0.6483110104161037,-0.9301297630881441]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.6844925004170572,-0.8887564076333265,0.71338606911949],"aabb_xy":[[0.6469924999196991,-0.8927250911814449],[0.7219925009144156,-0.8847877240852081]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.37362519387061005,-1.3552288957957668,0.71338606911949],"aabb_xy":[[-0.4235982594031256,-1.4052288956082997],[-0.32365212833809465,-1.3052288959832339]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.5006479869629227,0.3755485222998094,0.71338606911949],"aabb_xy":[[-0.5122169677098592,0.35054852218287774],[-0.4890790062159861,0.40054852241674116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702874148996978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3542.png","name":"3542"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3542.png","name":"3542"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9704.png","name":"9704"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9329.png","name":"9329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4831.png","name":"4831"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":556.3484227302196,"rotation_z_degrees":129.47609515791868,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009824357427110622,0.007713264568631896,-0.013076975727133969]},{"name":"camera_2","offset_m":[0.009054505361180812,0.006946245212143442,0.014466975037526319]},{"name":"camera_3","offset_m":[0.01717917034531131,0.002670303029641795,-0.00672918241807019]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012691613095845277,-0.0011490626480877917,-0.0014606503635268132],"end_effector_yaw_offset_degrees":-0.4309027601178361},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003954308072170289,-0.00142992759298182,0.0006005540278537515],"end_effector_yaw_offset_degrees":-0.6308004065206496},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010620935015664352,-0.00025214455634672427,-0.0014926187039014226],"end_effector_yaw_offset_degrees":0.5437184449642107}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002183575340268755,0.0038396847913925057],"position_m":[0.34058357534026873,0.0891396847913925,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002772928811303592,0.00038392594768761525],"position_m":[0.3573729288113036,0.2359839259476876,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019489692656255307,-0.0032914360293777945],"position_m":[0.21535103073437445,-0.0904914360293778,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043668654859389715,-0.004377993405902898],"position_m":[0.25076686548593896,-0.3400779934059029,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5ceb1dffdcaf9497a36329429c67675681bf044fb7de313f187bab3c5932a88d","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0019.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3542/tex_ceiling_textures_4831/tex_floor_textures_901/tex_table_textures_9704/tex_wall_textures_9329","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6437170431335022973,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6437170431335022973,"visual_seed":6437170431335022973,"scene_id":"lab_003","finished_at":"2026-09-02T02:57:29"}
+{"episode_id":"ep_000011","started_at":"2026-09-02T03:02:19","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.46884056193976,-0.6235623731512039,0.71338606911949],"aabb_xy":[[0.4513405628053927,-0.6334420001887916],[0.48634056107412704,-0.613682746113616]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.5642830099624756,-0.8452338430739337,0.71338606911949],"aabb_xy":[[0.5397367943397249,-0.8754827396229707],[0.5888292255852263,-0.8149849465248966]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.62833778605289,1.5664469143381168,0.71338606911949],"aabb_xy":[[0.624897109812833,1.5625854813637525],[0.6317784622929473,1.5703083473124815]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.49969400538270925,-0.017402926477526393,0.71338606911949],"aabb_xy":[[0.49573352161297485,-0.025070791063046993],[0.5036544891524435,-0.009735061892005792]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.07956602206831798,-1.4141593162110329,0.71338606911949],"aabb_xy":[[0.059674982187977746,-1.4268151274957297],[0.09945706194865825,-1.401503504926336]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.37878875053691696,0.7086851860094616,0.71338606911949],"aabb_xy":[[0.37508548920777807,0.7049831677007437],[0.38249201186605586,0.7123872043181794]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[0.09327185122255854,-1.6208064373895537,0.71338606911949],"aabb_xy":[[0.05897494020481791,-1.6551033235994947],[0.12756876224029917,-1.5865095511796121]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.3146175962860897,1.5750564543301855,0.71338606911949],"aabb_xy":[[-0.339617595558052,1.5587110907340231],[-0.2896175970141274,1.5914018179263478]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[-0.05360999082896711,0.34350234854222705,0.71338606911949],"aabb_xy":[[-0.0911099914935458,0.32781529054200476],[-0.016109990164388407,0.35918940654244913]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.45274003096791715,-2.351230564120917,0.71338606911949],"aabb_xy":[[-0.45681818887496695,-2.3553115443691803],[-0.44866187306086747,-2.3471495838726533]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.22540479784553236,-2.4074395013334335,0.71338606911949],"aabb_xy":[[0.20785810292941342,-2.4449395028976846],[0.2429514927616513,-2.3699394997691816]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.3005599642457325,1.363825460453818,0.71338606911949],"aabb_xy":[[0.2897869903243647,1.3288254622347793],[0.3113329381671003,1.3988254586728572]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.030074866664758226,-1.0321329019893308,0.71338606911949],"aabb_xy":[[-0.02002259731631539,-1.0961329024991426],[0.08017233064583185,-0.968132901479519]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.3469783119748704,-2.217395626175302,0.71338606911949],"aabb_xy":[[0.329478311729821,-2.234895414014869],[0.3644783122199198,-2.199895838335735]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.014060208444237277,-1.7510870651021193,0.71338606911949],"aabb_xy":[[-0.03012213590275492,-1.8360870669147111],[0.0020017190142803654,-1.6660870632895275]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[-0.49838944009968267,-1.6764920709519777,0.71338606911949],"aabb_xy":[[-0.5233894400322006,-1.6833747391729015],[-0.4733894401671648,-1.6696094027310548]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.5516617115388043,-0.2081667119893158,0.71338606911949],"aabb_xy":[[0.5337926037843488,-0.22199961996652673],[0.5695308192932598,-0.19433380401210487]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[-0.5325324404677068,0.09846357975099229,0.71338606911949],"aabb_xy":[[-0.5398147568443703,0.008463576141483282],[-0.525250124091043,0.18846358336050123]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[0.22426356484464371,-0.507285565201026,0.71338606911949],"aabb_xy":[[0.19593385489610352,-0.511746307394743],[0.25259327479318394,-0.5028248230073089]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.5251761281642189,-1.4211248647563772,0.71338606911949],"aabb_xy":[[0.45517612477265695,-1.456440638459808],[0.5951761315557809,-1.3858090910529464]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.5987942867389198,0.9613124195730629,0.71338606911949],"aabb_xy":[[-0.6043759583730485,0.9488124197552873],[-0.5932126151047908,0.9738124193908383]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[-0.31575550913569445,-1.989999937957048,0.71338606911949],"aabb_xy":[[-0.35325550907946085,-1.9982930279918847],[-0.27825550919192804,-1.9817068479222115]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.5092378742700062,1.09634339656193,0.71338606911949],"aabb_xy":[[-0.5692378759129281,1.0443432472699858],[-0.44923787262708437,1.1483435458538742]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[-0.10967069379796646,-2.5302161436186825,0.71338606911949],"aabb_xy":[[-0.11451428855919644,-2.5350677960976666],[-0.1048270990367365,-2.5253644911396984]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[-0.5494481189016482,1.5129699289278977,0.71338606911949],"aabb_xy":[[-0.6394481156372585,1.4597864656106028],[-0.45944812216603803,1.5661533922451918]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.666435448959838,-1.4424825017188239,0.71338606911949],"aabb_xy":[[-0.6916562858196776,-1.4677062525717104],[-0.6412146120999983,-1.417258750865937]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.6134174149043929,-2.0787197798489454,0.71338606911949],"aabb_xy":[[0.6085181225978294,-2.106396699151514],[0.6183167072109564,-2.0510428605463766]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[0.11545387737738744,-2.2218874806684825,0.71338606911949],"aabb_xy":[[0.1035211430155594,-2.2342696334763423],[0.12738661173921553,-2.2095053278606236]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.35610156422370265,1.73925266651031,0.71338606911949],"aabb_xy":[[0.30610156256220783,1.6892542242546071],[0.40610156588519736,1.7892511087660126]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[0.07007511320195414,1.5295374671831872,0.71338606911949],"aabb_xy":[[0.04757511268991353,1.5070456088177888],[0.09257511371399472,1.5520293255485855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6734038216575794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6141.png","name":"6141"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6141.png","name":"6141"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7182.png","name":"7182"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8178.png","name":"8178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1201.png","name":"1201"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":797.5048234998942,"rotation_z_degrees":316.0455673144402,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006994791625734083,0.017976725556672627,-0.002773630424451251]},{"name":"camera_2","offset_m":[0.01302127112000866,0.010773924562161356,0.003739456490414291]},{"name":"camera_3","offset_m":[0.005285188191004035,-0.012323347569799702,-0.014499217147350758]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016644747487158805,0.0004526024583209687,-5.8240573379249446e-05],"end_effector_yaw_offset_degrees":0.6160071143780232},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004950870362920123,0.0002534691018915942,-0.0013097595878831664],"end_effector_yaw_offset_degrees":-0.8011168242135929},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010035800387806306,0.0007499106967696436,-0.0013852040049895807],"end_effector_yaw_offset_degrees":0.07072441347074276}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004506972678553139,0.003200670020172787],"position_m":[0.3338930273214468,0.08850067002017278,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004843056634601884,0.0037201453516598005],"position_m":[0.3594430566346019,0.2393201453516598,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010505075780959054,-0.003206755132321577],"position_m":[0.21624949242190408,-0.09040675513232158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004004246841386044,0.003882632315545577],"position_m":[0.24239575315861397,-0.3318173676844544,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3af40112021ea449877f962edddd57bec6320326dd2c490006e1db63f847ea24","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6141/tex_ceiling_textures_1201/tex_floor_textures_8178/tex_table_textures_3158/tex_wall_textures_7182","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3229832578569530226,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3229832578569530226,"visual_seed":3229832578569530226,"scene_id":"lab_003","finished_at":"2026-09-02T03:04:37"}
+{"episode_id":"ep_000012","started_at":"2026-09-02T03:08:57","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.2614459256107744,-1.9298135897788504,0.71338606911949],"aabb_xy":[[0.2533182374174611,-1.9387271981895582],[0.26957361380408756,-1.9208999813681427]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.5180281398862633,-2.2863365031846743,0.71338606911949],"aabb_xy":[[-0.5273751474685585,-2.3006401254023183],[-0.508681132303968,-2.2720328809670303]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.023074217695385202,-0.8726669757130876,0.71338606911949],"aabb_xy":[[-0.01442578247648674,-0.9053677110959948],[0.06057421786725714,-0.8399662403301804]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.658443015957616,-0.7074302387818803,0.71338606911949],"aabb_xy":[[-0.6834430151232491,-0.7143824844872368],[-0.6334430167919829,-0.7004779930765237]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.30516186567671655,1.5758035559311776,0.71338606911949],"aabb_xy":[[0.24116616828161996,1.511803557630469],[0.36915756307181313,1.6398035542318863]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.5653030332983839,0.920143924229023,0.71338606911949],"aabb_xy":[[0.5434132857094431,0.8301439269397739],[0.5871927808873247,1.0101439215182721]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.5523415118081039,-2.13172031460327,0.71338606911949],"aabb_xy":[[-0.6021582912729386,-2.1817203130875735],[-0.5025247323432691,-2.081720316118967]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.3465568864151629,-1.6881617538874871,0.71338606911949],"aabb_xy":[[0.33191348086112993,-1.7028204735442711],[0.3612002919691959,-1.6735030342307027]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.09878380921183993,-2.510029631665988,0.71338606911949],"aabb_xy":[[0.04878380963550523,-2.5600102106180938],[0.14878380878817465,-2.460049052713882]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.03781560887109514,-1.8039891442965201,0.71338606911949],"aabb_xy":[[-0.012167341316384193,-1.8539891439390803],[0.08779855905857446,-1.7539891446539595]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.3842139875686394,0.08722298943806539,0.71338606911949],"aabb_xy":[[-0.39291194985935474,0.07509801513059067],[-0.37551602527792416,0.09934796374554013]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.2990013722880653,1.568872205434586,0.71338606911949],"aabb_xy":[[-0.3211738992647161,1.5466965382784625],[-0.27682884531141444,1.5910478725907087]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.6204833306565873,-1.4371801306226237,0.71338606911949],"aabb_xy":[[0.5992053225131151,-1.5021801329486966],[0.6417613388000596,-1.3721801282965504]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.5204166307452123,-1.237500283446443,0.71338606911949],"aabb_xy":[[0.475138015864063,-1.3015002827946267],[0.5656952456263615,-1.1735002840982593]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.38955277148440937,-1.5874921847384358,0.71338606911949],"aabb_xy":[[-0.4495527723452221,-1.638918614744922],[-0.3295527706235965,-1.5360657547319492]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.45314404488245397,-0.8036398916049636,0.71338606911949],"aabb_xy":[[0.383144041490892,-0.8389556653083945],[0.523144048274016,-0.7683241179015328]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.1460831779342996,-2.2362690440746187,0.71338606911949],"aabb_xy":[[-0.1552430568781762,-2.2428002621181555],[-0.136923298990423,-2.229737826031082]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.24122604630715583,0.5422953357309379,0.71338606911949],"aabb_xy":[[0.23714788840010614,0.5382143554826746],[0.24530420421420562,0.5463763159792012]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.23578085189926679,-0.953501439243307,0.71338606911949],"aabb_xy":[[0.19453204086935202,-1.0085014387555242],[0.27702966292918146,-0.8985014397310894]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.0205026805842351,-1.3245927006710028,0.71338606911949],"aabb_xy":[[-0.05800268040126866,-1.3292309119821446],[0.016997319232798458,-1.319954489359861]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.24135263124692063,-1.3816794388581215,0.71338606911949],"aabb_xy":[[0.1813526296039988,-1.4336795881500657],[0.3013526328898425,-1.3296792895661773]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.21903958007739144,-1.6594329894821027,0.71338606911949],"aabb_xy":[[0.14903958366742961,-1.679870925133784],[0.2890395764873532,-1.6389950538304205]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[0.17667881796044416,1.3956674464925856,0.71338606911949],"aabb_xy":[[0.12719839674648536,1.3316674485797337],[0.22615923917440295,1.4596674444054374]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[-0.5310180634947046,-1.4469474612190514,0.71338606911949],"aabb_xy":[[-0.595018062081277,-1.49395442461856],[-0.46701806490813214,-1.3999404978195427]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.426527962210536,-2.066622675802303,0.71338606911949],"aabb_xy":[[0.34652795895269306,-2.1466191835942867],[0.506527965468379,-1.9866261680103188]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[-0.02532168343625263,1.0503275748675298,0.71338606911949],"aabb_xy":[[-0.06181750406353137,1.0138436324407722],[0.011174137191026116,1.0868115172942874]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.130031010473749,1.3333261647976689,0.71338606911949],"aabb_xy":[[-0.13414696058582162,1.3292106097648229],[-0.1259150603616763,1.337441719830514]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.48717505660837024,0.29259768329378133,0.71338606911949],"aabb_xy":[[-0.4980155348348851,0.2754114020031325],[-0.4763345783818553,0.30978396458443014]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.6598736808831834,-2.008020099091337,0.71338606911949],"aabb_xy":[[-0.6654553525173121,-2.020520098909112],[-0.6542920092490547,-1.9955200992735613]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_29","position":[-0.31767376325530805,-0.5546259484215086,0.71338606911949],"aabb_xy":[[-0.3257171231812632,-0.639625949516875],[-0.3096304033293529,-0.46962594732614216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667029034295953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/736.png","name":"736"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/736.png","name":"736"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7519.png","name":"7519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1633.png","name":"1633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3923.png","name":"3923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/224.png","name":"224"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":849.8752677772407,"rotation_z_degrees":329.15737486790795,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004662928640573702,0.015981936730076477,-0.008756260737174624]},{"name":"camera_2","offset_m":[0.014403235289608286,-0.015665090039206908,0.015308203360232555]},{"name":"camera_3","offset_m":[0.0047860491761531725,0.0049307425379171745,-0.017835514881600054]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011534042986554786,0.0005550737271370863,0.0005814638449387552],"end_effector_yaw_offset_degrees":0.9259841572733059},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004204691499563756,-7.134024322087923e-05,0.0017086461109508586],"end_effector_yaw_offset_degrees":0.27147545634737646},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00032266449962775395,-0.0004635770224175632,0.0015009263049848023],"end_effector_yaw_offset_degrees":0.34717735524611815}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030593900870862735,-0.0004585512480738338],"position_m":[0.34145939008708626,0.08484144875192617,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007438836082459396,-0.00044835936028368023],"position_m":[0.35385611639175407,0.23515164063971633,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018587208441793726,-0.0019194888144414145],"position_m":[0.21915872084417937,-0.08911948881444141,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011148065462060486,-0.0033672516475202587],"position_m":[0.24528519345379396,-0.3390672516475203,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bdf646679ad85d49900fb7d465b07cc6e971aab88aa0d341aaf66498c04157b7","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_736/tex_ceiling_textures_224/tex_floor_textures_3923/tex_table_textures_7519/tex_wall_textures_1633","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3885891823466549320,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3885891823466549320,"visual_seed":3885891823466549320,"scene_id":"lab_003","finished_at":"2026-09-02T03:11:46"}
+{"episode_id":"ep_000013","started_at":"2026-09-02T03:11:49","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.3333583536118435,0.5028273541808828,0.71338606911949],"aabb_xy":[[-0.41335835101543694,0.4228347829826998],[-0.2533583562082501,0.5828199253790654]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.285768830920503,-1.6731095394267979,0.71338606911949],"aabb_xy":[[0.22177313352540634,-1.7371095377275065],[0.3497645283155995,-1.6091095411260892]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.6127087282320594,0.2898702713794279,0.71338606911949],"aabb_xy":[[-0.6477087281280781,0.2814960358674879],[-0.5777087283360404,0.2982445068913678]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.2749976332378336,0.14944004492680651,0.71338606911949],"aabb_xy":[[-0.2858492394867092,0.1385807541991555],[-0.264146026988958,0.16029933565445753]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.177353137586584,-1.8672888324661776,0.71338606911949],"aabb_xy":[[-0.1976374403099827,-1.887571457608886],[-0.15706883486318518,-1.8470062073234683]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.055029453599166,-0.9032232644201981,0.71338606911949],"aabb_xy":[[-0.008970548313176334,-0.9591344136782086],[0.11902945551150834,-0.8473121151621877]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.1433826841693705,-1.6401503463645397,0.71338606911949],"aabb_xy":[[-0.14988432067737512,-1.6499181683908497],[-0.13688104766136588,-1.6303825243382302]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.4977098526037046,0.8753186299090165,0.71338606911949],"aabb_xy":[[-0.5215460702443098,0.7853186291005303],[-0.4738736349630996,0.9653186307175032]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.18159332296516095,1.1463447735124137,0.71338606911949],"aabb_xy":[[-0.20681415982500057,1.121121022659527],[-0.15637248610532123,1.1715685243653005]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.4279633914564796,-2.4383947438532414,0.71338606911949],"aabb_xy":[[-0.4456390220450779,-2.4560749601326433],[-0.4102877608678812,-2.4207145275738378]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.3599920590914003,-2.115337869441623,0.71338606911949],"aabb_xy":[[0.31017527962656555,-2.1653378679259263],[0.40980883855623507,-2.0653378709573196]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.34830877082730477,-0.5800784967214363,0.71338606911949],"aabb_xy":[[-0.38178793808834577,-0.6135576100925434],[-0.3148296035662639,-0.5465993833503294]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.10203128395626582,1.70779325851441,0.71338606911949],"aabb_xy":[[0.06825572476557284,1.693754763301245],[0.1358068431469588,1.721831753727575]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.29689921822922705,-1.3431495743008666,0.71338606911949],"aabb_xy":[[-0.3390836323900578,-1.407149574578078],[-0.2547148040683963,-1.2791495740236556]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.11330752188525062,-0.33314839411147235,0.71338606911949],"aabb_xy":[[-0.1783075229911939,-0.3581137671796006],[-0.048307520779307334,-0.308183021043344]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.6727560024589604,-1.1625974817800244,0.71338606911949],"aabb_xy":[[-0.6821030100412557,-1.1769011039976685],[-0.6634089948766653,-1.1482938595623804]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.455105339368043,-0.7706712799192403,0.71338606911949],"aabb_xy":[[-0.5251053409703225,-0.7841040731208979],[-0.3851053377657635,-0.7572384867175828]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.34149876555130465,-1.3925702766354005,0.71338606911949],"aabb_xy":[[0.3355322266105688,-1.3985314212947646],[0.3474653044920404,-1.3866091319760363]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.4037282683903262,0.9765319534297197,0.71338606911949],"aabb_xy":[[-0.42500627653379847,0.9115319511036466],[-0.38245026024685397,1.0415319557557927]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.6244756479011838,-2.4837383520760725,0.71338606911949],"aabb_xy":[[-0.6415777258595519,-2.5008451576073423],[-0.6073735699428155,-2.4666315465448028]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.4941362581743176,0.35236866042981774,0.71338606911949],"aabb_xy":[[0.49002030806224495,0.34825310539697224],[0.4982522082863903,0.35648421546266323]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[0.026029917092987076,-2.1945074224574426,0.71338606911949],"aabb_xy":[[-0.011470083571591625,-2.2101944804576648],[0.06352991775756577,-2.1788203644572204]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[0.6858339337289434,-2.468133262980099,0.71338606911949],"aabb_xy":[[0.6683339344508564,-2.4854713630464453],[0.7033339330070302,-2.4507951629137534]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.6230133920267572,-0.6568346095790807,0.71338606911949],"aabb_xy":[[-0.6930133954183192,-0.6921503832825114],[-0.5530133886351952,-0.6215188358756497]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.1583430442969872,0.2030374890702049,0.71338606911949],"aabb_xy":[[-0.16560429186739462,0.19025047880669543],[-0.1510817967265798,0.2158244993337144]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631438960336684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4599.png","name":"4599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6538.png","name":"6538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8756.png","name":"8756"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":799.4635317920679,"rotation_z_degrees":0.39938137148368913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019330139937967613,-0.00833462317175247,0.014018523409264082]},{"name":"camera_2","offset_m":[0.004233071110857509,0.017001266406128115,0.019365102511569473]},{"name":"camera_3","offset_m":[-0.007754910896255667,-0.00106082676071928,0.006659149415385358]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006642473843608081,0.0017180160066883545,0.0018377775329880834],"end_effector_yaw_offset_degrees":-0.46016935294439576},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015830769412432132,0.0009627250232603392,0.0012337104898950519],"end_effector_yaw_offset_degrees":-0.17477456692869553},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001099810486584322,-0.0017161293677939574,-0.0009645121810717004],"end_effector_yaw_offset_degrees":-0.2799480792696789}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022634869855641883,-0.000362761230583185],"position_m":[0.3361365130144358,0.08493723876941682,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004268935752707287,-0.003662279282366464],"position_m":[0.35033106424729277,0.23193772071763355,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011850436363837367,0.0027812719052339122],"position_m":[0.21848504363638374,-0.08441872809476608,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035961638715039787,0.0019993430452727333],"position_m":[0.24999616387150397,-0.3337006569547273,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd4e272f099c8dd7c7aaccc35cbf4673db59c71048268c2fe118bfaa4347b0fe","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3964/tex_ceiling_textures_7189/tex_floor_textures_8756/tex_table_textures_4599/tex_wall_textures_6538","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7789758896621552176,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7789758896621552176,"visual_seed":7789758896621552176,"scene_id":"lab_003","finished_at":"2026-09-02T03:14:21"}
+{"episode_id":"ep_000014","started_at":"2026-09-02T03:15:50","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.673788737392234,1.2121842227873887,0.71338606911949],"aabb_xy":[[-0.6926731211607442,1.193298298007036],[-0.6549043536237238,1.2310701475677415]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.1258353319903197,0.5427596128187564,0.71338606911949],"aabb_xy":[[-0.1483353315140271,0.5202636653681355],[-0.10333533246661232,0.5652555602693771]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.016671827152954677,0.6072912588769888,0.71338606911949],"aabb_xy":[[-0.027523433401830277,0.5964319681493377],[-0.0058202209040790764,0.6181505496046398]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.3580089747035969,-2.361686387929908,0.71338606911949],"aabb_xy":[[-0.40800897506416295,-2.4116663751395104],[-0.3080089743430308,-2.3117064007203045]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.08932918624194053,-0.7914532117189335,0.71338606911949],"aabb_xy":[[-0.09659043381234794,-0.804240221982443],[-0.08206793867153311,-0.7786662014554241]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.6038779247887771,1.3118960716010846,0.71338606911949],"aabb_xy":[[0.5817053978121262,1.2897204044449615],[0.6260504517654278,1.3340717387572076]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.5757850671965064,-1.6259393210581377,0.71338606911949],"aabb_xy":[[0.5117893698014097,-1.6899393193588461],[0.6397807645916028,-1.5619393227574287]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.5136750765080049,-1.4516037758308447,0.71338606911949],"aabb_xy":[[0.4496750748300077,-1.5001211673101589],[0.5776750781860024,-1.4030863843515304]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.5475607748964448,1.2682736342764014,0.71338606911949],"aabb_xy":[[-0.5700744667199019,1.1982736336753936],[-0.5250470830729875,1.3382736348774087]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.4426320064066812,-0.3460790222612866,0.71338606911949],"aabb_xy":[[-0.502632006914534,-0.4029257559472079],[-0.38263200589882823,-0.2892322885753653]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.19952544450882453,-2.3960347196783305,0.71338606911949],"aabb_xy":[[-0.2330046117698655,-2.4295138330494375],[-0.16604627724778362,-2.3625556063072235]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.6677957824718599,1.0092879999851618,0.71338606911949],"aabb_xy":[[-0.677948798026009,0.973218458412421],[-0.6576427669177103,1.0453575415579017]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.46328230398058334,-2.001351047534494,0.71338606911949],"aabb_xy":[[-0.48656414617871463,-2.086351048831722],[-0.44000046178245195,-1.916351046237266]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.6311503427727685,0.20458525474721556,0.71338606911949],"aabb_xy":[[0.6086855728013634,0.18208525386835506],[0.6536151127441736,0.22708525562607607]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.4280336056950881,-2.2287873001955,0.71338606911949],"aabb_xy":[[-0.4373806132773833,-2.243090922413144],[-0.41868659811279285,-2.214483677977856]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.3339063536754377,-0.03187719209659878,0.71338606911949],"aabb_xy":[[-0.34118867005210124,-0.12187719570610775],[-0.32662403729877393,0.05812281151291022]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.4241999796276994,1.6333765165158387,0.71338606911949],"aabb_xy":[[0.40903710665076237,1.6182110592207202],[0.43936285260463653,1.6485419738109577]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.5218083972329699,0.16775659536472354,0.71338606911949],"aabb_xy":[[-0.5868083982334704,0.1169702302100486],[-0.4568083962324694,0.21854296051939848]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.1746242789504171,-0.5194420546376706,0.71338606911949],"aabb_xy":[[-0.20806445414643668,-0.5528856804686004],[-0.14118410375439747,-0.4859984288067403]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.5704324957594057,-0.0463338645048923,0.71338606911949],"aabb_xy":[[-0.6504263193379639,-0.12633386709773387],[-0.49043867218084747,0.03366613808794927]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.30299336583841163,-0.6634935634852248,0.71338606911949],"aabb_xy":[[0.2777725289785719,-0.6887173143381115],[0.32821420269825125,-0.638269812632338]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.2382463245255012,-1.1061708480175976,0.71338606911949],"aabb_xy":[[0.22218439706698356,-1.1911708498301892],[0.25430825198401885,-1.0211708462050055]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.49947223895187376,0.6635936431873377,0.71338606911949],"aabb_xy":[[0.4907582699019392,0.6410936425281494],[0.5081862080018081,0.6860936438465258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664564772267954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1677.png","name":"1677"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1677.png","name":"1677"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7325.png","name":"7325"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9965.png","name":"9965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5320.png","name":"5320"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":516.8382741312315,"rotation_z_degrees":321.49574985727077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006172650525524088,0.013252928404913916,-0.0004181897378102879]},{"name":"camera_2","offset_m":[0.01757308502736969,-0.01772778003732019,-0.018026147106045387]},{"name":"camera_3","offset_m":[-0.018649955959767563,-0.004640953001878962,-0.002254780464571452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000302434993431076,0.0005553678267429629,-0.0012146806043555891],"end_effector_yaw_offset_degrees":0.701152454308386},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014905228034419486,0.0014375670606065205,0.001939091450018575],"end_effector_yaw_offset_degrees":0.724643360773614},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004093585852316733,0.0012538814709567997,0.00013735948121868695],"end_effector_yaw_offset_degrees":0.46057555325776}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0039051337101751954,0.0005794993635641742],"position_m":[0.3423051337101752,0.08587949936356418,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010842173959351312,-0.000244329785762035],"position_m":[0.3535157826040649,0.23535567021423798,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002187407785357062,-0.0032055856505875625],"position_m":[0.21948740778535705,-0.09040558565058757,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00374336965467013,0.0024634227761640383],"position_m":[0.2426566303453299,-0.333236577223836,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b446136253b9a100fdab6df9c8bd0637d47675f1f8c1d6a2510ffd90ed47089","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1677/tex_ceiling_textures_5320/tex_floor_textures_9965/tex_table_textures_7325/tex_wall_textures_2401","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4902555529550685687,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4902555529550685687,"visual_seed":4902555529550685687,"scene_id":"lab_003","finished_at":"2026-09-02T03:18:30"}
+{"episode_id":"ep_000015","started_at":"2026-09-02T03:24:29","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.026533395633487555,0.9619774269131258,0.71338606911949],"aabb_xy":[[-0.021272771980281095,0.8969774242060667],[0.0743395632472562,1.0269774296201848]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.35085362915424495,-2.1913159126714934,0.71338606911949],"aabb_xy":[[-0.3883536306698766,-2.2025426856876384],[-0.3133536276386132,-2.1800891396553483]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.6759221485737937,1.3092336748267979,0.71338606911949],"aabb_xy":[[-0.6812597242397983,1.284233673897658],[-0.6705845729077892,1.3342336757559377]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.18057940658990712,-1.682729364825708,0.71338606911949],"aabb_xy":[[-0.2155794049006026,-1.6904443797492537],[-0.1455794082792117,-1.6750143499021624]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.5369095147618658,-2.5545821998809624,0.71338606911949],"aabb_xy":[[-0.5594095147720141,-2.5686784195205656],[-0.5144095147517175,-2.540485980241359]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.5228825350435191,-0.2944375517952187,0.71338606911949],"aabb_xy":[[0.4728825337596791,-0.3444164061858407],[0.572882536327359,-0.2444586974045965]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.6713784219822063,-1.2120497759160616,0.71338606911949],"aabb_xy":[[-0.6767109366368192,-1.217374104161297],[-0.6660459073275932,-1.206725447670826]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.09115304994412021,-1.7803641952335596,0.71338606911949],"aabb_xy":[[-0.11948275989266045,-1.7848249374272769],[-0.06282333999558,-1.7759034530398428]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.6357118916798093,-0.837096933738223,0.71338606911949],"aabb_xy":[[-0.6681735925617367,-0.8672297658531254],[-0.6032501907978818,-0.8069641016233202]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.44406686198320544,1.1775889391737495,0.71338606911949],"aabb_xy":[[-0.5090668629403325,1.125640727240044],[-0.3790668610260782,1.229537151107455]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.5160519439822377,-1.2813169796178687,0.71338606911949],"aabb_xy":[[0.48105194571211773,-1.2883911073128569],[0.5510519422523575,-1.2742428519228806]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.04189812131528303,-1.8658724817962644,0.71338606911949],"aabb_xy":[[-0.05452490860247938,-1.8754185554978373],[-0.029271334028086682,-1.8563264080946915]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[0.2689097651850868,-1.0707429140461173,0.71338606911949],"aabb_xy":[[0.2426209408646461,-1.0970143477007686],[0.2951985895055274,-1.044471480391466]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_13","position":[-0.21613637509505101,-0.7573194079178835,0.71338606911949],"aabb_xy":[[-0.28013637426482096,-0.8040860950368459],[-0.15213637592528106,-0.710552720798921]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[-0.33005215130415133,-1.170398555844447,0.71338606911949],"aabb_xy":[[-0.339469625874014,-1.1798147329821658],[-0.3206346767342885,-1.1609823787067277]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.5888842007838617,1.074391668586788,0.71338606911949],"aabb_xy":[[0.5388891898244097,1.0243916695511965],[0.6388792117433137,1.12439166762238]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.5281222358596074,0.6435675884226555,0.71338606911949],"aabb_xy":[[-0.5881222363674602,0.5867208547367341],[-0.4681222353517544,0.7004143221085767]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.41027324578143287,-0.19184877164977987,0.71338606911949],"aabb_xy":[[0.39021483416819264,-0.2119138585589374],[0.4303316573946732,-0.17178368474062233]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.06480503874650179,0.47590222155913864,0.71338606911949],"aabb_xy":[[-0.10230503885209473,0.4690800597061575],[-0.027305038640908826,0.48272438341211976]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.5790743371981866,-1.4959416589220762,0.71338606911949],"aabb_xy":[[-0.6015391071695916,-1.5184416598009365],[-0.5566095672267813,-1.4734416580432155]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.08588808523434655,-1.2429204044937885,0.71338606911949],"aabb_xy":[[0.07273683926305718,-1.267920404250475],[0.09903933120563592,-1.217920404737102]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.23779716343709012,0.7208847929396414,0.71338606911949],"aabb_xy":[[-0.2433788350712189,0.7083847931218659],[-0.2322154918029614,0.7333847927574169]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[0.3918934799644671,0.6034641332749748,0.71338606911949],"aabb_xy":[[0.3118934813771476,0.5241485313368138],[0.4718934785517865,0.6827797352131356]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.4654711788854875,1.5735953394003537,0.71338606911949],"aabb_xy":[[0.43498692875845735,1.5235953396188577],[0.49595542901251766,1.6235953391818496]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.6822350744898615,-0.4290630155041435,0.71338606911949],"aabb_xy":[[0.6472350752970432,-0.440030061501806],[0.7172350736826797,-0.41809596950648076]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.07114608072129869,0.8274637964235119,0.71338606911949],"aabb_xy":[[-0.07755989436448361,0.8210539761758434],[-0.06473226707811373,0.8338736166711801]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.5672712931223043,-1.705798817721317,0.71338606911949],"aabb_xy":[[-0.6172501016326202,-1.7557988177270358],[-0.5172924846119884,-1.6557988177155982]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[-0.3371321939787251,-0.6183072243184315,0.71338606911949],"aabb_xy":[[-0.4071321961101546,-0.6410691899441271],[-0.26713219184729553,-0.5955452586927358]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_28","position":[-0.6533006326826738,0.4552031422434477,0.71338606911949],"aabb_xy":[[-0.672185016451184,0.436317217463095],[-0.6344162489141636,0.47408906702380055]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644595188375505,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3114.png","name":"3114"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3114.png","name":"3114"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4353.png","name":"4353"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/602.png","name":"602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7318.png","name":"7318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/288.png","name":"288"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":747.8223324978284,"rotation_z_degrees":24.664626304308605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012903617801132597,-0.014183824353870299,0.005843702879598386]},{"name":"camera_2","offset_m":[-0.013243636066558963,0.010801229258964994,0.00292205357476227]},{"name":"camera_3","offset_m":[0.014436618269779048,-0.017838906408146667,0.018114431345115322]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017980361407537553,0.0007957217040398664,-0.00053095818290857],"end_effector_yaw_offset_degrees":-0.5182168768041437},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008266022636237405,0.0007237710299010519,-0.001001601220218594],"end_effector_yaw_offset_degrees":0.6752716075709249},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001241777993258562,-0.0007191985258902683,0.0018017100644141062],"end_effector_yaw_offset_degrees":-0.8188690946893595}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024665387002393104,0.0010994847294344369],"position_m":[0.33593346129976065,0.08639948472943444,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036742954976878507,0.0009538170026351135],"position_m":[0.3509257045023122,0.23655381700263511,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003689987939909353,0.004538794790065032],"position_m":[0.22098998793990934,-0.08266120520993497,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004087343317141484,0.004333979477936101],"position_m":[0.24231265668285853,-0.3313660205220639,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"101c550282c933b9ce12157e78e9b66510ddb29acda6a2ff0ffa9af098e895fc","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3114/tex_ceiling_textures_288/tex_floor_textures_7318/tex_table_textures_4353/tex_wall_textures_602","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7402000534322958142,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7402000534322958142,"visual_seed":7402000534322958142,"scene_id":"lab_003","finished_at":"2026-09-02T03:27:15"}
+{"episode_id":"ep_000016","started_at":"2026-09-02T03:27:18","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.5941364627756502,-1.1935465335892177,0.71338606911949],"aabb_xy":[[-0.6581364619454201,-1.2403132207081802],[-0.5301364636058802,-1.1467798464702552]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.050480641076153576,-0.5839754006355489,0.71338606911949],"aabb_xy":[[-0.0598276486584488,-0.5982790228531929],[-0.04113363349385834,-0.5696717784179048]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.20346938084362953,0.6198302010537078,0.71338606911949],"aabb_xy":[[0.13946938046609592,0.5700849342028954],[0.26746938122116315,0.6695754679045199]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.13659996946744324,1.1843289311657266,0.71338606911949],"aabb_xy":[[-0.1537020474258114,1.1672221256344568],[-0.11949789150907508,1.2014357366969963]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.26719549569463996,1.7716280070035677,0.71338606911949],"aabb_xy":[[0.2367973845954964,1.741221105001898],[0.29759360679378355,1.802034909005237]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.07915653993670191,-1.4207643560733947,0.71338606911949],"aabb_xy":[[-0.08411256012158311,-1.4432643562755163],[-0.07420051975182071,-1.398264355871273]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.3656053439342898,0.005114250107705498,0.71338606911949],"aabb_xy":[[-0.3736416786355746,-0.0029238691967112826],[-0.35756900923300494,0.013152369412122278]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.48718569135194567,0.728911992361069,0.71338606911949],"aabb_xy":[[0.468979867690698,0.7178865917790773],[0.5053915150131933,0.7399373929430606]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.5077237446721905,-0.3922656500964554,0.71338606911949],"aabb_xy":[[-0.5154269353462675,-0.39997502079519337],[-0.5000205539981135,-0.38455627939771736]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.2538147387305105,1.1331374983509455,0.71338606911949],"aabb_xy":[[-0.27765095637111564,1.0431374975424592],[-0.22997852108990552,1.2231374991594322]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.5014120173183372,1.6428507888034551,0.71338606911949],"aabb_xy":[[-0.5364120155884571,1.635776661108467],[-0.4664120190482173,1.6499249164984433]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.6800886610333623,-0.5009317510772742,0.71338606911949],"aabb_xy":[[0.6565035375694676,-0.565931753322706],[0.7036737844972573,-0.4359317488318424]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.6401264357051552,-0.4785696208778156,0.71338606911949],"aabb_xy":[[-0.6527291348422316,-0.4911650171026811],[-0.6275237365680787,-0.46597422465295013]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.25290618753633576,-1.918173575872137,0.71338606911949],"aabb_xy":[[-0.26447516828327233,-1.943173575989069],[-0.24133720678939918,-1.8931735757552055]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.45970933521354507,-1.0875292921381645,0.71338606911949],"aabb_xy":[[-0.4809873433570173,-1.1525292944642374],[-0.4384313270700728,-1.0225292898120912]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.5979310240616844,0.5851352644229615,0.71338606911949],"aabb_xy":[[0.5870905458351695,0.5679489831323127],[0.6087715022881993,0.6023215457136103]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.5000231190502913,0.5016107100307838,0.71338606911949],"aabb_xy":[[0.4625231189446983,0.49478854817780277],[0.5375231191558841,0.508432871883765]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.6648114479617049,-0.24513688371307962,0.71338606911949],"aabb_xy":[[0.6273114493860841,-0.25787317937663756],[0.7023114465373257,-0.23240058804952168]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.16383479231589093,-2.1441247813841575,0.71338606911949],"aabb_xy":[[-0.19167982909649806,-2.174909280122469],[-0.1359897555352838,-2.113340282645846]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.5728528715121379,-0.6202790185434441,0.71338606911949],"aabb_xy":[[0.5648593817168559,-0.6282771504839197],[0.58084636130742,-0.6122808866029685]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.014685468086115594,0.7656219698246107,0.71338606911949],"aabb_xy":[[-0.06465853361863107,0.7156219700120778],[0.03528759744639987,0.8156219696371437]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.500260615908541,-2.4004423355166487,0.71338606911949],"aabb_xy":[[-0.5248068315312917,-2.4306912320656853],[-0.4757144002857903,-2.370193438967611]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[0.6287220238190561,-0.9532034469014576,0.71338606911949],"aabb_xy":[[0.6189660343098821,-0.962965980960692],[0.6384780133282298,-0.9434409128422231]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.43831219516454656,0.8146898588877738,0.71338606911949],"aabb_xy":[[0.40098091863930396,0.7800368040929216],[0.47564347168978915,0.8493429136826262]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.6049372489966549,-2.065393968690205,0.71338606911949],"aabb_xy":[[-0.6102748246626595,-2.090393969619345],[-0.5995996733306503,-2.0403939677610654]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.5364120270470385,-0.2598783244038563,0.71338606911949],"aabb_xy":[[-0.5534221243370891,-0.2760128129021302],[-0.5194019297569878,-0.24374383590558235]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.6381075756156518,-0.0735721079042535,0.71338606911949],"aabb_xy":[[-0.6453513416618971,-0.15357210610785588],[-0.6308638095694065,0.006427890299348871]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[0.2500157305712335,1.4671749947576296,0.71338606911949],"aabb_xy":[[0.18501573241531444,1.4408787502077174],[0.31501572872715256,1.4934712393075418]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666088302533202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5009.png","name":"5009"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5009.png","name":"5009"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6679.png","name":"6679"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2034.png","name":"2034"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4901.png","name":"4901"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/878.png","name":"878"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":534.0731386420388,"rotation_z_degrees":193.9819294838603,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017123403047068515,0.01737148421597631,0.017456708914591067]},{"name":"camera_2","offset_m":[-0.009898734668039184,0.010604922306054157,0.018034812080743656]},{"name":"camera_3","offset_m":[-0.015374271105555927,0.005520744999525918,-0.016832025403596927]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00018415869006031685,-0.0013408197252820324,-0.0016961567134573569],"end_effector_yaw_offset_degrees":0.6986294854906485},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004892470609017597,0.0010222480865445076,0.001351698017159595],"end_effector_yaw_offset_degrees":0.22702994014346856},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018409802945205055,-0.0015965444324904056,0.00028496951003133134],"end_effector_yaw_offset_degrees":-0.8026342691771793}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0014096333802369274,-0.0028707763334022496],"position_m":[0.3398096333802369,0.08242922366659775,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028348683787479023,0.0047652227966317245],"position_m":[0.3517651316212521,0.24036522279663172,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003858182578435578,0.0016466172042842583],"position_m":[0.22115818257843556,-0.08555338279571574,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00459351547910753,0.004371481551489608],"position_m":[0.25099351547910753,-0.3313285184485104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8e2d74f06c11305a428e3a217e0da7b7ddf49d1588d836335422986bd740bed2","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5009/tex_ceiling_textures_878/tex_floor_textures_4901/tex_table_textures_6679/tex_wall_textures_2034","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6889354411367208497,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6889354411367208497,"visual_seed":6889354411367208497,"scene_id":"lab_003","finished_at":"2026-09-02T03:30:00"}
+{"episode_id":"ep_000017","started_at":"2026-09-02T03:33:11","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.311406419889392,-1.8232908293342385,0.71338606911949],"aabb_xy":[[0.2764064207594364,-1.8290360504099026],[0.3464064190193477,-1.8175456082585744]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.6026624025891385,1.1300959833424096,0.71338606911949],"aabb_xy":[[0.5226624021189226,1.1217852757280613],[0.6826624030593544,1.1384066909567578]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.598562818007599,1.6685680634356177,0.71338606911949],"aabb_xy":[[0.5345628208954932,1.619535693641207],[0.6625628151197046,1.7176004332300283]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.45659700538845976,0.015984787816301083,0.71338606911949],"aabb_xy":[[-0.5165970052350266,-0.0408338343767376],[-0.396597005541893,0.07280341000933976]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.48842575563965873,0.6500575021328894,0.71338606911949],"aabb_xy":[[0.48039948500903273,0.6413060071555369],[0.49645202627028473,0.6588089971102421]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.25965361899761696,0.8590133417618326,0.71338606911949],"aabb_xy":[[0.22587805980692405,0.8449748465486675],[0.29342917818831,0.8730518369749976]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.6076006020816438,-1.832376202898454,0.71338606911949],"aabb_xy":[[-0.6146420530323914,-1.8394029546362483],[-0.6005591511308962,-1.8253494511606594]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.41412001799995113,1.1098812095263129,0.71338606911949],"aabb_xy":[[0.36803492674521965,1.0458812122737577],[0.4602051092546826,1.173881206778868]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[0.384440242210899,-0.22440515636501246,0.71338606911949],"aabb_xy":[[0.36694030877691564,-0.241905156285247],[0.4019401756448824,-0.20690515644477792]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.586661861516855,1.5920489198496193,0.71338606911949],"aabb_xy":[[-0.6506575589119515,1.5280489215489104],[-0.5226661641217584,1.6560489181503277]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.2615982320466581,0.4661944232418809,0.71338606911949],"aabb_xy":[[0.24409823276857123,0.4488563231755349],[0.279098231324745,0.4835325233082268]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.41942706742523783,-1.9917004190501704,0.71338606911949],"aabb_xy":[[0.3554270681310696,-2.0556865594190246],[0.48342706671940605,-1.9277142786813162]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.2919065986131233,-1.7534337648573948,0.71338606911949],"aabb_xy":[[0.2569065972616415,-1.7737935008142156],[0.32690659996460497,-1.733074028900574]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.38145813088234426,-2.184219264017469,0.71338606911949],"aabb_xy":[[-0.3855939872150445,-2.221719263461826],[-0.3773222745496441,-2.146719264573112]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.6690425451060478,1.0088252802334927,0.71338606911949],"aabb_xy":[[-0.6727458064351866,1.0051232619247747],[-0.6653392837769088,1.0125272985422102]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.5381299327119573,1.204909638072734,0.71338606911949],"aabb_xy":[[-0.543711604346086,1.1924096382549585],[-0.5325482610778284,1.2174096378905095]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.13280758759323164,-2.4969561940408656,0.71338606911949],"aabb_xy":[[-0.18280242052117324,-2.546956192936109],[-0.08281275466529003,-2.446956195145622]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.0737075097643034,0.01287766629664766,0.71338606911949],"aabb_xy":[[-0.09281981712228225,-0.0062571125805943595],[-0.054595202406324525,0.03201244517388968]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.5795221744693286,-1.6959580329904864,0.71338606911949],"aabb_xy":[[-0.6246934923174977,-1.7599580301350253],[-0.5343508566211598,-1.6319580358459485]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.6326739851971865,0.800005806963398,0.71338606911949],"aabb_xy":[[-0.6503496157857849,0.7823255906839951],[-0.6149983546085882,0.8176860232428006]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.5608384049776287,-2.332101148057871,0.71338606911949],"aabb_xy":[[0.5573977287375715,-2.3359625810322355],[0.5642790812176859,-2.3282397150835066]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.49541298393800615,-0.2301464897710379,0.71338606911949],"aabb_xy":[[-0.560412982495079,-0.25989902318492053],[-0.43041298538093326,-0.2003939563571553]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.1490211407290265,-1.0406647843077914,0.71338606911949],"aabb_xy":[[0.11402114241833106,-1.048379799231337],[0.18402113903972195,-1.0329497693842458]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.177119107972326,-1.5311575364836558,0.71338606911949],"aabb_xy":[[-0.1922819809492631,-1.546322993778775],[-0.16195623499538891,-1.5159920791885375]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.1572061826114628,-0.2326423742757613,0.71338606911949],"aabb_xy":[[-0.17470618287079945,-0.24673391646453396],[-0.1397061823521262,-0.21855083208698872]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.40613294051003157,-1.3078259367141734,0.71338606911949],"aabb_xy":[[0.32613294349578353,-1.3279604883875846],[0.4861329375242795,-1.287691385040762]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_26","position":[-0.3764345301088957,-1.045775080537734,0.71338606911949],"aabb_xy":[[-0.3855944090527723,-1.052306298581271],[-0.3672746511650191,-1.0392438624941969]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[0.16925663626574916,-2.1741656439999604,0.71338606911949],"aabb_xy":[[0.07925663258883096,-2.235598050577064],[0.2592566399426673,-2.112733237422855]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[0.17765081432121788,-0.8151454450913684,0.71338606911949],"aabb_xy":[[0.17061050438768088,-0.89514544449104],[0.18469112425475487,-0.7351454456916972]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[-0.07663124521118758,-2.3024539198456457,0.71338606911949],"aabb_xy":[[-0.16035347071127004,-2.3924539233803417],[0.007090980288894877,-2.21245391631095]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[-0.522656335529514,0.8303341603152861,0.71338606911949],"aabb_xy":[[-0.534528418541015,0.7453341606216357],[-0.5107842525180127,0.9153341600089364]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[-0.023629645090676776,1.5265658077569966,0.71338606911949],"aabb_xy":[[-0.103623468669235,1.4465658051641554],[0.056364178487881444,1.6065658103498386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66945702223452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/460.png","name":"460"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2662.png","name":"2662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6140.png","name":"6140"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5886.png","name":"5886"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.147469123895,"rotation_z_degrees":324.49755316033355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005275609523949875,0.011010718653109316,0.01100976263658544]},{"name":"camera_2","offset_m":[-0.01808546996216244,0.0074920663406054765,-0.005523501608529675]},{"name":"camera_3","offset_m":[-0.007525517742432219,-0.014561134982706725,-0.019494416993219712]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008684118120158436,0.0011330393605946593,3.73106449315856e-05],"end_effector_yaw_offset_degrees":-0.04658369664415596},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018162965757797678,-0.0006012986192599566,-0.0013077934741754353],"end_effector_yaw_offset_degrees":-0.06612752609238592},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00012073967748989743,0.0006237189679949712,-0.0008467680234631044],"end_effector_yaw_offset_degrees":-0.5709337351275385}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003989629099121752,-0.0037722128679481895],"position_m":[0.3387989629099121,0.0815277871320518,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013225851403706771,0.001873385033911371],"position_m":[0.35592258514037073,0.23747338503391138,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004530947528602193,-0.00013362048146025717],"position_m":[0.2127690524713978,-0.08733362048146026,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017791980566039412,-0.004347134856945131],"position_m":[0.24462080194339605,-0.34004713485694515,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6709a364b540ac461e2a90d8a06838a357f0b2a524091cfdf1150e56309e48b1","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3499/tex_ceiling_textures_5886/tex_floor_textures_6140/tex_table_textures_460/tex_wall_textures_2662","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7272837986098249131,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7272837986098249131,"visual_seed":7272837986098249131,"scene_id":"lab_003","finished_at":"2026-09-02T03:35:57"}
+{"episode_id":"ep_000018","started_at":"2026-09-02T03:37:22","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.18865749000263543,1.325549073457712,0.71338606911949],"aabb_xy":[[0.15115749157923505,1.312384859489881],[0.22615748842603575,1.3387132874255425]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.2119124283503691,1.325150179325104,0.71338606911949],"aabb_xy":[[-0.30191243202728724,1.2637177727479991],[-0.1219124246734509,1.3865825859022078]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.2754533715938138,-1.3411522492026695,0.71338606911949],"aabb_xy":[[-0.32545337254434653,-1.3727013962061907],[-0.22545337064328091,-1.3096031021991479]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[0.5349884391860067,-0.6898664981029978,0.71338606911949],"aabb_xy":[[0.4709884388084731,-0.73961176495381],[0.5989884395635403,-0.6401212312521855]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.26531673362720876,-1.8511324947724965,0.71338606911949],"aabb_xy":[[0.21531673418701314,-1.9011004192568126],[0.3153167330674044,-1.80116457028818]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.2675194179439948,-2.5055260751872455,0.71338606911949],"aabb_xy":[[-0.2803913214449349,-2.5855260756010816],[-0.2546475144430546,-2.4255260747734093]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.3783428290887727,-0.25382143874712115,0.71338606911949],"aabb_xy":[[0.3658754709790371,-0.26628676338044466],[0.3908101871985084,-0.24135611411379765]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.4467757294348358,-0.10452977490258109,0.71338606911949],"aabb_xy":[[0.42688468955449566,-0.11718558618727795],[0.46666676931517614,-0.09187396361788426]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.24833486887551154,0.19974590647021317,0.71338606911949],"aabb_xy":[[-0.3283348660350868,0.18819830551239616],[-0.16833487171593625,0.21129350742803024]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.5490400757258714,0.43854828095163656,0.71338606911949],"aabb_xy":[[-0.6290400743131908,0.35923267901347566],[-0.46904007713855195,0.5178638828897975]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.16794970378654495,-1.21302332859982,0.71338606911949],"aabb_xy":[[-0.21794471474599703,-1.2630233276354117],[-0.11795469282709295,-1.1630233295642283]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.15561275003453512,-0.3966944512069204,0.71338606911949],"aabb_xy":[[-0.21961274714664084,-0.44572682100133093],[-0.09161275292242946,-0.3476620814125097]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.34176303964748284,-1.1518888220605847,0.71338606911949],"aabb_xy":[[-0.3786135875844705,-1.1893888228836185],[-0.3049124917104953,-1.114388821237551]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.36186279914565306,-0.20814153122776657,0.71338606911949],"aabb_xy":[[-0.4258627955412261,-0.27210481964650013],[-0.2978628027500799,-0.14417824280903302]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.6236335541303069,1.055618227734589,0.71338606911949],"aabb_xy":[[0.5924866352867237,0.9856182290477817],[0.65478047297389,1.125618226421396]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.4030387110670077,0.011142973757279684,0.71338606911949],"aabb_xy":[[-0.4373356220847483,-0.023153912452661685],[-0.36874180004926704,0.04543985996722105]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.6342887387245151,-1.1372953322100252,0.71338606911949],"aabb_xy":[[0.6293327185396339,-1.1597953324121468],[0.6392447589093962,-1.1147953320079036]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.5538750912569188,0.46423166910650693,0.71338606911949],"aabb_xy":[[0.5038908555487415,0.41423167029301133],[0.6038593269650959,0.5142316679200025]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.11920574214795476,-2.2961896799947796,0.71338606911949],"aabb_xy":[[0.09892143942455599,-2.3164723051374883],[0.1394900448713535,-2.27590705485207]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.6062402933191913,-0.26922431558294235,0.71338606911949],"aabb_xy":[[0.5262402930455842,-0.3421738634086591],[0.6862402935927981,-0.19627476775722566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697950811285754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2209.png","name":"2209"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2209.png","name":"2209"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/229.png","name":"229"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6567.png","name":"6567"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9279.png","name":"9279"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.88600774152684,"rotation_z_degrees":15.3222420029971,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018281332115724146,-0.017872162850299068,0.015786820758968704]},{"name":"camera_2","offset_m":[-0.007373232664105904,-0.0019620214038767424,-0.016944771628916992]},{"name":"camera_3","offset_m":[-0.010103691899848846,0.0020302832262568266,0.011927835297177041]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013373909469968073,-0.0002569547706324138,0.001697753787278794],"end_effector_yaw_offset_degrees":0.48815939923674123},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009385104272699955,-0.00023451769372030912,6.070445203222759e-05],"end_effector_yaw_offset_degrees":0.7821126652147379},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[4.5442907630367704e-05,-0.000340605479349684,-0.0013365772380277818],"end_effector_yaw_offset_degrees":0.6724922636291844}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-8.525866775238502e-05,-0.0023263748792856577],"position_m":[0.3383147413322476,0.08297362512071434,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034025688300577195,-0.002709015263771485],"position_m":[0.35800256883005777,0.23289098473622852,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001450411867303535,-0.0035257753736676156],"position_m":[0.21875041186730354,-0.09072577537366762,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018966645992976499,0.003707787879819047],"position_m":[0.24829666459929767,-0.33199221212018093,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"780412adc81231df992cefc52bb64a16539d67734646f84d870399376435f545","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2209/tex_ceiling_textures_9279/tex_floor_textures_2890/tex_table_textures_229/tex_wall_textures_6567","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6081108435753931188,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6081108435753931188,"visual_seed":6081108435753931188,"scene_id":"lab_003","finished_at":"2026-09-02T03:40:00"}
+{"episode_id":"ep_000019","started_at":"2026-09-02T03:43:26","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.40458564308637057,-1.9867932240305386,0.71338606911949],"aabb_xy":[[-0.42464405469961086,-2.0068583109396956],[-0.3845272314731303,-1.966728137121381]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.15028673986375118,0.9431141807118655,0.71338606911949],"aabb_xy":[[0.11913982102016807,0.8731141820250582],[0.1814336587073343,1.0131141793986727]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.5566466958982917,-1.0847777614082936,0.71338606911949],"aabb_xy":[[-0.5785364434872324,-1.1747777586975425],[-0.5347569483093508,-0.9947777641190444]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[0.28692193445035685,-2.035626557881948,0.71338606911949],"aabb_xy":[[0.2691284275154404,-2.0534263034777456],[0.3047154413852733,-2.0178268122861502]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.17527407408092466,1.663554501936051,0.71338606911949],"aabb_xy":[[0.1576957718919778,1.645980012361946],[0.1928523762698715,1.681128991510156]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.3618677298141472,0.893888565898683,0.71338606911949],"aabb_xy":[[-0.3744704289512237,0.8812931696738177],[-0.34926503067707076,0.9064839621235486]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.6483976289467333,1.3626857473688054,0.71338606911949],"aabb_xy":[[0.5833976310650856,1.3115620836622648],[0.7133976268283811,1.4138094110753465]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.12327548446076109,-1.0002389190323075,0.71338606911949],"aabb_xy":[[0.11319377738218758,-1.080238916924422],[0.13335719153933454,-0.9202389211401927]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.07683257115255882,-0.2659500134257611,0.71338606911949],"aabb_xy":[[-0.1468325727548383,-0.2793828066274187],[-0.006832569550279333,-0.25251722022410356]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.5444367104502019,-2.3279864317237653,0.71338606911949],"aabb_xy":[[0.537154394073538,-2.417986435333274],[0.5517190268268654,-2.237986428114256]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.25683159651533083,-1.3051665285886251,0.71338606911949],"aabb_xy":[[-0.3118238471508418,-1.360166530331938],[-0.20183934587981994,-1.2501665268453124]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.12354443520241332,0.8154430359690079,0.71338606911949],"aabb_xy":[[-0.18354443606322612,0.7640166059625215],[-0.06354443434160051,0.8668694659754943]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.7131777518950633,-1.2364473890554903,0.71338606911949],"aabb_xy":[[0.7038307443127682,-1.2507510112731344],[0.7225247594773586,-1.2221437668378463]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.481770070298707,1.5500093303047122,0.71338606911949],"aabb_xy":[[-0.5317530204861862,1.5000093306621516],[-0.4317871201112276,1.6000093299472724]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.10914763038816666,-2.3445693673763723,0.71338606911949],"aabb_xy":[[-0.11830750933204326,-2.3511005854199087],[-0.09998775144429006,-2.338038149332835]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.1793056691860727,0.4903432156678176,0.71338606911949],"aabb_xy":[[-0.2593056678429587,0.47583835674355474],[-0.09930567052918671,0.5048480745920803]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.5614967868175983,-2.3024024538596435,0.71338606911949],"aabb_xy":[[-0.6464967852350215,-2.3872767493219285],[-0.47649678840017506,-2.2175281583973585]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.3613288546126101,-0.19367096396833006,0.71338606911949],"aabb_xy":[[-0.4213288548640112,-0.24795228900479468],[-0.3013288543612089,-0.13938963893186537]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.5775749809975266,0.36074312364975913,0.71338606911949],"aabb_xy":[[0.527580148069585,0.3107431247545156],[0.6275698139254682,0.41074312254500267]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.10245234650173451,-2.383124772509664,0.71338606911949],"aabb_xy":[[0.09648580756099871,-2.389085917169028],[0.10841888544247029,-2.3771636278502997]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.30934531366817786,0.8166663062759292,0.71338606911949],"aabb_xy":[[0.29919229811402837,0.7805967647031886],[0.3194983292223271,0.8527358478486693]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[0.47724727561650315,-0.6419012815182443,0.71338606911949],"aabb_xy":[[0.45474727537298776,-0.6541059161780164],[0.49974727586001855,-0.6296966468584725]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[0.1467979722927133,-1.8303337892577063,0.71338606911949],"aabb_xy":[[0.10929797386931295,-1.843498003225537],[0.18429797071611365,-1.8171695752898755]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.15502402747763222,1.476783037772147,0.71338606911949],"aabb_xy":[[-0.21902402390495415,1.4296134139500507],[-0.09102403105031034,1.5239526615942436]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.3653382926474351,-1.2898840688630404,0.71338606911949],"aabb_xy":[[0.3428246008239779,-1.3598840694640477],[0.3878519844708923,-1.2198840682620327]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.566111944885934,-1.744186287410858,0.71338606911949],"aabb_xy":[[-0.6161119458364667,-1.775735434414379],[-0.516111943935401,-1.7126371404073362]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[-0.3047275101124102,0.4220814640010109,0.71338606911949],"aabb_xy":[[-0.31513906879289394,0.4167357306651124],[-0.2943159514319265,0.42742719733690937]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[0.09419895769830722,1.0913435530344717,0.71338606911949],"aabb_xy":[[0.04419895667917193,1.054877337296644],[0.14419895871744248,1.1278097687722999]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.19318390060790158,-2.397712574261516,0.71338606911949],"aabb_xy":[[-0.19876557224203031,-2.410212574079291],[-0.1876022289737728,-2.3852125744437402]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[0.46920987419837434,-0.532724175146321,0.71338606911949],"aabb_xy":[[0.4467451042269691,-0.5552241760251814],[0.49167464416977935,-0.5102241742674604]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_30","position":[-0.4613939110728644,-0.46766548172613476,0.71338606911949],"aabb_xy":[[-0.5041606179522846,-0.5316654851479372],[-0.41862720419344424,-0.4036654783043323]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_31","position":[-0.5962965578738098,1.132575957924907,0.71338606911949],"aabb_xy":[[-0.6862965572921806,1.0992004610807171],[-0.5062965584554389,1.1659514547690966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666691638488455,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3952.png","name":"3952"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1979.png","name":"1979"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3319.png","name":"3319"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":590.854364854558,"rotation_z_degrees":76.03444348643276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[4.1295259053480277e-05,0.00796157350631372,0.0060130309003087225]},{"name":"camera_2","offset_m":[-0.0053434954382202,-0.003410495130211532,0.014976054880235987]},{"name":"camera_3","offset_m":[-0.011807469532967333,-0.0161949489622513,0.011932059505544605]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.9677249677540858e-06,0.0005465350708766014,-7.439582911988288e-05],"end_effector_yaw_offset_degrees":0.43737238206952034},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001301620701149369,-0.0009954566449217332,3.202014510429686e-05],"end_effector_yaw_offset_degrees":0.21098952406283522},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011653118656497702,-0.00036805441872611805,0.0008990766694396894],"end_effector_yaw_offset_degrees":-0.5426810894082486}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-1.641438403233303e-05,0.0004391410293946539],"position_m":[0.33838358561596765,0.08573914102939466,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004776887602574716,0.002034880183269949],"position_m":[0.3498231123974253,0.23763488018326995,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00449484551929213,-0.0017751409492056214],"position_m":[0.21280515448070786,-0.08897514094920562,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003793495788951576,-0.004664118335178312],"position_m":[0.25019349578895156,-0.3403641183351783,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d929c2d40bcffdc4851d6981a5b15b19da220c8af59f8d6077481d98a75b15ed","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4761/tex_ceiling_textures_7082/tex_floor_textures_3319/tex_table_textures_3952/tex_wall_textures_1979","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":42353486293092073,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":42353486293092073,"visual_seed":42353486293092073,"scene_id":"lab_003","finished_at":"2026-09-02T03:46:01"}
+{"episode_id":"ep_000020","started_at":"2026-09-02T03:50:31","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.6545681614716128,0.6832434327009285,0.71338606911949],"aabb_xy":[[0.6452211538893174,0.6689398104832845],[0.6639151690539079,0.6975470549185726]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.18081662698573542,-1.5104519398909402,0.71338606911949],"aabb_xy":[[0.1759173346791719,-1.5381288591935087],[0.1857159192922989,-1.4827750205883712]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[-0.14867214557078268,-0.19109647690292952,0.71338606911949],"aabb_xy":[[-0.16331555112481566,-0.2057551965597138],[-0.1340287400167497,-0.17643775724614524]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.18771473762519475,-1.9854793821760894,0.71338606911949],"aabb_xy":[[0.1664367294817225,-2.0504793845021627],[0.208992745768667,-1.9204793798500164]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[-0.5868497869030097,0.3167425884658126,0.71338606911949],"aabb_xy":[[-0.6518497878601368,0.264794376532107],[-0.5218497859458824,0.3686908003995182]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.026588489805361548,-1.419451185841295,0.71338606911949],"aabb_xy":[[-0.0905884930239994,-1.4661742977403036],[0.03741151341327631,-1.372728073942287]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.5133995067130475,1.0685774402194133,0.71338606911949],"aabb_xy":[[0.48225258786946434,0.9985774415326061],[0.5445464255566306,1.1385774389062204]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.37682720901582,1.3479847531175664,0.71338606911949],"aabb_xy":[[0.30682720720707457,1.326630984353379],[0.44682721082456545,1.3693385218817538]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.2859018129010541,1.4725929566900944,0.71338606911949],"aabb_xy":[[-0.32444750572625514,1.4340471856339054],[-0.24735612007585306,1.5111387277462829]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.05575231304129302,1.4214456170854608,0.71338606911949],"aabb_xy":[[-0.07766099518064407,1.3995449502653698],[-0.03384363090194198,1.4433462839055513]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.5670316808634994,-0.19993296122676396,0.71338606911949],"aabb_xy":[[0.5305358602362207,-0.23641690365352153],[0.6035275014907782,-0.1634490188000064]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.3696711661135239,-1.762770072809258,0.71338606911949],"aabb_xy":[[-0.381603900475352,-1.7751522256171175],[-0.35773843175169584,-1.7503879200013988]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[0.04673562760951877,-0.9892623209839522,0.71338606911949],"aabb_xy":[[0.03744200937236818,-1.0267623194720863],[0.056029245846669344,-0.9517623224958184]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.47139748400815995,-1.1881635444768694,0.71338606911949],"aabb_xy":[[-0.5363974821640791,-1.2144597890267819],[-0.40639748585224095,-1.1618672999269575]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.4279845785222529,-0.6861509378950399,0.71338606911949],"aabb_xy":[[0.4054845782787375,-0.698355572554812],[0.4504845787657683,-0.673946303235268]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.2194998573532977,1.4727077154311394,0.71338606911949],"aabb_xy":[[0.15549986006764902,1.4312009964782952],[0.28349985463894634,1.5142144343839832]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.6541008372912703,-2.3508373639939237,0.71338606911949],"aabb_xy":[[-0.6875410124872898,-2.384280989824853],[-0.6206606620952506,-2.3173937381629934]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.644670486880379,-1.3496724804024236,0.71338606911949],"aabb_xy":[[-0.6821704866974125,-1.3543106917135654],[-0.6071704870633454,-1.3450342690912818]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.056363891558898316,1.709365720720038,0.71338606911949],"aabb_xy":[[-0.08633144846872398,1.6793657204221522],[-0.026396334649072657,1.7393657210179236]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.087313608611299,-1.1544734898001787,0.71338606911949],"aabb_xy":[[0.06279998451429314,-1.1787380831022152],[0.11182723270830486,-1.1302088964981423]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.6007727791063779,-1.5062362329236372,0.71338606911949],"aabb_xy":[[0.581660471748399,-1.5253710118008792],[0.6198850864643567,-1.4871014540463952]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.12516272416291796,-0.47613661433349996,0.71338606911949],"aabb_xy":[[-0.13703480717441907,-0.5611366140271503],[-0.11329064115141685,-0.3911366146398496]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.20393507644852338,1.288752648326546,0.71338606911949],"aabb_xy":[[-0.22161070703712168,1.271072432047143],[-0.18625944585992502,1.3064328646059484]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.4179387167355171,0.5217009701151141,0.71338606911949],"aabb_xy":[[0.4087788377916405,0.515169752071577],[0.4270985956793937,0.5282321881586511]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.32648848704963696,-0.670531388182938,0.71338606911949],"aabb_xy":[[-0.3608047642242549,-0.7205313881561157],[-0.292172209875019,-0.6205313882097603]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[-0.6488523321186871,-2.218874385607877,0.71338606911949],"aabb_xy":[[-0.6713523326307276,-2.2413662439732756],[-0.6263523316066464,-2.196382527242479]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[-0.5967950874009801,1.183323930469876,0.71338606911949],"aabb_xy":[[-0.6080401429715979,1.1720821327457807],[-0.5855500318303622,1.1945657281939712]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[0.6691435305306817,1.3232703150578735,0.71338606911949],"aabb_xy":[[0.6515106949371541,1.3056473690422505],[0.6867763661242092,1.3408932610734965]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_28","position":[-0.5115351898047168,1.5108458462174057,0.71338606911949],"aabb_xy":[[-0.5340351893284241,1.4883498987667847],[-0.48903519028100934,1.5333417936680263]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[0.6390118603697141,1.0006816010369532,0.71338606911949],"aabb_xy":[[0.5890187482605224,0.9506816003627576],[0.6890049724789061,1.0506816017111489]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[0.43200416921011575,-1.9886101853314366,0.71338606911949],"aabb_xy":[[0.39497005978205596,-2.0229873926651463],[0.46903827863817543,-1.9542329779977272]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_31","position":[0.41262562176365924,1.6140178582476543,0.71338606911949],"aabb_xy":[[0.37762562186764037,1.6056436227357143],[0.4476256216596781,1.6223920937595944]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[0.580327799141652,-0.9657729660736214,0.71338606911949],"aabb_xy":[[0.5644433058763269,-0.9801259063724455],[0.5962122924069772,-0.9514200257747973]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_33","position":[-0.0923902455296004,0.6129622827541774,0.71338606911949],"aabb_xy":[[-0.12278835662874397,0.5825553807525078],[-0.061992134430456806,0.6433691847558468]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721728962142126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9810.png","name":"9810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9810.png","name":"9810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5154.png","name":"5154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/498.png","name":"498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7653.png","name":"7653"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":670.3835904348517,"rotation_z_degrees":123.91257638453855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00586286926515367,-0.01881957395393863,0.005455425254085319]},{"name":"camera_2","offset_m":[0.010734565526381558,0.015158688955394298,0.010598806110931825]},{"name":"camera_3","offset_m":[0.006942588751152563,-0.003282107615408328,-0.01705775526126474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014028218876784631,0.00027086436587338064,-0.0007344014091575041],"end_effector_yaw_offset_degrees":0.09067734489108159},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013067593503319425,0.0015159409078900816,-0.0014811228889600883],"end_effector_yaw_offset_degrees":-0.6360532236574177},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[7.962203939878686e-05,-0.001802555085907775,0.0010194321091890656],"end_effector_yaw_offset_degrees":-0.4376051446537619}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021475666753774346,-0.003718472648358415],"position_m":[0.3405475666753774,0.08158152735164159,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031378688795080907,0.004736341217516679],"position_m":[0.3577378688795081,0.24033634121751668,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001842053193527269,0.0040553848652807424],"position_m":[0.21545794680647273,-0.08314461513471925,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.699511050732739e-05,0.0012308212597666708],"position_m":[0.24637300488949268,-0.33446917874023335,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6526e25e99fdc704fa2fd4f4fc1c2d22984ff905caca9ea68e0f4beb3cb57e4e","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9810/tex_ceiling_textures_7653/tex_floor_textures_498/tex_table_textures_4197/tex_wall_textures_5154","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7732381050227377922,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7732381050227377922,"visual_seed":7732381050227377922,"scene_id":"lab_003","finished_at":"2026-09-02T03:53:10"}
+{"episode_id":"ep_000021","started_at":"2026-09-02T03:53:13","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.2950822613392947,-0.8208820002591328,0.71338606911949],"aabb_xy":[[0.25758226015450186,-0.8253002229551931],[0.33258226252408746,-0.8164637775630721]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.25984441450014795,1.0080765517452268,0.71338606911949],"aabb_xy":[[0.25387787555941216,1.0021154070858627],[0.26581095344088373,1.014037696404591]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.3151434843688827,-1.4373310026393726,0.71338606911949],"aabb_xy":[[-0.3227677524590609,-1.4449642261759164],[-0.30751921627870443,-1.429697779102829]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.14978196959795698,-0.6357992719482817,0.71338606911949],"aabb_xy":[[-0.15847993188867227,-0.6479242462557564],[-0.1410840073072417,-0.623674297640807]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.11737779385021119,1.3318479239303564,0.71338606911949],"aabb_xy":[[0.10821791490633458,1.3253167058868196],[0.12653767279408779,1.3383791419738937]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.5845265477113353,-0.016925698488044816,0.71338606911949],"aabb_xy":[[-0.6645265447255833,-0.03706025016145609],[-0.5045265506970873,0.003208853185366456]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.6681205328838615,0.3243755241194899,0.71338606911949],"aabb_xy":[[0.6131205346821166,0.28385355749305224],[0.7231205310856063,0.3648974907459274]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.29024745444062033,0.7337062246508008,0.71338606911949],"aabb_xy":[[-0.324709801838762,0.6992123422529779],[-0.2557851070424784,0.7682001070486233]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.18549334772176618,-1.8733532078947972,0.71338606911949],"aabb_xy":[[-0.24549334858257896,-1.9247796379012834],[-0.12549334686095334,-1.8219267778883106]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.42560486373929374,0.6465725892017944,0.71338606911949],"aabb_xy":[[0.375604864299098,0.596604664717478],[0.47560486317948925,0.6965405136861106]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.5367868929440185,1.6392781572154829,0.71338606911949],"aabb_xy":[[0.4992868930002521,1.6309850671806463],[0.5742868928877849,1.6475712472503194]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.6301439328876259,0.7739283260487433,0.71338606911949],"aabb_xy":[[0.6219293877719417,0.7652517357511016],[0.6383584780033097,0.7826049163463843]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[0.17474530273373756,0.9137680236314658,0.71338606911949],"aabb_xy":[[0.16390482450722263,0.896581742340817],[0.18558578096025244,0.9309543049221146]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.4340766038318693,-2.180394952928161,0.71338606911949],"aabb_xy":[[0.41657660357253273,-2.1944864951169345],[0.451576604091206,-2.1663034107393893]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.34449003656955685,1.5931642007077298,0.71338606911949],"aabb_xy":[[-0.4282122620696393,1.5031641971730338],[-0.2607678110694744,1.6831642042424257]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[0.36156026606214353,-2.5483309265632133,0.71338606911949],"aabb_xy":[[0.32778470687145056,-2.562369421776378],[0.3953358252528365,-2.5342924313500483]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.5473555857113944,-0.4645841611808428,0.71338606911949],"aabb_xy":[[-0.6113555830137407,-0.5089505881486995],[-0.4833555884090479,-0.42021773421298597]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.012719256524785005,-1.660683317631865,0.71338606911949],"aabb_xy":[[-0.06271925747531781,-1.6922324646353861],[0.0372807444257478,-1.6291341706283433]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[-0.48598487178541516,-1.2879723646267034,0.71338606911949],"aabb_xy":[[-0.5038539795398707,-1.3018052726039144],[-0.46811576403095967,-1.2741394566494924]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.4131923858291542,-1.32478727419186,0.71338606911949],"aabb_xy":[[0.3331923836663917,-1.4047424578180037],[0.49319238799191667,-1.2448320905657164]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.24328887220208945,-0.3759199472544994,0.71338606911949],"aabb_xy":[[-0.3332888716204603,-0.40929544409868907],[-0.15328887278371853,-0.3425444504103096]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[0.2875663265193742,-2.4065486382315404,0.71338606911949],"aabb_xy":[[0.27013561144036763,-2.423820752895391],[0.30499704159838065,-2.389276523567689]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[-0.26429179707103373,0.24513305901369664,0.71338606911949],"aabb_xy":[[-0.2977319722670533,0.21168943318276653],[-0.2308516218750141,0.27857668484462667]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.40519807913525696,-0.4171393819289366,0.71338606911949],"aabb_xy":[[0.35519808048933577,-0.46705892558839907],[0.45519807778117816,-0.3672198382694743]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.041024502188722445,0.8383722834940879,0.71338606911949],"aabb_xy":[[-0.020566257035270374,0.7743722853850411],[0.10261526141271526,0.9023722816031349]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.40636574664522535,0.9344878506794356,0.71338606911949],"aabb_xy":[[-0.4172173528941009,0.9236285599517845],[-0.3955141403963497,0.9453471414070865]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[-0.6000953076062343,0.4372220817646819,0.71338606911949],"aabb_xy":[[-0.6102483231603835,0.4011525401919414],[-0.5899422920520847,0.4732916233374221]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[-0.017830170844067128,1.1411527247932973,0.71338606911949],"aabb_xy":[[-0.04237638646681784,1.1109038282442603],[0.006716044778683593,1.1714016213423344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676033862054696,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6603.png","name":"6603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6603.png","name":"6603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4918.png","name":"4918"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4326.png","name":"4326"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6434.png","name":"6434"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7226.png","name":"7226"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":778.5910682096131,"rotation_z_degrees":82.99441256760123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011082431075463015,0.016661216485745024,0.017078599881043193]},{"name":"camera_2","offset_m":[0.019397013968287264,0.006567552957853783,0.0038542129763812563]},{"name":"camera_3","offset_m":[-0.019135803854906503,0.006545267026419461,0.005504836398474482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00036762629591652676,0.0005222646706077787,0.0016136618395734522],"end_effector_yaw_offset_degrees":0.6943136254578943},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003493394511076709,1.7623197897603717e-05,0.0007328642334213033],"end_effector_yaw_offset_degrees":-0.7746565026138648},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014501854226552703,-0.00020793195916249873,-0.0012315600014015612],"end_effector_yaw_offset_degrees":-0.5806532943225451}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003203583397059195,-0.0023821757717606864],"position_m":[0.34160358339705915,0.08291782422823932,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00025886000638002983,0.0008157541018971029],"position_m":[0.35434113999362,0.2364157541018971,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001992600340397912,0.004053376199165892],"position_m":[0.2192926003403979,-0.08314662380083411,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004293640275956227,0.0035656667079454604],"position_m":[0.25069364027595625,-0.33213433329205455,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"42f10dbadb3ffc0933d64f3c2d7781f2eb0dae60febc531c99d9b1bca618811b","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6603/tex_ceiling_textures_7226/tex_floor_textures_6434/tex_table_textures_4918/tex_wall_textures_4326","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4171329560993793986,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4171329560993793986,"visual_seed":4171329560993793986,"scene_id":"lab_003","finished_at":"2026-09-02T03:56:04"}
+{"episode_id":"ep_000022","started_at":"2026-09-02T03:57:32","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.006806829057908748,-1.247633247368535,0.71338606911949],"aabb_xy":[[-0.042673592156050044,-1.3116332452813866],[0.05628725027186754,-1.183633249455683]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.18963943271260686,-0.9811802227374866,0.71338606911949],"aabb_xy":[[-0.21463943226434534,-0.9913227066026213],[-0.16463943316086838,-0.9710377388723519]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.4153297203499422,-1.8484957508625173,0.71338606911949],"aabb_xy":[[0.40740644011119387,-1.8709957511005206],[0.42325300058869053,-1.825995750624514]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.2871546471114022,-1.611685689984777,0.71338606911949],"aabb_xy":[[-0.3221546470074211,-1.620059925496717],[-0.25215464721538333,-1.6033114544728369]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[0.021564985948382298,-1.7286364482154895,0.71338606911949],"aabb_xy":[[-0.012897492064705477,-1.7353001253984122],[0.05602746396147007,-1.7219727710325667]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.08653919690628131,-2.2814452233532925,0.71338606911949],"aabb_xy":[[-0.12153919517640122,-2.2885193510482806],[-0.05153919863616141,-2.2743710956583043]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.7100724379198882,-1.5278468670070744,0.71338606911949],"aabb_xy":[[0.6987107032666019,-1.5392153334133623],[0.7214341725731742,-1.516478400600786]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.5239789715094182,-1.4255463713734966,0.71338606911949],"aabb_xy":[[-0.5320223314353734,-1.5105463724688628],[-0.515935611583463,-1.34054637027813]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.5371275873197883,0.2711263678460236,0.71338606911949],"aabb_xy":[[0.5210656598612706,0.18612636603343177],[0.5531895147783059,0.3561263696586154]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.4193042428735704,-0.8893212625659297,0.71338606911949],"aabb_xy":[[-0.5043042412909936,-0.9741955580282147],[-0.33430424445614715,-0.8044469671036447]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.6208009608517688,-0.9971390735338013,0.71338606911949],"aabb_xy":[[0.5308009611285945,-1.020212426068981],[0.7108009605749429,-0.9740657209986215]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.5353736762636401,-0.3936061235011361,0.71338606911949],"aabb_xy":[[0.5128736767399324,-0.41610207095175683],[0.5578736757873473,-0.3711101760505153]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.17715342763491804,1.169680480284649,0.71338606911949],"aabb_xy":[[-0.1962657349928969,1.1505457014074072],[-0.15804112027693917,1.1888152591618912]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.018702251644692636,1.4263405412810282,0.71338606911949],"aabb_xy":[[-0.07870225328761449,1.374340391989084],[0.041297749998229216,1.4783406905729723]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[-0.4742243907667389,-0.38602642455939096,0.71338606911949],"aabb_xy":[[-0.4874553363014202,-0.3992538435813903],[-0.4609934452320576,-0.3727990055373915]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[-0.580876279796068,-1.7763146522731736,0.71338606911949],"aabb_xy":[[-0.6608762771996614,-1.8563072234713562],[-0.5008762823924745,-1.6963220810749906]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.1499384933900899,1.4005478490097585,0.71338606911949],"aabb_xy":[[0.09996519938682943,1.3505478484552111],[0.19991178739335033,1.4505478495643058]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.23308429389143487,0.32581362580376405,0.71338606911949],"aabb_xy":[[-0.28308429333163054,0.2758457013194477],[-0.18308429445123928,0.3757815502880803]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[-0.16169349024884205,-0.1678008894968963,0.71338606911949],"aabb_xy":[[-0.22669349124934257,-0.21858725465157125],[-0.09669348924834154,-0.11701452434222137]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.21418404736141028,-2.0978316520114064,0.71338606911949],"aabb_xy":[[0.13418404410356732,-2.1778281598033904],[0.29418405061925323,-2.0178351442194224]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.5599327961553067,-2.341734816963984,0.71338606911949],"aabb_xy":[[-0.563893279925041,-2.349402681549505],[-0.5559723123855723,-2.3340669523784636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645493448724279,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1899.png","name":"1899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8349.png","name":"8349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8589.png","name":"8589"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8168.png","name":"8168"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":793.916389521966,"rotation_z_degrees":33.261980777905926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006518395731438038,-0.019205750509556623,0.017579122212084772]},{"name":"camera_2","offset_m":[-0.010503596460122964,-0.01638760699324096,0.018127776976249083]},{"name":"camera_3","offset_m":[0.01491880827197525,-0.008955266139474971,-0.019057937087968622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019038023958820832,-0.00029606741358549735,-0.0006262597479511252],"end_effector_yaw_offset_degrees":0.8409774699183661},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017611684497184257,0.0001510333871740225,0.0017938653739487335],"end_effector_yaw_offset_degrees":0.9121526464244447},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010440609968566169,0.0009306947722695974,-7.427626814267806e-05],"end_effector_yaw_offset_degrees":0.980635397358389}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016715053409119699,0.002985066912395441],"position_m":[0.34007150534091196,0.08828506691239545,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004381817030600572,0.003052936240204785],"position_m":[0.35021818296939944,0.23865293624020478,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004755960624487463,-0.00015611872723948587],"position_m":[0.22205596062448746,-0.08735611872723949,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001739766223571667,-0.002283108515277894],"position_m":[0.24466023377642834,-0.3379831085152779,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51ec95e7f4a4145d224760f8dfdd020dab7e667c05327fdb98a3acfad873d05a","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0045.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1009/tex_ceiling_textures_8168/tex_floor_textures_8589/tex_table_textures_1899/tex_wall_textures_8349","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7404747631069778369,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7404747631069778369,"visual_seed":7404747631069778369,"scene_id":"lab_003","finished_at":"2026-09-02T04:00:28"}
+{"episode_id":"ep_000023","started_at":"2026-09-02T04:00:30","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5103738656948662,1.2439892926883966,0.71338606911949],"aabb_xy":[[-0.5803738690864281,1.2086735189849658],[-0.44037386230330416,1.2793050663918275]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.20903217287376386,1.2595203794172742,0.71338606911949],"aabb_xy":[[-0.21436974853976842,1.2345203784881345],[-0.2036945972077593,1.284520380346414]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.5508967888158193,-1.2129451141514265,0.71338606911949],"aabb_xy":[[-0.5600566677596959,-1.2194763321949635],[-0.5417369098719427,-1.2064138961078894]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.0840161855924022,-0.607115881895476,0.71338606911949],"aabb_xy":[[-0.10651618540630459,-0.6115904982659568],[-0.06151618577849982,-0.6026412655249953]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.40536602570350494,-2.130578102812414,0.71338606911949],"aabb_xy":[[-0.4113325646442407,-2.1365392474717777],[-0.3993994867627691,-2.1246169581530494]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.2484044536919382,1.4397214619248389,0.71338606911949],"aabb_xy":[[-0.3033999315125976,1.384721460490932],[-0.19340897587127878,1.4947214633587458]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.22058568350471475,-2.303104508991887,0.71338606911949],"aabb_xy":[[0.20271657575025923,-2.316937416969098],[0.2384547912591702,-2.289271601014676]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.4275925704725456,-1.3685519343355745,0.71338606911949],"aabb_xy":[[0.363592569064555,-1.4203408858594992],[0.49159257188053634,-1.3167629828116498]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.5074907730830251,-0.10634264892642697,0.71338606911949],"aabb_xy":[[0.48499077283950975,-0.11854728358619893],[0.5299907733265405,-0.09413801426665502]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.2988420675735465,1.3026989690315274,0.71338606911949],"aabb_xy":[[-0.32134206758369477,1.288602749391924],[-0.2763420675633982,1.3167951886711307]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.3665206748682216,-0.9105241707926801,0.71338606911949],"aabb_xy":[[-0.38943638775327155,-0.9334284679291037],[-0.3436049619831717,-0.8876198736562567]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.6226165555222698,-1.1027298867123903,0.71338606911949],"aabb_xy":[[-0.6404100624571862,-1.120529632308188],[-0.6048230485873534,-1.0849301411165926]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.6127029576785249,0.5309554142174071,0.71338606911949],"aabb_xy":[[-0.6767029595908672,0.4750442649593968],[-0.5487029557661826,0.5868665634754177]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[0.3125419113503034,1.001491149230656,0.71338606911949],"aabb_xy":[[0.275041912926903,0.9883269352628251],[0.3500419097737037,1.0146553631984865]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[0.29398779703384925,0.827060372790346,0.71338606911949],"aabb_xy":[[0.2299920996387526,0.7630603744896373],[0.3579834944289458,0.8910603710910546]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.5435416424003824,-0.44688615204596704,0.71338606911949],"aabb_xy":[[-0.5935204509106982,-0.49688615205168585],[-0.4935628338900664,-0.39688615204024824]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.5929974360822339,0.1529797774236381,0.71338606911949],"aabb_xy":[[0.5697155938841025,0.06797977612641003],[0.6162792782803652,0.23797977872086615]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.5034976234297781,-1.0230851897607625,0.71338606911949],"aabb_xy":[[0.4784976234972602,-1.0299678579816858],[0.528497623362296,-1.0162025215398391]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.15796507327318676,0.31419529150263914,0.71338606911949],"aabb_xy":[[-0.24765214958130222,0.2241952912481886],[-0.06827799696507131,0.4041952917570897]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.4444652081645079,-2.017683839407024,0.71338606911949],"aabb_xy":[[-0.4666377351411587,-2.039859506563147],[-0.422292681187857,-1.9955081722509007]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.6638728358426432,-1.844109373963166,0.71338606911949],"aabb_xy":[[-0.6725868048925776,-1.8666093746223538],[-0.6551588667927086,-1.8216093733039773]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.2074054711989517,1.8203950350320341,0.71338606911949],"aabb_xy":[[-0.2122490659601817,1.8155433825530503],[-0.20256187643772175,1.8252466875110185]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.5384066823299254,-0.4897667185277914,0.71338606911949],"aabb_xy":[[0.45840667907208243,-0.5697632263197754],[0.6184066855877683,-0.4097702107358075]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[0.49761538358389257,0.2823139050839978,0.71338606911949],"aabb_xy":[[0.47572563599495177,0.1923139077947487],[0.5195051311728334,0.3723139023732469]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657536375594892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8127.png","name":"8127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5243.png","name":"5243"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5535.png","name":"5535"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9770.png","name":"9770"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":658.2076530460131,"rotation_z_degrees":224.26556977030657,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01034232939152865,0.018055566113265028,-0.014200044349688527]},{"name":"camera_2","offset_m":[0.011591316295422645,0.014820760464629917,0.006042058221137129]},{"name":"camera_3","offset_m":[0.011356078531581961,0.015958805124342803,0.003708915800354838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016231644772903,0.001284674662990095,-0.0008430508270307873],"end_effector_yaw_offset_degrees":0.6210199817371711},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00052854048498308,-0.000706049927812142,0.0014039036334594092],"end_effector_yaw_offset_degrees":0.17055359697250938},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000908094604172704,-0.0005387382687622995,0.0014087531385259928],"end_effector_yaw_offset_degrees":0.146918950160553}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004435020151040937,0.002633322824076004],"position_m":[0.3428350201510409,0.08793332282407601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002213066699638927,0.00075227484771295],"position_m":[0.3523869333003611,0.23635227484771296,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002143051143157598,9.930678364726293e-05],"position_m":[0.2151569488568424,-0.08710069321635273,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021986766615382314,-0.0008010494298705904],"position_m":[0.24859867666153823,-0.3365010494298706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"70aff2cf9dfd8bb64f8e2aa92bb0f6cfaacf72ffaba55f1bf4346e08ac90c224","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5057/tex_ceiling_textures_9770/tex_floor_textures_5535/tex_table_textures_8127/tex_wall_textures_5243","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8901130179803725437,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8901130179803725437,"visual_seed":8901130179803725437,"scene_id":"lab_003","finished_at":"2026-09-02T04:03:06"}
+{"episode_id":"ep_000024","started_at":"2026-09-02T04:03:10","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.5259380160952032,0.7778039702192339,0.71338606911949],"aabb_xy":[[0.5224973398551461,0.7739425372448695],[0.5293786923352605,0.7816654031935985]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.17385218556538462,-2.449269434191353,0.71338606911949],"aabb_xy":[[-0.2378521888550927,-2.4926043531952704],[-0.10985218227567649,-2.405934515187435]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.43555460977023874,0.9556507974698292,0.71338606911949],"aabb_xy":[[0.39055460830401,0.9106509406083486],[0.4805546112364677,1.0006506543313098]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.6215535059441815,0.4492256147982534,0.71338606911949],"aabb_xy":[[0.5565535077882624,0.42292937024834126],[0.6865535041001005,0.47552185934816565]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.18293236676230085,-1.1032321280170994,0.71338606911949],"aabb_xy":[[-0.1870105246693506,-1.1073131082653627],[-0.1788542088552511,-1.099151147768836]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[-0.3734927447108311,-2.4485785616684224,0.71338606911949],"aabb_xy":[[-0.4434927481023931,-2.4838943353718532],[-0.3034927413192691,-2.4132627879649915]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.5273333752122304,-0.25519979154737094,0.71338606911949],"aabb_xy":[[0.4373333728782114,-0.3326821461324836],[0.6173333775462495,-0.17771743696225828]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.02592643601702882,-1.8568260866314137,0.71338606911949],"aabb_xy":[[-0.0352200542541794,-1.8943260851195476],[-0.016632817779878236,-1.8193260881432798]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.06654891438994659,-0.1973996283952908,0.71338606911949],"aabb_xy":[[-0.1305489147674802,-0.247144895246103],[-0.0025489140124129728,-0.14765436154447847]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.3857202225266916,-0.9850478164184362,0.71338606911949],"aabb_xy":[[-0.475407298834807,-1.0750478166728867],[-0.29603314621857607,-0.8950478161639857]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.17081050216501448,1.4022943362962295,0.71338606911949],"aabb_xy":[[-0.19327527213641957,1.379794335417369],[-0.14834573219360933,1.42479433717509]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.2879640400473666,-2.3020500874819674,0.71338606911949],"aabb_xy":[[-0.32296403917732225,-2.3077953085576315],[-0.2529640409174109,-2.2963048664063033]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.2788480855158938,1.1394233426364653,0.71338606911949],"aabb_xy":[[-0.29402025479752714,1.124254485708262],[-0.26367591623426045,1.1545921995646686]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.6661379078414766,0.8606544813451005,0.71338606911949],"aabb_xy":[[0.6211453211230261,0.8156544820706517],[0.7111304945599269,0.9056544806195492]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.009923386485502284,-1.9833177325634879,0.71338606911949],"aabb_xy":[[-0.04492338567832055,-1.9942847785611504],[0.02507661270731598,-1.972350686565825]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[0.3233046439702616,1.4367103615867918,0.71338606911949],"aabb_xy":[[0.2822867005838907,1.3867103609558344],[0.3643225873566325,1.486710362217749]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.42227035593805146,0.04622511515710093,0.71338606911949],"aabb_xy":[[-0.46503706281747165,-0.017774888264701527],[-0.37950364905863126,0.11022511857890338]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.6520429358435191,0.9602005679179655,0.71338606911949],"aabb_xy":[[0.6479269857314465,0.9560850128851198],[0.6561588859555918,0.9643161229508109]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.10321769697849692,-1.535964027231362,0.71338606911949],"aabb_xy":[[0.039217694635695376,-1.5809048784754944],[0.16721769932129849,-1.4910231759872294]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.4368339052669168,-2.1371341387496052,0.71338606911949],"aabb_xy":[[0.3568339078633234,-2.2171267099477876],[0.5168339026705102,-2.057141567551422]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.3208495808447711,-1.8899613976865046,0.71338606911949],"aabb_xy":[[-0.35584958074078993,-1.8983356331984447],[-0.2858495809487522,-1.8815871621745646]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.42800008227341624,-1.7387777953196852,0.71338606911949],"aabb_xy":[[0.40277924541357646,-1.7640015461725718],[0.4532209191332558,-1.7135540444667983]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[0.698558119237678,-0.6178797587037581,0.71338606911949],"aabb_xy":[[0.6842236941115145,-0.629939974258297],[0.7128925443638414,-0.6058195431492193]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[0.630910057167327,1.689292837909203,0.71338606911949],"aabb_xy":[[0.5940595092303393,1.651792837086169],[0.6677606051043146,1.7267928387322364]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646333004997053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9265.png","name":"9265"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/533.png","name":"533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/498.png","name":"498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2216.png","name":"2216"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":709.2165931005126,"rotation_z_degrees":53.19700211777262,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003122131319115609,0.012944415270181715,0.01849331922153204]},{"name":"camera_2","offset_m":[0.000298314936712972,0.0008382862759237671,0.002616452028559667]},{"name":"camera_3","offset_m":[-0.01720110597296811,-0.008369852166467684,0.014121043213800404]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001885623052425907,-0.00032327161534718095,-0.0006061234152703707],"end_effector_yaw_offset_degrees":0.6726551823410014},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013198825547789546,0.0005433909637036741,-0.0010880820262356345],"end_effector_yaw_offset_degrees":-0.7858909505836251},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016604008093895044,0.00021695844126192907,0.001360481849007683],"end_effector_yaw_offset_degrees":0.41133518219183296}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002517076386762137,0.0008662506485626487],"position_m":[0.3409170763867621,0.08616625064856265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003364359411200925,0.0006280458901634488],"position_m":[0.3512356405887991,0.23622804589016344,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008664317662290056,-0.00409417750748399],"position_m":[0.216433568233771,-0.09129417750748399,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007043040059594675,0.0010215900925936681],"position_m":[0.24569569599404054,-0.3346784099074063,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dc19a144afc823382f2180e5c51c1560a00050a2317bd6727afffa7375d3cee9","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9529/tex_ceiling_textures_2216/tex_floor_textures_498/tex_table_textures_9265/tex_wall_textures_533","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4846936345945248905,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4846936345945248905,"visual_seed":4846936345945248905,"scene_id":"lab_003","finished_at":"2026-09-02T04:05:52"}
+{"episode_id":"ep_000025","started_at":"2026-09-02T04:07:24","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.04782128813377429,-2.3722904962119964,0.71338606911949],"aabb_xy":[[0.011026655008868014,-2.4091963713085787],[0.08461592125868056,-2.335384621115414]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.301991430175629,-0.1130890092944048,0.71338606911949],"aabb_xy":[[-0.33195898708545474,-0.14308900959229054],[-0.2720238732658034,-0.08308900899651905]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.4026402195512728,-1.8725576206811754,0.71338606911949],"aabb_xy":[[0.3226402162872597,-1.8861176529900887],[0.48264022281528596,-1.858997588372262]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.6488053122449113,0.9378541377992553,0.71338606911949],"aabb_xy":[[0.6184072011457676,0.9074472357975856],[0.6792034233440548,0.9682610398009246]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[-0.013841000124071634,1.1528155555100006,0.71338606911949],"aabb_xy":[[-0.0938410005942876,1.1445048478956523],[0.06615900034614432,1.1611262631243489]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.5834146973637618,0.18909194591555556,0.71338606911949],"aabb_xy":[[-0.673414694099372,0.13590848259826102],[-0.4934147006281516,0.24227540923285004]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.01060258315330631,1.6687737536557559,0.71338606911949],"aabb_xy":[[-0.02648707641863146,1.6544208133569316],[0.005281910112018839,1.6831266939545797]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.13979021756959054,0.47614334207378617,0.71338606911949],"aabb_xy":[[-0.14920769213945329,0.4667271649360671],[-0.1303727429997278,0.48555951921150514]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.3676447881178522,-1.6780393428758074,0.71338606911949],"aabb_xy":[[0.3574917725637028,-1.7141088844485473],[0.3777978036720015,-1.6419698013030666]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.14148501289558935,-0.9149993727736363,0.71338606911949],"aabb_xy":[[0.08148501264418814,-0.9692806978101008],[0.2014850131469905,-0.8607180477371715]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.2099604007143886,0.20204826732046488,0.71338606911949],"aabb_xy":[[-0.2321329276910394,0.17987260016434167],[-0.18778787373773773,0.224223934476588]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.35454636196788303,0.9537426781045792,0.71338606911949],"aabb_xy":[[0.3495903417830019,0.9312426779024578],[0.35950238215276425,0.9762426783067011]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.5589547197162567,1.7589657048317267,0.71338606911949],"aabb_xy":[[-0.6229547229348945,1.7122425929327183],[-0.4949547164976188,1.805688816730735]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.6769370134780659,-2.0320784090212385,0.71338606911949],"aabb_xy":[[-0.6870187205566393,-2.112078406913353],[-0.6668553063994923,-1.9520784111291238]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[-0.6272358212368,1.244073273343325,0.71338606911949],"aabb_xy":[[-0.6772306541647416,1.1940732744480818],[-0.5772409883088584,1.2940732722385688]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.40458094587398247,1.3371173138533594,0.71338606911949],"aabb_xy":[[-0.41279549098966634,1.3284407235557176],[-0.3963664007582984,1.3457939041510003]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.22736670387114555,-2.2020129836288613,0.71338606911949],"aabb_xy":[[-0.29136670029846745,-2.2491826074509578],[-0.16336670744382364,-2.154843359806765]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.23578075487664074,-1.3093646806112025,0.71338606911949],"aabb_xy":[[0.23135012552180062,-1.314813052345885],[0.24021138423148097,-1.30391630887652]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.6563813332989299,-1.9403427255805092,0.71338606911949],"aabb_xy":[[0.5913813351430108,-1.9666389701304214],[0.721381331454849,-1.914046481030597]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.09491489492798111,-2.465336459382525,0.71338606911949],"aabb_xy":[[-0.14491489621182108,-2.5153153137731468],[-0.04491489364414115,-2.4153576049919026]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.6634420717232173,0.6620629436847181,0.71338606911949],"aabb_xy":[[-0.6742936779720929,0.651203652957067],[-0.6525904654743417,0.672922234412369]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[-0.4297882964440119,1.7406526039953936,0.71338606911949],"aabb_xy":[[-0.4496793363243522,1.7279967927106972],[-0.4098972565636717,1.7533084152800908]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.3429281527288548,0.4093757606067232,0.71338606911949],"aabb_xy":[[-0.40692815300283297,0.35930966040943524],[-0.2789281524548765,0.45944186080401117]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.33145291077051686,1.1033740629140145,0.71338606911949],"aabb_xy":[[0.3277496494413779,1.0996720446052966],[0.3351561720996557,1.107076081222732]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.47128131631332765,1.63732530057981,0.71338606911949],"aabb_xy":[[-0.4825263718839455,1.6260835028557143],[-0.4600362607427098,1.648567098303905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6678009910469533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7462.png","name":"7462"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7462.png","name":"7462"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/282.png","name":"282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":622.2505161053226,"rotation_z_degrees":152.08823188300343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016962575667311342,-0.014028309359739678,-0.018185413593141866]},{"name":"camera_2","offset_m":[0.011774744838041262,-0.011451927753690408,0.01715425069540172]},{"name":"camera_3","offset_m":[-0.004267133750112128,-0.009383724259851274,-0.011779002104062438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001204492301512825,-0.0008760356162066101,0.0009682826000553925],"end_effector_yaw_offset_degrees":-0.33996027964010445},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005812587603480405,5.5430887743995044e-06,0.0006098897711559275],"end_effector_yaw_offset_degrees":-0.49090404263098963},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009730037581973487,-0.001213145042181588,-0.001544603224028967],"end_effector_yaw_offset_degrees":0.6859623320462638}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025795293893388273,0.0039267768421260745],"position_m":[0.33582047061066117,0.08922677684212607,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011344610783922083,-0.0023307683481979514],"position_m":[0.35573446107839224,0.23326923165180205,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022834599967908095,0.0028823574868992756],"position_m":[0.2195834599967908,-0.08431764251310073,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029945301911268587,0.003637081190066141],"position_m":[0.24939453019112687,-0.3320629188099339,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"52e8fd16e9effa00740e56e8fb99c2b74dc454820d7cc9118a5db2643f40336f","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7462/tex_ceiling_textures_5503/tex_floor_textures_282/tex_table_textures_2682/tex_wall_textures_5947","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2707572019320708767,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2707572019320708767,"visual_seed":2707572019320708767,"scene_id":"lab_003","finished_at":"2026-09-02T04:09:54"}
+{"episode_id":"ep_000026","started_at":"2026-09-02T04:11:21","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.404644331110876,-1.5698649266543487,0.71338606911949],"aabb_xy":[[-0.4127579857842531,-1.5779707431083778],[-0.3965306764374989,-1.5617591102003197]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.18818668699156027,-2.4122046404098807,0.71338606911949],"aabb_xy":[[0.12418668671758204,-2.4622707406071687],[0.2521866872655385,-2.3621385402125927]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.35565754941003114,0.6264596495032908,0.71338606911949],"aabb_xy":[[0.34590155990085725,0.6166971154440564],[0.365413538919205,0.6362221835625252]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.23331880914013237,-1.384133798046276,0.71338606911949],"aabb_xy":[[0.163318806503546,-1.4042386630421415],[0.3033188117767187,-1.3640289330504105]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.5818261983106117,-0.7255603422349532,0.71338606911949],"aabb_xy":[[0.4981039728105292,-0.8155603457696491],[0.6655484238106941,-0.6355603387002572]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.20681432809607125,-0.3716107886458886,0.71338606911949],"aabb_xy":[[-0.24431432888806667,-0.3779786296040787],[-0.16931432730407578,-0.3652429476876985]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.6611171307355548,0.6913141150553788,0.71338606911949],"aabb_xy":[[0.625487974835595,0.6556814482985258],[0.6967462866355145,0.7269467818122317]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.16252852564739584,0.4932722047541027,0.71338606911949],"aabb_xy":[[-0.24252852890523882,0.41327569696211874],[-0.08252852238955291,0.5732687125460867]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.18180128531000983,-0.8671879253823869,0.71338606911949],"aabb_xy":[[-0.20471699819505976,-0.8900922225188105],[-0.15888557242495993,-0.8442836282459635]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.5382959452219138,1.5765701927751974,0.71338606911949],"aabb_xy":[[0.4961115310610831,1.5125701924979862],[0.5804803593827446,1.6405701930524086]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.021888217076384886,-1.145894340546677,0.71338606911949],"aabb_xy":[[-0.08588821437873129,-1.1902607675145336],[0.042111780225961515,-1.10152791357882]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.5555901319083807,1.2949989211674158,0.71338606911949],"aabb_xy":[[0.5483288843379733,1.2822119109039063],[0.5628513794787883,1.3077859314309253]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.46742348621663027,1.5322891379942054,0.71338606911949],"aabb_xy":[[-0.4720586013688636,1.5284218029170562],[-0.46278837106439674,1.5361564730713537]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.3626445566804857,-1.6534263206625308,0.71338606911949],"aabb_xy":[[0.31655946542575414,-1.7174263179150862],[0.4087296479352171,-1.589426323409976]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.4769577457061305,-2.0540922601681384,0.71338606911949],"aabb_xy":[[0.4536759035079991,-2.139092261465366],[0.5002395879042617,-1.96909225887091]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.37391841944994797,0.03669586622648646,0.71338606911949],"aabb_xy":[[-0.4238958363152015,-0.013304135262762083],[-0.3239410025846943,0.086695867715735]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.6072042240349361,-0.40795086939146197,0.71338606911949],"aabb_xy":[[-0.6872042210491841,-0.42808542106487324],[-0.5272042270206881,-0.3878163177180507]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.36283984008600556,1.4126062999833908,0.71338606911949],"aabb_xy":[[0.3584092107311654,1.4071579282487083],[0.36727046944084574,1.4180546717180733]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.09386193474570237,-0.19463659804514366,0.71338606911949],"aabb_xy":[[-0.11636193426940977,-0.2171325454957644],[-0.07136193522199497,-0.17214065059452285]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.5009828628289419,-1.1994500352304,0.71338606911949],"aabb_xy":[[-0.5649828614155143,-1.2464569986299086],[-0.43698286424236943,-1.1524430718308911]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[-0.050742055526025065,-1.520506424855927,0.71338606911949],"aabb_xy":[[-0.10083951950709868,-1.5845064253657388],[-0.0006445915449514519,-1.4565064243461152]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.6695225678329451,1.8041575434194885,0.71338606911949],"aabb_xy":[[0.632022567727352,1.7973353815665072],[0.7070225679385379,1.8109797052724694]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.29285101153845217,0.8454863226300606,0.71338606911949],"aabb_xy":[[-0.36285100794841385,0.8250483869783787],[-0.2228510151284903,0.8659242582817421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671810957816386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3784.png","name":"3784"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3784.png","name":"3784"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9730.png","name":"9730"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/139.png","name":"139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8364.png","name":"8364"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":591.7788311693922,"rotation_z_degrees":247.36235383097466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0189484377744985,0.010044121999085241,-0.012591925911653888]},{"name":"camera_2","offset_m":[0.008531146162293054,-0.003915632156548804,0.014888495297848112]},{"name":"camera_3","offset_m":[0.005590345053743766,-0.013471562782168652,0.006468677934883666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006395330440397832,0.0013030092539841076,0.00044595953776299093],"end_effector_yaw_offset_degrees":0.9659808007055262},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011673426322216334,-0.0003015201334243204,0.0017234072580867726],"end_effector_yaw_offset_degrees":0.06798303706800257},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001701765256648324,0.0015113598043321984,0.0012661708179951448],"end_effector_yaw_offset_degrees":0.4845020553936381}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00418779214204972,0.0008530723920552475],"position_m":[0.33421220785795025,0.08615307239205525,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008448323252028388,0.001170124768813844],"position_m":[0.3537551676747972,0.23677012476881384,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003106195738646348,0.0039012117921543585],"position_m":[0.21419380426135365,-0.08329878820784564,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016379872826001217,-0.004099183745590439],"position_m":[0.24803798728260013,-0.3397991837455904,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1804eaf401b4d1fb020e7a19632d6111722da504ef04c30446ce3a2ef82ec477","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3784/tex_ceiling_textures_8364/tex_floor_textures_9198/tex_table_textures_9730/tex_wall_textures_139","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5239384155391662551,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5239384155391662551,"visual_seed":5239384155391662551,"scene_id":"lab_003","finished_at":"2026-09-02T04:13:58"}
+{"episode_id":"ep_000027","started_at":"2026-09-02T04:14:01","dimensions":{"distractor":{"count":20,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.06701612310697691,-1.2565359220059018,0.71338606911949],"aabb_xy":[[-0.15701611960784864,-1.3024475644243598],[0.022983873393894846,-1.2106242795874433]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.42218947246240623,-0.82667066227803,0.71338606911949],"aabb_xy":[[0.4161524594617416,-0.8326973633469782],[0.42822648546307107,-0.8206439612090818]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.5390311724329078,1.5469947116908753,0.71338606911949],"aabb_xy":[[0.5302499452856716,1.5382149644023453],[0.5478123995801442,1.5557744589794058]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.32849540390851284,-2.5420364992616746,0.71338606911949],"aabb_xy":[[0.3219937674005082,-2.5518043212879844],[0.33499704041651746,-2.532268677235365]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.42199217338606654,-0.736930640917451,0.71338606911949],"aabb_xy":[[0.4114246937279675,-0.7474756710304596],[0.43255965304416555,-0.7263856108044425]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.48290981225323054,0.5272710619620944,0.71338606911949],"aabb_xy":[[-0.5140567310968136,0.4572710632752872],[-0.4517628934096474,0.5972710606489016]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.2967202760436165,-1.8329574570422926,0.71338606911949],"aabb_xy":[[0.26172027777349655,-1.8400315847372808],[0.33172027431373635,-1.8258833293473045]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.03427387507238855,-0.8347402205599763,0.71338606911949],"aabb_xy":[[-0.11427387534599552,-0.907689768385693],[0.04572612520121843,-0.7617906727342596]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.10339867053705609,-1.9159951443133088,0.71338606911949],"aabb_xy":[[-0.12557119751370693,-1.9381708114694318],[-0.08122614356040525,-1.8938194771571852]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.44872499023328727,1.2835553341355137,0.71338606911949],"aabb_xy":[[0.42421136613628146,1.2592907408334773],[0.4732386143302932,1.3078199274375502]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.5262773263098282,-2.456613266655667,0.71338606911949],"aabb_xy":[[-0.5487420962812332,-2.4791132675345273],[-0.5038125563384229,-2.4341132657768063]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.5807997310230901,-2.03639491023056,0.71338606911949],"aabb_xy":[[0.5308048980951485,-2.0863949091258034],[0.6307945639510317,-1.9863949113353163]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[-0.4906250259975029,-2.070393459781841,0.71338606911949],"aabb_xy":[[-0.5318738370274175,-2.125393459294058],[-0.4493762149675881,-2.0153934602696233]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[0.40938961561266396,0.7401510737217234,0.71338606911949],"aabb_xy":[[0.405686354283525,0.7364490554130055],[0.4130928769418028,0.7438530920304413]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.21894122082941914,0.7515083773073195,0.71338606911949],"aabb_xy":[[-0.23030295548270527,0.7401399109010313],[-0.20757948617613295,0.7628768437136074]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.48928356197911804,-0.3198653334013253,0.71338606911949],"aabb_xy":[[0.47844308375260314,-0.3370516146919741],[0.500124040205633,-0.30267905211067647]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.6206468378335839,1.7399598761648067,0.71338606911949],"aabb_xy":[[0.5728406702198151,1.6749598734577476],[0.6684530054473524,1.8049598788718655]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.3197403334273985,-0.31640783200108125,0.71338606911949],"aabb_xy":[[-0.3897403360639848,-0.3365126969969467],[-0.2497403307908121,-0.2963029670052157]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.6119329367599814,1.0082930757949486,0.71338606911949],"aabb_xy":[[-0.6919329372301973,0.9999823681806005],[-0.5319329362897655,1.0166037834092971]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[0.5058774992082482,-2.1926894501887837,0.71338606911949],"aabb_xy":[[0.46837749886002045,-2.2044808457698672],[0.543377499556476,-2.1808980546077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695945777395563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/407.png","name":"407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/407.png","name":"407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8296.png","name":"8296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7928.png","name":"7928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3449.png","name":"3449"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6822.png","name":"6822"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":697.1526273724721,"rotation_z_degrees":39.625211965946875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001058768233606136,-0.0197992882890859,0.011622284019510733]},{"name":"camera_2","offset_m":[-0.017470089838696246,0.008158865782270465,-0.01614082611498437]},{"name":"camera_3","offset_m":[-0.003952106891768087,-0.0022655574423835756,-0.004075544039047398]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008196401889169242,-0.0019051265677764721,-0.00028524170092282834],"end_effector_yaw_offset_degrees":0.3587043935999581},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019983866924865243,0.0010999360680222117,-0.0011427100652485703],"end_effector_yaw_offset_degrees":0.7013679843165148},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017163365953928,0.0009615514504665223,-0.0011320669158377005],"end_effector_yaw_offset_degrees":-0.9012714264764374}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004263320370252077,-0.0010176032629042164],"position_m":[0.3341366796297479,0.08428239673709578,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002444118343441366,-0.0007116036620713499],"position_m":[0.3570441183434414,0.23488839633792866,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009606334551510521,-0.0005677391834960051],"position_m":[0.21826063345515104,-0.08776773918349601,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002343249473483345,-0.004027900810460294],"position_m":[0.24616567505265166,-0.3397279008104603,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c46d4ad0350619191fade26c7a9433cf079a8ebcb31a9e98ef86f73362dbf556","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_407/tex_ceiling_textures_6822/tex_floor_textures_3449/tex_table_textures_8296/tex_wall_textures_7928","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8550557209233657460,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8550557209233657460,"visual_seed":8550557209233657460,"scene_id":"lab_003","finished_at":"2026-09-02T04:16:56"}
+{"episode_id":"ep_000028","started_at":"2026-09-02T04:17:00","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.0398479315076572,-2.1357035024240467,0.71338606911949],"aabb_xy":[[-0.04392608941470694,-2.13978448267231],[-0.03576977360060746,-2.1316225221757836]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.5364884271356167,0.08797209434947728,0.71338606911949],"aabb_xy":[[0.527774458085682,0.06547209369028903],[0.545202396185551,0.11047209500866548]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.17245312599135165,-1.1896036057947832,0.71338606911949],"aabb_xy":[[-0.17949457694209928,-1.1966303575325776],[-0.16541167504060408,-1.1825768540569888]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.36858829564165524,-0.7588420208695363,0.71338606911949],"aabb_xy":[[-0.39358829480728835,-0.765794266574893],[-0.3435882964760221,-0.7518897751641799]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[-0.06384637823822481,-1.3118074423416843,0.71338606911949],"aabb_xy":[[-0.07188973816417998,-1.3968074434370505],[-0.05580301831226964,-1.2268074412463177]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.023030932332600895,-1.976906307542176,0.71338606911949],"aabb_xy":[[-0.05168026469301712,-2.0055518668192516],[0.0056184000278153325,-1.9482607482651002]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.06395119367607949,1.6554562637076136,0.71338606911949],"aabb_xy":[[-0.06885048598264298,1.6277793444050446],[-0.05905190136951599,1.683133183010182]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.3856049506312351,-2.2865267600768338,0.71338606911949],"aabb_xy":[[0.381174321276395,-2.2919751318115167],[0.39003557998607535,-2.2810783883421517]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.4906823723285323,1.00903308376749,0.71338606911949],"aabb_xy":[[-0.5082290672446512,0.9715330822032386],[-0.47313567741241336,1.0465330853317412]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.17712001715479353,-0.6956764060217868,0.71338606911949],"aabb_xy":[[-0.1868760066639674,-0.7054389400810211],[-0.1673640276456196,-0.6859138719625523]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.2805915679376424,-1.5389653738962714,0.71338606911949],"aabb_xy":[[0.2165915672341731,-1.5849837563691926],[0.3445915686411118,-1.4929469914233504]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.30160293456676324,-1.7662204705681217,0.71338606911949],"aabb_xy":[[0.2841722194877566,-1.7834925852319725],[0.31903364964576963,-1.748948355904271]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.6031040228830014,-1.0058789960184347,0.71338606911949],"aabb_xy":[[-0.6607344917702721,-1.0658789949451448],[-0.5454735539957304,-0.9458789970917236]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.38658633558550837,-1.340082221071561,0.71338606911949],"aabb_xy":[[0.37859284579022645,-1.3480803530120367],[0.3945798253807905,-1.3320840891310854]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.18164566489528478,-1.6626260155346202,0.71338606911949],"aabb_xy":[[-0.1950921915293281,-1.6760958671877118],[-0.16819913826124144,-1.649156163881529]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.6586208433677931,-1.7003310364659883,0.71338606911949],"aabb_xy":[[0.5946208462556876,-1.7493634062603987],[0.7226208404798989,-1.6512986666715774]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.27042536173455023,-2.1368340695860626,0.71338606911949],"aabb_xy":[[-0.30501644458859545,-2.201834069871093],[-0.23583427888050504,-2.071834069301031]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.16424280544395742,0.6928572084024305,0.71338606911949],"aabb_xy":[[0.11414534146288377,0.6288572078926187],[0.214340269425031,0.7568572089122423]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.18280365304839952,-1.7167764565099568,0.71338606911949],"aabb_xy":[[0.15952181085026818,-1.8017764578071849],[0.20608549524653086,-1.6317764552127287]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.6274516847138303,0.2152804806559181,0.71338606911949],"aabb_xy":[[-0.6451273153024285,0.19760026437651534],[-0.6097760541252318,0.23296069693532084]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.60899345915271,0.35785546845841854,0.71338606911949],"aabb_xy":[[0.5958422131814207,0.332855468701732],[0.6221447051239994,0.38285546821510513]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.588942731443227,0.22552667761523137,0.71338606911949],"aabb_xy":[[0.5836102167886139,0.2202023493699958],[0.59427524609784,0.230851005860467]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.30977446257474417,0.6134000816722227,0.71338606911949],"aabb_xy":[[-0.34727446336673956,0.6070322407140326],[-0.27227446178274867,0.6197679226304128]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.05408295203981861,0.7601888046763063,0.71338606911949],"aabb_xy":[[-0.07766807550371346,0.6951888024308746],[-0.030497828575923758,0.8251888069217381]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.3693006717728662,-0.12564485000554582,0.71338606911949],"aabb_xy":[[-0.4493006720464731,-0.1985943978312625],[-0.28930067149925914,-0.05269530217982909]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[-0.27502113129122524,1.8028862358189781,0.71338606911949],"aabb_xy":[[-0.31252113139681814,1.7960640739659968],[-0.23752113118563226,1.809708397671959]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[0.12928542598768,1.7621429878957984,0.71338606911949],"aabb_xy":[[0.03928542925206979,1.7089595245785034],[0.2192854227232902,1.8153264512130924]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.5227193377588866,-1.9907976634351194,0.71338606911949],"aabb_xy":[[-0.5273544529111198,-1.994664998512268],[-0.5180842226066531,-1.9869303283579705]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[0.20750076855922606,-2.328391524839755,0.71338606911949],"aabb_xy":[[0.18970726162430962,-2.3461912704355528],[0.2252942754941425,-2.3105917792439574]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.5957205542213966,-0.4285948182543331,0.71338606911949],"aabb_xy":[[0.5307205532208962,-0.479381183409008],[0.6607205552218972,-0.3778084530996581]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[0.20715262963997005,-0.6419079013171298,0.71338606911949],"aabb_xy":[[0.1571526301997744,-0.691875825801446],[0.2571526290801657,-0.5919399768328134]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_31","position":[0.31938965728940727,1.207003873879731,0.71338606911949],"aabb_xy":[[0.2715834896756386,1.142003871172672],[0.3671958249031759,1.27200387658679]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717054625841168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3441.png","name":"3441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3441.png","name":"3441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7399.png","name":"7399"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7847.png","name":"7847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7643.png","name":"7643"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8769.png","name":"8769"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":689.8893949257634,"rotation_z_degrees":154.84878275472425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005850088978570079,0.01786192805470672,-0.00342076384187261]},{"name":"camera_2","offset_m":[-0.012579743708504211,-0.013597000531967494,0.018027587052658455]},{"name":"camera_3","offset_m":[-0.002753059117723562,0.002398284731640145,0.0046512927238957155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019522549437794062,0.0003010954191758658,-0.0017618446598600017],"end_effector_yaw_offset_degrees":0.5793265525424032},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001598517914208064,0.000511424892293754,0.0003646751712375537],"end_effector_yaw_offset_degrees":0.2546839004926724},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007237811578865777,0.00032945705039194584,0.0011018917292554237],"end_effector_yaw_offset_degrees":-0.1489848205297588}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008979925805786158,-0.001586693183422693],"position_m":[0.3375020074194214,0.08371330681657731,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004183171447754643,0.000662435180082209],"position_m":[0.3587831714477547,0.23626243518008222,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-9.598573533955296e-05,0.0008075214367937698],"position_m":[0.21720401426466043,-0.08639247856320623,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017588420928807257,0.0036348417217432856],"position_m":[0.24815884209288072,-0.3320651582782567,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ccb7365f3c0c1ff7e95db5f11c40657310a8676380525c024c575109ed054713","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3441/tex_ceiling_textures_8769/tex_floor_textures_7643/tex_table_textures_7399/tex_wall_textures_7847","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4533673146454679806,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4533673146454679806,"visual_seed":4533673146454679806,"scene_id":"lab_003","finished_at":"2026-09-02T04:19:51"}
+{"episode_id":"ep_000029","started_at":"2026-09-02T04:19:53","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.7085626047882045,-0.08886870246376333,0.71338606911949],"aabb_xy":[[0.6994027258443278,-0.09539992050730034],[0.717722483732081,-0.08233748442022631]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.6065909328316663,-1.3821242894476515,0.71338606911949],"aabb_xy":[[0.591488631370648,-1.3972258110787128],[0.6216932342926842,-1.3670227678165894]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.09228287639027877,0.2476073947645694,0.71338606911949],"aabb_xy":[[-0.09990714448045702,0.23997417122802567],[-0.08465860830010052,0.2552406183011131]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.4145713682054811,-2.3710956345692384,0.71338606911949],"aabb_xy":[[-0.46454466220874147,-2.4210956351237853],[-0.36459807420222057,-2.3210956340146907]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.3903750095709339,1.397310212995451,0.71338606911949],"aabb_xy":[[-0.42537500788162935,1.3895951980719055],[-0.35537501126023846,1.4050252279189968]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.272347864687701,0.5474423307598228,0.71338606911949],"aabb_xy":[[0.2642342100143239,0.5393365143057938],[0.2804615193610781,0.5555481472138519]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.6114739347164715,1.5515033385275037,0.71338606911949],"aabb_xy":[[0.5464739337593443,1.499555126593798],[0.6764739356735987,1.6034515504612092]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.4464371336114159,-2.0324083280093435,0.71338606911949],"aabb_xy":[[0.43844314503371246,-2.0404084081044336],[0.45443112218911924,-2.0244082479142524]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.4970245399654374,-0.39899073067305224,0.71338606911949],"aabb_xy":[[0.4620245416953174,-0.4060648583680404],[0.5320245382355573,-0.3919166029780641]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.14022958427865917,1.1375929640114433,0.71338606911949],"aabb_xy":[[0.0702295816420728,1.1174880990155776],[0.2102295869152455,1.1576978290073086]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.2684806914330721,-2.055022886688124,0.71338606911949],"aabb_xy":[[-0.3184757023925242,-2.105022885723716],[-0.21848568047362016,-2.0050228876525327]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.275163547147569,0.3943780345212722,0.71338606911949],"aabb_xy":[[-0.29271024206368795,0.3568780329570209],[-0.2576168522314501,0.43187803608552344]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.013671577846369964,-0.7922350048640427,0.71338606911949],"aabb_xy":[[-0.003961257747157607,-0.8098579508796657],[0.03130441343989753,-0.7746120588484198]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.45924343577755145,1.7750286488599412,0.71338606911949],"aabb_xy":[[0.4519821882071441,1.7622416385964317],[0.4665046833479589,1.7878156591234506]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.3015019764943587,-1.32067738336146,0.71338606911949],"aabb_xy":[[0.23750197481636137,-1.369194774840774],[0.3655019781723561,-1.2721599918821456]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.4516989214520062,0.5040636048778291,0.71338606911949],"aabb_xy":[[-0.49882830045384174,0.440063603833427],[-0.4045695424501704,0.5680636059222309]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.3794014921434159,-1.992030170506681,0.71338606911949],"aabb_xy":[[0.3754876189479933,-2.000779185913238],[0.38331536533883837,-1.9832811551001241]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.5270143617852954,0.4778609454304994,0.71338606911949],"aabb_xy":[[0.5188866735919822,0.46894733701979174],[0.5351420499786086,0.48677455384120705]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.5770824505704877,-1.4536255180700723,0.71338606911949],"aabb_xy":[[-0.5995788720043518,-1.4761255178768198],[-0.5545860291366236,-1.431125518263325]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.6485531536918219,0.7661339587337359,0.71338606911949],"aabb_xy":[[0.628268850968423,0.745851333591027],[0.6688374564152205,0.7864165838764446]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.6425803651736832,-2.231564278161411,0.71338606911949],"aabb_xy":[[0.6081178871605953,-2.238227955344333],[0.6770428431867709,-2.2249006009784877]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.0926395391746202,-1.778851246220798,0.71338606911949],"aabb_xy":[[-0.15423029839861302,-1.8428512443298453],[-0.03104877995062738,-1.7148512481117515]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.3858217986286569,-0.7790813629717033,0.71338606911949],"aabb_xy":[[-0.4214509545286166,-0.8147140297285562],[-0.3501926427286971,-0.7434486962148503]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.04571753917357224,-2.5717282557686225,0.71338606911949],"aabb_xy":[[-0.049678022943306616,-2.579396120354143],[-0.04175705540383787,-2.564060391183102]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[0.4950858288921012,-1.8553114861194322,0.71338606911949],"aabb_xy":[[0.4580517194640414,-1.8896886934531414],[0.5321199383201609,-1.8209342787857226]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[0.3949724919753741,1.2743981765868284,0.71338606911949],"aabb_xy":[[0.34997249050914525,1.229398319725348],[0.439972493441603,1.3193980334483093]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.062335415989981824,-1.246392817249352,0.71338606911949],"aabb_xy":[[0.03982172416652463,-1.3163928178503592],[0.08484910781343902,-1.1763928166483442]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.40494919004171587,-1.0276727555587237,0.71338606911949],"aabb_xy":[[-0.435433440168746,-1.0776727553402197],[-0.3744649399146857,-0.9776727557772278]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[-0.1901793733472279,-2.3672454355501387,0.71338606911949],"aabb_xy":[[-0.20797288028214433,-2.3850451811459363],[-0.17238586641231146,-2.349445689954341]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.6874519034453428,0.5431623280234645,0.71338606911949],"aabb_xy":[[0.6840112272052856,0.5393008950491001],[0.6908925796854,0.547023760997829]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[0.047622737055507236,-1.088283210151629,0.71338606911949],"aabb_xy":[[-0.017377261100411823,-1.1145794547015413],[0.1126227352114263,-1.061986965601717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688801494043956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1689.png","name":"1689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1116.png","name":"1116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4952.png","name":"4952"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":823.0113499075603,"rotation_z_degrees":307.08410094394225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005198198087660897,-0.01901232265397983,0.002326113241906711]},{"name":"camera_2","offset_m":[0.003984051600515643,-0.009418713828158808,1.7949827209391006e-05]},{"name":"camera_3","offset_m":[0.0061943386856002335,-0.013528558441091673,0.005828361109778055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001968597818562064,0.0005803460366203971,-0.0006218410564911129],"end_effector_yaw_offset_degrees":0.5320242074952133},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015784461666828351,-0.0010825390054690865,0.001980352179371969],"end_effector_yaw_offset_degrees":-0.5671120327981123},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.000507711431100798,-8.3160216366903e-05,0.001969370073300115],"end_effector_yaw_offset_degrees":-0.37552466495015335}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004344828183106182,-0.0029101721513974566],"position_m":[0.34274482818310614,0.08238982784860255,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00032011926048159875,0.004556764167711904],"position_m":[0.35427988073951844,0.2401567641677119,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028016877796597384,0.0016165250389749697],"position_m":[0.22010168777965974,-0.08558347496102503,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001296550424880221,0.0022398086664540684],"position_m":[0.24769655042488023,-0.33346019133354593,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"28b445134ab7b1feac39c1df19c3ea8342bb673e60d16872d5724f15bda216af","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7320/tex_ceiling_textures_4952/tex_floor_textures_8041/tex_table_textures_1689/tex_wall_textures_1116","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1771268529853617557,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1771268529853617557,"visual_seed":1771268529853617557,"scene_id":"lab_003","finished_at":"2026-09-02T04:22:49"}
+{"episode_id":"ep_000030","started_at":"2026-09-02T04:25:33","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.3817208444943112,1.0201019004725942,0.71338606911949],"aabb_xy":[[-0.385799002401361,1.0160209202243309],[-0.3776426865872615,1.0241828807208575]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.3976779978963787,-1.6070617515460424,0.71338606911949],"aabb_xy":[[0.34769376218820147,-1.657061750359538],[0.4476622336045559,-1.5570617527325468]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.28889699888368187,0.7702666565451142,0.71338606911949],"aabb_xy":[[-0.29701065355705897,0.7621608400910851],[-0.28078334421030476,0.7783724729991433]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[-0.5639893074411219,-1.681843682377687,0.71338606911949],"aabb_xy":[[-0.6439893079113379,-1.6901543899920355],[-0.48398930697090603,-1.673532974763339]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.15486334844402438,-1.659558632403831,0.71338606911949],"aabb_xy":[[-0.2148633493048371,-1.7109850624103171],[-0.09486334758321151,-1.6081322023973443]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.2603778647457886,1.7579854600345768,0.71338606911949],"aabb_xy":[[0.19637786152715075,1.7112623481355684],[0.32437786796442647,1.8047085719335851]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.16304881936772841,1.3089586507784614,0.71338606911949],"aabb_xy":[[-0.22704882104572577,1.2604412592991472],[-0.09904881768973106,1.3574760422577756]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.14274340970489863,-2.5147775667995464,0.71338606911949],"aabb_xy":[[-0.19773662104203543,-2.56977756713834],[-0.08775019836776189,-2.459777566460753]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.3168929269766038,0.2861087550290895,0.71338606911949],"aabb_xy":[[-0.3818929270109065,0.2394080783487622],[-0.25189292694230103,0.3328094317094168]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.4910224902564373,-2.449158586725861,0.71338606911949],"aabb_xy":[[0.4535224895918586,-2.4648456447260827],[0.528522490921016,-2.4334715287256383]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.295143916729836,-0.8626475723113216,0.71338606911949],"aabb_xy":[[-0.375143914710621,-0.8702491132731736],[-0.2151439187490509,-0.8550460313494697]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.2932575379280772,-0.6991842104805488,0.71338606911949],"aabb_xy":[[-0.37325753820168417,-0.7721337583062655],[-0.21325753765447023,-0.6262346626548321]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.500862014940415,-0.2295731131251304,0.71338606911949],"aabb_xy":[[-0.5160248879173522,-0.24473857042024919],[-0.4856991419634781,-0.21440765583001167]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.14283084715845917,-1.382849573797334,0.71338606911949],"aabb_xy":[[-0.16666706479906426,-1.4728495746058208],[-0.11899462951785414,-1.2928495729888478]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.2015497424217626,0.7855734294448151,0.71338606911949],"aabb_xy":[[0.17904974217824723,0.7733687947850432],[0.22404974266527802,0.7977780641045871]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.06334910409335348,-1.020602442027419,0.71338606911949],"aabb_xy":[[-0.11834910371509932,-1.0755861348148916],[-0.008349104471607638,-0.9656187492399462]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.19841816594541373,-1.5539398542447762,0.71338606911949],"aabb_xy":[[0.1284181695354519,-1.5743777898964575],[0.26841816235537547,-1.533501918593094]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.5327691299538417,0.45657526104034796,0.71338606911949],"aabb_xy":[[-0.5504019655473693,0.4389523150247249],[-0.5151362943603142,0.4741982070559709]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.4035499758938388,-1.843500194365987,0.71338606911949],"aabb_xy":[[-0.42122560648243706,-1.8611804106453897],[-0.3858743453052404,-1.8258199780865842]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.6401753934560046,1.0038896923504854,0.71338606911949],"aabb_xy":[[0.6090284746124214,0.933889693663678],[0.6713223122995876,1.0738896910372924]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[-0.6022269837730315,0.03618602180469033,0.71338606911949],"aabb_xy":[[-0.6522269854345261,-0.013812420451012384],[-0.5522269821115365,0.08618446406039303]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.4078008746222734,0.8794260697149965,0.71338606911949],"aabb_xy":[[-0.44226335263536115,0.8727623925320738],[-0.3733383966091856,0.8860897468979194]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.46460856008017004,-1.934331912297004,0.71338606911949],"aabb_xy":[[-0.4777598060514595,-1.9593319120536905],[-0.4514573141088808,-1.9093319125403174]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.5586901804601951,0.5250843799760156,0.71338606911949],"aabb_xy":[[0.4936901823042761,0.49878813542610356],[0.6236901786161142,0.551380624525928]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[-0.15278048619880424,1.5994810864065685,0.71338606911949],"aabb_xy":[[-0.1865560453894972,1.5854425911934034],[-0.11900492700811124,1.6135195816197332]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[0.0035734924689360126,1.679955697000111,0.71338606911949],"aabb_xy":[[-0.06042650611763645,1.6329487336006026],[0.06757349105550847,1.72696266039962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696758367977267,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1623.png","name":"1623"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1623.png","name":"1623"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2916.png","name":"2916"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7586.png","name":"7586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5948.png","name":"5948"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":529.9851094581869,"rotation_z_degrees":156.04411167793228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012174007802481113,-0.010661972962936308,-0.009676064498137809]},{"name":"camera_2","offset_m":[-0.002047739090649387,0.008139517484914358,0.004659714549149738]},{"name":"camera_3","offset_m":[0.004672205062005053,-0.01528930902602266,0.012813433997686318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004273095619970837,-0.00015014224942313885,0.0005192759215185533],"end_effector_yaw_offset_degrees":-0.41525189696961107},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00178858646569193,-0.0013015359689162861,0.001241029592565592],"end_effector_yaw_offset_degrees":0.9411982115226696},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009249473886422388,-0.0015599690071852934,0.0014006443511392504],"end_effector_yaw_offset_degrees":-0.9438864300749576}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00020777206173265735,0.000859032958252297],"position_m":[0.33860777206173265,0.0861590329582523,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00398346217107447,-0.004626962638876804],"position_m":[0.3585834621710745,0.2309730373611232,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030366485263471103,0.003803436873049332],"position_m":[0.2203366485263471,-0.08339656312695067,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003946510144893092,0.002088024425523469],"position_m":[0.24245348985510692,-0.3336119755744765,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"620f464a0164b6ff778b141b942cf3ad8ab4b6fcb9b0c76a3789886f441c22a7","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1623/tex_ceiling_textures_5948/tex_floor_textures_7586/tex_table_textures_2916/tex_wall_textures_488","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8214593924715603603,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8214593924715603603,"visual_seed":8214593924715603603,"scene_id":"lab_003","finished_at":"2026-09-02T04:28:30"}
+{"episode_id":"ep_000031","started_at":"2026-09-02T04:28:33","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.47410054780813254,1.709112261335782,0.71338606911949],"aabb_xy":[[-0.48534560337875043,1.6978704636116866],[-0.46285549223751477,1.7203540590598771]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.3926114234183007,1.5856142197972534,0.71338606911949],"aabb_xy":[[0.3426271877101234,1.5356142209837578],[0.44259565912647786,1.635614218610749]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.29730605822781764,0.8002808293997035,0.71338606911949],"aabb_xy":[[-0.38102828372790015,0.7102808258650075],[-0.21358383272773523,0.8902808329343994]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.11153083385366247,-2.3181408168263355,0.71338606911949],"aabb_xy":[[-0.12194239253414618,-2.3234865501622335],[-0.10111927517317876,-2.3127950834904367]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6140109890678231,-1.998071525357013,0.71338606911949],"aabb_xy":[[0.5907291468696918,-2.0830715266542406],[0.6372928312659545,-1.9130715240597849]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.5849503967824237,-1.0372726688737062,0.71338606911949],"aabb_xy":[[-0.5930640514558007,-1.0453784853277353],[-0.5768367421090465,-1.029166852419677]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.11068844384856968,-1.577253565141314,0.71338606911949],"aabb_xy":[[-0.11665498278930546,-1.5832147098006781],[-0.10472190490783388,-1.5712924204819498]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.4372828145561545,-2.0813632481673636,0.71338606911949],"aabb_xy":[[0.4246560272689582,-2.0909093218689363],[0.4499096018433509,-2.07181717446579]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.20436443931559473,-1.079664143759365,0.71338606911949],"aabb_xy":[[-0.2683644415360017,-1.1240372278846533],[-0.14036443709518767,-1.0352910596340767]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.3043833861170534,-0.8963740757278682,0.71338606911949],"aabb_xy":[[0.2668833853250579,-0.9027419166860582],[0.3418833869090488,-0.890006234769678]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.030495872724817352,-0.9507886978764593,0.71338606911949],"aabb_xy":[[0.02565227796358738,-0.9556403503554435],[0.03533946748604733,-0.9459370453974753]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.21857687722075775,-2.24210972293713,0.71338606911949],"aabb_xy":[[-0.25607687873638946,-2.253336495953275],[-0.18107687570512604,-2.230882949920985]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.4240845606708957,-2.4822460651657137,0.71338606911949],"aabb_xy":[[-0.4668512675503159,-2.5462460685875157],[-0.38131785379147554,-2.4182460617439108]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.6553996551021648,0.1591404633635709,0.71338606911949],"aabb_xy":[[0.6186050219772585,0.1222345882669886],[0.6921942882270711,0.19604633846015315]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.29230962156273194,-2.0442209215467604,0.71338606911949],"aabb_xy":[[-0.3563096232407293,-2.092738313026074],[-0.22830961988473458,-1.9957035300674457]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[0.5155283524342142,1.647390908461611,0.71338606911949],"aabb_xy":[[0.4936196702948632,1.6254902416415202],[0.5374370345735653,1.6692915752817017]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.23795853314244964,1.1143755734538026,0.71338606911949],"aabb_xy":[[0.18847811192849087,1.0503755755409505],[0.2874389543564084,1.1783755713666542]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.01876535332252971,-1.029694660838647,0.71338606911949],"aabb_xy":[[-0.037649737091039914,-1.0485805856189998],[0.00011903044598049473,-1.0108087360582942]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.677293997459081,1.2663984200034424,0.71338606911949],"aabb_xy":[[0.6461470786154979,1.1963984213166354],[0.7084409163026641,1.3363984186902498]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.07332535357046188,-1.3847549859107549,0.71338606911949],"aabb_xy":[[-0.09090365575940873,-1.4023294754848599],[-0.055747051381515034,-1.3671804963366498]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.3522961295778409,-0.41882334795398,0.71338606911949],"aabb_xy":[[-0.36544737554913026,-0.4438233477106666],[-0.33914488360655154,-0.39382334819729353]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.2390421130570326,1.7693249144793657,0.71338606911949],"aabb_xy":[[-0.27404211303352843,1.759860298431749],[-0.20404211308053674,1.7787895305269823]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[0.013655476554100598,-1.98006353271753,0.71338606911949],"aabb_xy":[[-0.003021659438994906,-1.9967634566914603],[0.030332612547196103,-1.9633636087435997]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.5752827126382082,1.533779817187463,0.71338606911949],"aabb_xy":[[-0.6452827152747944,1.5136749521915973],[-0.5052827100016217,1.5538846821833283]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[-0.6541313014655,-1.528398637494238,0.71338606911949],"aabb_xy":[[-0.6900448058904897,-1.5643121457109925],[-0.6182177970405104,-1.4924851292774834]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[0.41526871219515216,-1.6424905951090145,0.71338606911949],"aabb_xy":[[0.38026871084367037,-1.6628503310658351],[0.45026871354663384,-1.6221308591521935]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[0.16797566961787236,-2.517598116351918,0.71338606911949],"aabb_xy":[[0.11798255750868047,-2.5675981170261135],[0.21796878172706427,-2.4675981156777222]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.4768135911772411,0.34165538138855744,0.71338606911949],"aabb_xy":[[0.4268306409897617,0.2916553817459969],[0.5267965413647203,0.39165538103111774]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[-0.5794661196877943,-0.40399080876483096,0.71338606911949],"aabb_xy":[[-0.6594661229456371,-0.4839873165568149],[-0.4994661164299512,-0.3239943009728469]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.3983677614509733,0.7721856687620114,0.71338606911949],"aabb_xy":[[0.375867761637071,0.7677110523915306],[0.42086776126487574,0.7766602851324921]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[-0.42143314746605604,-0.6263749337671958,0.71338606911949],"aabb_xy":[[-0.4286769135123013,-0.7063749319707981],[-0.41418938141981065,-0.5463749355635934]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_31","position":[0.2557702984963013,-0.5239466125624439,0.71338606911949],"aabb_xy":[[0.17577029802608532,-0.5322573201767923],[0.3357702989665172,-0.5156359049480955]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_32","position":[-0.6436121295931189,1.1871989647866967,0.71338606911949],"aabb_xy":[[-0.6587750025700561,1.172033507491578],[-0.6284492566161819,1.2023644220818155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666466625763541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3788.png","name":"3788"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3788.png","name":"3788"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3162.png","name":"3162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6309.png","name":"6309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6641.png","name":"6641"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.7333138666922,"rotation_z_degrees":3.1363796690521584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014175053157499846,0.004385839539162245,0.0025012264830724766]},{"name":"camera_2","offset_m":[0.009587616457731502,-0.0010142993509443844,0.011695382129909167]},{"name":"camera_3","offset_m":[0.013215220295493695,0.010991783323014311,0.019571174663645257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004153387963907536,0.0012646253347447203,0.0010710822297088367],"end_effector_yaw_offset_degrees":-0.33759149736549987},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00040358040814924396,0.00019360963926785433,0.001768516597284],"end_effector_yaw_offset_degrees":0.9759493519985873},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001146365002536414,-0.0013293932724223936,0.0014176811747057794],"end_effector_yaw_offset_degrees":-0.11377522353209768}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002424627455951245,0.0017041529726871821],"position_m":[0.3408246274559512,0.08700415297268718,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00026841343504823735,-0.003313054161162128],"position_m":[0.35486841343504827,0.23228694583883788,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002804444424764807,0.0021266903913924043],"position_m":[0.2201044444247648,-0.0850733096086076,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00433831892190649,0.00017714959111579318],"position_m":[0.2507383189219065,-0.3355228504088842,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bb88c1342be198706198935f9fb4c56290de6a54a789c46151c5dfdee45c4447","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3788/tex_ceiling_textures_6641/tex_floor_textures_6309/tex_table_textures_3162/tex_wall_textures_2922","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1476298057618522583,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1476298057618522583,"visual_seed":1476298057618522583,"scene_id":"lab_003","finished_at":"2026-09-02T04:31:27"}
+{"episode_id":"ep_000032","started_at":"2026-09-02T04:31:30","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.6315723653074008,-0.8036772584128864,0.71338606911949],"aabb_xy":[[0.576572367105656,-0.8441992250393239],[0.6865723635091456,-0.7631552917864487]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[0.20611457949220535,-1.880958503313113,0.71338606911949],"aabb_xy":[[0.1461145778492835,-1.9329586526050573],[0.2661145811351272,-1.828958354021169]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.5349588780479251,-0.9793558272067717,0.71338606911949],"aabb_xy":[[0.4799588788713355,-1.0343455019817294],[0.5899588772245145,-0.9243661524318141]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.5835632142823901,0.24745176153950554,0.71338606911949],"aabb_xy":[[-0.6140474644094203,0.19745176175800958],[-0.55307896415536,0.2974517613210015]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.08050874504663708,-1.9918915616464172,0.71338606911949],"aabb_xy":[[0.075050799409617,-2.071891564954076],[0.08596669068365713,-1.9118915583387577]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.38168807178494535,-2.1983375663258315,0.71338606911949],"aabb_xy":[[-0.407976896105386,-2.2246089999804823],[-0.3553992474645047,-2.17206613267118]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.1284064945244957,-0.9084065474196157,0.71338606911949],"aabb_xy":[[0.0934064945479999,-0.9178711634672323],[0.16340649450099157,-0.8989419313719991]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.2794061154553811,-1.385361118675236,0.71338606911949],"aabb_xy":[[0.2459659402593614,-1.4188047445061658],[0.31284629065140057,-1.3519174928443056]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.06941086205104563,-2.1669156917455923,0.71338606911949],"aabb_xy":[[-0.13941085846100737,-2.187353627397273],[0.0005891343589161795,-2.1464777560939097]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[0.6879961563614387,-2.047629666980956,0.71338606911949],"aabb_xy":[[0.6704961570833518,-2.064967767047302],[0.7054961556395255,-2.03029156691461]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.5797045677177579,-2.470432811490189,0.71338606911949],"aabb_xy":[[0.5736675547170932,-2.476459512559137],[0.5857415807184226,-2.464406110421241]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.4091646767234506,1.7188377557750223,0.71338606911949],"aabb_xy":[[-0.4591476269109299,1.6688377561324617],[-0.35918172653597125,1.7688377554175825]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.5741540307100402,1.5405577260700452,0.71338606911949],"aabb_xy":[[-0.6541540277242881,1.5204231743966337],[-0.49415403369579214,1.5606922777434562]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.3074272008425692,1.6331983365171312,0.71338606911949],"aabb_xy":[[-0.3111304621717079,1.6294963182084135],[-0.30372393951343024,1.636900354825849]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.5383009460351035,1.1476600079010488,0.71338606911949],"aabb_xy":[[-0.6023009424624254,1.1004903840789524],[-0.4743009496077816,1.1948296317231453]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.4236967634453255,1.3831076624149516,0.71338606911949],"aabb_xy":[[-0.46868935016377583,1.3381076631405027],[-0.378704176726875,1.4281076616894002]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.4692444445631533,0.31569973731243106,0.71338606911949],"aabb_xy":[[-0.5038355274171984,0.25069973702739995],[-0.43465336170910807,0.38069973759746206]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.5718067536075264,-2.53725549549963,0.71338606911949],"aabb_xy":[[-0.6368067521645993,-2.5670080289135124],[-0.5068067550504536,-2.507502962085747]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.2560346587329243,-1.2230606259149588,0.71338606911949],"aabb_xy":[[-0.2689065622338644,-1.303060626328795],[-0.24316275523198413,-1.1430606255011226]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.21083854854297857,1.0815878332850022,0.71338606911949],"aabb_xy":[[0.16583854707674972,1.0365879764235217],[0.2558385500092074,1.126587690146483]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.22087030737644942,-2.578952002765889,0.71338606911949],"aabb_xy":[[0.21324603928627117,-2.586585226302433],[0.22849457546662766,-2.5713187792293457]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.6168483471574903,-2.004320185203174,0.71338606911949],"aabb_xy":[[-0.6808483485654808,-2.0561091367270983],[-0.5528483457494995,-1.952531233679249]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.5929448422993182,1.7301166982627332,0.71338606911949],"aabb_xy":[[0.5835273677294556,1.7207005211250141],[0.6023623168691811,1.7395328754004522]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[-0.1178197221491315,0.3998885859385375,0.71338606911949],"aabb_xy":[[-0.16299103999730047,0.33588858879399913],[-0.07264840430096253,0.463888583083076]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.31268696555920145,0.6523929293685358,0.71338606911949],"aabb_xy":[[-0.32276867263777487,0.572392931476421],[-0.3026052584806279,0.7323929272606503]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.30695309714294744,1.316315023645502,0.71338606911949],"aabb_xy":[[-0.3228375904082726,1.3019620833466776],[-0.2910686038776223,1.3306679639443257]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.43766420507390524,-0.9298679725499008,0.71338606911949],"aabb_xy":[[-0.492789410703496,-0.9898679739911879],[-0.38253899944431446,-0.8698679711086136]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[-0.4973025637293915,-1.6367065620071908,0.71338606911949],"aabb_xy":[[-0.5773025641996075,-1.6450172696215393],[-0.41730256325917564,-1.6283958543928427]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.6438193969645662,0.6069747021146821,0.71338606911949],"aabb_xy":[[0.6069688490275786,0.5694747012916483],[0.6806699449015539,0.6444747029377158]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[-0.14261864566703464,1.477305839985608,0.71338606911949],"aabb_xy":[[-0.15352442175459732,1.3973058435867787],[-0.1317128695794719,1.557305836384437]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_30","position":[0.6677153395400219,-0.45745073963586824,0.71338606911949],"aabb_xy":[[0.6642746632999648,-0.4613121726102327],[0.6711560157800791,-0.45358930666150377]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_31","position":[0.4296092627076853,-2.298727092169471,0.71338606911949],"aabb_xy":[[0.34588703720760283,-2.3887270957041666],[0.5133314882077677,-2.2087270886347747]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_32","position":[-0.40873290374114724,1.1494451165363713,0.71338606911949],"aabb_xy":[[-0.416769238442432,1.1414069972319543],[-0.40069656903986234,1.1574832358407878]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_33","position":[0.5237099094076485,-0.22033435717019811,0.71338606911949],"aabb_xy":[[0.47590374179387973,-0.2853343598772571],[0.571516077021417,-0.15533435446313917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664847780694405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4468.png","name":"4468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4468.png","name":"4468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9020.png","name":"9020"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7986.png","name":"7986"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3212.png","name":"3212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4316.png","name":"4316"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":788.6697284246416,"rotation_z_degrees":79.27888991196534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00190479098834977,-0.01698496879893655,0.01546047217179727]},{"name":"camera_2","offset_m":[0.0014247401533919492,-3.679713494371406e-05,-0.012251422455820338]},{"name":"camera_3","offset_m":[0.019742612494909283,0.009484300677829662,-0.0032447213857317164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016077686698537054,-0.0009457235095862817,-0.0012543986868990564],"end_effector_yaw_offset_degrees":0.25143061747199047},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007244422941213827,0.0002172926776476576,0.0012956888536983565],"end_effector_yaw_offset_degrees":0.31794750404646255},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004325454467387596,-0.00011958929085827998,0.0014606385331705366],"end_effector_yaw_offset_degrees":-0.4076661870638123}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013011234887652635,-0.00019361442517846182],"position_m":[0.3370988765112347,0.08510638557482154,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027591547291148455,0.004224746862798323],"position_m":[0.35184084527088516,0.23982474686279834,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004085074029282834,0.0030972856708926496],"position_m":[0.21770850740292827,-0.08410271432910735,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041074282375832254,0.002817815457534811],"position_m":[0.24229257176241678,-0.3328821845424652,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4bb495048a515a3f9854295491db94a861c30f3b8dcd1b357395bd1b210fcbec","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4468/tex_ceiling_textures_4316/tex_floor_textures_3212/tex_table_textures_9020/tex_wall_textures_7986","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1106247497506469925,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1106247497506469925,"visual_seed":1106247497506469925,"scene_id":"lab_003","finished_at":"2026-09-02T04:34:16"}
+{"episode_id":"ep_000033","started_at":"2026-09-02T04:35:43","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.11056682761798031,-0.7382659108167926,0.71338606911949],"aabb_xy":[[0.1009351913975507,-0.7479032235965015],[0.12019846383840993,-0.7286285980370837]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.276758432108858,-0.2977934560309117,0.71338606911949],"aabb_xy":[[-0.3567584335389851,-0.3773106110435211],[-0.19675843067873072,-0.21827630101830214]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.3011126210850832,-1.6184094845455048,0.71338606911949],"aabb_xy":[[-0.3088158117591602,-1.626118855244243],[-0.2934094304110061,-1.6107001138467667]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.6406653589978646,-0.2904963818722024,0.71338606911949],"aabb_xy":[[0.5945802677431331,-0.3544963791247575],[0.6867504502525961,-0.2264963846196473]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.5237665598021687,-2.1764840790152364,0.71338606911949],"aabb_xy":[[-0.5787597711393055,-2.2314840793540305],[-0.46877334846503205,-2.1214840786764433]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.34717183483583014,-0.8690915390507501,0.71338606911949],"aabb_xy":[[-0.43717183851274816,-0.9305239456278541],[-0.25717183115891185,-0.8076591324736454]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.666389131786326,-0.8798613143901897,0.71338606911949],"aabb_xy":[[0.6472768244283471,-0.8989960932674317],[0.6855014391443048,-0.8607265355129476]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.04238306687414661,0.24670108802416157,0.71338606911949],"aabb_xy":[[-0.07235062378397228,0.21670108772627586],[-0.01241550996432094,0.2767010883220473]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.28252507001805494,-2.025087416939888,0.71338606911949],"aabb_xy":[[-0.3175250713695366,-2.0454471528967084],[-0.24752506866657317,-2.0047276809830668]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.12026314639862445,0.819956445127977,0.71338606911949],"aabb_xy":[[-0.1327305045083601,0.8074911204946538],[-0.1077957882888888,0.8324217697613008]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.15301165253526783,0.3575695882731287,0.71338606911949],"aabb_xy":[[-0.16968878852836333,0.3408696642991984],[-0.13633451654217232,0.37426951224705896]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.6207745377625891,-1.0813638870422757,0.71338606911949],"aabb_xy":[[-0.6757745373843349,-1.1363475798297484],[-0.5657745381408432,-1.026380194254803]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.4529472785420101,-2.508892093927714,0.71338606911949],"aabb_xy":[[-0.5129472791380263,-2.5637045664729374],[-0.39294727794599393,-2.4540796213824905]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.5125817933640023,-1.266221923422638,0.71338606911949],"aabb_xy":[[-0.5925817966280155,-1.2797819557315513],[-0.4325817900999892,-1.2526618911137246]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.42729963885440747,-1.622687458821328,0.71338606911949],"aabb_xy":[[0.3632996356357696,-1.6694105707203366],[0.49129964207304533,-1.57596434692232]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.4868241764372553,-2.2969766282586557,0.71338606911949],"aabb_xy":[[-0.5151538863857955,-2.301437370452373],[-0.45849446648871506,-2.292515886064939]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.3154148822146816,0.9538867861806892,0.71338606911949],"aabb_xy":[[0.28193571495364067,0.9204076728095822],[0.34889404947572256,0.9873658995517962]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.11725689279046181,-2.1001456795907956,0.71338606911949],"aabb_xy":[[0.10933361255171349,-2.122645679828799],[0.12518017302921014,-2.077645679352792]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.12298918049788687,-2.465250159905886,0.71338606911949],"aabb_xy":[[0.10109943290894607,-2.555250157195135],[0.14487892808682767,-2.375250162616637]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.6547294887624091,-0.04806478510811196,0.71338606911949],"aabb_xy":[[0.6242452386353788,-0.0980647848896079],[0.6852137388894392,0.0019352146733839781]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.030687148256243302,1.3483408148380964,0.71338606911949],"aabb_xy":[[0.023274692714854828,1.3424896044164685],[0.038099603797631776,1.3541920252597244]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[0.6021723508817851,1.1197394141935604,0.71338606911949],"aabb_xy":[[0.512172348547766,1.0422570596084477],[0.6921723532158042,1.197221768778673]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.5909862234894551,-0.6589196252341871,0.71338606911949],"aabb_xy":[[-0.6078969559257968,-0.6723918308268015],[-0.5740754910531133,-0.6454474196415725]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.17404870827337726,-1.6764955337879657,0.71338606911949],"aabb_xy":[[-0.23404870878123019,-1.7333422674738868],[-0.11404870776552435,-1.6196488001020442]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.6396920181094701,-0.07141315526095715,0.71338606911949],"aabb_xy":[[-0.6897894820905437,-0.13541315577076896],[-0.5895945541283965,-0.0074131547511453455]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[0.6103173215612718,0.3446142209303491,0.71338606911949],"aabb_xy":[[0.5265950960611893,0.25461421739565315],[0.6940395470613542,0.43461422446504505]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[0.008291545857369687,-1.979757386141419,0.71338606911949],"aabb_xy":[[-0.04168151967514578,-2.0297573859539524],[0.05826461138988516,-1.9297573863288866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652480555628822,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4342.png","name":"4342"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4342.png","name":"4342"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1241.png","name":"1241"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.0535656840008,"rotation_z_degrees":127.206326681638,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0076757962522387806,0.01739031334686478,-0.0034690353663258573]},{"name":"camera_2","offset_m":[-0.0018539619598232013,0.001882986267807616,-0.012988979039558594]},{"name":"camera_3","offset_m":[-0.01949458965038865,0.005985732914995979,0.011704460722157497]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00043798675519760586,-0.0019594737844813182,0.0017339993793881784],"end_effector_yaw_offset_degrees":0.4307885809054328},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00018742683778348807,-0.0011963313981269092,0.0014776427356124992],"end_effector_yaw_offset_degrees":0.24810145941272665},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00040303671560241484,0.000173470502908626,0.0015794272368023468],"end_effector_yaw_offset_degrees":-0.49853949246166795}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00450685728806286,-0.004542894855594548],"position_m":[0.34290685728806286,0.08075710514440546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028274612573699854,0.0009457083820141069],"position_m":[0.35177253874263004,0.2365457083820141,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0034284275551570665,-0.004413705657912547],"position_m":[0.22072842755515706,-0.09161370565791255,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003797020497708174,0.0006939918649539658],"position_m":[0.2501970204977082,-0.33500600813504605,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"285d28927cc851e30d9d6f00c11b791a90d2977c5f2d632a12b40a69bf996009","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4342/tex_ceiling_textures_7622/tex_floor_textures_1241/tex_table_textures_9198/tex_wall_textures_6183","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6687987999233421062,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6687987999233421062,"visual_seed":6687987999233421062,"scene_id":"lab_003","finished_at":"2026-09-02T04:38:42"}
+{"episode_id":"ep_000034","started_at":"2026-09-02T04:38:47","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.47651937484227624,-2.1425555556626246,0.71338606911949],"aabb_xy":[[0.38651937810666603,-2.1957390189799186],[0.5665193715778865,-2.0893720923453296]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[0.4131679116842075,-1.392055030685706,0.71338606911949],"aabb_xy":[[0.35157715246021476,-1.4560550287947531],[0.4747586709082004,-1.3280550325766594]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.4718758283363671,0.44415127337258564,0.71338606911949],"aabb_xy":[[0.40687582569857367,0.39267167467313874],[0.5368758309741606,0.49563087207203266]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.030685779672602775,0.6727194170381341,0.71338606911949],"aabb_xy":[[-0.019130999792231988,0.6227194185538307],[0.08050255913743753,0.7227194155224375]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.6130799143070613,-1.2158062000817544,0.71338606911949],"aabb_xy":[[0.5954042837184628,-1.2334864163611572],[0.6307555448956594,-1.1981259838023517]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.17611868072179848,-1.4049831621067173,0.71338606911949],"aabb_xy":[[-0.2261029164299757,-1.4549831609202128],[-0.12613444501362125,-1.3549831632932217]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[0.5943907273144113,1.442649350492402,0.71338606911949],"aabb_xy":[[0.5765216195599557,1.4288164425151912],[0.6122598350688667,1.4564822584696133]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.3150889825881453,1.1433245015830105,0.71338606911949],"aabb_xy":[[0.2846047324611151,1.0933245018015145],[0.3455732327151754,1.1933245013645064]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.2519321160204623,-0.5876314701792127,0.71338606911949],"aabb_xy":[[-0.3159321167239316,-0.6336498526521337],[-0.18793211531699294,-0.5416130877062917]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.2289967564163416,-1.688960160121488,0.71338606911949],"aabb_xy":[[-0.23769471870705688,-1.701085134428963],[-0.2202987941256263,-1.6768351858140136]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.6355455115186417,0.2774769936852852,0.71338606911949],"aabb_xy":[[0.6229187242314452,0.2679309199837123],[0.6481722988058379,0.2870230673868581]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.11979670747527049,-0.18287392442268713,0.71338606911949],"aabb_xy":[[-0.1837967067694387,-0.24686006479154132],[-0.05579670818110226,-0.11888778405383293]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.3401865287189714,1.6030368905558476,0.71338606911949],"aabb_xy":[[-0.34508582102553487,1.5753599712532784],[-0.3352872364124079,1.630713809858416]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.13279195748645534,1.4151668723989714,0.71338606911949],"aabb_xy":[[0.11690746422113019,1.4008139321001474],[0.1486764507517805,1.4295198126977955]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.5094519576078529,-0.19051446602835842,0.71338606911949],"aabb_xy":[[-0.5589323788218118,-0.25451446394121024],[-0.4599715363938942,-0.1265144681155066]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.603888450088408,1.17376109871635,0.71338606911949],"aabb_xy":[[-0.6147942261759707,1.0937611023175209],[-0.5929826740008453,1.2537610951151792]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.012397924285066364,-1.6418410409034996,0.71338606911949],"aabb_xy":[[-0.07639792158741276,-1.6862074678713563],[0.05160207301728004,-1.5974746139356428]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.41639468709036337,0.6093646405731965,0.71338606911949],"aabb_xy":[[-0.4963946842499386,0.5978170396153794],[-0.336394689930788,0.6209122415310134]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.5550105685076077,-1.0574880408322995,0.71338606911949],"aabb_xy":[[-0.5725105677856945,-1.0748261408986455],[-0.5375105692295208,-1.0401499407659536]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.5940679148525936,-1.5800595830428283,0.71338606911949],"aabb_xy":[[0.5290679162955209,-1.609812116456711],[0.6590679134096665,-1.5503070496289457]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.314114350138647,-2.1387307994869573,0.71338606911949],"aabb_xy":[[-0.3791143480202949,-2.1898544631934986],[-0.2491143522569993,-2.087607135780417]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672602630820991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3178.png","name":"3178"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3178.png","name":"3178"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7778.png","name":"7778"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6129.png","name":"6129"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2959.png","name":"2959"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4855.png","name":"4855"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":665.4267597278294,"rotation_z_degrees":67.67702223916663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008374785820688152,0.005322405811194093,-0.014168329208093513]},{"name":"camera_2","offset_m":[-0.003478337707802797,-0.008695724136414014,0.018710477004347126]},{"name":"camera_3","offset_m":[-0.013380320401543938,-0.0020008108938153954,0.018041271518507294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011329682688619904,0.0009978733802046393,-0.0005116485122139683],"end_effector_yaw_offset_degrees":-0.14798568624101627},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007190060765605226,0.0007133158165330972,0.0015946694464276726],"end_effector_yaw_offset_degrees":-0.4880021490580775},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008255364431074392,-0.00012860070595175277,0.00026121314372976046],"end_effector_yaw_offset_degrees":0.6100309272265179}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00182880651414401,0.0009787477324022078],"position_m":[0.340228806514144,0.08627874773240221,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007315661502862916,0.0010947877489762186],"position_m":[0.3538684338497137,0.23669478774897623,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004566964292471169,0.0020722256572143173],"position_m":[0.21273303570752883,-0.08512777434278568,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003870761327251625,0.00017952847047753451],"position_m":[0.2425292386727484,-0.33552047152952247,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f3e82da1fb1f93306abf0e92f1b5d4e69bf18c8e7e31c64a86b2205f6fbbb16c","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3178/tex_ceiling_textures_4855/tex_floor_textures_2959/tex_table_textures_7778/tex_wall_textures_6129","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8716354959980036942,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8716354959980036942,"visual_seed":8716354959980036942,"scene_id":"lab_003","finished_at":"2026-09-02T04:41:23"}
+{"episode_id":"ep_000035","started_at":"2026-09-02T04:44:31","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.08565829502733613,-1.295815699386161,0.71338606911949],"aabb_xy":[[0.06274258214228624,-1.3187199965225844],[0.10857400791238606,-1.2729114022497374]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.3157761200022426,0.27046709858761186,0.71338606911949],"aabb_xy":[[-0.3570249310321573,0.21546709907539444],[-0.27452730897232785,0.3254670980998293]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.29042920410067397,-0.7861538863963233,0.71338606911949],"aabb_xy":[[0.2786610173060165,-0.8711538863015451],[0.30219739089533154,-0.7011538864911019]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.601137962028137,1.763914192223639,0.71338606911949],"aabb_xy":[[0.5311379598967073,1.741152226597943],[0.6711379641595664,1.7866761578493344]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.009879171972681289,-2.189610052475406,0.71338606911949],"aabb_xy":[[-0.007222905985686867,-2.2067168580066756],[0.026981249931049445,-2.172503246944136]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.08309071841892568,0.696826985975763,0.71338606911949],"aabb_xy":[[0.06059071889521827,0.6743310385251421],[0.10559071794263307,0.7193229334263836]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.16001773741368586,-2.1598316229938708,0.71338606911949],"aabb_xy":[[-0.1770278347037365,-2.1759661114921447],[-0.1430076401236352,-2.143697134495597]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.48683658346456504,-0.9336494038544987,0.71338606911949],"aabb_xy":[[-0.5253822762897661,-0.9721951749106873],[-0.448290890639364,-0.8951036327983101]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.5602460201207751,1.3708463594553275,0.71338606911949],"aabb_xy":[[0.49624601777797356,1.325905508211195],[0.6242460224635766,1.41578721069946]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.08320047544708453,1.7547102264251788,0.71338606911949],"aabb_xy":[[-0.13320047646621982,1.7182440106873509],[-0.033200474427949274,1.7911764421630068]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.41476610785489565,1.4716485492592253,0.71338606911949],"aabb_xy":[[0.37913695195493596,1.4360158825023723],[0.45039526375485545,1.5072812160160782]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[0.06581634472367859,-1.598016245412461,0.71338606911949],"aabb_xy":[[0.03335464384175111,-1.6281490775273633],[0.09827804560560602,-1.567883413297558]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.43175290901400326,-0.09180515028485425,0.71338606911949],"aabb_xy":[[-0.46925290883103676,-0.09644336159599612],[-0.39425290919696965,-0.08716693897371239]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.11801229921569356,1.5580768505599134,0.71338606911949],"aabb_xy":[[-0.13468943520878907,1.5413769265859831],[-0.10133516322259807,1.5747767745338437]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.5446030554694321,-2.153549847372881,0.71338606911949],"aabb_xy":[[-0.5997282610990228,-2.2135498488141683],[-0.4894778498398413,-2.093549845931594]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.2622467596722563,0.09938932615850549,0.71338606911949],"aabb_xy":[[-0.28474676018429684,0.07689746779310715],[-0.23974675916021565,0.12188118452390385]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[0.64676385869169,-2.4804256240263554,0.71338606911949],"aabb_xy":[[0.6348311243298619,-2.4928077768342147],[0.658696593053518,-2.468043471218496]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.2781710037411062,1.435812237006456,0.71338606911949],"aabb_xy":[[-0.30856911484024974,1.4054053350047864],[-0.2477728926419626,1.4662191390081254]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.5726921248213777,-2.4668783261918645,0.71338606911949],"aabb_xy":[[0.5551921245620411,-2.480969868380637],[0.5901921250807144,-2.452786784003092]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.6160650613798755,1.4249614110091753,0.71338606911949],"aabb_xy":[[-0.6359561012602157,1.4123055997244784],[-0.5961740214995352,1.4376172222938721]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[-0.42404626728056066,-1.216206100510935,0.71338606911949],"aabb_xy":[[-0.5140462637814324,-1.2621177429293933],[-0.33404627077968885,-1.1702944580924768]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681825260079932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7744.png","name":"7744"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7744.png","name":"7744"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5741.png","name":"5741"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5483.png","name":"5483"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/738.png","name":"738"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/238.png","name":"238"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":791.3888923702139,"rotation_z_degrees":182.70635038872,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020258725770334884,0.013611660391993855,-0.012253536471085473]},{"name":"camera_2","offset_m":[0.008041996711026199,-0.0038734107558639833,0.01104569300929445]},{"name":"camera_3","offset_m":[0.0009770711458644103,0.0014181924977384602,0.019266951199509278]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018952260536114092,-0.0004628947729593178,0.0006870143918392651],"end_effector_yaw_offset_degrees":0.058399741887749324},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008065003811155201,-0.0004843233478033647,-0.0019978743986782893],"end_effector_yaw_offset_degrees":-0.356658232680493},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001146726252165204,8.443018503043621e-05,-0.0003746524133994291],"end_effector_yaw_offset_degrees":0.17860777670750316}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010878059469208471,-0.0011317817282721454],"position_m":[0.33948780594692085,0.08416821827172785,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.064424406893889e-05,0.0017118737940471727],"position_m":[0.35462064424406897,0.23731187379404717,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004832513210990282,-0.0009671530619988948],"position_m":[0.2124674867890097,-0.08816715306199889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001776489141501218,-0.0014679285821502896],"position_m":[0.24657764891415013,-0.3371679285821503,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"226753c9283919cebf0651f4c5c201304355e05fd76095c8311c90be1dd7edef","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0064.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7744/tex_ceiling_textures_238/tex_floor_textures_738/tex_table_textures_5741/tex_wall_textures_5483","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":36973419868702490,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":36973419868702490,"visual_seed":36973419868702490,"scene_id":"lab_003","finished_at":"2026-09-02T04:47:23"}
+{"episode_id":"ep_000036","started_at":"2026-09-02T04:47:26","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.011239179316251069,1.5391605686107837,0.71338606911949],"aabb_xy":[[-0.030945234844579672,1.4751605683335725],[0.05342359347708181,1.6031605688879949]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.3770707760503158,-1.0465052903528447,0.71338606911949],"aabb_xy":[[0.29707077388755326,-1.1264604739789883],[0.45707077821307823,-0.966550106726701]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.40987116416413527,-2.522127308411825,0.71338606911949],"aabb_xy":[[0.4001151746549613,-2.5318898424710596],[0.4196271536733091,-2.5123647743525908]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.41881371606245,0.41221205847435094,0.71338606911949],"aabb_xy":[[-0.47381371568419584,0.35722836568687827],[-0.36381371644070415,0.4671957512618237]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.16275464245148663,-2.1745619936686214,0.71338606911949],"aabb_xy":[[0.1495236969168053,-2.1877894126906203],[0.1759855879861679,-2.1613345746466215]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.6201963449779624,1.079122111088783,0.71338606911949],"aabb_xy":[[-0.6431120578630124,1.0562178139523597],[-0.5972806320929126,1.1020264082252067]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.5017737056607492,0.6634608209408905,0.71338606911949],"aabb_xy":[[-0.5056875788561717,0.6547118055343337],[-0.49785983246532667,0.6722098363474474]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.27669705507786424,-1.9066456389474362,0.71338606911949],"aabb_xy":[[0.2166970542170514,-1.9580720689539224],[0.336697055938677,-1.8552192089409496]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.05253557660478303,1.337293446383724,0.71338606911949],"aabb_xy":[[-0.09003557642181659,1.3326552350725822],[-0.015035576787749465,1.3419316576948659]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.5342061689408386,-2.167371258029786,0.71338606911949],"aabb_xy":[[0.5260784807475254,-2.176284866440494],[0.5423338571341518,-2.1584576496190784]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.5187446964787343,-1.2235060282878427,0.71338606911949],"aabb_xy":[[0.5073829618254481,-1.2348744946941308],[0.5301064311320204,-1.2121375618815546]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.39811293178863427,1.4546851449797331,0.71338606911949],"aabb_xy":[[0.3762042496492832,1.4327844781596424],[0.42002161392798526,1.4765858117998238]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.5628245371421334,0.5296437577717898,0.71338606911949],"aabb_xy":[[-0.6078245386083623,0.4846439009103093],[-0.5178245356759046,0.5746436146332706]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.3914481197634767,-0.5633827991542026,0.71338606911949],"aabb_xy":[[-0.4020155994215757,-0.5739278292672112],[-0.3808806401053777,-0.5528377690411941]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.6399224332369283,-0.01958019757470142,0.71338606911949],"aabb_xy":[[-0.6899224326771238,-0.06954812205901773],[-0.5899224337967326,0.03038772690961489]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.20478811877734127,-0.10442562643355302,0.71338606911949],"aabb_xy":[[-0.22507242150074,-0.12470825157626186],[-0.18450381605394248,-0.08414300129084418]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.2863663963280253,-0.36976922576549676,0.71338606911949],"aabb_xy":[[-0.32136639545798096,-0.37551444684116086],[-0.25136639719806964,-0.36402400468983265]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.05891137213499886,-2.5462047532672205,0.71338606911949],"aabb_xy":[[-0.07446714154526414,-2.561755186511628],[-0.043355602724733606,-2.5306543200228138]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.14460684181878936,-1.810784848796831,0.71338606911949],"aabb_xy":[[-0.16915305744154005,-1.841033745345868],[-0.12006062619603862,-1.780535952247794]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[0.012618949376661526,-1.0875533232153005,0.71338606911949],"aabb_xy":[[-0.05138105296614003,-1.132494174459433],[0.07661895171946308,-1.042612471971168]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.27957197592380706,-1.5488211360727808,0.71338606911949],"aabb_xy":[[-0.30315709938770197,-1.6138211383182126],[-0.25598685245991226,-1.483821133827349]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.07507550568548005,-2.4793355817382605,0.71338606911949],"aabb_xy":[[0.03828087256057376,-2.516241456834843],[0.11187013881038631,-2.4424297066416782]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.22862432656521692,-2.3593274020379518,0.71338606911949],"aabb_xy":[[0.21575242306427675,-2.4393274024517875],[0.24149623006615703,-2.279327401624115]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.013225483112490166,-2.2428071233872457,0.71338606911949],"aabb_xy":[[-0.08322548650405213,-2.2781228970906766],[0.05677452027907181,-2.207491349683815]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[0.7041668865081876,-1.4030851548108063,0.71338606911949],"aabb_xy":[[0.6969231204619423,-1.4830851530144087],[0.7114106525544329,-1.323085156607204]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[0.1020049396336633,-1.4514065630265793,0.71338606911949],"aabb_xy":[[0.056726324752514046,-1.515406562374763],[0.14728355451481256,-1.3874065636783957]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.37014370644610206,0.7911626671923364,0.71338606911949],"aabb_xy":[[-0.41144824950983805,0.7271626676242192],[-0.3288391633823661,0.8551626667604534]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.28919025998928305,-1.7421151664612164,0.71338606911949],"aabb_xy":[[-0.3691902585766024,-1.8214307683993773],[-0.2091902614019636,-1.6627995645230556]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_28","position":[0.556102931152703,-1.4597748243675348,0.71338606911949],"aabb_xy":[[0.5496012946446985,-1.4695426463938444],[0.5626045676607078,-1.4500070023412248]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.4166692319200316,-2.047235450875263,0.71338606911949],"aabb_xy":[[-0.480669232623501,-2.093253833348184],[-0.35266923121656224,-2.001217068402342]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[0.47130028331082263,-1.6613789074213725,0.71338606911949],"aabb_xy":[[0.4113002828029697,-1.7182256411072938],[0.5313002838186756,-1.6045321737354512]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[-0.06454504388048621,-0.23083417540505247,0.71338606911949],"aabb_xy":[[-0.07216931197066447,-0.23846739894159621],[-0.05692077579030798,-0.22320095186850877]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_32","position":[-0.4149377378570266,1.5651162844284552,0.71338606911949],"aabb_xy":[[-0.42428474543932176,1.5508126622108112],[-0.4055907302747313,1.5794199066460992]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655682704452148,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/687.png","name":"687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/911.png","name":"911"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7980.png","name":"7980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8018.png","name":"8018"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.783994064154,"rotation_z_degrees":213.2442956521584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01905333662871209,-0.00486453593673874,0.014653429678257213]},{"name":"camera_2","offset_m":[0.016832284071185633,-0.004368384024147975,0.006442986268467427]},{"name":"camera_3","offset_m":[0.0032481838270372425,-0.014372023020212767,0.013545968785724189]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002485200520125836,-0.0005091425201476621,0.001763586116177928],"end_effector_yaw_offset_degrees":0.5722435213983559},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008008231859941654,-0.0019688737771647855,-0.0007525774351887632],"end_effector_yaw_offset_degrees":-0.054069968463060336},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001303565625616435,-0.001028326834849217,0.00019219173572209043],"end_effector_yaw_offset_degrees":-0.8554440982059897}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033340706326037274,-0.0039500630342514526],"position_m":[0.33506592936739626,0.08134993696574855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016513288521908588,-0.0012582359638278772],"position_m":[0.35294867114780915,0.23434176403617213,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0018651941060906672,0.004617934015203618],"position_m":[0.21543480589390931,-0.08258206598479638,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.325474390131476e-06,-0.0029485641439627465],"position_m":[0.24640932547439015,-0.33864856414396277,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b753a66d3114c868025b48de0768753981e8b761c7b85edca92d9b69bb81bae","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_687/tex_ceiling_textures_3899/tex_floor_textures_8018/tex_table_textures_911/tex_wall_textures_7980","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4109269218507392594,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4109269218507392594,"visual_seed":4109269218507392594,"scene_id":"lab_003","finished_at":"2026-09-02T04:50:11"}
+{"episode_id":"ep_000037","started_at":"2026-09-02T04:51:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.38626591728816223,0.8548504569397486,0.71338606911949],"aabb_xy":[[-0.451265915845235,0.825097923525866],[-0.32126591873108934,0.8846029903536312]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.3038273582418283,-1.2144080684181757,0.71338606911949],"aabb_xy":[[-0.33882735813784715,-1.2227823039301156],[-0.2688273583458094,-1.2060338329062354]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.6119437898761588,-0.4024265419083495,0.71338606911949],"aabb_xy":[[0.5750932419391712,-0.4399265427313832],[0.6487943378131464,-0.36492654108531575]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.47864212320579824,0.9370515456353274,0.71338606911949],"aabb_xy":[[0.4436421240129799,0.9260844996376647],[0.5136421223986165,0.94801859163299]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.45934084477007886,-0.21494865954946318,0.71338606911949],"aabb_xy":[[0.4094581478923827,-0.2649486587957379],[0.5092235416477751,-0.16494866030318844]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.05628360783011388,1.5963980777796283,0.71338606911949],"aabb_xy":[[-0.09378360934574559,1.5851713047634834],[-0.018783606314482164,1.6076248507957736]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.30142389455827956,-1.5243601550305623,0.71338606911949],"aabb_xy":[[0.2920064199884168,-1.5337763321682814],[0.3108413691281423,-1.5149439778928433]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.04432753467793693,-1.069493894590667,0.71338606911949],"aabb_xy":[[0.0404136614825144,-1.0782429099972237],[0.04824140787335945,-1.06074487918411]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.4176530436628961,-0.07482365572665106,0.71338606911949],"aabb_xy":[[-0.4352858792564237,-0.09244660174227404],[-0.40002020806936855,-0.05720070971102809]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.5904016462264385,0.4681204428014385,0.71338606911949],"aabb_xy":[[-0.6403858819346157,0.4181204439879429],[-0.5404174105182612,0.5181204416149341]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.11103522478154504,0.5312222577741101,0.71338606911949],"aabb_xy":[[-0.1478298579064513,0.49431638267752787],[-0.07424059165663877,0.5681281328706924]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.3409859466491909,0.41012988270521245,0.71338606911949],"aabb_xy":[[-0.39597819728470196,0.3551298809618997],[-0.28599369601368,0.46512988444852527]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.6169621489281178,-1.0779510763224862,0.71338606911949],"aabb_xy":[[-0.621098005260818,-1.1154510757668432],[-0.6128262925954177,-1.0404510768781292]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.13336242505681783,-0.3778998216827927,0.71338606911949],"aabb_xy":[[-0.1407748805982063,-0.3837510321044207],[-0.12594996951542936,-0.3720486112611648]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.5854409972719234,0.6262889391843585,0.71338606911949],"aabb_xy":[[0.5608947816491727,0.5960400426353214],[0.6099872128946742,0.6565378357333955]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.5614237943453958,1.2043791463742632,0.71338606911949],"aabb_xy":[[-0.5999694871705967,1.1658333753180747],[-0.5228781015201946,1.2429249174304522]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.18298966179787057,1.3005918661023568,0.71338606911949],"aabb_xy":[[-0.21338777289701416,1.270184964100687],[-0.15259155069872699,1.330998768104026]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.08043314601464058,-0.673329802440261,0.71338606911949],"aabb_xy":[[0.042933146197607006,-0.6779680137514027],[0.11793314583167412,-0.668691591129119]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.5173699469652491,-0.19398724112454468,0.71338606911949],"aabb_xy":[[-0.5973699502292622,-0.20754727343345805],[-0.43736994370123594,-0.18042720881563137]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[0.6401596762653332,-1.3043117467860506,0.71338606911949],"aabb_xy":[[0.6321163163393779,-1.389311747881417],[0.6482030361912883,-1.2193117456906841]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.1443191256843307,-1.9824646264589685,0.71338606911949],"aabb_xy":[[0.13497211810203547,-1.9967682486766125],[0.15366613326662593,-1.9681610042413245]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[0.30922758494801417,1.3257139593996867,0.71338606911949],"aabb_xy":[[0.2631424936932827,1.2617139621471314],[0.35531267620274565,1.3897139566522416]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.0115035652321972,1.206440797965183,0.71338606911949],"aabb_xy":[[-0.015581723139246939,1.2023598177169197],[-0.0074254073251474595,1.2105217782134463]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.3658419816407783,-1.528139398916443,0.71338606911949],"aabb_xy":[[0.35269073566948894,-1.5531393986731297],[0.3789932276120677,-1.5031393991597566]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.012925876429293437,0.7916483162914112,0.71338606911949],"aabb_xy":[[-0.01636655266935061,0.7877868833170469],[-0.009485200189236265,0.7955097492657759]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[-0.16847373505119378,-1.0308114745464438,0.71338606911949],"aabb_xy":[[-0.2059737336268146,-1.0435477702100018],[-0.13097373647557298,-1.018075178882886]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.5702918289378724,-2.0396620665089404,0.71338606911949],"aabb_xy":[[-0.6342918281076423,-2.086428753627903],[-0.5062918297681024,-1.9928953793899782]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.2010839793047397,1.6197755362493393,0.71338606911949],"aabb_xy":[[-0.23608397761543515,1.6120605213257935],[-0.16608398099404426,1.6274905511728848]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684539436482583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2559.png","name":"2559"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2559.png","name":"2559"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/450.png","name":"450"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7472.png","name":"7472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2339.png","name":"2339"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":506.35521731447005,"rotation_z_degrees":93.01813010495036,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009144560199088964,0.003133912205893933,0.01978289317905654]},{"name":"camera_2","offset_m":[0.0029739459886527035,0.006543501649342528,-0.003558939303592159]},{"name":"camera_3","offset_m":[0.018171680931453268,-0.007674497206309664,-0.002250382655538341]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005869548996346023,-0.0014751841415763427,-0.0010868642419558606],"end_effector_yaw_offset_degrees":0.5755114791493001},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006648259830543258,-0.001690733723905458,-0.001759845747141922],"end_effector_yaw_offset_degrees":0.20751990358441375},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017307500504711037,-0.0010658655155658804,0.0007233959659274521],"end_effector_yaw_offset_degrees":-0.5496046933330607}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00043696963741585507,-0.0010570030623615976],"position_m":[0.33883696963741583,0.0842429969376384,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015976536932243539,-0.001704382573624277],"position_m":[0.35619765369322437,0.23389561742637574,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00020548627484204794,0.004663366060794536],"position_m":[0.21709451372515795,-0.08253663393920546,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048039709582335275,-0.00150600499519285],"position_m":[0.25120397095823355,-0.3372060049951928,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e412eeb6bf91adf7b23d89723dbedbd0f911f6c9b16228db803c9e6c6f93bec1","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2559/tex_ceiling_textures_2339/tex_floor_textures_7472/tex_table_textures_450/tex_wall_textures_2707","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3612313361755979229,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3612313361755979229,"visual_seed":3612313361755979229,"scene_id":"lab_003","finished_at":"2026-09-02T04:54:26"}
+{"episode_id":"ep_000038","started_at":"2026-09-02T04:54:29","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.02324410948815181,-0.7644812251368103,0.71338606911949],"aabb_xy":[[0.00574411035378464,-0.774360852174398],[0.04074410862251898,-0.7546015980992223]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.22627625875031043,-0.9471431255805289,0.71338606911949],"aabb_xy":[[0.2131250127790211,-0.9721431253372157],[0.23942750472159982,-0.9221431258238426]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[0.5016068590673595,-1.5753136356599622,0.71338606911949],"aabb_xy":[[0.48469612663101763,-1.5887858412525764],[0.5185175915037011,-1.5618414300673475]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.5834998237148741,0.3810272773772745,0.71338606911949],"aabb_xy":[[0.5484998254041786,0.37331226245372884],[0.6184998220255695,0.38874229230082014]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.2518828888824346,0.7427937108760405,0.71338606911949],"aabb_xy":[[-0.2627344951313102,0.7319344201483895],[-0.241031282633559,0.7536530016036915]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.21349478785901144,-2.369514762050027,0.71338606911949],"aabb_xy":[[-0.2684685098953443,-2.4245147616142604],[-0.15852106582267855,-2.314514762485794]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.24423630595463108,-2.250002051163039,0.71338606911949],"aabb_xy":[[0.19424147302668948,-2.3000020500582825],[0.2942311388825727,-2.2000020522677954]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.549721461910097,0.49537942827204917,0.71338606911949],"aabb_xy":[[-0.5847214618865928,0.4859148122244326],[-0.5147214619336011,0.5048440443196658]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.41219230940377244,-1.8324970302226413,0.71338606911949],"aabb_xy":[[-0.462192308843968,-1.8824649547069574],[-0.36219230996357676,-1.7825291057383248]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[0.043057830001080655,-1.7659878136244915,0.71338606911949],"aabb_xy":[[-0.006935282108111238,-1.8159878142986874],[0.09305094211027254,-1.7159878129502961]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.45948439062051194,-2.11265261171599,0.71338606911949],"aabb_xy":[[-0.5234843938391498,-2.1593757236149984],[-0.39548438740187414,-2.0659294998169817]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[-0.46472137111388906,-1.3981329188852158,0.71338606911949],"aabb_xy":[[-0.4871861410852942,-1.4206329197640764],[-0.44225660114248394,-1.3756329180063553]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.214658097770015,-1.3550427017027713,0.71338606911949],"aabb_xy":[[0.19764800047996434,-1.3711771902010452],[0.23166819506006564,-1.3389082132044974]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.6345015342802436,1.7032653491868035,0.71338606911949],"aabb_xy":[[0.5545015371206683,1.6917177482289865],[0.7145015314398189,1.7148129501446205]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.5888797864191468,0.6767417523252486,0.71338606911949],"aabb_xy":[[-0.612161628617278,0.5917417510280204],[-0.5655979442210153,0.7617417536224765]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[0.5900061751647769,0.9219051467345882,0.71338606911949],"aabb_xy":[[0.5680974930254258,0.9000044799144974],[0.6119148573041279,0.9438058135546789]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.23138701237254367,1.7937040556317148,0.71338606911949],"aabb_xy":[[0.16138701077026416,1.7802712624300572],[0.30138701397482315,1.8071368488333723]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.6318335756646497,-1.2457874527191912,0.71338606911949],"aabb_xy":[[-0.6395367663387268,-1.2534968234179291],[-0.6241303849905726,-1.2380780820204533]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.7089322417758286,0.21955520781600235,0.71338606911949],"aabb_xy":[[0.704032949469265,0.19187828851343358],[0.713831534082392,0.24723212711857112]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.31615997989215616,-1.4808209074756287,0.71338606911949],"aabb_xy":[[-0.33504436366066637,-1.4997068322559814],[-0.29727559612364596,-1.4619349826952759]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.5123736108509608,-1.305133906669842,0.71338606911949],"aabb_xy":[[-0.527929380261226,-1.3206843399142492],[-0.4968178414406955,-1.2895834734254348]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[0.1031498415001515,-1.304911836816254,0.71338606911949],"aabb_xy":[[0.060383134620731305,-1.3689118402380567],[0.1459165483795717,-1.2409118333944518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657358171106832,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8087.png","name":"8087"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8087.png","name":"8087"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7947.png","name":"7947"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2834.png","name":"2834"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3285.png","name":"3285"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6069.png","name":"6069"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":830.3241608026204,"rotation_z_degrees":154.15981883668718,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036003087588435748,0.010577193369980455,0.0026589794129294256]},{"name":"camera_2","offset_m":[-0.00973067664493,-0.017344695968694316,-0.00750624329722366]},{"name":"camera_3","offset_m":[-0.01145112347292292,-0.004567785773403842,0.010013183058508034]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014293959451611232,0.0014113420160696164,-0.0017649925333080919],"end_effector_yaw_offset_degrees":-0.6476027883458921},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013173341313027238,-0.0019051783436500585,-0.0008053725780355569],"end_effector_yaw_offset_degrees":-0.8929138126682024},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015652223540189008,0.0004908028263125807,0.0018105137989488799],"end_effector_yaw_offset_degrees":-0.24979283105725214}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003730127821365451,-8.37542480054054e-05],"position_m":[0.33466987217863453,0.0852162457519946,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001791881415922003,-0.000493641066875149],"position_m":[0.352808118584078,0.23510635893312484,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008664470979097326,-0.0023541902264276994],"position_m":[0.21643355290209026,-0.0895541902264277,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004040802068597399,-0.0023689345789203345],"position_m":[0.2504408020685974,-0.33806893457892034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e46084159538f2afc3dcaa35bd3c9260197c0837a60be942b58336091d51779f","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8087/tex_ceiling_textures_6069/tex_floor_textures_3285/tex_table_textures_7947/tex_wall_textures_2834","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":708880912412586316,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":708880912412586316,"visual_seed":708880912412586316,"scene_id":"lab_003","finished_at":"2026-09-02T04:57:06"}
+{"episode_id":"ep_000039","started_at":"2026-09-02T04:58:20","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.35375007730011876,0.09245412853478774,0.71338606911949],"aabb_xy":[[-0.37565875943946975,0.070553461714697],[-0.33184139516076766,0.11435479535487846]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.41576428765558276,-1.7562632837903207,0.71338606911949],"aabb_xy":[[-0.42891553362687224,-1.7812632835470077],[-0.4026130416842935,-1.7312632840336346]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[-0.15058669389796875,0.9174314202658613,0.71338606911949],"aabb_xy":[[-0.2005866951818087,0.8674525658752391],[-0.10058669261412877,0.9674102746564833]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.0650131766986971,-2.0107509690136207,0.71338606911949],"aabb_xy":[[-0.115006288807889,-2.060750969687817],[-0.015020064589505212,-1.9607509683394255]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[-0.1470550239456233,-2.525835927039764,0.71338606911949],"aabb_xy":[[-0.1586240046925599,-2.5508359271566956],[-0.13548604319868676,-2.500835926922832]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.29253013043064513,-2.3918797185562557,0.71338606911949],"aabb_xy":[[-0.3018237486677957,-2.4293797170443896],[-0.28323651219349455,-2.354379720068122]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.16301623338153026,-1.024489486621504,0.71338606911949],"aabb_xy":[[0.15692160549341194,-1.033058881173173],[0.16911086126964858,-1.0159200920698355]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.19078201142528128,-0.9467369340909402,0.71338606911949],"aabb_xy":[[0.16860948444863044,-0.9689126012470632],[0.2129545384019321,-0.9245612669348169]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.4446733806944163,0.49772632421415297,0.71338606911949],"aabb_xy":[[-0.5086733810719499,0.44798105736334065],[-0.3806733803168827,0.5474715910649652]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.2920729315433671,-1.819020653272677,0.71338606911949],"aabb_xy":[[0.2570729315668712,-1.8284852693202938],[0.3270729315198629,-1.8095560372250605]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.06259517587727781,-1.5266317936177909,0.71338606911949],"aabb_xy":[[-0.14259517446459724,-1.6059473955559518],[0.017404822710041606,-1.44731619167963]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.32269187451621234,1.4072586492230599,0.71338606911949],"aabb_xy":[[-0.3561320497122319,1.3738150233921296],[-0.2892516993201927,1.4407022750539897]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.3853249703555919,-0.3142248210377354,0.71338606911949],"aabb_xy":[[-0.42809167723501207,-0.37822482445953787],[-0.3425582634761717,-0.25022481761593296]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.21742267534980764,1.0308826470315462,0.71338606911949],"aabb_xy":[[0.15583191612581485,0.9668826489224995],[0.27901343457380046,1.0948826451405933]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.4362913153553003,-1.7285844992444541,0.71338606911949],"aabb_xy":[[0.4328506391152432,-1.7324459322188186],[0.43973199159535753,-1.7247230662700896]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.6123445353678609,1.4683285333041884,0.71338606911949],"aabb_xy":[[-0.6673445349896068,1.4133448405167162],[-0.5573445357461151,1.5233122260916616]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.46373426493426884,-0.6341016889204327,0.71338606911949],"aabb_xy":[[0.40610379604699787,-0.6941016878471433],[0.5213647338215396,-0.5741016899937221]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[0.5481566117759518,0.5924274465236601,0.71338606911949],"aabb_xy":[[0.49414101549405165,0.5284274436314029],[0.6021722080578517,0.6564274494159172]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.36304504224965256,0.5918454286431878,0.71338606911949],"aabb_xy":[[-0.40054504274701075,0.5878767450950694],[-0.32554504175229426,0.5958141121913062]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.542291208144102,1.5927851942912015,0.71338606911949],"aabb_xy":[[0.531723728486003,1.5822401641781927],[0.552858687802201,1.6033302244042098]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.31413808319046566,-2.324524970882895,0.71338606911949],"aabb_xy":[[0.28959186756771493,-2.354773867431932],[0.3386842988132164,-2.2942760743338577]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.4014724599872186,0.8803390749667934,0.71338606911949],"aabb_xy":[[0.38960037697571753,0.7953390752731432],[0.41334454299871976,0.9653390746604439]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.03116618768454993,0.5464671652348909,0.71338606911949],"aabb_xy":[[-0.042071963772112635,0.46646716883606165],[-0.02026041159698721,0.62646716163372]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.31580977475339767,1.4392295622077698,0.71338606911949],"aabb_xy":[[0.23580977259063512,1.3592743785816261],[0.3958097769161601,1.5191847458339134]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[0.13506866271014695,-1.2764554168391675,0.71338606911949],"aabb_xy":[[0.1100686635445138,-1.283407662544524],[0.16006866187578003,-1.269503171133811]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[0.2117523873179905,-0.607783462714063,0.71338606911949],"aabb_xy":[[0.16175737635853848,-0.6577834617496549],[0.26174739827744253,-0.5577834636784714]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.06382418043191973,-2.298456959039245,0.71338606911949],"aabb_xy":[[-0.0011758196023829992,-2.3451576357195725],[0.12882418046622246,-2.251756282358918]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.47645365269450246,0.15528673736865706,0.71338606911949],"aabb_xy":[[-0.5235830316963381,0.09128673632425505],[-0.42932427369266674,0.21928673841305896]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697560497893675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6258.png","name":"6258"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6389.png","name":"6389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9924.png","name":"9924"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9427.png","name":"9427"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":788.9635571112381,"rotation_z_degrees":186.8980585994223,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014453199319217066,0.00030488981123390213,0.0063346584623368805]},{"name":"camera_2","offset_m":[0.012034202371226679,-0.019990488010254208,-0.01947989632488921]},{"name":"camera_3","offset_m":[-0.014220157071943924,-0.015869843349230296,-0.01701831359172591]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001072085878832842,-0.0015486416656611936,0.0018836254513867091],"end_effector_yaw_offset_degrees":0.8840767015813833},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014146122846827756,-0.0015490697930497586,0.0012312322427311833],"end_effector_yaw_offset_degrees":0.9253643918938248},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001110194737639974,0.0018072744239465534,-9.550533923614185e-06],"end_effector_yaw_offset_degrees":-0.764413858137813}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043451697371288,-0.00044262271766487473],"position_m":[0.3340548302628712,0.08485737728233513,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028875452274666766,-0.001436524305254888],"position_m":[0.35748754522746673,0.2341634756947451,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003410281911710722,0.003804860917758674],"position_m":[0.21388971808828927,-0.08339513908224133,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00376137277047242,0.0030317784151558938],"position_m":[0.2426386272295276,-0.3326682215848441,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"58337a3286f7d0a1ddec651399221a5071cbf186f52c9857371aa6f21c85bcde","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8109/tex_ceiling_textures_9427/tex_floor_textures_9924/tex_table_textures_6258/tex_wall_textures_6389","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4423786307423318107,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4423786307423318107,"visual_seed":4423786307423318107,"scene_id":"lab_003","finished_at":"2026-09-02T05:00:49"}
+{"episode_id":"ep_000040","started_at":"2026-09-02T05:00:52","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.4574715211076794,-1.467759836148679,0.71338606911949],"aabb_xy":[[-0.46378362064401785,-1.473526775401898],[-0.451159421571341,-1.46199289689546]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.21543493898461508,-1.2129833439695388,0.71338606911949],"aabb_xy":[[0.20502338030413134,-1.218329077305437],[0.22584649766509876,-1.2076376106336402]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.5260396304797552,0.8958479763355998,0.71338606911949],"aabb_xy":[[0.5085396312016683,0.8785098762692538],[0.5435396297578421,0.9131860764019457]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.4316760825177437,-2.0663457765716604,0.71338606911949],"aabb_xy":[[-0.48167109347719583,-2.1163457756072526],[-0.3816810715582918,-2.016345777536069]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.35368792095690993,0.7478332914455059,0.71338606911949],"aabb_xy":[[0.29368792044905695,0.6909865577595846],[0.4136879214647628,0.8046800251314272]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[-0.313607919147799,-1.3354226625572299,0.71338606911949],"aabb_xy":[[-0.35110791931967084,-1.3681233979401368],[-0.27610791897592696,-1.3027219271743224]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.5668218159974923,0.578438514199556,0.71338606911949],"aabb_xy":[[0.5318218168675366,0.572693293123892],[0.6018218151274479,0.5841837352752203]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.4258662739951655,1.1752546535758563,0.71338606911949],"aabb_xy":[[0.3658662737437643,1.1209733285393917],[0.48586627424656664,1.229535978612321]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.37501208082159837,0.9298444501761645,0.71338606911949],"aabb_xy":[[-0.42499088933191426,0.8798444501704455],[-0.3250332723112825,0.9798444501818832]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.23129919026081452,-2.3831662606056594,0.71338606911949],"aabb_xy":[[-0.2432319246226426,-2.3955484134135188],[-0.21936645589898646,-2.3707841077978]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.5078755916095465,0.3595285380166824,0.71338606911949],"aabb_xy":[[0.44287559065241927,0.3075803260829768],[0.5728755925666736,0.41147674995038797]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.310895858746519,-1.8807610207578436,0.71338606911949],"aabb_xy":[[-0.3205274949669486,-1.8903983335375523],[-0.30126422252608936,-1.8711237079781344]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.5571278606663735,0.4249081164359425,0.71338606911949],"aabb_xy":[[-0.5679008345877412,0.3899081182169036],[-0.5463548867450057,0.45990811465498155]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.4453211460959541,-1.259151734371299,0.71338606911949],"aabb_xy":[[-0.48265242262119673,-1.2938047891661515],[-0.40798986957071154,-1.224498679576447]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.29378110599152046,0.28487294395590146,0.71338606911949],"aabb_xy":[[-0.33057573911642674,0.24796706885931918],[-0.2569864728666142,0.32177881905248373]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.5113223189180597,0.03532318805767076,0.71338606911949],"aabb_xy":[[-0.543784019799987,0.005190355942768145],[-0.47886061803613217,0.06545602017257336]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.3348039342899529,1.7987012482646816,0.71338606911949],"aabb_xy":[[0.3271007436158758,1.7909918775659435],[0.3425071249640299,1.8064106189634197]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.28431911191020387,-2.096925414014907,0.71338606911949],"aabb_xy":[[0.2468191103945721,-2.108152187031052],[0.3218191134258355,-2.085698640998762]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[0.11669842417771492,0.8866688523096564,0.71338606911949],"aabb_xy":[[0.04669842257543545,0.8732360591079987],[0.1866984257799944,0.9001016455113139]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.22297471353032294,-0.22507766319207523,0.71338606911949],"aabb_xy":[[-0.3029747167881659,-0.3050741709840592],[-0.14297471027247996,-0.14508115540009123]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.43168376437416023,-2.3738258848933227,0.71338606911949],"aabb_xy":[[0.37668376519757074,-2.4288155596682803],[0.4866837635507497,-2.318836210118365]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.10379401997512616,1.1717258803133372,0.71338606911949],"aabb_xy":[[-0.12629044140899026,1.1492258805065898],[-0.08129759854126206,1.1942258801200847]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.10439286485180199,-1.727602068133924,0.71338606911949],"aabb_xy":[[-0.168392866901534,-1.7676965512232319],[-0.040392862802069995,-1.687507585044616]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697504470754961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9041.png","name":"9041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9041.png","name":"9041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7770.png","name":"7770"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7532.png","name":"7532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4721.png","name":"4721"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":623.4633214859623,"rotation_z_degrees":283.5198772430514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006975064142005633,-0.005683405312986256,0.0026112772394058965]},{"name":"camera_2","offset_m":[-0.01696368910452061,0.003189090837890138,-0.019394280807790275]},{"name":"camera_3","offset_m":[-0.008566986827626463,0.013068780956598764,0.014786937052664945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010242725476387875,-0.00027413386118750886,-0.001591648947237552],"end_effector_yaw_offset_degrees":0.29338844925470187},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017615747731980986,4.369827964295376e-06,-0.00040221085447508386],"end_effector_yaw_offset_degrees":-0.8623825039690083},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.000498172998398412,-0.0010118376814914757,-0.0005675613177671139],"end_effector_yaw_offset_degrees":-0.1232347757869161}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032262764879310455,0.000788849318273133],"position_m":[0.3351737235120689,0.08608884931827314,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002898428156208323,-0.0014817167441656186],"position_m":[0.35749842815620836,0.2341182832558344,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007258796366535177,0.0023381818335280746],"position_m":[0.21657412036334647,-0.08486181816647193,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033084702079081542,0.00012527680265315717],"position_m":[0.24970847020790815,-0.3355747231973468,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5aa12d0835da4c7c386ff3142539f119150f7922dd5c6e3515b435d19ddad7bb","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9041/tex_ceiling_textures_4721/tex_floor_textures_7532/tex_table_textures_7770/tex_wall_textures_2830","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8033338499517245109,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8033338499517245109,"visual_seed":8033338499517245109,"scene_id":"lab_003","finished_at":"2026-09-02T05:03:29"}
+{"episode_id":"ep_000041","started_at":"2026-09-02T05:07:35","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.25790674546354786,-2.5014784779989183,0.71338606911949],"aabb_xy":[[0.24775372990939837,-2.537548019571658],[0.26805976101769713,-2.4654089364261775]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.5751570038715842,0.23372879355333565,0.71338606911949],"aabb_xy":[[-0.5976570036854866,0.22925417718285493],[-0.5526570040576818,0.2382034099238163]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.3737599108990559,-1.3911631606844894,0.71338606911949],"aabb_xy":[[-0.381873565572433,-1.3992689771385183],[-0.3656462562256788,-1.3830573442304601]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.09380960774399016,0.8371560724154272,0.71338606911949],"aabb_xy":[[0.08656584169774482,0.7571560742118247],[0.10105337379023548,0.9171560706190295]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.26776400307884485,1.2462161296344338,0.71338606911949],"aabb_xy":[[0.25898277593160873,1.2374363823459038],[0.2765452302260812,1.2549958769229643]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[-0.09450141945013912,-1.2623180657925268,0.71338606911949],"aabb_xy":[[-0.16450142284170108,-1.2976338394959575],[-0.024501416058577138,-1.2270022920890957]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.5767669309835333,-0.9734927661405188,0.71338606911949],"aabb_xy":[[-0.6407669342732413,-1.0168276851444364],[-0.512766927693825,-0.9301578471366013]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.33601060446265785,-0.8093008903025136,0.71338606911949],"aabb_xy":[[0.27101060335671456,-0.8342662633706419],[0.40101060556860113,-0.7843355172343853]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[-0.49931284225405587,-2.2611587614566946,0.71338606911949],"aabb_xy":[[-0.5175186659153035,-2.2721841620386862],[-0.48110701859280824,-2.250133360874703]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.20176749655160015,-1.4711791792207574,0.71338606911949],"aabb_xy":[[-0.2517449134168537,-1.5211791807100057],[-0.15179007968634653,-1.4211791777315086]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.2911342033924056,1.5920056927536312,0.71338606911949],"aabb_xy":[[0.2411342047464844,1.5420861490941686],[0.3411342020383268,1.6419252364130934]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[-0.07524909988679107,-0.7225301966546567,0.71338606911949],"aabb_xy":[[-0.1452491020182206,-0.7452921622803522],[-0.005249097755361518,-0.6997682310289609]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.21230397954039282,-0.5547081552487501,0.71338606911949],"aabb_xy":[[0.1423039777316474,-0.5760619240129374],[0.28230398134913826,-0.5333543864845627]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.48616115364419626,-0.059614090078972115,0.71338606911949],"aabb_xy":[[-0.5217903095441561,-0.09524675683582506],[-0.4505319977442365,-0.023981423322119166]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.016203976939726306,1.2991083515505761,0.71338606911949],"aabb_xy":[[-0.10120397563180095,1.2671224881556973],[0.06879602175234834,1.331094214945455]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.5276809550074181,-0.21221482470748887,0.71338606911949],"aabb_xy":[[-0.5501773764412822,-0.23471482451423628],[-0.505184533573554,-0.1897148249007414]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.6974403562784453,1.665117215990008,0.71338606911949],"aabb_xy":[[0.6724403563459275,1.6582345477690847],[0.7224403562109633,1.6719998842109314]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[0.3169729927062752,1.708901574381827,0.71338606911949],"aabb_xy":[[0.29447299269612687,1.6948053547422235],[0.33947299271642345,1.72299779402143]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.33061572789076515,-2.046638298421581,0.71338606911949],"aabb_xy":[[-0.37578704573893423,-2.11063829556612],[-0.28544441004259624,-1.982638301277043]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.14881506726515925,-1.135918204998072,0.71338606911949],"aabb_xy":[[0.06881506679494333,-1.1442289126124205],[0.22881506773537524,-1.127607497383724]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.5016693683932725,-1.209596035073359,0.71338606911949],"aabb_xy":[[0.49110188873517346,-1.2201410651863676],[0.5122368480513715,-1.1990510049603504]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.5395054566324113,1.627122677318971,0.71338606911949],"aabb_xy":[[0.49237607763057556,1.563122676274569],[0.5866348356342469,1.6911226783633728]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.3182078435706457,-2.073771518710069,0.71338606911949],"aabb_xy":[[0.25320784501357285,-2.103524052123951],[0.3832078421277185,-2.044018985296186]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.21425984988323332,1.011791930444749,0.71338606911949],"aabb_xy":[[-0.29425984728682664,0.931799359246566],[-0.13425985247963984,1.0917845016429315]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.4968234524352324,-0.676103608983589,0.71338606911949],"aabb_xy":[[0.48093895916990725,-0.6904565492824131],[0.5127079457005576,-0.661750668684765]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[-0.39319109439827804,1.075390582597838,0.71338606911949],"aabb_xy":[[-0.4218404267586942,1.046745023320762],[-0.36454176203786176,1.1040361418749136]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[0.6556211307383122,-0.4655401761766482,0.71338606911949],"aabb_xy":[[0.6181211323149117,-0.47870439014447885],[0.6931211291617124,-0.4523759622088176]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[-0.27275543187826834,-1.6688981019621274,0.71338606911949],"aabb_xy":[[-0.309789541306328,-1.7032753092958366],[-0.23572132245020858,-1.6345208946284178]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.5617440453917204,0.5733202687283026,0.71338606911949],"aabb_xy":[[0.47802181989163794,0.4833202651936066],[0.6454662708918029,0.6633202722629985]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.04944965316087102,-0.06417585894849598,0.71338606911949],"aabb_xy":[[-0.06612678915396653,-0.08087578292242625],[-0.03277251716777552,-0.0474759349745657]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_30","position":[0.30204525092514733,-2.281403987736596,0.71338606911949],"aabb_xy":[[0.29607871198441155,-2.2873651323959603],[0.3080117898658831,-2.275442843077232]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_31","position":[-0.23783513170039866,0.46831911444263863,0.71338606911949],"aabb_xy":[[-0.25538182661651754,0.43081911287838726],[-0.2202884367842797,0.5058191160068898]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663335790357259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2137.png","name":"2137"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2137.png","name":"2137"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9240.png","name":"9240"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6149.png","name":"6149"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2743.png","name":"2743"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7531.png","name":"7531"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.6965409419198,"rotation_z_degrees":244.8486338929306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0050034371344200405,-0.006446954239822373,0.009492848732226274]},{"name":"camera_2","offset_m":[-0.006522942850947034,-0.003808992634646055,0.015245643096640043]},{"name":"camera_3","offset_m":[0.013166030823191111,-0.01894943921634186,-0.010366257283636493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004087670016352928,8.925985131314233e-05,-0.0006932082943294389],"end_effector_yaw_offset_degrees":0.08835365926178751},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00022048066268516358,0.001591567228486398,-0.0018802071113601544],"end_effector_yaw_offset_degrees":-0.3675117233189944},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015048115770161306,-0.0017657365972945029,0.0005491168925924948],"end_effector_yaw_offset_degrees":-0.3085693067988242}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033532129971983638,0.0046907083463084325],"position_m":[0.3350467870028016,0.08999070834630843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004447562359064456,-0.003888944673806659],"position_m":[0.35015243764093557,0.23171105532619335,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002231418317942734,0.001190521610483176],"position_m":[0.21506858168205725,-0.08600947838951682,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012267743845435662,-0.002413290270691102],"position_m":[0.24762677438454359,-0.3381132902706911,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f15dea6af1ac804dd9aa52331f913e42029ef0269d526b69046858d02cb007f7","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2137/tex_ceiling_textures_7531/tex_floor_textures_2743/tex_table_textures_9240/tex_wall_textures_6149","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2400349714621664896,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2400349714621664896,"visual_seed":2400349714621664896,"scene_id":"lab_003","finished_at":"2026-09-02T05:10:07"}
+{"episode_id":"ep_000042","started_at":"2026-09-02T05:10:11","dimensions":{"distractor":{"count":33,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.06310577861538091,-1.745191532460008,0.71338606911949],"aabb_xy":[[-0.026894223718638144,-1.8226738870451207],[0.15310578094939997,-1.6677091778748954]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.599482654071628,-2.365377363726908,0.71338606911949],"aabb_xy":[[-0.6339451320847158,-2.372041040909831],[-0.5650201760585403,-2.3587136865439855]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.352932596332975,1.452936767812227,0.71338606911949],"aabb_xy":[[-0.3720449036909539,1.433801988934985],[-0.33382028897499616,1.472071546689469]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.16352556318931477,-2.0765492659571367,0.71338606911949],"aabb_xy":[[0.10853331255380386,-2.13154926770045],[0.21851781382482577,-2.0215492642138244]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.5787766188444065,-0.12897175470919864,0.71338606911949],"aabb_xy":[[-0.6403673780683994,-0.19297175281824552],[-0.5171858596204137,-0.06497175660015175]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[0.12421800814433803,0.7025493153776456,0.71338606911949],"aabb_xy":[[0.0867180078521632,0.6985078399770419],[0.16171800843651285,0.7065907907782492]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[0.6829971666469781,0.5343360390071066,0.71338606911949],"aabb_xy":[[0.645497166475106,0.5016353036241994],[0.7204971668188499,0.5670367743900138]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.26302089524006644,-1.9350385902210097,0.71338606911949],"aabb_xy":[[-0.27006234619081404,-1.9420653419588045],[-0.25597944428931885,-1.9280118384832152]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.023663871032700512,-2.1852101698523128,0.71338606911949],"aabb_xy":[[-0.03169014166332651,-2.1939616648296654],[-0.015637600402074514,-2.17645867487496]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.14113475891017613,0.7256198819962338,0.71338606911949],"aabb_xy":[[-0.1911297698696282,0.6756198829606421],[-0.09113974795072412,0.7756198810318257]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.4683861699616152,1.1766428659932497,0.71338606911949],"aabb_xy":[[0.38838617294736716,1.1565083143198385],[0.5483861669758632,1.196777417666661]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.4732864766119157,-1.767807203897012,0.71338606911949],"aabb_xy":[[-0.5233839405929894,-1.8318072044068239],[-0.42318901263084213,-1.7038072033872003]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.5070065922035465,-0.6144455199430321,0.71338606911949],"aabb_xy":[[-0.5710065944239535,-0.6588186040683203],[-0.44300658998313946,-0.5700724358177437]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.2944513869020561,-0.5790986432707488,0.71338606911949],"aabb_xy":[[0.25765675377714986,-0.616004518367331],[0.3312460200269624,-0.5421927681741665]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.2151168330648942,0.8739633400565556,0.71338606911949],"aabb_xy":[[-0.27911683165146667,0.8269563766570469],[-0.15111683447832175,0.9209703034560643]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.586510777897076,-1.4896059549708334,0.71338606911949],"aabb_xy":[[-0.5965924849756493,-1.569605952862948],[-0.5764290708185024,-1.4096059570787187]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.5613007161739498,0.5101969853432715,0.71338606911949],"aabb_xy":[[0.5540569501277045,0.43019698713966903],[0.5685444822201952,0.5901969835468738]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.4471078660930466,-1.9485334093974265,0.71338606911949],"aabb_xy":[[-0.48460786760867824,-1.9597601824135715],[-0.4096078645774148,-1.9373066363812814]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.43255183224943083,-1.228481892472295,0.71338606911949],"aabb_xy":[[0.3475518335573562,-1.2604677558671735],[0.5175518309415055,-1.1964960290774158]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[-0.07396479303185477,1.6398657725448422,0.71338606911949],"aabb_xy":[[-0.12798038931375477,1.5758657696525848],[-0.019949196749954753,1.7038657754370992]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.560739356725407,-1.0306858536096968,0.71338606911949],"aabb_xy":[[-0.6247393540277534,-1.0750522805775535],[-0.4967393594230606,-0.98631942664184]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.49367544427258925,1.7755401870392515,0.71338606911949],"aabb_xy":[[-0.5436754452231221,1.74399104003573],[-0.4436754433220564,1.8070893340427727]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[0.4609864183180479,-1.0098886527490634,0.71338606911949],"aabb_xy":[[0.4109915853901063,-1.059888651644307],[0.5109812512459895,-0.9598886538538198]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.4061103152739356,1.0902138431355057,0.71338606911949],"aabb_xy":[[0.3836103147618949,1.0677219847701074],[0.4286103157859761,1.112705701500904]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[0.4506906452149322,-0.4558851960729857,0.71338606911949],"aabb_xy":[[0.3856906470590131,-0.4821814406228979],[0.5156906433708512,-0.4295889515230735]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[0.43135751844245096,-0.08911702729015358,0.71338606911949],"aabb_xy":[[0.4226595561517356,-0.10124200159762832],[0.4400554807331662,-0.07699205298267886]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[0.500605286888185,-1.9061107649181355,0.71338606911949],"aabb_xy":[[0.4855029854271667,-1.921212286549197],[0.5157075883492028,-1.891009243287073]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[0.18470655511983503,-1.2655398697527611,0.71338606911949],"aabb_xy":[[0.17313757437289848,-1.290539869869693],[0.19627553586677163,-1.2405398696358296]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.6347226591748438,-1.9189149621574826,0.71338606911949],"aabb_xy":[[0.6172226600404767,-1.9287945891950702],[0.652222658309211,-1.9090353351198945]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[0.5007847940752361,0.15078739697427945,0.71338606911949],"aabb_xy":[[0.47828479406508784,0.13669117733467617],[0.5232847940853844,0.16488361661388273]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[-0.529691709788985,0.13268928249851175,0.71338606911949],"aabb_xy":[[-0.552607422674035,0.10978498536208825],[-0.5067759969039352,0.15559357963493525]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_31","position":[-0.2028077653752029,0.4606582448033434,0.71338606911949],"aabb_xy":[[-0.29280776396967284,0.4444076584899224],[-0.11280776678073295,0.47690883111676446]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_32","position":[-0.07168970783989259,-1.5593140637118965,0.71338606911949],"aabb_xy":[[-0.16168970725826348,-1.592689560556086],[0.018310291578478313,-1.5259385668677066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716521741979213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6485.png","name":"6485"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6485.png","name":"6485"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9633.png","name":"9633"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4066.png","name":"4066"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3067.png","name":"3067"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9876.png","name":"9876"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":827.2686092287647,"rotation_z_degrees":220.92322091415093,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012615092285075232,0.016769016224986274,-0.015346890316695654]},{"name":"camera_2","offset_m":[0.0009185895314046261,0.007427942365503787,-0.00695774205927811]},{"name":"camera_3","offset_m":[-0.004593129658307533,0.002231610081424886,0.001972168005944866]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017542974849123919,0.0011356234061569515,-0.0017032276387731029],"end_effector_yaw_offset_degrees":0.1278642952732305},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014634046471157618,-0.0017032640085612228,-0.0011202829493190901],"end_effector_yaw_offset_degrees":0.6734922327512656},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00021239609299480923,0.00013837295218879254,-0.0014064066916099289],"end_effector_yaw_offset_degrees":-0.041090852326649774}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-2.0943114161387638e-05,-1.7150420986469274e-05],"position_m":[0.3383790568858386,0.08528284957901353,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025676663497093133,0.00476919089745319],"position_m":[0.3571676663497093,0.2403691908974532,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0041535324286313775,-0.0017251203635164905],"position_m":[0.22145353242863136,-0.08892512036351649,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004277215973501262,0.0026282033051383312],"position_m":[0.2506772159735013,-0.33307179669486164,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"88f0933c95870ac9f2d938826824c8e563cc34881d1c876b7f0f95b013e279ae","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6485/tex_ceiling_textures_9876/tex_floor_textures_3067/tex_table_textures_9633/tex_wall_textures_4066","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4696364150316565412,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4696364150316565412,"visual_seed":4696364150316565412,"scene_id":"lab_003","finished_at":"2026-09-02T05:12:42"}
+{"episode_id":"ep_000043","started_at":"2026-09-02T05:12:47","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[0.26946611653722186,-1.9590574488230403,0.71338606911949],"aabb_xy":[[0.2586931426158541,-1.9940574470420798],[0.28023909045858963,-1.9240574506040018]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.503057389912538,-1.5156091402678198,0.71338606911949],"aabb_xy":[[-0.5380573882232335,-1.5233241551913657],[-0.46805739160184257,-1.5078941253442744]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.5987463020959041,0.48591737699455395,0.71338606911949],"aabb_xy":[[-0.6362463019129376,0.481279165683412],[-0.5612463022788705,0.4905555883056957]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.10087297236467341,0.8767937928897949,0.71338606911949],"aabb_xy":[[0.02087297189445746,0.8684830852754466],[0.18087297283488935,0.8851045005041434]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.2823950341556817,-0.9255033167471531,0.71338606911949],"aabb_xy":[[0.21839503772835983,-0.9726729405692497],[0.34639503058300364,-0.8783336929250568]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.4910502027819036,-0.9095148581766392,0.71338606911949],"aabb_xy":[[-0.5810502013763734,-0.9257654444900605],[-0.4010502041874336,-0.8932642718632184]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.28271022766364984,1.2101174262910352,0.71338606911949],"aabb_xy":[[-0.3467102249659962,1.1657509993231785],[-0.21871023036130338,1.254483853258892]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.5428330927376286,-0.3932137242538136,0.71338606911949],"aabb_xy":[[0.5334156181677658,-0.40262990139153265],[0.5522505673074913,-0.3837975471160946]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.7050642194736296,0.5592461922176244,0.71338606911949],"aabb_xy":[[0.6875642201955428,0.5419080921512784],[0.7225642187517165,0.5765842922839703]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[-0.6277262315154903,1.2414757204107572,0.71338606911949],"aabb_xy":[[-0.6351386870568787,1.2356245099891292],[-0.6203137759741018,1.247326930832385]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.47882783163269815,1.5050525247787268,0.71338606911949],"aabb_xy":[[0.4621506956396026,1.4883526008047965],[0.4955049676257936,1.521752448752657]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.03381438737726672,-1.591359014800389,0.71338606911949],"aabb_xy":[[-0.003685614138364997,-1.6025857878165342],[0.07131438889289843,-1.580132241784244]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[-0.21717158180861057,-1.234471815475421,0.71338606911949],"aabb_xy":[[-0.24217158097424368,-1.2414240611807776],[-0.19217158264297746,-1.2275195697700645]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.016104159991204958,-0.48183832400524373,0.71338606911949],"aabb_xy":[[-0.023144469924741954,-0.5618383234049152],[-0.009063850057667968,-0.40183832460557245]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.6639571695970516,1.141713960740903,0.71338606911949],"aabb_xy":[[0.6139571709511304,1.0917944170814404],[0.7139571682429728,1.1916335044003652]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.07355049402919045,1.5726937022988037,0.71338606911949],"aabb_xy":[[-0.08370350958333982,1.5366241607260627],[-0.06339747847504106,1.6087632438715433]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.08356087842140514,-1.1001676007034795,0.71338606911949],"aabb_xy":[[0.03356087675991037,-1.150166042959182],[0.13356088008289987,-1.0501691584477766]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.6173306756825956,0.37368186635541223,0.71338606911949],"aabb_xy":[[0.6113641367418599,0.36772072169604814],[0.6232972146233313,0.3796430110147762]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.3852272721551324,0.6720138373984628,0.71338606911949],"aabb_xy":[[0.37178074552108903,0.6585439857453714],[0.3986737987891757,0.6854836890515539]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.60555579766768,1.4042036582554456,0.71338606911949],"aabb_xy":[[-0.6555557989515198,1.3542248038648232],[-0.5555557963838399,1.4541825126460675]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661608611668615,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2543.png","name":"2543"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2543.png","name":"2543"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5233.png","name":"5233"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6603.png","name":"6603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3089.png","name":"3089"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5725.png","name":"5725"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":648.0351192196974,"rotation_z_degrees":105.75836168035639,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008495732921982642,0.016587342684978596,-0.0035183398838539402]},{"name":"camera_2","offset_m":[0.004919951436234311,0.0019453420590983088,-0.012664226253846942]},{"name":"camera_3","offset_m":[-0.0011602455663432612,0.0016399839301032178,0.00398223486094856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000979003460900294,-0.0017753747658700734,-0.0010659534130943525],"end_effector_yaw_offset_degrees":-0.24960522987203038},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013651704953206384,-0.0018156607163442979,0.0007991208701958303],"end_effector_yaw_offset_degrees":0.17447955748679123},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004527354857480235,-0.0016402345778945776,0.0009327457712594751],"end_effector_yaw_offset_degrees":0.9847592187730505}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004164290618973878,-0.0032902111653856226],"position_m":[0.3342357093810261,0.08200978883461438,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009961912763618444,-0.0013169034802972047],"position_m":[0.35360380872363817,0.2342830965197028,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003611742881338378,0.004854211048615249],"position_m":[0.21368825711866163,-0.08234578895138475,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002823496376585203,-0.004204137840450425],"position_m":[0.24922349637658522,-0.3399041378404504,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9e22f22590cb61eb8453140bf96bea027ba5419e638a25fcb22bd5ff04dae3ae","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2543/tex_ceiling_textures_5725/tex_floor_textures_3089/tex_table_textures_5233/tex_wall_textures_6603","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7899854862730258344,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7899854862730258344,"visual_seed":7899854862730258344,"scene_id":"lab_003","finished_at":"2026-09-02T05:15:43"}
+{"episode_id":"ep_000044","started_at":"2026-09-02T05:15:48","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[-0.47507038465779405,1.0514890113738335,0.71338606911949],"aabb_xy":[[-0.4838724399667667,1.0436776852189042],[-0.4662683293488213,1.0593003375287624]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.5497721637099895,-0.582887562201428,0.71338606911949],"aabb_xy":[[0.544872871403426,-0.6105644815039968],[0.554671456016553,-0.5552106428988592]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.6618425024124486,0.7716730891271086,0.71338606911949],"aabb_xy":[[-0.6719955179665978,0.7356035475543681],[-0.6516894868582991,0.8077426306998486]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.14009684677897938,-1.0730333657897777,0.71338606911949],"aabb_xy":[[-0.1900699123114949,-1.1230333656023106],[-0.09012378124646393,-1.0230333659772448]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.48810879119909134,-0.49425269258225546,0.71338606911949],"aabb_xy":[[0.48007245649780644,-0.5022908118866722],[0.4961451259003761,-0.4862145732778386]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[0.6012589838397855,1.1600123716553439,0.71338606911949],"aabb_xy":[[0.5930444387241013,1.1513357813577023],[0.6094735289554692,1.168688961952985]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.16917425390293805,0.09993003725765037,0.71338606911949],"aabb_xy":[[-0.18204615740387817,0.01993003684381425],[-0.15630235040199789,0.17993003767148652]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.23118084940712902,1.4745920157518158,0.71338606911949],"aabb_xy":[[0.22032924315825342,1.463732725024165],[0.24203245565600462,1.485451306479467]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.04407997351034243,1.7137457002959775,0.71338606911949],"aabb_xy":[[-0.0912093525121781,1.6497456992515753],[0.00304940549149324,1.7777457013403792]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.08569127813241884,-2.5164147592873403,0.71338606911949],"aabb_xy":[[0.021691277871948033,-2.5614235586402683],[0.14969127839288965,-2.4714059599344123]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.649221435599607,-0.15306712997440375,0.71338606911949],"aabb_xy":[[-0.6609896223942645,-0.23806712987962533],[-0.6374532488049495,-0.06806713006918218]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.39984446516942507,-1.4038548950770462,0.71338606911949],"aabb_xy":[[0.3925832175990177,-1.416641905340556],[0.40710571273983254,-1.391067884813537]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.3265075977746761,-1.13265301840987,0.71338606911949],"aabb_xy":[[0.2765343037714155,-1.182653018964417],[0.3764808917779364,-1.0826530178553224]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.6239552556420782,-1.880957911274908,0.71338606911949],"aabb_xy":[[0.5778701643873467,-1.944957908527463],[0.6700403468968097,-1.8169579140223528]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.049576467735580665,-0.23943213122781293,0.71338606911949],"aabb_xy":[[-0.0656383951940983,-0.3244321330404047],[-0.033514540277063014,-0.15443212941522108]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.6049430953233559,-1.531037065052489,0.71338606911949],"aabb_xy":[[-0.6424430938989766,-1.5437733607160469],[-0.567443096747735,-1.518300769388931]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.019943277643619695,-1.794071353515482,0.71338606911949],"aabb_xy":[[-0.036854010079961474,-1.8075435591080964],[-0.0030325452072779177,-1.780599147922867]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.41876386684585254,0.6503951330531113,0.71338606911949],"aabb_xy":[[-0.44126028827971664,0.6278951332463638],[-0.39626744541198844,0.6728951328598587]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.24446406354718198,0.7751739311257357,0.71338606911949],"aabb_xy":[[0.20696406337531,0.7424731957428284],[0.2819640637190539,0.8078746665086428]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.5984557594386044,0.11601101559690985,0.71338606911949],"aabb_xy":[[-0.6343692638635939,0.08009750738015523],[-0.5625422550136147,0.15192452381366447]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[0.6355154534412781,0.12746296571936844,0.71338606911949],"aabb_xy":[[0.5555154562817028,0.1159153647615514],[0.7155154506008534,0.13901056667718548]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.16270438375478302,-1.781956729215028,0.71338606911949],"aabb_xy":[[-0.17062766399353138,-1.8044567294530314],[-0.15478110351603472,-1.7594567289770247]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.19206774948442296,0.3078564989499877,0.71338606911949],"aabb_xy":[[-0.25706774736607074,0.2567328352434468],[-0.12706775160277517,0.35898016265652855]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.5627659297902403,-0.5583000941191916,0.71338606911949],"aabb_xy":[[-0.5840439379337126,-0.6233000964452646],[-0.5414879216467681,-0.4933000917931185]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.2982263659381635,0.7752796766369747,0.71338606911949],"aabb_xy":[[-0.3113776119094529,0.7502796768802883],[-0.2850751199668742,0.8002796763936614]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.16819428238982714,0.9477312632804562,0.71338606911949],"aabb_xy":[[0.11819428374390598,0.8978117196209938],[0.21819428103574837,0.9976508069399186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6703727462914388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9625.png","name":"9625"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9625.png","name":"9625"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8598.png","name":"8598"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4325.png","name":"4325"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6651.png","name":"6651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6611.png","name":"6611"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":722.0985371230947,"rotation_z_degrees":79.03144597648934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012120891824405438,0.007523170626946931,0.01848985435593437]},{"name":"camera_2","offset_m":[0.013241167216214069,0.003688898512230726,0.00915879983590744]},{"name":"camera_3","offset_m":[0.010469692629301832,-0.013793248507498341,0.008637131531967091]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015690287140904867,0.001850221928931515,0.0014066692345476293],"end_effector_yaw_offset_degrees":0.1488798030958185},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012850297633016663,0.0007903268158189897,-0.001121983454084598],"end_effector_yaw_offset_degrees":0.36022681074923835},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.000702271779784192,0.001747482829723077,-0.0013207922871563914],"end_effector_yaw_offset_degrees":-0.487883683044934}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004329690016126977,0.0020704414321233043],"position_m":[0.334070309983873,0.0873704414321233,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026851768547929457,0.000859113608456921],"position_m":[0.357285176854793,0.23645911360845692,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017351077470720523,0.004733232731118441],"position_m":[0.21556489225292794,-0.08246676726888155,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017483581445509808,-0.002962939604754853],"position_m":[0.248148358144551,-0.33866293960475485,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"59b497eaf05efabd02fefe6be597d6d0afb360f3ed1ece611c4e35cbeef3ec2c","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9625/tex_ceiling_textures_6611/tex_floor_textures_6651/tex_table_textures_8598/tex_wall_textures_4325","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6159416940305771371,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6159416940305771371,"visual_seed":6159416940305771371,"scene_id":"lab_003","finished_at":"2026-09-02T05:18:19"}
+{"episode_id":"ep_000045","started_at":"2026-09-02T05:18:23","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.4579208736303774,-1.1078582297075836,0.71338606911949],"aabb_xy":[[-0.5128945956667105,-1.1628582292718168],[-0.40294715159404465,-1.0528582301433504]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.3138672563368736,-0.4538158940418078,0.71338606911949],"aabb_xy":[[0.3037142407827242,-0.489885435614548],[0.32402027189102295,-0.41774635246906733]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.11583357517276449,0.985111546035752,0.71338606911949],"aabb_xy":[[0.10820930708258628,0.9774783224992083],[0.12345784326294276,0.9927447695722957]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.5078721115696506,-2.2702291833976727,0.71338606911949],"aabb_xy":[[-0.5718678089647471,-2.3342291816983813],[-0.4438764141745539,-2.206229185096964]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[-0.26509229672651496,1.3606196342400678,0.71338606911949],"aabb_xy":[[-0.28698204431545576,1.2706196369508187],[-0.2432025491375742,1.450619631529317]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.55846122236978,-0.8106297422665054,0.71338606911949],"aabb_xy":[[0.5234612223932842,-0.820094358314122],[0.5934612223462759,-0.8011651262188888]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.2920883933828661,-1.7929233931324908,0.71338606911949],"aabb_xy":[[-0.3560883940863354,-1.8389417756054123],[-0.22808839267939673,-1.7469050106595703]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.001347687924607599,1.4575488187258112,0.71338606911949],"aabb_xy":[[-0.04578169107722807,1.393548817681409],[0.04847706692644327,1.521548819770213]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.6033351133377316,0.2805226653687036,0.71338606911949],"aabb_xy":[[0.5658351118220999,0.2692958923525586],[0.6408351148533633,0.2917494383848487]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.49041711573485547,-1.5940865874562564,0.71338606911949],"aabb_xy":[[-0.5504171155814223,-1.650905209649295],[-0.4304171158882887,-1.5372679652632177]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.3151331078151389,0.6745593994502235,0.71338606911949],"aabb_xy":[[0.27921960339014923,0.6386458912334687],[0.3510466122401286,0.710472907666978]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.1977682749732757,-1.450776881621881,0.71338606911949],"aabb_xy":[[-0.2086198812221513,-1.461636172349532],[-0.1869166687244001,-1.4399175908942299]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.21027311882199728,-0.7857094768190254,0.71338606911949],"aabb_xy":[[-0.2902731220860104,-0.7992695091279386],[-0.13027311555798415,-0.7721494445101119]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[0.6315869043040316,0.6679822025422113,0.71338606911949],"aabb_xy":[[0.5816080957937158,0.6179822025364925],[0.6815657128143475,0.7179822025479301]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.44869134328813076,0.7166116865703764,0.71338606911949],"aabb_xy":[[0.42957903593015184,0.6974769076931344],[0.46780365064610957,0.7357464654476185]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[0.4246540462096753,0.582775366549452,0.71338606911949],"aabb_xy":[[0.4027453640703242,0.5608746997293611],[0.44656272834902627,0.6046760333695426]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.375169683234322,-2.1681310688466655,0.71338606911949],"aabb_xy":[[-0.3793055395670222,-2.205631068291023],[-0.3710338269016218,-2.130631069402309]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.33837476179669457,-1.4306951889306996,0.71338606911949],"aabb_xy":[[-0.3933747599984394,-1.471217155557137],[-0.28337476359494973,-1.3901732223042618]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.3308800016344031,-0.6642598831039135,0.71338606911949],"aabb_xy":[[0.326449372279563,-0.6697082548385962],[0.33531063098924335,-0.658811511369231]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.5804623423662457,1.804380861927425,0.71338606911949],"aabb_xy":[[-0.6179623423100121,1.7960877718925883],[-0.5429623424224793,1.8126739519622614]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.5188153146663599,1.3468714715176038,0.71338606911949],"aabb_xy":[[0.4689326177886637,1.2968714722713293],[0.5686980115440561,1.3968714707638787]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.17587205048057497,-1.6558497413889077,0.71338606911949],"aabb_xy":[[0.1383720506635414,-1.6604879527000493],[0.21337205029760853,-1.6512115300777657]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668941314948037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3200.png","name":"3200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3200.png","name":"3200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1438.png","name":"1438"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8874.png","name":"8874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5136.png","name":"5136"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":768.7044698988336,"rotation_z_degrees":115.86476627801258,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00690064339301932,0.015393780456785165,0.0036077501466746167]},{"name":"camera_2","offset_m":[-0.016042018389896787,-0.004786432480108904,-0.012572197173723626]},{"name":"camera_3","offset_m":[0.019145645557041773,-0.0073506032041353725,0.013758966255149673]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00029615517473333955,-0.0011225660488631429,0.0005980654956129774],"end_effector_yaw_offset_degrees":0.052883928267999813},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011759784553170578,-0.0003713475493627395,-0.0009389724625624186],"end_effector_yaw_offset_degrees":-0.11394675846305202},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017267909123475848,0.0010699398260199814,0.0007951575928596224],"end_effector_yaw_offset_degrees":0.9063167101771046}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004956875052608273,-0.00334962147385651],"position_m":[0.3334431249473917,0.0819503785261435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017896014132509578,-0.0008266270530354258],"position_m":[0.356389601413251,0.23477337294696457,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00451373531063895,-0.004389942386858623],"position_m":[0.21278626468936104,-0.09158994238685862,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004883721480350738,0.0023486829402088686],"position_m":[0.2512837214803507,-0.33335131705979115,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"acfc3c002f68994f47be927476814d804dba799143cbb8b4af5f0b37851090fa","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3200/tex_ceiling_textures_5136/tex_floor_textures_8874/tex_table_textures_9013/tex_wall_textures_1438","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2347027605262139808,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2347027605262139808,"visual_seed":2347027605262139808,"scene_id":"lab_003","finished_at":"2026-09-02T05:21:05"}
+{"episode_id":"ep_000046","started_at":"2026-09-02T05:21:09","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.5608392358521779,-0.06374807935224824,0.71338606911949],"aabb_xy":[[0.5252100799522181,-0.09938074610910119],[0.5964683917521376,-0.028115412595395295]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.3061821437628857,-0.6494666982460637,0.71338606911949],"aabb_xy":[[-0.39586922007100117,-0.7394666985005143],[-0.21649506745477026,-0.5594666979916132]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.32426591340189415,-2.4407601222162194,0.71338606911949],"aabb_xy":[[0.26426591289404117,-2.49760685590214],[0.384265913909747,-2.383913388530298]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.4268810410748817,0.23594329985578089,0.71338606911949],"aabb_xy":[[-0.5068810443327246,0.1559467920637969],[-0.3468810378170387,0.31593980764776486]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.27955232870317226,-0.4412065321841303,0.71338606911949],"aabb_xy":[[-0.3495523303054518,-0.4546393253857879],[-0.20955232710089283,-0.42777373898247273]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.4237475389255571,1.2666393212750697,0.71338606911949],"aabb_xy":[[-0.44702938112368845,1.1816393199778414],[-0.40046569672742577,1.3516393225722976]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.3777752842697286,-0.49644676784102826,0.71338606911949],"aabb_xy":[[0.32375968798782856,-0.5604467707332854],[0.43179088055162856,-0.43244676494877105]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.5310504196967563,-1.1988122230930098,0.71338606911949],"aabb_xy":[[-0.5960504206972567,-1.2495985882476848],[-0.46605041869625563,-1.148025857938335]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.2864748813913078,-1.0064652540953627,0.71338606911949],"aabb_xy":[[-0.29388733693269625,-1.0123164645169904],[-0.2790624258499193,-1.0006140436737345]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.6447800117089126,-1.848467148549729,0.71338606911949],"aabb_xy":[[-0.6947748446368542,-1.8984671474449726],[-0.594785178780971,-1.7984671496544855]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.5868505416045073,0.9745891900649268,0.71338606911949],"aabb_xy":[[0.573404014970464,0.9611193384118356],[0.6002970682385507,0.9880590417180181]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.24118086140756045,-2.4424868636942954,0.71338606911949],"aabb_xy":[[-0.2690258981881676,-2.473271362432607],[-0.21333582462695333,-2.4117023649559837]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[0.413743082365176,-1.946163653833063,0.71338606911949],"aabb_xy":[[0.3874542580447353,-1.9724350874877141],[0.44003190668561665,-1.9198922201784117]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.6509844415226345,-1.458483304610335,0.71338606911949],"aabb_xy":[[0.5958592358930436,-1.5184833060516219],[0.7061096471522251,-1.3984833031690476]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.47429443962937023,1.3847336712412255,0.71338606911949],"aabb_xy":[[0.466166751436057,1.3758200628305177],[0.48242212782268346,1.3936472796519332]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.3911954798334787,1.6018402322272327,0.71338606911949],"aabb_xy":[[0.3413127829557825,1.5518402329809582],[0.44107817671117494,1.6518402314735077]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.047792486378498866,-2.1620742933810413,0.71338606911949],"aabb_xy":[[-0.054206300021683806,-2.168484113628709],[-0.041378672735313926,-2.1556644731333727]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.45512801934061886,-1.6097681420537762,0.71338606911949],"aabb_xy":[[0.39012801838349165,-1.6617163539874815],[0.5201280202977461,-1.5578199301200704]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.5092612642794256,-2.116681919505295,0.71338606911949],"aabb_xy":[[0.4640899464312567,-2.1806819166498337],[0.5544325821275946,-2.052681922360757]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.479960167490298,1.2475421143194696,0.71338606911949],"aabb_xy":[[0.4632830314972025,1.230842190345539],[0.4966373034833935,1.2642420382933997]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.1213060242064069,0.9603604209674583,0.71338606911949],"aabb_xy":[[-0.16739111546113838,0.8963604237149032],[-0.07522093295167544,1.0243604182200134]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.25011868297830975,1.3660160190465906,0.71338606911949],"aabb_xy":[[0.23006027136506946,1.3459509321374334],[0.27017709459155004,1.3860811059557483]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.10749071816020284,-1.6196755960719185,0.71338606911949],"aabb_xy":[[0.017490714483284635,-1.6811080026490226],[0.19749072183712096,-1.5582431894948139]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.43305876334254007,-2.345282872473311,0.71338606911949],"aabb_xy":[[-0.48287554280737477,-2.395282870957614],[-0.38324198387770525,-2.295282873989007]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.2296056564056015,-1.0881424660426688,0.71338606911949],"aabb_xy":[[0.21259555911555084,-1.1042769545409425],[0.24661575369565214,-1.0720079775443947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666892186134289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1950.png","name":"1950"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1950.png","name":"1950"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/120.png","name":"120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9158.png","name":"9158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8398.png","name":"8398"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9580.png","name":"9580"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":559.6622465703117,"rotation_z_degrees":270.7109133629018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014428948005000327,-0.00998108842129926,-0.014870536472975902]},{"name":"camera_2","offset_m":[-0.0019080966546564417,-0.00668474639034565,-0.011624793674850396]},{"name":"camera_3","offset_m":[-0.013567160255193108,-0.00271328892875582,0.000934491906149696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015908843407383736,-0.0013774420329527616,0.0013963113007692293],"end_effector_yaw_offset_degrees":0.021313757616964635},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014362740322456484,0.0012629056558157276,0.0015216524950364312],"end_effector_yaw_offset_degrees":-0.08756184051375948},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013604146017446093,-0.001424648829955883,-0.0016302297291337009],"end_effector_yaw_offset_degrees":0.8759437047056184}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003196405825205942,-0.004251031202361642],"position_m":[0.3415964058252059,0.08104896879763836,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015475134628660401,0.0016342721151870196],"position_m":[0.353052486537134,0.23723427211518702,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029108260613268213,0.004088929990181188],"position_m":[0.21438917393867318,-0.08311107000981881,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013794429720213174,-0.001283911009202492],"position_m":[0.2450205570279787,-0.3369839110092025,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dcca768bea7b38901642bba6156f9dbff079058146cf4c7aaa37adfe4c187851","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1950/tex_ceiling_textures_9580/tex_floor_textures_8398/tex_table_textures_120/tex_wall_textures_9158","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3261749333569503349,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3261749333569503349,"visual_seed":3261749333569503349,"scene_id":"lab_003","finished_at":"2026-09-02T05:23:57"}
+{"episode_id":"ep_000047","started_at":"2026-09-02T05:25:29","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.08464719714215818,0.7677815731253848,0.71338606911949],"aabb_xy":[[-0.10493149986555692,0.7474989479826758],[-0.06436289441875939,0.7880641982680935]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.02820482210950359,-1.316586037486672,0.71338606911949],"aabb_xy":[[-0.021768243423011875,-1.366586037299205],[0.07817788764201906,-1.2665860376741391]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.14257300923415717,-1.0442144229822394,0.71338606911949],"aabb_xy":[[-0.14888510877049563,-1.0499813622354583],[-0.13626090969781876,-1.0384474837290205]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.5831889086098931,-0.8603672294951181,0.71338606911949],"aabb_xy":[[0.5191889065601613,-0.900461712584426],[0.6471889106596252,-0.82027274640581]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.07278146372740446,-1.6947997096729153,0.71338606911949],"aabb_xy":[[-0.007218536546202524,-1.7677492574986322],[0.15278146400101142,-1.6218501618471988]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[-0.2997243099018003,0.27781893370118427,0.71338606911949],"aabb_xy":[[-0.36972431329336225,0.24250315999775338],[-0.2297243065102383,0.3131347074046151]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[-0.603705827030597,-1.2125756651601596,0.71338606911949],"aabb_xy":[[-0.6116993168258791,-1.2205737971006352],[-0.595712337235315,-1.204577533219684]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.47490561742893994,0.13761710144497474,0.71338606911949],"aabb_xy":[[-0.5389056167231081,0.07363096107612055],[-0.41090561813477167,0.20160324181382894]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.28642888265500754,-1.8973591476406713,0.71338606911949],"aabb_xy":[[0.28084721102087873,-1.909859147458447],[0.29201055428913625,-1.884859147822896]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.11900479738671221,-1.1482859444949347,0.71338606911949],"aabb_xy":[[-0.1372106210479599,-1.1593113450769266],[-0.10079897372546454,-1.1372605439129433]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.12513697312742023,-1.9848897657739244,0.71338606911949],"aabb_xy":[[-0.13448398070971546,-1.9991933879915684],[-0.115789965545125,-1.9705861435562804]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.547171315394599,-2.572803905870859,0.71338606911949],"aabb_xy":[[0.5096713155775654,-2.577442117182001],[0.5846713152116325,-2.5681656945597173]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.3523737679448585,-2.2227046187879473,0.71338606911949],"aabb_xy":[[-0.4163737682188367,-2.2727707189852353],[-0.28837376767088024,-2.1726385185906594]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.38880420118814435,-1.8110523492173234,0.71338606911949],"aabb_xy":[[-0.41208604338627575,-1.8960523505145515],[-0.36552235899001306,-1.7260523479200953]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.015506272450354519,-2.4492491491089154,0.71338606911949],"aabb_xy":[[-0.06547956645361497,-2.499249149663463],[0.03446702155290593,-2.399249148554368]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.6412165578802604,0.6894119309711382,0.71338606911949],"aabb_xy":[[0.5860913522506697,0.629411929529851],[0.6963417635098512,0.7494119324124253]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.11443912485833008,-0.4063551233938174,0.71338606911949],"aabb_xy":[[-0.15193912343395086,-0.4190914190573753],[-0.07693912628270926,-0.3936188277302594]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.47874835683360084,-1.949796940970511,0.71338606911949],"aabb_xy":[[0.44443207965898296,-1.9997969409436887],[0.5130646340082188,-1.8997969409973332]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.6535056851921761,-1.0602096683750761,0.71338606911949],"aabb_xy":[[0.5895056878898298,-1.1045760953429329],[0.7175056824945226,-1.0158432414072194]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.22332477180769983,-1.3191316441760554,0.71338606911949],"aabb_xy":[[0.2058247725296129,-1.3364697442424014],[0.24082477108578665,-1.3017935441097095]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.1691184720904274,-0.7268865366013273,0.71338606911949],"aabb_xy":[[0.11912346113097538,-0.7768865356369193],[0.21911348304987946,-0.6768865375657358]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.19547504424796103,1.1481639061339384,0.71338606911949],"aabb_xy":[[0.16101269684981917,1.113670023736115],[0.22993739164610277,1.1826577885317604]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.21861178680042181,1.7254755428899,0.71338606911949],"aabb_xy":[[0.13861178633020588,1.7171648352755522],[0.29861178727063775,1.7337862505042487]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.17128853847284642,1.3278147921343963,0.71338606911949],"aabb_xy":[[-0.22628853764943588,1.2728251173594385],[-0.1162885392962569,1.3828044669093538]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.4519135495266098,-1.2583900398230787,0.71338606911949],"aabb_xy":[[0.40478417052477406,-1.3223900408674802],[0.4990429285284454,-1.1943900387786763]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[0.11581414096641918,-0.915962006535239,0.71338606911949],"aabb_xy":[[0.03582031738786097,-0.9959620091280806],[0.1958079645449774,-0.8359620039423975]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[0.20214071859436467,1.3890478344542228,0.71338606911949],"aabb_xy":[[0.15216330172911108,1.339047832964974],[0.25211813545961825,1.439047835943471]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[0.32745611741067027,0.8140752344274289,0.71338606911949],"aabb_xy":[[0.3115716241453451,0.7997222941286047],[0.3433406106759954,0.8284281747262529]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_28","position":[0.3788654382856451,1.6031480521297596,0.71338606911949],"aabb_xy":[[0.3293850170716863,1.5391480542169078],[0.4283458594996039,1.6671480500426115]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_29","position":[0.10001835268653503,0.6506381071718064,0.71338606911949],"aabb_xy":[[0.06316780474954742,0.6131381063487727],[0.13686890062352264,0.6881381079948402]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_30","position":[0.3057508913139513,-2.540362986510062,0.71338606911949],"aabb_xy":[[0.22575088804993815,-2.5539230188189754],[0.3857508945779644,-2.5268029542011488]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_31","position":[0.5135309336526404,1.3121110811014693,0.71338606911949],"aabb_xy":[[0.4298087081525579,1.2221110775667734],[0.5972531591527228,1.4021110846361653]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_32","position":[0.4808616436162916,-1.491538783621262,0.71338606911949],"aabb_xy":[[0.4563480195192858,-1.5158033769232984],[0.5053752677132974,-1.4672741903192255]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_33","position":[-0.42137685788838,1.2639398873782093,0.71338606911949],"aabb_xy":[[-0.454856025149421,1.2304607740071023],[-0.3878976906273391,1.2974190007493163]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_34","position":[-0.4588280037706688,1.6353626815923037,0.71338606911949],"aabb_xy":[[-0.5088211158798608,1.585362680918108],[-0.4088348916614771,1.6853626822664993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644299812224382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3311.png","name":"3311"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2005.png","name":"2005"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4264.png","name":"4264"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":531.7316620165434,"rotation_z_degrees":277.5532753001738,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015556304287156913,0.006352213019109199,0.0027683128308350416]},{"name":"camera_2","offset_m":[-0.009674872544711865,0.0002456865304742706,0.010960763764444374]},{"name":"camera_3","offset_m":[-0.013939344727447343,-0.009416865794068028,-0.009727310912701532]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006526262597235412,-0.001091859201103944,-0.000985728764363878],"end_effector_yaw_offset_degrees":0.4618728687173437},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000590910884381509,-0.0005673805918558149,-0.0011395970657494443],"end_effector_yaw_offset_degrees":-0.256496311492203},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009043455034123426,0.0006878467715265065,0.00011822745324138566],"end_effector_yaw_offset_degrees":0.5030195679750817}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00016582439952813124,0.0009866345152531398],"position_m":[0.3385658243995281,0.08628663451525315,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035857462747732184,-0.004788917371678694],"position_m":[0.3510142537252268,0.2308110826283213,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007048906385388968,0.0037321534792373384],"position_m":[0.2180048906385389,-0.08346784652076267,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038804005526057754,-6.423098572084975e-05],"position_m":[0.2502804005526058,-0.33576423098572084,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"78ca32f772513c7c9221c46173f7634279559c49781e915c2e9d36df98d4ceff","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2319/tex_ceiling_textures_4264/tex_floor_textures_2005/tex_table_textures_3311/tex_wall_textures_4165","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8687365976971455885,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8687365976971455885,"visual_seed":8687365976971455885,"scene_id":"lab_003","finished_at":"2026-09-02T05:28:10"}
+{"episode_id":"ep_000048","started_at":"2026-09-02T05:29:33","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.4118135228677047,-1.0176534073870682,0.71338606911949],"aabb_xy":[[0.33181351960369154,-1.0312134396959816],[0.4918135261317178,-1.0040933750781549]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.6476360445773914,-2.468013330171223,0.71338606911949],"aabb_xy":[[0.6176443818435211,-2.498013329508023],[0.6776277073112618,-2.438013330834422]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.03679496503925317,-2.3412808673829955,0.71338606911949],"aabb_xy":[[-0.0780437760691679,-2.3962808668952125],[0.004453845990661557,-2.2862808678707776]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[0.23349226671789214,1.7950216608694967,0.71338606911949],"aabb_xy":[[0.20564722993728504,1.7642371621311848],[0.26133730349849926,1.8258061596078081]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.5000124992419599,1.201356389693494,0.71338606911949],"aabb_xy":[[0.4898594836878103,1.1652868481207534],[0.510165514796109,1.2374259312662341]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.5089806156205033,-2.081484224380517,0.71338606911949],"aabb_xy":[[-0.558797395085338,-2.1314842228648203],[-0.45916383615566847,-2.0314842258962136]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.20511934685247957,0.03615522395897619,0.71338606911949],"aabb_xy":[[-0.20954997620731977,0.030706852224293597],[-0.20068871749763942,0.0416035956936588]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.12347814073467256,1.6169779220159914,0.71338606911949],"aabb_xy":[[0.07399771952071378,1.5529779241031396],[0.17295856194863135,1.6809779199288433]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.15088061047996493,1.3962025962068592,0.71338606911949],"aabb_xy":[[-0.21488060964973488,1.349435909087897],[-0.08688061131019499,1.4429692833258219]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[-0.43985735529643566,-0.614343978073127,0.71338606911949],"aabb_xy":[[-0.4511024108670535,-0.6255857757972222],[-0.4286122997258178,-0.6031021803490316]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.1876548130304836,-1.8553580387391286,0.71338606911949],"aabb_xy":[[-0.25165481624912145,-1.902081150638137],[-0.1236548098118457,-1.8086349268401203]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.6663561035672261,0.5419034319430134,0.71338606911949],"aabb_xy":[[-0.683934405756173,0.5243289423689085],[-0.6487778013782793,0.5594779215171183]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.1257199985064157,-1.9896594449637561,0.71338606911949],"aabb_xy":[[0.11750545339073169,-1.9983360352613975],[0.13393454362209964,-1.9809828546661148]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.3013342842988681,-0.2623080985703323,0.71338606911949],"aabb_xy":[[-0.3235068112755189,-0.2844837657264555],[-0.2791617573222172,-0.24013243141420915]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.6203552048693204,0.7679438988717773,0.71338606911949],"aabb_xy":[[0.5553552069876726,0.7168202351652364],[0.6853552027509682,0.8190675625783183]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.29412552373698475,0.07857087207318525,0.71338606911949],"aabb_xy":[[-0.30347253131928004,0.06426724985554122],[-0.2847785161546896,0.09287449429082928]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.18775509812245217,-2.186172364105125,0.71338606911949],"aabb_xy":[[0.18285580581588864,-2.2138492834076935],[0.19265439042901564,-2.158495444802556]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.21518866899739703,0.5682568009188462,0.71338606911949],"aabb_xy":[[-0.22527037607597047,0.48825680302673147],[-0.20510696191882352,0.6482567988109608]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.3888252820354352,1.7207968333009247,0.71338606911949],"aabb_xy":[[0.3388252824591005,1.670816254348819],[0.4388252816117699,1.7707774122530309]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.43080909726433014,-1.649299703537022,0.71338606911949],"aabb_xy":[[0.35080909619120976,-1.6590777498744067],[0.5108090983374505,-1.6395216571996378]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.3384985177490977,-1.4951217469566227,0.71338606911949],"aabb_xy":[[-0.40849851415905947,-1.5155596826083042],[-0.2684985213391359,-1.4746838113049408]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[-0.2775974842767495,-2.2197566048651556,0.71338606911949],"aabb_xy":[[-0.36259748269417275,-2.304630900327441],[-0.1925974858593263,-2.134882309402871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710535869226822,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5555.png","name":"5555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/664.png","name":"664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/788.png","name":"788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5400.png","name":"5400"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":713.4069935405429,"rotation_z_degrees":166.95456308433103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004461402439393303,0.018501951114121864,-0.0035433361879820442]},{"name":"camera_2","offset_m":[0.018040347847579335,-0.012145652489198447,-0.011205745385850676]},{"name":"camera_3","offset_m":[-0.003380059726364376,-0.01683102072007619,0.006997947014153162]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009406361296861094,-0.0007741423339887193,-0.0009160826499114503],"end_effector_yaw_offset_degrees":0.7571963608045496},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-3.850069164743801e-05,-0.0019525826430667782,-0.0013699767120117663],"end_effector_yaw_offset_degrees":-0.3661805647574674},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010912514502690361,-0.00158329352802276,4.754209894996088e-05],"end_effector_yaw_offset_degrees":0.7595596027313805}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017666480215669756,-0.0021469586095981307],"position_m":[0.336633351978433,0.08315304139040187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004438075926651489,-0.0018822170681033956],"position_m":[0.3590380759266515,0.2337177829318966,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005253763338760251,0.0015742989939502398],"position_m":[0.21677462366612396,-0.08562570100604976,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002878289516259246,-0.0009389629775161503],"position_m":[0.24352171048374077,-0.33663896297751617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"914704db65e391fa8805034f3ac3768ed2f0206ff92962ac96edcbfd4443ca38","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5555/tex_ceiling_textures_5400/tex_floor_textures_788/tex_table_textures_6369/tex_wall_textures_664","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3212624123617582747,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3212624123617582747,"visual_seed":3212624123617582747,"scene_id":"lab_003","finished_at":"2026-09-02T05:32:39"}
+{"episode_id":"ep_000049","started_at":"2026-09-02T05:32:42","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.557226086792568,0.7149704756725082,0.71338606911949],"aabb_xy":[[-0.6022260882587969,0.6699706188110275],[-0.5122260853263392,0.7599703325339889]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.21271894266653257,1.602239046414136,0.71338606911949],"aabb_xy":[[0.1277189439744579,1.570253183019257],[0.2977189413586072,1.6342249098090147]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.6648664517873615,-2.099546907561977,0.71338606911949],"aabb_xy":[[0.6273664516154894,-2.132247642944884],[0.7023664519592333,-2.0668461721790696]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.3948264224708402,-1.8075145056634667,0.71338606911949],"aabb_xy":[[-0.4167351046101912,-1.8294151724835572],[-0.3729177403314891,-1.7856138388433758]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.5167880012842099,-0.35037580428845017,0.71338606911949],"aabb_xy":[[-0.5221205159388229,-0.35570013253368576],[-0.5114554866295968,-0.34505147604321457]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.11990882958434557,-1.8916364389252953,0.71338606911949],"aabb_xy":[[0.09362000526390488,-1.9179078725799463],[0.14619765390478617,-1.8653650052706439]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.5209404657723189,-1.5684479930912223,0.71338606911949],"aabb_xy":[[-0.5321855213429367,-1.5796897908153176],[-0.5096954102017011,-1.557206195367127]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[-0.3493456301956555,0.5161283862254993,0.71338606911949],"aabb_xy":[[-0.38525913462064515,0.4802148780087446],[-0.31343212577066576,0.5520418944422538]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.6251442235039237,0.9616047881174654,0.71338606911949],"aabb_xy":[[0.6026478020700595,0.939104788310718],[0.6476406449377877,0.9841047879242129]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.040624655025134904,0.7587883688715489,0.71338606911949],"aabb_xy":[[-0.051036213705618616,0.7534426355356504],[-0.03021309634465119,0.7641341022074474]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.6093491369674848,-1.242820348736204,0.71338606911949],"aabb_xy":[[-0.659349135613406,-1.2927398923956663],[-0.5593491383215636,-1.1929008050767416]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[0.37952829602254345,-0.9443369794109089,0.71338606911949],"aabb_xy":[[0.3295440603143662,-0.9943369782244044],[0.4295125317307207,-0.8943369805974132]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.6347886349776766,1.7684609458531937,0.71338606911949],"aabb_xy":[[0.5796634293480857,1.7084609444119063],[0.6899138406072672,1.8284609472944806]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.23595509652992908,-1.2704269562628965,0.71338606911949],"aabb_xy":[[0.1759550962785279,-1.3247082812993611],[0.29595509678133025,-1.2161456312264318]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.28017137510355217,-2.53543115911683,0.71338606911949],"aabb_xy":[[-0.344171375364023,-2.580439958469758],[-0.21617137484308138,-2.490422359763902]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.4308071489717724,1.7514952254364862,0.71338606911949],"aabb_xy":[[0.3808338549685119,1.7014952248819386],[0.4807804429750328,1.8014952259910333]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.5862296171005084,0.7740007844405246,0.71338606911949],"aabb_xy":[[0.582269133330774,0.766332919855004],[0.5901901008702427,0.7816686490260452]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.17878309785791835,0.18907182777585163,0.71338606911949],"aabb_xy":[[-0.2687831015348365,0.12763942119874724],[-0.08878309418100015,0.25050423435295593]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[-0.49276404563243614,-2.398892275651495,0.71338606911949],"aabb_xy":[[-0.5270609566501767,-2.433189161861436],[-0.45846713461469546,-2.3645953894415532]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.6430657699126283,0.024380497867006135,0.71338606911949],"aabb_xy":[[-0.6666508933765232,-0.04061950437842565],[-0.6194806464487335,0.08938050011243792]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.5180758967743426,-1.1725449770667147,0.71338606911949],"aabb_xy":[[0.5100496261437166,-1.1812964720440675],[0.5261021674049686,-1.1637934820893623]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.15652414738556064,-0.8199211069503671,0.71338606911949],"aabb_xy":[[0.15282088605642175,-0.823623125259085],[0.16022740871469948,-0.8162190886416493]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.47566683978172963,-1.9068882890086318,0.71338606911949],"aabb_xy":[[-0.4907691412427476,-1.921989810639693],[-0.4605645383207114,-1.8917867673775697]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.019560138326458865,1.7235108667802597,0.71338606911949],"aabb_xy":[[-0.029920282887499924,1.6595108688674078],[0.06904055954041766,1.7875108646931115]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.37086370281434045,0.6444005822024268,0.71338606911949],"aabb_xy":[[-0.43486370449233774,0.5958831907231126],[-0.30686370113634304,0.692917973681741]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.6086587777816448,-1.6860097853731815,0.71338606911949],"aabb_xy":[[-0.6726587741772179,-1.749973073791915],[-0.5446587813860717,-1.622046496954448]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.322163954219546,-0.6521442936579203,0.71338606911949],"aabb_xy":[[0.27216395385897985,-0.7021242808675232],[0.372163954580112,-0.6021643064483173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67075534004065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1007.png","name":"1007"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5578.png","name":"5578"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7948.png","name":"7948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6490.png","name":"6490"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":614.116163806743,"rotation_z_degrees":203.80843077750865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013422159485265952,0.00090874509727569,0.01128597987713455]},{"name":"camera_2","offset_m":[0.009554157257504886,0.01614556938772105,-0.017158947653594343]},{"name":"camera_3","offset_m":[0.014891496553174923,-0.01841318206098871,0.006388999297827151]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017549186409528236,0.0002606189197201067,-0.0018306580427513294],"end_effector_yaw_offset_degrees":0.5009142294672746},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00012594974846883399,-0.000982777821859104,-0.0005860479775334703],"end_effector_yaw_offset_degrees":0.44191158721839563},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00029243417077777023,-0.0016719546153834042,0.0006211815335181547],"end_effector_yaw_offset_degrees":0.7708317218978622}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003195913878411215,0.0010045238277907684],"position_m":[0.33520408612158875,0.08630452382779077,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023537632249131238,0.0028149565740352095],"position_m":[0.3569537632249131,0.23841495657403522,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009484712898052052,0.004039360126801581],"position_m":[0.2182484712898052,-0.08316063987319842,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010182364288424698,0.0017004358928404103],"position_m":[0.24741823642884248,-0.3339995641071596,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb8366ce8ac512db20e543a893c57f5f17fcb697aaf6ea6a8bca8e0345d1a8f5","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7382/tex_ceiling_textures_6490/tex_floor_textures_7948/tex_table_textures_1007/tex_wall_textures_5578","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1455670192383649351,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1455670192383649351,"visual_seed":1455670192383649351,"scene_id":"lab_003","finished_at":"2026-09-02T05:35:24"}
+{"episode_id":"ep_000050","started_at":"2026-09-02T05:39:29","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.10837077066734646,1.7340162471487042,0.71338606911949],"aabb_xy":[[0.09590341255761083,1.7215509225153809],[0.12083812877708212,1.746481571782028]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.22007194062235852,-2.420233709427647,0.71338606911949],"aabb_xy":[[-0.2425719404362609,-2.4247083257981275],[-0.19757194080845614,-2.4157590930571664]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.6266282325706127,-0.9335167665869,0.71338606911949],"aabb_xy":[[0.6219931174183793,-0.9373841016640484],[0.631263347722846,-0.9296494315097511]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.26145641555204835,-0.27687281861973156,0.71338606911949],"aabb_xy":[[-0.2939181164339758,-0.3070056507346341],[-0.22899471467012092,-0.24673998650482887]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.5207736130545764,-2.573318857941111,0.71338606911949],"aabb_xy":[[0.48327361276240155,-2.5773603333417148],[0.5582736133467512,-2.5692773825405073]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.07296345632512613,-1.5500151334439733,0.71338606911949],"aabb_xy":[[0.0029634536885397855,-1.5701199984398384],[0.14296345896171248,-1.5299102684481074]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.20682065216239265,-2.3860679221684977,0.71338606911949],"aabb_xy":[[0.18493090457345185,-2.4760679194577464],[0.22871039975133345,-2.296067924879248]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.05758826682771978,-0.632348222845327,0.71338606911949],"aabb_xy":[[0.020088265642926987,-0.6367664455413874],[0.09508826801251258,-0.6279300001492664]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.635575425974154,-2.305104311356961,0.71338606911949],"aabb_xy":[[0.5855754246132667,-2.3550822159323768],[0.6855754273350412,-2.2551264067815455]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.07859712595484758,1.2258782603232223,0.71338606911949],"aabb_xy":[[-0.13859712759776943,1.1738781110312784],[-0.018597124311925742,1.2778784096151667]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.4608890839687032,-2.351183910706842,0.71338606911949],"aabb_xy":[[-0.5408890825560226,-2.430499512645003],[-0.3808890853813838,-2.2718683087686813]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.6314936304693091,1.7471136856074057,0.71338606911949],"aabb_xy":[[0.5664936325876613,1.6959900219008648],[0.6964936283509569,1.7982373493139465]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.16924748248572719,-0.6643688371573293,0.71338606911949],"aabb_xy":[[-0.20674748230276074,-0.669007048468471],[-0.13174748266869363,-0.6597306258461874]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.03782503818110494,1.7779838207752445,0.71338606911949],"aabb_xy":[[-0.12282503687317958,1.7459979573803657],[0.047174960510969706,1.8099696841701234]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[0.42654917966395023,-1.834025643026791,0.71338606911949],"aabb_xy":[[0.4139464805268738,-1.8466210392516567],[0.4391518788010267,-1.8214302468019257]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.3708197762483305,-1.9141204914321244,0.71338606911949],"aabb_xy":[[0.3573732496142872,-1.9275903430852157],[0.38426630288237384,-1.900650639779033]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.6602199880867569,-1.5475704682123277,0.71338606911949],"aabb_xy":[[-0.6639232494158956,-1.5512724865210457],[-0.6565167267576179,-1.5438684499036097]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.6172040234810122,1.2454516128062174,0.71338606911949],"aabb_xy":[[-0.6536998441082911,1.2089676703794598],[-0.5807082028537336,1.281935555232975]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.6273546804279788,0.2544113160910233,0.71338606911949],"aabb_xy":[[0.5722294747983879,0.19441131464973613],[0.6824798860575695,0.3144113175323104]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.033260052767834836,0.6192816200483704,0.71338606911949],"aabb_xy":[[-0.04128632339846084,0.6105301250710179],[-0.025233782137208845,0.6280331150257231]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.34933154728837684,0.7971283500302766,0.71338606911949],"aabb_xy":[[-0.414331548245504,0.7451801380965709],[-0.2843315463312496,0.8490765619639821]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.4354049140159031,-2.06079896781554,0.71338606911949],"aabb_xy":[[0.38040491581415825,-2.1013209344419774],[0.4904049122176479,-2.0202770011891023]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.5089766005880751,-0.6951042688332916,0.71338606911949],"aabb_xy":[[-0.5729766026378071,-0.7351987519225995],[-0.44497659853834315,-0.6550097857439836]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[0.35576098273880885,0.6271806628741672,0.71338606911949],"aabb_xy":[[0.3503030371017888,0.547180659566508],[0.3612189283758289,0.7071806661818262]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[-0.5075754664735708,-0.9751947036243558,0.71338606911949],"aabb_xy":[[-0.550342173352991,-1.0391947070461582],[-0.4648087595941506,-0.9111947002025532]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691693550389579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2851.png","name":"2851"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2851.png","name":"2851"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5911.png","name":"5911"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1644.png","name":"1644"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1769.png","name":"1769"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":754.4576336207323,"rotation_z_degrees":118.95381916662065,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018577226118196444,-0.015210202419545476,0.019026371049586776]},{"name":"camera_2","offset_m":[0.00011368743773392323,0.008000946090327879,0.011548657128598944]},{"name":"camera_3","offset_m":[-0.001904989227750148,-0.003574566361644837,0.011436633379310581]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011665241561173265,-0.0012816648548565346,-0.0003050975955343103],"end_effector_yaw_offset_degrees":-0.058891477752412325},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007787961490798953,-0.0006791294277129988,-0.001478525446333618],"end_effector_yaw_offset_degrees":0.12496661245237561},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013265635293644266,0.0008082256439152181,0.0012148286305826601],"end_effector_yaw_offset_degrees":-0.553444668787717}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008079003529010724,0.0022913884492243054],"position_m":[0.3375920996470989,0.0875913884492243,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002656883746459212,-0.0024982753035423465],"position_m":[0.35725688374645925,0.23310172469645765,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007831885619338915,-0.0005404094515835452],"position_m":[0.21651681143806611,-0.08774040945158354,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027754812441485965,-0.003735746928737309],"position_m":[0.24362451875585142,-0.3394357469287373,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cde2e5fc2f0cff2c56e72fa417e032fdf845bb769a6354eaac2c2b302d94b5ab","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2851/tex_ceiling_textures_1769/tex_floor_textures_1644/tex_table_textures_7138/tex_wall_textures_5911","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3486430727634467396,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3486430727634467396,"visual_seed":3486430727634467396,"scene_id":"lab_003","finished_at":"2026-09-02T05:42:05"}
+{"episode_id":"ep_000051","started_at":"2026-09-02T05:42:09","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.21094318372730775,0.586084687400168,0.71338606911949],"aabb_xy":[[-0.26093819468675983,0.5360846883645763],[-0.16094817276785572,0.6360846864357598]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[0.2804920386204881,1.76713477252413,0.71338606911949],"aabb_xy":[[0.2326858710067194,1.702134769817071],[0.3282982062342567,1.832134775231189]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.04998320558957359,-1.1220231437607222,0.71338606911949],"aabb_xy":[[-0.06313445156086296,-1.147023143517409],[-0.036831959618284234,-1.0970231440040359]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.3716957313970165,-1.230320180029188,0.71338606911949],"aabb_xy":[[-0.40669573052697217,-1.236065401104852],[-0.33669573226706084,-1.2245749589535238]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.1719569779385226,-2.399238759428458,0.71338606911949],"aabb_xy":[[0.14945697841481514,-2.421734706879078],[0.19445697746222995,-2.3767428119778367]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.5501477927436231,-0.23298959551387854,0.71338606911949],"aabb_xy":[[0.4701477922734072,-0.24130030312822695],[0.6301477932138391,-0.2246788878995302]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.07367762541568756,0.925651709618653,0.71338606911949],"aabb_xy":[[-0.1376776256896658,0.875585609421365],[-0.009677625141709348,0.9757178098159409]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.39311981241030913,-0.4838107041374533,0.71338606911949],"aabb_xy":[[-0.4343686234402238,-0.5388107036496707],[-0.35187100138039434,-0.4288107046252358]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.0498167784289103,0.8205901055214508,0.71338606911949],"aabb_xy":[[-0.05393272854098296,0.8164745504886052],[-0.04570082831683763,0.8247056605542963]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.3363967372141987,-0.21547803203973093,0.71338606911949],"aabb_xy":[[-0.39139673639078815,-0.27046770681468857],[-0.2813967380376092,-0.16048835726477326]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.2920592113217351,-0.4330198948808093,0.71338606911949],"aabb_xy":[[-0.29613736922878486,-0.43710087512907253],[-0.2879810534146854,-0.4289389146325459]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.3691236064987494,0.2667037214634007,0.71338606911949],"aabb_xy":[[-0.3912961334754002,0.24452805430727753],[-0.3469510795220986,0.2888793886195239]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.38503785624561737,-1.7591147220836931,0.71338606911949],"aabb_xy":[[0.3762358009366446,-1.766926048238622],[0.39383991155459,-1.7513033959287638]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.659253041002243,1.4967687020475045,0.71338606911949],"aabb_xy":[[0.6539154653362385,1.4717687011183647],[0.6645906166682476,1.5217687029766442]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.15781206345029586,-2.0142567437227537,0.71338606911949],"aabb_xy":[[0.15389819025487333,-2.0230057591293105],[0.16172593664571838,-2.005507728316197]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.4997912270983158,-1.846965213708703,0.71338606911949],"aabb_xy":[[0.4822129249093689,-1.8645397032828077],[0.5173695292872627,-1.8293907241345981]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.5322330051699791,1.0232637559917834,0.71338606911949],"aabb_xy":[[-0.5394942527403865,1.010476745728274],[-0.5249717575995716,1.036050766255293]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.5874604292848522,-1.8258146697849282,0.71338606911949],"aabb_xy":[[-0.6186073481284352,-1.8958146684717352],[-0.556313510441269,-1.7558146710981208]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.5135374729429254,0.8906982179732994,0.71338606911949],"aabb_xy":[[0.5041199983730626,0.8812820408355803],[0.5229549475127881,0.9001143951110183]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.4843721900365403,-2.468567330688239,0.71338606911949],"aabb_xy":[[0.39468511372842485,-2.5585673309426897],[0.5740592663446558,-2.3785673304337887]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[0.6086069157808671,-0.9612597764278938,0.71338606911949],"aabb_xy":[[0.5909312851922688,-0.9789399927072965],[0.6262825463694655,-0.943579560148491]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.3266945705974207,1.2445176461059035,0.71338606911949],"aabb_xy":[[-0.36354511853440835,1.2070176452828698],[-0.28984402266043313,1.2820176469289373]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679708400292074,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5662.png","name":"5662"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5662.png","name":"5662"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3725.png","name":"3725"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8528.png","name":"8528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5842.png","name":"5842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5645.png","name":"5645"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.3518247581633,"rotation_z_degrees":89.05598069176608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0030424752801390433,0.01587951808239754,0.0054728795114013865]},{"name":"camera_2","offset_m":[-0.011285966418322468,-0.007195395680655064,-0.016652706091454087]},{"name":"camera_3","offset_m":[-0.00654815250471621,-0.00339651231308229,-0.009466464245008063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001913816132901443,-0.0002211482164679536,-0.0011365994445980765],"end_effector_yaw_offset_degrees":0.7005673479031795},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008390594200216256,-0.0016957073327376123,0.0011514761734581274],"end_effector_yaw_offset_degrees":0.28420366443392453},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008852016132116307,-0.0001244972760974679,1.5881507572784292e-05],"end_effector_yaw_offset_degrees":0.5563775341805866}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003160139664936755,-0.0007867271051281389],"position_m":[0.34156013966493676,0.08451327289487186,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002005723096620256,0.0016980919247878866],"position_m":[0.354399427690338,0.2372980919247879,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007156783429970327,0.0025542276546796847],"position_m":[0.21658432165700295,-0.08464577234532031,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004556038539816371,-0.0025264924269721603],"position_m":[0.2509560385398164,-0.33822649242697217,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"84b0fb8f1e37874bb1324ea23b6ba6f35f1588d8d2c06e15f0b0ff4730b8f2b2","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5662/tex_ceiling_textures_5645/tex_floor_textures_5842/tex_table_textures_3725/tex_wall_textures_8528","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3247112974792844451,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3247112974792844451,"visual_seed":3247112974792844451,"scene_id":"lab_003","finished_at":"2026-09-02T05:44:47"}
+{"episode_id":"ep_000052","started_at":"2026-09-02T05:44:50","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.24798807250187738,0.25450275490445184,0.71338606911949],"aabb_xy":[[-0.28478270562678365,0.21759687980786957],[-0.21119343937697108,0.2914086300010341]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.26808677325851626,-1.9052824098606553,0.71338606911949],"aabb_xy":[[0.2603835825844392,-1.9129917805593932],[0.2757899639325933,-1.897573039161917]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.30808028657249614,-1.7606843864464765,0.71338606911949],"aabb_xy":[[-0.3918025120725786,-1.8506843899811725],[-0.22435806107241368,-1.6706843829117806]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.09491823796388765,1.380629184965105,0.71338606911949],"aabb_xy":[[0.08304615495238653,1.2956291852714545],[0.10679032097538875,1.4656291846587552]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.21182230676055908,-1.5118998171106588,0.71338606911949],"aabb_xy":[[-0.2694527756478299,-1.571899816037369],[-0.1541918378732882,-1.451899818183948]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.14291127940954151,1.7821460024391826,0.71338606911949],"aabb_xy":[[-0.17737362680768326,1.74765212004136],[-0.10844893201139967,1.8166398848370053]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.25923026494172086,-1.8053920323115888,0.71338606911949],"aabb_xy":[[0.2518178094003324,-1.8112432427332168],[0.26664272048310933,-1.799540821889961]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.515396627122217,-1.2275228896056665,0.71338606911949],"aabb_xy":[[0.5077723590320389,-1.2351561131422102],[0.5230208952123954,-1.2198896660691227]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.03702271640309496,-1.8359158900285006,0.71338606911949],"aabb_xy":[[-0.05456941131921389,-1.8734158915927517],[-0.019476021486976025,-1.7984158884642492]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.1252002412397244,-1.2575584439946474,0.71338606911949],"aabb_xy":[[-0.1627002414115963,-1.2902591793775544],[-0.08770024106785243,-1.22485770861174]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.5005469568635288,-1.4870554983066326,0.71338606911949],"aabb_xy":[[0.4405469563556758,-1.543902231992554],[0.5605469573713816,-1.4302087646207113]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[0.12776762272621744,1.215084520781026,0.71338606911949],"aabb_xy":[[0.09530592184428997,1.184951688666123],[0.16022932360814487,1.2452173528959283]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.4465127098614725,0.34152685416851947,0.71338606911949],"aabb_xy":[[-0.469012710373513,0.3190349958031211],[-0.4240127093494318,0.3640187125339178]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.56635142560634,0.3931937486209778,0.71338606911949],"aabb_xy":[[0.5063514253549387,0.33891242358451307],[0.6263514258577411,0.4474750736574424]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.5416682742854504,-0.00919452073964866,0.71338606911949],"aabb_xy":[[0.5191718528515863,-0.0316945205463961],[0.5641646957193145,0.01330547906709878]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.3309955380385987,1.6409545602543276,0.71338606911949],"aabb_xy":[[0.2934955380948323,1.632661470219491],[0.3684955379823651,1.6492476502891642]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.34434391973912293,-2.4877943804584075,0.71338606911949],"aabb_xy":[[0.2743439171025365,-2.5078992454542726],[0.4143439223757092,-2.4676895154625416]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.49680572627730557,0.8835348412808521,0.71338606911949],"aabb_xy":[[0.43280572710753556,0.8367681541618897],[0.5608057254470754,0.9303015283998146]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.06453227279303908,-1.4675548322810954,0.71338606911949],"aabb_xy":[[0.059576252608157895,-1.4900548324832172],[0.0694882929779203,-1.445054832078974]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.47297189601551626,-1.6496757440132415,0.71338606911949],"aabb_xy":[[0.38297189629234196,-1.6727490965484209],[0.5629718957386902,-1.6266023914780612]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.3960483382728759,-0.29415408185711334,0.71338606911949],"aabb_xy":[[0.3677186283243357,-0.29861482405083045],[0.42437804822141617,-0.28969333966339633]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.6131380294577025,-0.37119777065330783,0.71338606911949],"aabb_xy":[[-0.6211743641589872,-0.37923588995772456],[-0.6051016947564175,-0.363159651348891]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.5850751174359206,-1.0472581072367517,0.71338606911949],"aabb_xy":[[-0.6650751144501685,-1.067392658910163],[-0.5050751204216726,-1.0271235555633405]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[-0.5026720729467903,0.7110349582133884,0.71338606911949],"aabb_xy":[[-0.5385855773717799,0.6751214499966336],[-0.4667585685218006,0.7469484664301429]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.5304982164383478,0.5746464181227426,0.71338606911949],"aabb_xy":[[-0.5679982148617481,0.5614822041549119],[-0.49299821801494736,0.5878106320905732]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.10104695276670961,0.3863341896672683,0.71338606911949],"aabb_xy":[[-0.13563803562075477,0.32133418938223723],[-0.06645586991266436,0.45133418995229935]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_26","position":[0.6044379054732687,1.7312685182256682,0.71338606911949],"aabb_xy":[[0.5892657361916354,1.7160996612974648],[0.619610074754902,1.7464373751538715]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[0.08310363329018611,1.7132349648850824,0.71338606911949],"aabb_xy":[[0.059267415649581046,1.6232349640765964],[0.10693985093079118,1.8032349656935693]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[-0.04936780779715377,-0.8582937203940462,0.71338606911949],"aabb_xy":[[-0.12936780476019294,-0.9353693620378195],[0.0306321891658854,-0.7812180787502726]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_29","position":[-0.5245664456419801,-2.108816848468305,0.71338606911949],"aabb_xy":[[-0.5895664482797736,-2.160296447167752],[-0.4595664430041866,-2.057337249768858]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[-0.12844332349581333,0.8207524165569025,0.71338606911949],"aabb_xy":[[-0.19244332375628415,0.7757436172039744],[-0.06444332323534253,0.8657612159098305]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.11465520623561187,0.1021559774758618,0.71338606911949],"aabb_xy":[[-0.13757091912066177,0.07925168033943832],[-0.09173949335056197,0.12506027461228533]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_32","position":[0.24977958657408905,-2.1599341324151564,0.71338606911949],"aabb_xy":[[0.24488029426752553,-2.1876110517177247],[0.25467887888065255,-2.132257213112587]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700611084328034,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7493.png","name":"7493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/921.png","name":"921"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7564.png","name":"7564"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":502.72226148331407,"rotation_z_degrees":156.45986378637275,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012379099069701765,0.012645492194604289,-0.016248606873294835]},{"name":"camera_2","offset_m":[0.0009068395977976304,-0.01311350399201757,-0.006067535283288886]},{"name":"camera_3","offset_m":[-0.01724357342914955,-0.018040694313186518,0.0028790351178971108]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.091697808460259e-05,-7.328330972913573e-05,0.0019858356278570632],"end_effector_yaw_offset_degrees":0.8883329795883583},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018838602016812323,-0.0016282369807687372,-0.0008609293262321924],"end_effector_yaw_offset_degrees":0.8546483276188663},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004727090919922831,0.0005615543015067672,0.0019476664457358846],"end_effector_yaw_offset_degrees":0.8862088600715927}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029155151348288924,-0.002371160611072345],"position_m":[0.3413155151348289,0.08292883938892766,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033824775786599768,-0.0018910283850387677],"position_m":[0.35798247757866003,0.23370897161496124,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002842580764231948,-0.003546910424433848],"position_m":[0.21445741923576805,-0.09074691042443385,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013225463365011516,-0.001979536923276073],"position_m":[0.24772254633650115,-0.33767953692327607,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"00b8d317dcdecdec97f68bb9232f6922f3a7b916b07ecb44d042f0c9380feb92","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8121/tex_ceiling_textures_7564/tex_floor_textures_6430/tex_table_textures_7493/tex_wall_textures_921","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8295006521007156381,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8295006521007156381,"visual_seed":8295006521007156381,"scene_id":"lab_003","finished_at":"2026-09-02T05:47:26"}
+{"episode_id":"ep_000053","started_at":"2026-09-02T05:52:05","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.46901947165365754,-2.3823039377714625,0.71338606911949],"aabb_xy":[[-0.515104562908389,-2.4463039350240177],[-0.42293438039892606,-2.3183039405189074]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.019778755386525848,1.571236458124368,0.71338606911949],"aabb_xy":[[-0.06975617225177942,1.5212364566351193],[0.030198661478727736,1.6212364596136164]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.38428337448072375,1.176426892496604,0.71338606911949],"aabb_xy":[[-0.3930646016279601,1.1676471452080739],[-0.37550214733348763,1.1852066397851344]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.5563306199239595,-1.6022704520932152,0.71338606911949],"aabb_xy":[[-0.593661896449202,-1.6369235068880676],[-0.5189993433987168,-1.5676173972983631]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[0.02044112268260434,1.1700584554965294,0.71338606911949],"aabb_xy":[[-0.029541827504874992,1.120058455853969],[0.07042407287008366,1.2200584551390898]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.47618214259725267,1.0620279657432081,0.71338606911949],"aabb_xy":[[-0.5411821437031961,1.0370625926750796],[-0.41118214149130944,1.0869933388113362]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.6100207123749424,-2.3176420666658717,0.71338606911949],"aabb_xy":[[-0.64448319038803,-2.324305743848794],[-0.5755582343618545,-2.3109783894829485]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.5591455008489695,-1.2243534098483309,0.71338606911949],"aabb_xy":[[-0.629145502980399,-1.2471153754740263],[-0.4891454987175399,-1.201591444222635]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.4129909765211897,0.7390524580826892,0.71338606911949],"aabb_xy":[[-0.436272818719321,0.654052456785461],[-0.3897091343230583,0.8240524593799171]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.4460173366915267,-1.354995506035092,0.71338606911949],"aabb_xy":[[-0.4705635523142774,-1.3852444025841288],[-0.42147112106877593,-1.3247466094860547]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.24146114082068032,0.5645774926607592,0.71338606911949],"aabb_xy":[[-0.3214611394079997,0.48526189072259823],[-0.1614611422333609,0.64389309459892]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[-0.03146647333860053,-1.992942197704054,0.71338606911949],"aabb_xy":[[-0.06896647351047247,-2.025642933086961],[0.0060335268332714145,-1.9602414623211468]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.02283979766234101,-1.236266709822249,0.71338606911949],"aabb_xy":[[-0.0571601997412524,-1.3162592810204319],[0.10283979506593442,-1.1562741386240663]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[-0.4835921722175545,-1.8610823027209888,0.71338606911949],"aabb_xy":[[-0.4944979483051172,-1.941082299119818],[-0.47268639612999175,-1.7810823063221597]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.37269464177321,-1.2281294198088044,0.71338606911949],"aabb_xy":[[0.33519464098121454,-1.2344972607669942],[0.41019464256520544,-1.2217615788506142]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.6297393787730057,-0.0257029925970631,0.71338606911949],"aabb_xy":[[-0.6848645844025963,-0.08570299403835023],[-0.5746141731434148,0.03429700884422404]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.012071228845953241,-2.4846052409259216,0.71338606911949],"aabb_xy":[[0.007935372513253049,-2.522105240370279],[0.016207085178653435,-2.447105241481565]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.6723688398510974,-1.5109850239801927,0.71338606911949],"aabb_xy":[[0.637368840658279,-1.5219520699778553],[0.7073688390439156,-1.5000179779825302]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.091946833088135,-1.5767412641380791,0.71338606911949],"aabb_xy":[[-0.14194683410727027,-1.6132074798759075],[-0.04194683206899973,-1.5402750484002516]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.6868914807143598,-0.3780405187327238,0.71338606911949],"aabb_xy":[[-0.691526595866593,-0.3819078538098724],[-0.6822563655621263,-0.3741731836555751]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.2841544481826769,-0.7155662361472843,0.71338606911949],"aabb_xy":[[-0.311999484963284,-0.7463507348855961],[-0.25630941140206975,-0.6847817374089727]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.540807117187998,-1.1313737082414046,0.71338606911949],"aabb_xy":[[0.5283397590782624,-1.143839032874728],[0.5532744752977337,-1.118908383608081]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705625678565009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3073.png","name":"3073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3073.png","name":"3073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/714.png","name":"714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3370.png","name":"3370"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1653.png","name":"1653"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5437.png","name":"5437"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":611.6945251835158,"rotation_z_degrees":286.27238838829055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01553292999301371,-0.0155771754889683,-0.00535767231536508]},{"name":"camera_2","offset_m":[0.0026480433590734924,-0.018344940031787785,-0.013762057780246133]},{"name":"camera_3","offset_m":[-0.0007591874635820284,-0.009533533179537312,0.005349673445122379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017007529799534593,0.0013276451437509418,-0.0005109561287433731],"end_effector_yaw_offset_degrees":0.5698654606302176},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018635792927562812,0.0004166622010830078,0.0005122668737741224],"end_effector_yaw_offset_degrees":-0.33121178793158323},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015423110359683867,-0.0008470650097565371,0.001361296859172688],"end_effector_yaw_offset_degrees":-0.2151309793256535}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029085747869042077,0.004110185887844331],"position_m":[0.3354914252130958,0.08941018588784433,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037342741453280067,-0.0013988388970344943],"position_m":[0.35833427414532804,0.23420116110296552,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017690074002879807,0.0042581264552991665],"position_m":[0.215530992599712,-0.08294187354470084,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00024376298258171978,-0.004636138753861028],"position_m":[0.24664376298258173,-0.34033613875386104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a5114e5560244fdca07791c36a10f683c358c5363f8f59b8492343d2e6290b44","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3073/tex_ceiling_textures_5437/tex_floor_textures_1653/tex_table_textures_714/tex_wall_textures_3370","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7419304902801481020,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7419304902801481020,"visual_seed":7419304902801481020,"scene_id":"lab_003","finished_at":"2026-09-02T05:54:39"}
+{"episode_id":"ep_000054","started_at":"2026-09-02T05:57:33","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.011645830693978287,-1.2939316169347843,0.71338606911949],"aabb_xy":[[-0.004238662571346861,-1.3082845572336084],[0.027530323959303438,-1.2795786766359603]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.412713968891912,-0.7768428876229765,0.71338606911949],"aabb_xy":[[-0.4777139667735598,-0.8279665513295175],[-0.3477139710102642,-0.7257192239164356]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.41482458696495195,0.11396603620906687,0.71338606911949],"aabb_xy":[[-0.47245505585222275,0.053966037282356244],[-0.3571941180776811,0.1739660351357774]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.4684089969156989,-1.3191574664163248,0.71338606911949],"aabb_xy":[[-0.48551107487406703,-1.3362642719475946],[-0.4513069189573307,-1.302050660885055]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.5122883253699535,-2.475578702872096,0.71338606911949],"aabb_xy":[[0.4870674885101138,-2.500802453724982],[0.5375091622297931,-2.4503549520192083]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.3467494240838962,-1.6087844258460042,0.71338606911949],"aabb_xy":[[0.26674942301077587,-1.6185624721833884],[0.4267494251570165,-1.5990063795086196]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.17666350951866872,1.1956799338897062,0.71338606911949],"aabb_xy":[[-0.19433914010726705,1.1779997176103032],[-0.15898787893007038,1.2133601501691087]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.5963966162154204,-0.6760164542568508,0.71338606911949],"aabb_xy":[[0.5876826471654858,-0.6985164549160389],[0.6051105852653548,-0.6535164535976624]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.30646028601720887,-1.3907694876452832,0.71338606911949],"aabb_xy":[[-0.31372153358761623,-1.4035564979087929],[-0.2991990384468014,-1.377982477381774]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.25902020644326884,-2.2244845622576763,0.71338606911949],"aabb_xy":[[0.22402020731331318,-2.23022978333334],[0.2940202055732245,-2.2187393411820118]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[0.5941474360389443,-0.5690220992889299,0.71338606911949],"aabb_xy":[[0.5301474327492361,-0.6123570182928475],[0.6581474393286524,-0.5256871802850123]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.14971711589274728,0.8768788228778752,0.71338606911949],"aabb_xy":[[-0.19971711625331334,0.8268988356682722],[-0.09971711553218122,0.9268588100874781]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.3434594680465526,0.43054209654112086,0.71338606911949],"aabb_xy":[[-0.42345946670343865,0.41603723761685807],[-0.26345946938966663,0.44504695546538364]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.2577313434396129,-2.375284254062891,0.71338606911949],"aabb_xy":[[0.24023141000562953,-2.392784253983125],[0.2752312768735963,-2.357784254142656]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.22046564387072287,-2.5476848064036672,0.71338606911949],"aabb_xy":[[0.20613121874455942,-2.5597450219582063],[0.23480006899688632,-2.535624590849128]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.15965954228817036,-2.2546436605821274,0.71338606911949],"aabb_xy":[[-0.19645417541307664,-2.2915495356787097],[-0.12286490916326409,-2.217737785485545]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.697791576932338,-2.433272989093037,0.71338606911949],"aabb_xy":[[0.6851647896451415,-2.4428190627946096],[0.7104183642195342,-2.4237269153914642]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.5892344169277381,-0.22029849024831893,0.71338606911949],"aabb_xy":[[0.561389380147131,-0.2510829889866306],[0.6170794537083453,-0.18951399151000728]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.553113328546758,-2.1751956040121496,0.71338606911949],"aabb_xy":[[0.5188164175290173,-2.20949249022209],[0.5874102395644984,-2.1408987178022074]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.1489694132463414,-1.5716511056124598,0.71338606911949],"aabb_xy":[[0.11900185633651572,-1.6016511059103455],[0.17893697015616705,-1.541651105314574]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.47414166285481696,1.754258134283973,0.71338606911949],"aabb_xy":[[0.46357418319671795,1.7437131041709641],[0.48470914251291597,1.7648031643969813]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[-0.4728435448668883,0.9934146948764013,0.71338606911949],"aabb_xy":[[-0.5528435428476732,0.9858131539145494],[-0.3928435468861032,1.0010162358382533]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.24217129763411438,0.7240680196204794,0.71338606911949],"aabb_xy":[[-0.3061712983375837,0.6780496371475585],[-0.17817129693064504,0.7700864020934006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667019461181789,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1869.png","name":"1869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6873.png","name":"6873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4946.png","name":"4946"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1376.png","name":"1376"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":797.1855118875018,"rotation_z_degrees":332.05163646448636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004447006913739414,0.013659301265021653,0.009587599622304762]},{"name":"camera_2","offset_m":[0.001866791000816062,0.012823823046544915,0.006066591940916178]},{"name":"camera_3","offset_m":[-0.004017718501190096,0.011893961424307247,-0.01406196205655323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00014033872688745154,-0.0006565461420826306,-0.0016752581801263325],"end_effector_yaw_offset_degrees":0.4947756469015401},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00023709720046034507,-0.0009610491573936279,0.0007405133428895921],"end_effector_yaw_offset_degrees":0.15041182840940404},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003187684109931307,-0.0003882721536404188,-0.0011953887537717333],"end_effector_yaw_offset_degrees":0.34367564089412417}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033712849310373804,0.00403777191860982],"position_m":[0.34177128493103737,0.08933777191860982,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007893476899526238,-0.004559667299618569],"position_m":[0.3553893476899527,0.23104033270038143,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006743023546272797,0.002624488818818024],"position_m":[0.2166256976453727,-0.08457551118118198,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00019796894057563276,0.0020449587678988837],"position_m":[0.24620203105942437,-0.3336550412321011,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6175f015a6d194c10aac2262c80e44ca9c3ffbb79bf5ed25d82a038bf9ec6871","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5697/tex_ceiling_textures_1376/tex_floor_textures_4946/tex_table_textures_1869/tex_wall_textures_6873","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8450896041879402689,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8450896041879402689,"visual_seed":8450896041879402689,"scene_id":"lab_003","finished_at":"2026-09-02T06:00:28"}
+{"episode_id":"ep_000055","started_at":"2026-09-02T06:03:48","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.07898590195749233,-1.0788486387351401,0.71338606911949],"aabb_xy":[[0.028985902517296713,-1.1288165632194562],[0.12898590139768795,-1.0288807142508236]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.3834615713166203,0.7525040668842089,0.71338606911949],"aabb_xy":[[0.3382902534684513,0.6885040697396704],[0.4286328891647893,0.8165040640287473]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.20789228167045687,-0.4670009518265794,0.71338606911949],"aabb_xy":[[-0.2191373372410747,-0.4782427495506747],[-0.19664722609983903,-0.45575915410248413]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.0011008070656525204,1.6201531432894618,0.71338606911949],"aabb_xy":[[-0.03356250794757997,1.590020311174559],[0.03136089381627493,1.6502859754043642]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.646472363488377,-2.075030985316709,0.71338606911949],"aabb_xy":[[-0.6504328472581115,-2.08269884990223],[-0.6425118797186428,-2.067363120731189]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.6247607403751163,-0.6668137303060271,0.71338606911949],"aabb_xy":[[0.6193027947380961,-0.7468137336136862],[0.6302186860121363,-0.586813726998368]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.031599119495881345,-2.2546018410839017,0.71338606911949],"aabb_xy":[[-0.028400881011971576,-2.311448574769823],[0.09159912000373426,-2.1977551073979797]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.49366105489418755,-1.62635110061585,0.71338606911949],"aabb_xy":[[0.463693497984362,-1.6563511009137355],[0.5236286118040133,-1.596351100317964]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.6783401417320505,-0.23762901585392937,0.71338606911949],"aabb_xy":[[0.6664074073702225,-0.25001116866178874],[0.6902728760938787,-0.22524686304606997]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.18898158096788598,-2.2220725182731473,0.71338606911949],"aabb_xy":[[-0.23895899783313956,-2.2720725197623954],[-0.1390041641026324,-2.1720725167838983]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.018480980292279736,-1.4124031433024606,0.71338606911949],"aabb_xy":[[-0.04098098053579513,-1.4246077779622324],[0.004019019951235658,-1.4001985086426885]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.3601295201751736,-1.7028513469990498,0.71338606911949],"aabb_xy":[[-0.45012952385209165,-1.7642837535761537],[-0.27012951649825534,-1.641418940421945]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.5213183170199864,-1.9377311957241767,0.71338606911949],"aabb_xy":[[0.4313183172968122,-1.9608045482593566],[0.6113183167431605,-1.914657843188997]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.03954097662640632,-1.811253895966277,0.71338606911949],"aabb_xy":[[0.034905861474172926,-1.8151212310434257],[0.0441760917786397,-1.8073865608891282]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.38953343806502516,-1.8920641891405099,0.71338606911949],"aabb_xy":[[-0.46953343833863215,-1.9650137369662264],[-0.3095334377914182,-1.819114641314793]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.364910339853334,-0.8103214570199424,0.71338606911949],"aabb_xy":[[0.3274103395611591,-0.8143629324205459],[0.40241034014550875,-0.8062799816193387]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.5114402971547556,-1.251084407107762,0.71338606911949],"aabb_xy":[[0.4414403007447936,-1.2715223427594433],[0.5814402935647172,-1.2306464714560799]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.00887320464999064,0.6801854139947601,0.71338606911949],"aabb_xy":[[-0.061126797986595705,0.6600805489988945],[0.07887320728657699,0.7002902789906255]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.3068010011599567,-2.383394445928081,0.71338606911949],"aabb_xy":[[0.28930106772597325,-2.4008944458483152],[0.32430093459394,-2.365894446007846]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.0769468013637058,-0.7839262234759035,0.71338606911949],"aabb_xy":[[-0.12693103707188302,-0.8339262222893989],[-0.02696256565552857,-0.7339262246624078]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.43663067170590875,-0.2716685765047613,0.71338606911949],"aabb_xy":[[0.3726306744202601,-0.31317529545760525],[0.5006306689915574,-0.23016185755191731]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.278603044024043,0.43434951804705113,0.71338606911949],"aabb_xy":[[0.26343087474240967,0.41918066111884783],[0.29377521330567635,0.44951837497525454]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.6664207813684502,-1.8157464995667887,0.71338606911949],"aabb_xy":[[-0.688593308345101,-1.8379221667229118],[-0.6442482543917993,-1.7935708324106656]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.31230954316924964,-0.6011657017125589,0.71338606911949],"aabb_xy":[[-0.39230954424236997,-0.6109437480499433],[-0.2323095420961293,-0.5913876553751745]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.3945822935810066,1.002255160756539,0.71338606911949],"aabb_xy":[[0.3329915343570138,0.9382551626474922],[0.4561730528049994,1.066255158865586]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.6680153631850343,-2.426505170706385,0.71338606911949],"aabb_xy":[[-0.6814618898190775,-2.4399750223594765],[-0.6545688365509909,-2.413035319053294]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.6024981221313435,1.4643705141173657,0.71338606911949],"aabb_xy":[[0.5424981215353273,1.4095580415721423],[0.6624981227273596,1.5191829866625892]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[0.5056230058076101,1.2007879114228848,0.71338606911949],"aabb_xy":[[0.45562373063917405,1.1507879101469376],[0.5556222809760464,1.250787912698832]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[-0.33268137458436775,0.3167971706680621,0.71338606911949],"aabb_xy":[[-0.3966813778030056,0.27007405876905377],[-0.2686813713657299,0.3635202825670705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6683490886867351,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/121.png","name":"121"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8631.png","name":"8631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2530.png","name":"2530"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.360433363854,"rotation_z_degrees":105.48344639762757,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006222916586542809,0.009734835586664218,-0.0141933970796434]},{"name":"camera_2","offset_m":[0.016288034569478308,0.0024613638055532225,-0.0032404836262411203]},{"name":"camera_3","offset_m":[-0.00030226537499939213,0.01641183804418014,-0.008127301280908425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015047318488359371,0.00019395256031836013,0.0003808727092515342],"end_effector_yaw_offset_degrees":0.5534322143554338},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014318432721505561,0.0019254473571228836,0.000955888164972254],"end_effector_yaw_offset_degrees":-0.7713632101295784},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005988685044160161,-0.0011174602077859603,-0.0018144891475900637],"end_effector_yaw_offset_degrees":-0.4902719286490922}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003988029749637095,-0.001982819966351739],"position_m":[0.34238802974963706,0.08331718003364826,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00190197797739708,-0.002821645130987016],"position_m":[0.35650197797739713,0.232778354869013,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023775679216059024,0.003921292730478569],"position_m":[0.2196775679216059,-0.08327870726952143,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035615604473607145,-0.003111995615564636],"position_m":[0.24604384395526394,-0.33881199561556463,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"943384a0e25019226579ba13fb3283c32fc1c6bb4c29039953a7040bd267a20b","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5276/tex_ceiling_textures_2530/tex_floor_textures_4418/tex_table_textures_121/tex_wall_textures_8631","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1486843994047879118,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1486843994047879118,"visual_seed":1486843994047879118,"scene_id":"lab_003","finished_at":"2026-09-02T06:06:36"}
+{"episode_id":"ep_000056","started_at":"2026-09-02T06:09:25","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.09058195170272476,-0.9405219444331707,0.71338606911949],"aabb_xy":[[-0.11308108742895173,-0.9630219452114336],[-0.06808281597649779,-0.9180219436549076]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.6969696552568867,-2.5176433703558736,0.71338606911949],"aabb_xy":[[0.6780852714883764,-2.536529295136226],[0.7158540390253968,-2.4987574455755204]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.036685555308344275,-1.672562180232851,0.71338606911949],"aabb_xy":[[-0.08665884931160472,-1.722562180787398],[0.01328773869491618,-1.6225621796783034]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.42679399375641514,-2.53347938274322,0.71338606911949],"aabb_xy":[[-0.4624231496563748,-2.569112049500073],[-0.39116483785645534,-2.497846715986367]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.18828641593200746,1.3869233714372284,0.71338606911949],"aabb_xy":[[-0.19905938985337523,1.3519233732181895],[-0.17751344201063968,1.4219233696562674]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.027165972884017342,-1.222954338469087,0.71338606911949],"aabb_xy":[[-0.06847051594775333,-1.2869543380372044],[0.014138570179718646,-1.1589543389009702]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.6012640598107408,0.8652286735078745,0.71338606911949],"aabb_xy":[[-0.6612640606715535,0.813802243501388],[-0.5412640589499279,0.9166551035143607]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.15937042988251082,-2.318173769525815,0.71338606911949],"aabb_xy":[[-0.20936970505094699,-2.368173770801762],[-0.10937115471407466,-2.2681737682498677]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.5311549635200203,1.515834734237313,0.71338606911949],"aabb_xy":[[0.4511611399414621,1.4358347316444717],[0.6111487870985786,1.5958347368301549]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.6000485475727078,0.4081989949507143,0.71338606911949],"aabb_xy":[[-0.617548547817757,0.3906992071111474],[-0.5825485473276583,0.4256987827902811]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.20934717783932988,0.5933974590154105,0.71338606911949],"aabb_xy":[[-0.25934717819989594,0.5434174718058075],[-0.1593471774787638,0.6433774462250134]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.3026016470989847,-0.19389713258630925,0.71338606911949],"aabb_xy":[[-0.34010164744721244,-0.20568852816739278],[-0.2651016467507569,-0.18210573700522567]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.47035168647730674,-1.1740998094597388,0.71338606911949],"aabb_xy":[[0.3903516832132936,-1.1876598417686521],[0.5503516897413199,-1.1605397771508255]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.43185011007996643,-0.4544107932402257,0.71338606911949],"aabb_xy":[[-0.4894805789672372,-0.5144107921669362],[-0.3742196411926955,-0.394410794313515]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.24402834126638984,-2.0877158704499372,0.71338606911949],"aabb_xy":[[-0.2893069561475391,-2.151715869798121],[-0.19874972638524058,-2.0237158711017535]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.09987982981009769,-0.6519022399196315,0.71338606911949],"aabb_xy":[[-0.16387552720519427,-0.7159022382203402],[-0.0358841324150011,-0.5879022416189228]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.27192479551249427,-1.7984334696543915,0.71338606911949],"aabb_xy":[[0.26135731585439526,-1.8089784997673999],[0.2824922751705933,-1.7878884395413828]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.0400161590387309,-0.869810185192279,0.71338606911949],"aabb_xy":[[-0.004976427679719508,-0.9148101844667279],[0.08500874575718131,-0.8248101859178304]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[0.2889668515805083,0.8905523186350432,0.71338606911949],"aabb_xy":[[0.26646685176660584,0.8860777022645624],[0.3114668513944106,0.8950269350055239]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.3503373941883037,1.420538651047203,0.71338606911949],"aabb_xy":[[0.31533739429228475,1.4121644155352628],[0.3853373940843225,1.428912886559143]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[-0.6188867500537534,0.5572278171796676,0.71338606911949],"aabb_xy":[[-0.6363866834877366,0.539727817259433],[-0.6013868166197699,0.5747278170999021]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.056956861300123784,0.45355679921700487,0.71338606911949],"aabb_xy":[[-0.07701527291336407,0.43349171230784733],[-0.036898449686883494,0.4736218861261624]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.2137135995796654,-1.3959487588063615,0.71338606911949],"aabb_xy":[[0.1487135985791649,-1.4467351239610364],[0.2787136005801659,-1.3451623936516865]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[-0.05514990562507305,-2.041280667176828,0.71338606911949],"aabb_xy":[[-0.06802180912601319,-2.1212806675906637],[-0.042278002124132914,-1.9612806667629916]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.3985701497812404,-2.32599081677528,0.71338606911949],"aabb_xy":[[0.3866374154194124,-2.3383729695831397],[0.4105028841430685,-2.313608663967421]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.6090617450141487,0.5884983763890776,0.71338606911949],"aabb_xy":[[0.6046311156593086,0.5830500046543952],[0.613492374368989,0.5939467481237604]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.679204205436247,-1.8760120804833922,0.71338606911949],"aabb_xy":[[0.6370197912754163,-1.9400120807606034],[0.7213886195970778,-1.812012080206181]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.1737437587302384,1.1756642461514697,0.71338606911949],"aabb_xy":[[-0.23774375943370776,1.1296458636785491],[-0.10974375802676906,1.2216826286243911]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[0.5806901381234919,-0.7665736758351367,0.71338606911949],"aabb_xy":[[0.5106901363147466,-0.7879274445993241],[0.6506901399322375,-0.7452199070709493]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[0.3735397795522786,0.4668108991431743,0.71338606911949],"aabb_xy":[[0.33499408672707753,0.42826512808698564],[0.4120854723774796,0.5053566701993629]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.3086016460312514,1.3485069913315044,0.71338606911949],"aabb_xy":[[-0.31588396240791494,1.2585069877219952],[-0.30131932965458763,1.4385069949410132]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[-0.3452774031913189,-0.08819739703477625,0.71338606911949],"aabb_xy":[[-0.3827774016147192,-0.10136161100260686],[-0.3077774047679185,-0.0750331830669456]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[0.5294687088942258,0.9861922371362879,0.71338606911949],"aabb_xy":[[0.49500636149608396,0.9516983547384649],[0.5639310562923675,1.0206861195341101]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_33","position":[-0.33978108973382876,-2.372744823144445,0.71338606911949],"aabb_xy":[[-0.3490747079709793,-2.410244821632579],[-0.3304874714966781,-2.335244824656311]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_34","position":[0.44366815085735256,-2.227508754771769,0.71338606911949],"aabb_xy":[[0.4132700397582089,-2.257915656773438],[0.4740662619564961,-2.197101852770099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644251117743208,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7936.png","name":"7936"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7936.png","name":"7936"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8315.png","name":"8315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4269.png","name":"4269"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8446.png","name":"8446"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":686.8613196874564,"rotation_z_degrees":233.66660876578985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016513482898444825,0.007247379382587495,0.01889408251321943]},{"name":"camera_2","offset_m":[-0.00980997546208473,-0.008948205409322712,-0.019690919019574468]},{"name":"camera_3","offset_m":[0.010133573716860519,0.0029989019813527543,0.01781344196103771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002365022006659565,0.0013698957734973468,-0.0018694954962942304],"end_effector_yaw_offset_degrees":0.2590158685507338},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016663717684624506,0.0004592293730605584,-7.129695386843345e-05],"end_effector_yaw_offset_degrees":0.7126265929756088},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014020915250137315,0.000757300560791394,-0.0011934106799018514],"end_effector_yaw_offset_degrees":0.44466167763272413}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003834588740380622,-0.0025447360158100964],"position_m":[0.3422345887403806,0.0827552639841899,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024456747468622176,-0.002394701228407288],"position_m":[0.35215432525313783,0.2332052987715927,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002030351728217976,0.0003077941996696707],"position_m":[0.21526964827178202,-0.08689220580033033,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020397580178960813,0.0018036287694674106],"position_m":[0.24843975801789608,-0.33389637123053256,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bcd20fc242de4fdd1c95f129766935f5f1e36722ad2a08bee02d93d584ed2c25","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0101.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7936/tex_ceiling_textures_901/tex_floor_textures_8446/tex_table_textures_8315/tex_wall_textures_4269","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2401471704279623276,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2401471704279623276,"visual_seed":2401471704279623276,"scene_id":"lab_003","finished_at":"2026-09-02T06:12:06"}
+{"episode_id":"ep_000057","started_at":"2026-09-02T06:12:10","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[-0.5715141670080888,0.45418448320002236,0.71338606911949],"aabb_xy":[[-0.6090141685237205,0.4429577101838773],[-0.5340141654924571,0.4654112562161674]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.2808468343062286,0.6228054253193975,0.71338606911949],"aabb_xy":[[0.20084683714665325,0.6112578243615804],[0.3608468314658038,0.6343530262772145]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.5952930232304616,0.4754214377236541,0.71338606911949],"aabb_xy":[[0.5152930221573413,0.4656433913862696],[0.675293024303582,0.48519948406103847]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.49009232401122693,-2.4061516245149464,0.71338606911949],"aabb_xy":[[0.45509232411520806,-2.4145258600268864],[0.5250923239072458,-2.3977773890030063]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.48123515368042513,-0.057672149194494704,0.71338606911949],"aabb_xy":[[0.41723515438625697,-0.1216582895633489],[0.5452351529745934,0.00631399117435949]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.6082662979550049,-1.0829891237527671,0.71338606911949],"aabb_xy":[[-0.6882663012128478,-1.162985631544751],[-0.5282662946971619,-1.0029926159607832]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[0.1587445266216354,-2.257083614419504,0.71338606911949],"aabb_xy":[[0.15530385038157823,-2.2609450473938684],[0.16218520286169258,-2.2532221814451394]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.25451005598807186,0.6114181792165772,0.71338606911949],"aabb_xy":[[-0.2626377441813851,0.6025045708058695],[-0.24638236779475864,0.6203317876272848]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.130046564015736,0.3075000475967635,0.71338606911949],"aabb_xy":[[-0.19004656461175218,0.25268757505154005],[-0.07004656341971982,0.362312520141987]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.6135383588654093,-0.5836902873560699,0.71338606911949],"aabb_xy":[[0.5906226459803595,-0.6065945844924935],[0.6364540717504593,-0.5607859902196465]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.13780322489838281,-2.258441030142856,0.71338606911949],"aabb_xy":[[-0.14583955959966766,-2.2664791494472727],[-0.12976689019709797,-2.2504029108384396]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.5876432517920644,-2.099599435336177,0.71338606911949],"aabb_xy":[[0.5654707248154136,-2.1217751024923],[0.6098157787687153,-2.077423768180054]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.4106096259319028,-1.129080527150767,0.71338606911949],"aabb_xy":[[-0.4481096262801305,-1.1408719227318505],[-0.373109625583675,-1.1172891315696833]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[0.3552322997691928,-1.5099319323561575,0.71338606911949],"aabb_xy":[[0.3052493495817134,-1.5599319319987177],[0.4052152499566721,-1.459931932713597]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.48901576781554734,-0.47742401049144867,0.71338606911949],"aabb_xy":[[0.4651795501749422,-0.5674240112999352],[0.5128519854561524,-0.3874240096829623]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.3904189055657595,-0.8754547903752696,0.71338606911949],"aabb_xy":[[-0.47041890422264554,-0.8899596492995323],[-0.3104189069088735,-0.8609499314510067]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.6133843797917123,-0.2984673840252534,0.71338606911949],"aabb_xy":[[-0.661190547405481,-0.3634673867323123],[-0.5655782121779437,-0.2334673813181944]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.07119706251482383,-1.517419523399785,0.71338606911949],"aabb_xy":[[0.007197065212477427,-1.5617859503676415],[0.13519705981717023,-1.473053096431928]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[-0.46846975581583156,0.17545533294993643,0.71338606911949],"aabb_xy":[[-0.4764632456111136,0.1674572010094608],[-0.46047626602054953,0.18345346489041212]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.49563372944730677,-1.3191187554220898,0.71338606911949],"aabb_xy":[[0.47895659345421127,-1.3358186793960203],[0.5123108654404023,-1.3024188314481597]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.6899717755065857,1.1146193995082405,0.71338606911949],"aabb_xy":[[0.6836596759702475,1.1088524602550216],[0.6962838750429242,1.1203863387614594]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.1775819326165885,1.7118211102620102,0.71338606911949],"aabb_xy":[[-0.18627989490730382,1.6996961359545357],[-0.16888397032587324,1.7239460845694852]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[0.5695933413475178,-1.539135675391204,0.71338606911949],"aabb_xy":[[0.5396016786136474,-1.5691356747280045],[0.599585004081388,-1.5091356760544035]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.12056667075676997,1.2199035413506505,0.71338606911949],"aabb_xy":[[0.05656666853636294,1.175530457225362],[0.184566672977177,1.2642766254759386]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[0.1205550606182465,-1.6418485481909413,0.71338606911949],"aabb_xy":[[0.05555505951230323,-1.6668139212590696],[0.18555506172418978,-1.616883175122813]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[-0.5761699874194939,0.29232601976982453,0.71338606911949],"aabb_xy":[[-0.5922319148780114,0.20732601795723274],[-0.5601080599609761,0.37732602158241635]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668744674292816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9755.png","name":"9755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9755.png","name":"9755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/154.png","name":"154"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4638.png","name":"4638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2102.png","name":"2102"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":707.0532768702697,"rotation_z_degrees":332.6685337477537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01636528327548915,-0.013345699081811217,0.01324707700861422]},{"name":"camera_2","offset_m":[-0.018149207128884216,0.009957906598779792,-0.012557741831076594]},{"name":"camera_3","offset_m":[-0.0004560323258912813,-0.0012913950344070058,0.017842357515195018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014288828915748604,0.00018265191771086329,0.001342183943594233],"end_effector_yaw_offset_degrees":0.13390564297838536},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001048077687554945,-0.00023989313805121578,-0.0017561633597557252],"end_effector_yaw_offset_degrees":0.8561962733571717},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012193903225942572,-0.0010995671000022487,0.0013999968795714787],"end_effector_yaw_offset_degrees":0.5904507058034576}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015649804711629555,-0.0008483025187263184],"position_m":[0.33683501952883704,0.08445169748127368,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00031151722915783147,0.0041567856785432586],"position_m":[0.3542884827708422,0.23975678567854325,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003171463127077151,-0.0003005708697854971],"position_m":[0.22047146312707713,-0.0875005708697855,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003358394121294025,-0.004254038595430003],"position_m":[0.24975839412129403,-0.33995403859543,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f8e13c4b3dadfa003a0d422d8446ae565a0b5fa5ca5f0fb7623b325eed879a2e","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0102.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9755/tex_ceiling_textures_2102/tex_floor_textures_4049/tex_table_textures_154/tex_wall_textures_4638","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5431346429761786054,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5431346429761786054,"visual_seed":5431346429761786054,"scene_id":"lab_003","finished_at":"2026-09-02T06:14:53"}
+{"episode_id":"ep_000058","started_at":"2026-09-02T06:14:56","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.11317573317670471,1.4128753314117293,0.71338606911949],"aabb_xy":[[-0.1240162114032196,1.3956890501210801],[-0.10233525495018979,1.4300616127023775]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.41541726226415515,-1.6499092382675906,0.71338606911949],"aabb_xy":[[-0.47941726555386327,-1.693244157271508],[-0.35141725897444703,-1.6065743192636728]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.2829096155849516,-0.21143028619424342,0.71338606911949],"aabb_xy":[[-0.3179096138550715,-0.21850441388923156],[-0.2479096173148317,-0.20435615849925523]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.5786314050893364,-1.3418146505659676,0.71338606911949],"aabb_xy":[[0.5707081248505881,-1.3643146508039712],[0.5865546853280847,-1.3193146503279645]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.49479836475652395,-1.3831230505222067,0.71338606911949],"aabb_xy":[[-0.5122983640346108,-1.4004611505885527],[-0.47729836547843707,-1.3657849504558608]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.09048879857411729,0.9722657655059206,0.71338606911949],"aabb_xy":[[-0.09645533751485307,0.9663046208465566],[-0.08452225963338149,0.9782269101652846]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[0.5293830643034303,-0.35844595265907175,0.71338606911949],"aabb_xy":[[0.5055468466628253,-0.4484459534675583],[0.5532192819440355,-0.2684459518505853]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.11477652227824264,-0.8887135774418338,0.71338606911949],"aabb_xy":[[0.024776525777370894,-0.934625219860292],[0.2047765187791144,-0.8428019350233755]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.11371052748331822,-1.1460575575353869,0.71338606911949],"aabb_xy":[[0.07240598441958224,-1.210057557103504],[0.1550150705470542,-1.0820575579672698]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.20592965894370452,-1.7250364062330084,0.71338606911949],"aabb_xy":[[0.19864734256704086,-1.8150364098425171],[0.21321197532036817,-1.6350364026234991]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.5122355990961778,0.0832480139095848,0.71338606911949],"aabb_xy":[[-0.5192759090297149,0.0032480145099134114],[-0.5051952891626409,0.16324801330925623]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[0.3005974548420578,-0.6547263495097049,0.71338606911949],"aabb_xy":[[0.2630974548982914,-0.6630194395445413],[0.3380974547858242,-0.6464332594748682]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.35324140756748335,-2.195781061426689,0.71338606911949],"aabb_xy":[[-0.41724140686165156,-2.2597672017955426],[-0.2892414082733151,-2.131794921057834]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.15529167102408714,-0.6503485814851238,0.71338606911949],"aabb_xy":[[-0.17775644099549226,-0.6728485823639843],[-0.13282690105268202,-0.6278485806062633]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.0769041248525919,1.220897972389257,0.71338606911949],"aabb_xy":[[0.012904122509790351,1.1759571211451245],[0.14090412719539347,1.2658388236333895]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.15153189481268603,0.6360661767899836,0.71338606911949],"aabb_xy":[[-0.205547491094586,0.5720661738977263],[-0.097516298530786,0.7000661796822406]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.256704897399995,-1.162800991885303,0.71338606911949],"aabb_xy":[[0.2512469517629749,-1.242800995192962],[0.26216284303701504,-1.0828009885776437]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.3176463324846882,-1.2608188810190224,0.71338606911949],"aabb_xy":[[-0.35514633366948095,-1.2652371037150827],[-0.28014633129989536,-1.2564006583229617]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.5688466116064057,-1.1359525745127876,0.71338606911949],"aabb_xy":[[-0.5901246197498778,-1.2009525768388605],[-0.5475686034629333,-1.0709525721867144]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.3561043134629762,-1.0105350877467794,0.71338606911949],"aabb_xy":[[0.327774603514436,-1.0149958299404964],[0.38443402341151645,-1.0060743455530623]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.5006938136271454,1.1297713554664122,0.71338606911949],"aabb_xy":[[-0.5341729808881863,1.0962922420953052],[-0.46721464636610444,1.1632504688375191]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668344681794366,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6672.png","name":"6672"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1049.png","name":"1049"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4022.png","name":"4022"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3595.png","name":"3595"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":611.8743870323856,"rotation_z_degrees":52.29636343009989,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007190742302886148,-0.016070446671755202,0.0027084158988233756]},{"name":"camera_2","offset_m":[-0.018524870039212375,-0.007592231799204048,0.017366286726410506]},{"name":"camera_3","offset_m":[0.002572943665099546,0.00977808090724314,-0.012944872514055197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018864642836763715,-0.0014778151103323198,-0.0016540909405024006],"end_effector_yaw_offset_degrees":-0.23697370120262384},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007920603716925294,-0.0009464985923594456,0.0008026622589247467],"end_effector_yaw_offset_degrees":0.4604584171041388},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009978354438317637,0.00024907422823685537,-9.16095901088898e-05],"end_effector_yaw_offset_degrees":0.6264233876894911}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0001644618211731376,0.0003158983120045977],"position_m":[0.3385644618211731,0.0856158983120046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015670593549160115,-0.0019348249619941284],"position_m":[0.35616705935491605,0.23366517503800588,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019517468284038376,-0.000196220986125031],"position_m":[0.21925174682840384,-0.08739622098612503,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010535125836467311,0.004087349170574285],"position_m":[0.24745351258364673,-0.3316126508294257,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c244ee3b63f428fe42ba3a51eed363fc7accf51657bb0c643a49064db4951b7","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6672/tex_ceiling_textures_65/tex_floor_textures_3595/tex_table_textures_1049/tex_wall_textures_4022","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4357010138858559389,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4357010138858559389,"visual_seed":4357010138858559389,"scene_id":"lab_003","finished_at":"2026-09-02T06:17:37"}
+{"episode_id":"ep_000059","started_at":"2026-09-02T06:17:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.2208525376514336,1.7688148282464415,0.71338606911949],"aabb_xy":[[-0.2858525402892271,1.7173352295469946],[-0.1558525350136401,1.8202944269458885]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.4391800265640023,-0.373559561660441,0.71338606911949],"aabb_xy":[[-0.4766800249874026,-0.38672377562827165],[-0.4016800281406019,-0.3603953476926104]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.5922362450008098,-2.350985105814209,0.71338606911949],"aabb_xy":[[0.5472436582823593,-2.395985105088658],[0.6372288317192601,-2.3059851065397603]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.5439677488663754,0.14645689170431764,0.71338606911949],"aabb_xy":[[0.4639677456023623,0.1328968593954043],[0.6239677521303886,0.16001692401323098]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[-0.0629788973187847,1.020286275261483,0.71338606911949],"aabb_xy":[[-0.10516331147961545,0.956286274984272],[-0.020794483157953972,1.0842862755386944]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.3765449547777694,-1.3494954499165563,0.71338606911949],"aabb_xy":[[-0.41404495488336224,-1.3563176117695375],[-0.3390449546721763,-1.3426732880635752]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.5294612536623896,-1.1689340720461554,0.71338606911949],"aabb_xy":[[-0.5789416748763484,-1.2329340699590072],[-0.4799808324484308,-1.1049340741333036]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.31395525968238125,-0.09185641426331603,0.71338606911949],"aabb_xy":[[-0.3265820469695776,-0.10140248796488892],[-0.3013284723951849,-0.08231034056174312]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[0.1564397802670202,-1.4848913944017956,0.71338606911949],"aabb_xy":[[0.09243977704838233,-1.531614506300804],[0.22043978348565804,-1.4381682825027873]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.0670269322117627,-0.6365102321795615,0.71338606911949],"aabb_xy":[[0.03918189543115558,-0.6672947309178732],[0.09487196899236983,-0.6057257334412498]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.20362667861255523,1.1621293439939544,0.71338606911949],"aabb_xy":[[0.19018015197851193,1.148659492340863],[0.2170732052465986,1.1755991956470457]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.2915011155317676,0.5551495869107077,0.71338606911949],"aabb_xy":[[0.24152804999925215,0.5051495870981748],[0.34147418106428307,0.6051495867232406]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.28088874905344874,0.9293391271673443,0.71338606911949],"aabb_xy":[[-0.28793020000419633,0.9223123754295498],[-0.27384729810270114,0.9363658789051389]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.5226352825064755,-2.4420458606801425,0.71338606911949],"aabb_xy":[[-0.5260759587465327,-2.4459072936545074],[-0.5191946062664183,-2.4381844277057785]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.3250117087348936,-0.9576021355211226,0.71338606911949],"aabb_xy":[[0.30049808463788774,-0.9818667288231591],[0.34952533283189946,-0.9333375422190862]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.6974655792164597,1.3910417282372687,0.71338606911949],"aabb_xy":[[0.6898413111262816,1.383408504700725],[0.705089847306638,1.3986749517738124]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.42338341731964446,-2.2736727713198883,0.71338606911949],"aabb_xy":[[0.41330171024107093,-2.3536727692120025],[0.4334651243982179,-2.1936727734277732]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.552022033257703,-1.9264799136185056,0.71338606911949],"aabb_xy":[[0.48702203537605515,-1.9776035773250467],[0.6170220311393507,-1.875356249911965]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.016337953673949523,0.8833544977735,0.71338606911949],"aabb_xy":[[-0.009950870646491137,0.8570830641188486],[0.04262677799439018,0.9096259314281511]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.3937284184159924,-1.491839237357977,0.71338606911949],"aabb_xy":[[0.3287284173100491,-1.516804610426105],[0.45872841952193566,-1.4668738642898485]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.01878050286378319,-0.9548465666065415,0.71338606911949],"aabb_xy":[[-0.05121949354617861,-0.9752845022582229],[0.08878049927374497,-0.9344086309548595]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[0.22178071559007906,-0.9361039457007574,0.71338606911949],"aabb_xy":[[0.2137443808887942,-0.9441420650051741],[0.22981705029136387,-0.9280658263963405]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[-0.3325256314558871,0.21173653636375045,0.71338606911949],"aabb_xy":[[-0.36752563135190597,0.2033623008518105],[-0.2975256315598682,0.2201107718756904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700390505734772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5977.png","name":"5977"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8165.png","name":"8165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/120.png","name":"120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6463.png","name":"6463"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":610.7262351229939,"rotation_z_degrees":275.5861523151909,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015996708085448955,-0.006386244569709558,0.0019303778820014203]},{"name":"camera_2","offset_m":[-0.016541165803674873,0.018470919432667206,-0.00953419435284121]},{"name":"camera_3","offset_m":[0.015422917970933588,0.01684077634803322,0.012550774934851686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018205475113337948,-0.00017937418337944286,-0.00130032839610529],"end_effector_yaw_offset_degrees":-0.0035685242788312532},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00024115417147002084,0.0005096556398138299,-0.0014051251640597594],"end_effector_yaw_offset_degrees":-0.6612254894329703},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008167343382228789,-0.0003094476480708045,0.0014041523702979786],"end_effector_yaw_offset_degrees":-0.8615660994708276}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002224704063575097,-0.0042435160570998935],"position_m":[0.33617529593642487,0.0810564839429001,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011825187842452586,0.003875583410117611],"position_m":[0.35578251878424527,0.23947558341011763,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0020235096308926104,-0.002191164926716437],"position_m":[0.21527649036910737,-0.08939116492671643,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002531035768654465,-0.0003996442755466534],"position_m":[0.24893103576865447,-0.33609964427554667,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"738197c98c313697e1a6f7821e9089768a278e4c33ebf59b72d215a66a5e5cb8","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0104.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9417/tex_ceiling_textures_6463/tex_floor_textures_120/tex_table_textures_5977/tex_wall_textures_8165","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3867757324231497921,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3867757324231497921,"visual_seed":3867757324231497921,"scene_id":"lab_003","finished_at":"2026-09-02T06:20:22"}
+{"episode_id":"ep_000060","started_at":"2026-09-02T06:20:26","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.24283448802368685,-1.5523729998828022,0.71338606911949],"aabb_xy":[[-0.254196222676973,-1.5637414662890903],[-0.23147275337040069,-1.5410045334765141]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.6269032319916645,-2.0101232854401996,0.71338606911949],"aabb_xy":[[0.5894032335682641,-2.02328749940803],[0.6644032304150648,-1.9969590714723684]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.5808085158785932,0.6689134320315273,0.71338606911949],"aabb_xy":[[0.5008085126207502,0.5889169242395432],[0.6608085191364361,0.7489099398235112]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.42309961603591395,0.795304484480198,0.71338606911949],"aabb_xy":[[0.4042152322674037,0.7764185596998452],[0.4419839998044241,0.8141904092605508]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.1608844510664802,0.682863504830594,0.71338606911949],"aabb_xy":[[-0.24588444948390342,0.5979892093683089],[-0.07588445264905697,0.7677378002928789]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.6283626996974523,-2.5114870692362805,0.71338606911949],"aabb_xy":[[0.6033627005318191,-2.518439314941637],[0.6533626988630853,-2.504534823530924]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[-0.408145693591705,-2.523595005278822,0.71338606911949],"aabb_xy":[[-0.42278909914573787,-2.538253724935606],[-0.3935022880376719,-2.5089362856220374]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.4469851972487051,-0.5314587993727704,0.71338606911949],"aabb_xy":[[0.44067309771236673,-0.5372257386259892],[0.4532972967850436,-0.5256918601195516]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.1829243168553325,-2.4256159680481857,0.71338606911949],"aabb_xy":[[0.16775214757369916,-2.440784824976389],[0.19809648613696584,-2.4104471111199817]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.31991781752699494,-0.8117905368289484,0.71338606911949],"aabb_xy":[[-0.351064736370578,-0.8817905355157555],[-0.28877089868341177,-0.7417905381421411]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[0.20017500936736787,-1.9319330531616692,0.71338606911949],"aabb_xy":[[0.19521898918248667,-1.954433053363791],[0.20513102955224907,-1.9094330529595478]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.6608814360773705,-0.9988946807362349,0.71338606911949],"aabb_xy":[[0.6383814360672221,-1.0129909003758382],[0.6833814360875187,-0.9847984610966316]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.6349399489637799,0.15776497724888472,0.71338606911949],"aabb_xy":[[0.5749399481029671,0.10633854724239829],[0.6949399498245927,0.20919140725537105]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.13404004941049696,-1.0369409691002747,0.71338606911949],"aabb_xy":[[-0.14666683669769331,-1.0464870428018473],[-0.12141326212330061,-1.0273948953987015]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.4373853164113484,-0.8383021855546251,0.71338606911949],"aabb_xy":[[-0.4477968750918321,-0.8436479188905235],[-0.42697375773086466,-0.8329564522187265]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.36519743079745415,1.6206074969019748,0.71338606911949],"aabb_xy":[[0.360766801442614,1.6151591251672928],[0.3696280601522944,1.6260558686366577]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.5146370657334417,1.3807578383447687,0.71338606911949],"aabb_xy":[[-0.5746370662412945,1.3239111046588474],[-0.4546370652255887,1.43760457203069]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.16385031448247123,-0.3945252175912608,0.71338606911949],"aabb_xy":[[-0.17197800267578445,-0.4034388260019685],[-0.155722626289158,-0.3856116091805532]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[-0.126666545030786,-2.1392001456687026,0.71338606911949],"aabb_xy":[[-0.16399782155602866,-2.173853200463555],[-0.08933526850554341,-2.1045470908738504]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.5864452777642368,-0.396255812567718,0.71338606911949],"aabb_xy":[[0.5792015117179914,-0.47625581077132045],[0.593689043810482,-0.3162558143641157]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.13582575516981787,0.31364654809296555,0.71338606911949],"aabb_xy":[[-0.21582575659994505,0.23412939308035607],[-0.05582575373969065,0.393163703105575]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.532225038413474,-0.9084402488160539,0.71338606911949],"aabb_xy":[[-0.5697250399291057,-0.919667021832199],[-0.4947250368978423,-0.8972134757999088]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.030546623055752842,0.9503434273754583,0.71338606911949],"aabb_xy":[[-0.12054662247412373,0.9169679305312683],[0.05945337636261805,0.9837189242196478]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[0.1084047026624756,-2.202314539340121,0.71338606911949],"aabb_xy":[[0.053404703040729765,-2.2572982321275936],[0.16340470228422144,-2.147330846552648]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.4163002306388415,-2.340371183342872,0.71338606911949],"aabb_xy":[[0.36130798000333053,-2.395371185086185],[0.47129248127435247,-2.2853711815995594]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[-0.6132141135904164,-0.013838877814238426,0.71338606911949],"aabb_xy":[[-0.6292760410489341,-0.09883887962683023],[-0.5971521861318988,0.07116112399835338]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.15678438035829956,1.3146750647939704,0.71338606911949],"aabb_xy":[[-0.20678438171918676,1.2646971602185548],[-0.10678437899741232,1.364652969369386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626346276163758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5669.png","name":"5669"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5669.png","name":"5669"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7417.png","name":"7417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4565.png","name":"4565"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2947.png","name":"2947"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":757.9685499044842,"rotation_z_degrees":135.06831401924634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009885878006612408,-0.0006340935056874282,-0.0058409405495766994]},{"name":"camera_2","offset_m":[-0.0062825465979931445,0.00204980161287625,0.009686173594063714]},{"name":"camera_3","offset_m":[-0.009085588918415172,0.010985838928646432,0.0031089573803059524]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00028666821862070695,-0.0008170398415704128,-0.00033877028936517306],"end_effector_yaw_offset_degrees":0.21176435785908354},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00039099110320860294,0.001827248931441948,-0.0004552919202754264],"end_effector_yaw_offset_degrees":-0.577165728569202},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012509388387390295,-0.0014306391130201371,0.0014522208285049428],"end_effector_yaw_offset_degrees":-0.027862057128227535}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002333943218956535,-0.004926025199290389],"position_m":[0.3407339432189565,0.08037397480070961,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039773292813407935,-0.003410127289724835],"position_m":[0.3506226707186592,0.23218987271027516,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00032619743316379766,-0.003939387602592831],"position_m":[0.21697380256683618,-0.09113938760259283,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003848044828471554,0.00322173316941659],"position_m":[0.24255195517152844,-0.3324782668305834,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af4bb7f846b6620f483eb575de821a7b4e3ab950d2dffd95fcd5a55071669cd7","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5669/tex_ceiling_textures_2947/tex_floor_textures_4565/tex_table_textures_4608/tex_wall_textures_7417","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8577599340539894380,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8577599340539894380,"visual_seed":8577599340539894380,"scene_id":"lab_003","finished_at":"2026-09-02T06:23:06"}
+{"episode_id":"ep_000061","started_at":"2026-09-02T06:23:11","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.35596034468483284,-1.7480461391938782,0.71338606911949],"aabb_xy":[[-0.4359603457579531,-1.7578241855312626],[-0.27596034361171246,-1.7382680928564938]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.2915108574465296,-2.203998613411472,0.71338606911949],"aabb_xy":[[-0.35151085795438247,-2.260845347097393],[-0.23151085693867665,-2.1471518797255507]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.4660437579419172,1.3549281410124303,0.71338606911949],"aabb_xy":[[0.3810437592498426,1.3229422776175515],[0.5510437566339919,1.3869140044073092]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.19193129466119951,0.006773061418831716,0.71338606911949],"aabb_xy":[[-0.20317635023181732,-0.004468736305263566],[-0.18068623909058165,0.018014859142926998]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.4950309307785066,0.9110121018892525,0.71338606911949],"aabb_xy":[[-0.5055984104366056,0.900467071776244],[-0.4844634511204075,0.9215571320022611]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.13120497105414763,0.9041100525035604,0.71338606911949],"aabb_xy":[[0.12677434169930746,0.8986616807688778],[0.1356356004089878,0.909558424238243]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.07046463623143095,1.52234201270721,0.71338606911949],"aabb_xy":[[0.047964635719390344,1.4998501543418117],[0.09296463674347154,1.5448338710726084]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.08931957421632242,0.7887413904661003,0.71338606911949],"aabb_xy":[[-0.11181957422647071,0.774645170826497],[-0.06681957420617413,0.8028376101057035]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.579541091996139,-1.9670401865456286,0.71338606911949],"aabb_xy":[[0.5722798444257317,-1.9798271968091383],[0.5868023395665466,-1.9542531762821194]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.031038733116323547,1.1431271190804,0.71338606911949],"aabb_xy":[[-0.05294741525567459,1.121226452260309],[-0.0091300509769725,1.1650277859004905]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.5117898252913887,1.7526160701750606,0.71338606911949],"aabb_xy":[[-0.5342545952627938,1.7301160692962],[-0.4893250553199836,1.775116071053921]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.42020445934601613,-1.1306779650056173,0.71338606911949],"aabb_xy":[[0.35520446146436835,-1.1818016287121582],[0.485204457227664,-1.0795543012990765]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.3409722758034661,0.5504547999849403,0.71338606911949],"aabb_xy":[[-0.4049722729155718,0.5014224301905298],[-0.27697227869136043,0.599487169779351]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.5674531202768478,-0.3977832854324057,0.71338606911949],"aabb_xy":[[-0.6084710636632187,-0.44778328606336304],[-0.5264351768904769,-0.3477832848014484]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.3642485123140289,-2.280209504472383,0.71338606911949],"aabb_xy":[[0.34674851317966165,-2.290089131509971],[0.381748511448396,-2.2703298774347953]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.6599013141970758,-2.287078479908651,0.71338606911949],"aabb_xy":[[0.6489955381095129,-2.3670784763074804],[0.6708070902846384,-2.207078483509822]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.46041367317570525,0.8052366045387287,0.71338606911949],"aabb_xy":[[-0.4979136715991056,0.7920723905708981],[-0.4229136747523049,0.8184008185065593]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.5214966746625381,-1.8822857256911503,0.71338606911949],"aabb_xy":[[-0.6014966726433232,-1.8898872666530022],[-0.44149667668175313,-1.8746841847292983]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.5382323315652499,0.3827291075273136,0.71338606911949],"aabb_xy":[[-0.5958628004525205,0.32272910860060294],[-0.4806018626779788,0.4427291064540241]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.4134216736727465,-0.6420570900803808,0.71338606911949],"aabb_xy":[[0.40185269292580994,-0.6670570901973126],[0.4249906544196831,-0.6170570899634492]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.6055188020226592,-1.6847520026968865,0.71338606911949],"aabb_xy":[[0.5705188021266403,-1.6931262382088264],[0.640518801918678,-1.6763777671849467]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.2856664056715293,1.7020200886401278,0.71338606911949],"aabb_xy":[[-0.29062242585641057,1.6795200884380064],[-0.2807103854866481,1.7245200888422496]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.44341599356012806,0.6611276197966163,0.71338606911949],"aabb_xy":[[0.43470202451019346,0.6386276191374279],[0.45212996261006244,0.6836276204558044]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.4822621398764366,-2.0335977439187958,0.71338606911949],"aabb_xy":[[0.4570413030165969,-2.058821494771682],[0.5074829767362762,-2.008373993065909]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.037469748098349465,-1.6607797905479003,0.71338606911949],"aabb_xy":[[-0.05752815971158976,-1.6808448774570575],[-0.01741133648510918,-1.6407147036387426]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[-0.3980998566715686,-0.7635109224943213,0.71338606911949],"aabb_xy":[[-0.4780998588343311,-0.8434661061204648],[-0.3180998545088061,-0.6835557388681776]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.21415844662441702,-0.9638613526082376,0.71338606911949],"aabb_xy":[[-0.2781584473278864,-1.0098797350811586],[-0.15015844592094768,-0.9178429701353166]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.2708445636277379,-0.5178332020077443,0.71338606911949],"aabb_xy":[[0.25305105669282146,-0.535632947603542],[0.28863807056265434,-0.5000334564119466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670665489436432,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4923.png","name":"4923"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4923.png","name":"4923"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1926.png","name":"1926"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6471.png","name":"6471"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/567.png","name":"567"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":520.4146798727267,"rotation_z_degrees":119.16540257600347,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01923679185022221,-0.001643254684719965,-0.016479868292947508]},{"name":"camera_2","offset_m":[0.007975679139194246,0.007057133252983669,-0.0003138171395754459]},{"name":"camera_3","offset_m":[0.010009242996187356,-0.0005997957618839415,-0.0056093681659126204]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004918186392384046,-0.0007930060353392402,0.0004599329602847091],"end_effector_yaw_offset_degrees":0.8855213916564684},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00030779621618361825,0.0014099896575405619,-0.0003858383626673496],"end_effector_yaw_offset_degrees":-0.5489518328825838},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005084442053448193,-0.0006241112252938525,-0.0001880807470316737],"end_effector_yaw_offset_degrees":-0.2772176633381045}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0045861794892687385,0.00033970082877976277],"position_m":[0.34298617948926874,0.08563970082877977,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023220607445595606,0.002645493179861647],"position_m":[0.35692206074455957,0.23824549317986166,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004100477284104604,-0.0016693079722432127],"position_m":[0.2131995227158954,-0.08886930797224321,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018213809604618447,0.00035837122384122476],"position_m":[0.24457861903953818,-0.33534162877615875,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e40591ce4ac36f09b2928d428ebcc9d8e511c65b6da676ae96b8d62512dc6676","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0106.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4923/tex_ceiling_textures_567/tex_floor_textures_2369/tex_table_textures_1926/tex_wall_textures_6471","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3179419627797562448,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3179419627797562448,"visual_seed":3179419627797562448,"scene_id":"lab_003","finished_at":"2026-09-02T06:25:51"}
+{"episode_id":"ep_000062","started_at":"2026-09-02T06:25:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.6334967768567248,-1.9039679683295532,0.71338606911949],"aabb_xy":[[0.6208940777196483,-1.9165633645544187],[0.6460994759938012,-1.8913725721046877]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.6905472529562013,1.215421397065589,0.71338606911949],"aabb_xy":[[0.6729689507672545,1.197846907491484],[0.7081255551451482,1.232995886639694]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.23611659993592954,-1.7436887548069882,0.71338606911949],"aabb_xy":[[-0.24023255004800217,-1.7478043098398337],[-0.23200064982385685,-1.7395731997741426]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.6535970504291796,-0.7841142252363975,0.71338606911949],"aabb_xy":[[-0.6885970495591353,-0.7898594463120615],[-0.6185970512992239,-0.7783690041607333]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.44681202802176256,1.4172331914994643,0.71338606911949],"aabb_xy":[[-0.4968113031901987,1.3672331902235173],[-0.3968127528533264,1.4672331927754116]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.13714518767762696,-2.295270316281497,0.71338606911949],"aabb_xy":[[-0.2171451909354699,-2.375266824073481],[-0.057145184419784,-2.215273808489513]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.507589946013163,1.5145038486821893,0.71338606911949],"aabb_xy":[[0.502746351251933,1.5096521962032055],[0.512433540774393,1.5193555011611737]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.4500637153384268,-1.3437553688947181,0.71338606911949],"aabb_xy":[[0.3600637116615086,-1.4051877754718223],[0.5400637190153449,-1.2823229623176136]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.13802566084316692,0.529358275967927,0.71338606911949],"aabb_xy":[[-0.20202566406180478,0.4826351640689187],[-0.07402565762452906,0.5760813878669354]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[-0.13239785878236954,1.4531421995711011,0.71338606911949],"aabb_xy":[[-0.14174486636466477,1.438838577353457],[-0.12305085120007431,1.4674458217887452]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.3983078006380436,-1.8139842034667168,0.71338606911949],"aabb_xy":[[0.39068353254786536,-1.8216174270032608],[0.40593206872822185,-1.8063509799301734]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[0.5488762259479729,-1.8406319069719315,0.71338606911949],"aabb_xy":[[0.5409529457092245,-1.8631319072099348],[0.5567995061867211,-1.818131906733928]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.007690390606498565,0.7772322393485114,0.71338606911949],"aabb_xy":[[-0.09141261610658102,0.6872322358138154],[0.0760318348935839,0.8672322428832073]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.5101281569731368,0.9799398044586138,0.71338606911949],"aabb_xy":[[-0.533964374613742,0.8899398036501277],[-0.4862919393325319,1.0699398052671008]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.12153420680823046,-1.7117056637604613,0.71338606911949],"aabb_xy":[[0.09903507108200348,-1.734205664538724],[0.14403334253445743,-1.689205662982198]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.07032786666539359,1.1428700865796175,0.71338606911949],"aabb_xy":[[-0.12032786768452888,1.1064038708417896],[-0.02032786564625833,1.1793363023174455]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[0.3305737429775053,-0.9954421806377163,0.71338606911949],"aabb_xy":[[0.24057374647663352,-1.0413538230561743],[0.420573739478377,-0.949530538219258]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[0.05304792519807966,-0.7701118323880662,0.71338606911949],"aabb_xy":[[0.0035675039841208678,-0.834111830300918],[0.10252834641203845,-0.7061118344752143]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.3077709813786036,-0.6469282453738989,0.71338606911949],"aabb_xy":[[0.2527709831768587,-0.6874502120003364],[0.3627709795803484,-0.6064062787474612]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.5387640945581009,1.2236190617701297,0.71338606911949],"aabb_xy":[[0.5338080743732198,1.2011190615680083],[0.5437201147429821,1.2461190619722515]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.5925240053071252,1.089983095683695,0.71338606911949],"aabb_xy":[[0.5425410551196458,1.0399830960411343],[0.6425069554946045,1.139983095326255]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[-0.36407345266638397,1.0955084458198812,0.71338606911949],"aabb_xy":[[-0.40532226369629865,1.0405084463076635],[-0.3228246416364692,1.1505084453320984]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.6367096485648662,1.7200381521104515,0.71338606911949],"aabb_xy":[[0.6022471705517785,1.7133744749275284],[0.671172126577954,1.7267018292933738]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.41864381481222296,-1.4783435791044444,0.71338606911949],"aabb_xy":[[-0.4472931471726391,-1.50698913838152],[-0.3899944824518067,-1.4496980198273683]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[0.19947757574178537,1.0656933437839977,0.71338606911949],"aabb_xy":[[0.11947757858221009,1.0541457428261807],[0.27947757290136066,1.0772409447418148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642236580856421,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8263.png","name":"8263"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8263.png","name":"8263"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3583.png","name":"3583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7201.png","name":"7201"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9427.png","name":"9427"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":715.5327059837115,"rotation_z_degrees":81.37770971958032,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016991277164502678,-0.00178636066145137,-0.008795798181503644]},{"name":"camera_2","offset_m":[-0.019429548468555186,0.018774932859643257,-0.007475257609616261]},{"name":"camera_3","offset_m":[-3.647742867111253e-05,-0.0032533356738611782,-0.005375162822601042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013562213070857946,0.000999045427250365,-0.0009217737797456711],"end_effector_yaw_offset_degrees":0.6035044544385939},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013773942733642285,-0.0009609384601172368,0.0019291686468403983],"end_effector_yaw_offset_degrees":0.05893578834881863},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00031659185872195137,-0.0003290121021051187,-0.0007004880377500947],"end_effector_yaw_offset_degrees":-0.6800972590322159}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001629895826359514,-0.003488369080837661],"position_m":[0.3400298958263595,0.08181163091916234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025695633598689363,-0.004655539494974416],"position_m":[0.3520304366401311,0.2309444605050256,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010384438316223352,0.0013450530078334098],"position_m":[0.21833844383162232,-0.08585494699216659,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003218236928978712,-0.0007852646393699111],"position_m":[0.24961823692897872,-0.3364852646393699,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0c74bcf801ef9513395e86f056009c106066b6094270dd1819d2ede6655b1c14","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0107.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8263/tex_ceiling_textures_9427/tex_floor_textures_7201/tex_table_textures_7381/tex_wall_textures_3583","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5404150057551257971,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5404150057551257971,"visual_seed":5404150057551257971,"scene_id":"lab_003","finished_at":"2026-09-02T06:28:38"}
+{"episode_id":"ep_000063","started_at":"2026-09-02T06:28:41","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.022259616905912494,-2.4896124526266914,0.71338606911949],"aabb_xy":[[-0.06834470816064396,-2.553612449879246],[0.02382547434881898,-2.425612455374136]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.18292626741806828,1.4290540544716053,0.71338606911949],"aabb_xy":[[-0.2679262658354915,1.34417975900932],[-0.09792626900064505,1.51392834993389]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.5875906165143139,-1.9348258427497877,0.71338606911949],"aabb_xy":[[0.5697215087598583,-1.9486587507269986],[0.6054597242687693,-1.9209929347725765]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.3568210139626924,-1.531608724752681,0.71338606911949],"aabb_xy":[[0.2928210147929225,-1.5783754118716435],[0.4208210131324624,-1.4848420376337186]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.001670830019816938,-0.7246259629482137,0.71338606911949],"aabb_xy":[[-0.013603564381645006,-0.7370081157560732],[0.01026190434201113,-0.7122438101403544]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.20932563807282878,1.7519617623279546,0.71338606911949],"aabb_xy":[[-0.23931730080669908,1.7219617629911539],[-0.17933397533895842,1.781961761664755]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.37310412844767926,1.730989005233583,0.71338606911949],"aabb_xy":[[0.3481041292820461,1.7240367595282264],[0.3981041276133123,1.7379412509389396]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.2832742056302835,-0.7883951296776119,0.71338606911949],"aabb_xy":[[0.2714021226187824,-0.8733951293712623],[0.2951462886417846,-0.7033951299839616]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.6536455598892625,-0.8390668228242149,0.71338606911949],"aabb_xy":[[-0.6786455591612248,-0.8554121864203772],[-0.6286455606173003,-0.8227214592280525]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.4428576198208929,-0.29547789886217624,0.71338606911949],"aabb_xy":[[0.4128900629110672,-0.325477899160062],[0.47282517673071855,-0.2654778985642905]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.31951159700144727,-1.741959104836809,0.71338606911949],"aabb_xy":[[0.24951159519270177,-1.7633128736009962],[0.38951159881019265,-1.7206053360726214]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.4143150756389942,-0.08057253090045524,0.71338606911949],"aabb_xy":[[-0.4345993783623929,-0.10085515604316408],[-0.39403077291559535,-0.060289905757746405]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.09895804959842691,-0.8917881984028677,0.71338606911949],"aabb_xy":[[-0.10698432022905291,-0.9005396933802204],[-0.09093177896780091,-0.8830367034255152]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.2588032715661455,-0.8297231900265869,0.71338606911949],"aabb_xy":[[-0.26888497864471894,-0.9097231879187015],[-0.248721564487572,-0.7497231921344722]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.2775128948990684,-0.6216269206996212,0.71338606911949],"aabb_xy":[[-0.32751289618290835,-0.6716057750902432],[-0.22751289361522845,-0.571648066308999]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.4451161944338346,-1.7228611939390182,0.71338606911949],"aabb_xy":[[-0.4504537700998392,-1.7478611948681582],[-0.4397786187678301,-1.6978611930098786]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.6422115463665423,-0.28429822624044787,0.71338606911949],"aabb_xy":[[-0.6456522226065995,-0.28815965921481235],[-0.6387708701264851,-0.2804367932660834]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.4471818983450574,-0.460078306164851,0.71338606911949],"aabb_xy":[[-0.4809574575357503,-0.47411680137801604],[-0.41340633915436437,-0.446039810951686]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.006376737327635107,1.0811529020703414,0.71338606911949],"aabb_xy":[[-0.018844095437370756,1.0686875774370181],[0.006090620782100541,1.0936182267036652]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.13987574604685127,-1.8099024703486153,0.71338606911949],"aabb_xy":[[-0.17487574435754674,-1.8176174852721612],[-0.10487574773615585,-1.8021874554250699]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.23933817766804344,0.1378932410424567,0.71338606911949],"aabb_xy":[[-0.2545010506449805,0.12272778374733795],[-0.22417530469110636,0.15305869833757546]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.009981674629010229,-1.9263930602635213,0.71338606911949],"aabb_xy":[[-0.08998167328589624,-1.9408979191877844],[0.07001832402787578,-1.9118882013392586]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[-0.2438690733008027,-0.2676678625463902,0.71338606911949],"aabb_xy":[[-0.24920158795541572,-0.2729921907916258],[-0.23853655864618975,-0.2623435343011546]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[-0.17729212751618195,1.06415981063103,0.71338606911949],"aabb_xy":[[-0.2005739697143133,0.979159809333802],[-0.1540102853180506,1.149159811928258]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.0551884216211882,-0.4672968617099693,0.71338606911949],"aabb_xy":[[-0.09018842075114386,-0.47304208278563337],[-0.02018842249123254,-0.46155164063430515]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[0.38750703476582715,-1.115171839308423,0.71338606911949],"aabb_xy":[[0.3698741991722995,-1.1327947853240456],[0.40513987035935467,-1.0975488932927997]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.28367836765692866,-2.2080492273666446,0.71338606911949],"aabb_xy":[[-0.32895698253807787,-2.272049226714828],[-0.23839975277577935,-2.1440492280184604]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.3571332402702787,-1.2539199710349695,0.71338606911949],"aabb_xy":[[-0.3921332394630969,-1.2648870170326318],[-0.3221332410774604,-1.2429529250373068]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[0.27815897227050634,1.1494246624777817,0.71338606911949],"aabb_xy":[[0.26899909332662975,1.1428934444342447],[0.28731885121438294,1.1559558805213188]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.10548134689380506,1.0007657314514637,0.71338606911949],"aabb_xy":[[0.09676737784387056,0.9782657307922752],[0.11419531594373954,1.0232657321106515]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_30","position":[-0.4537210965365772,-1.0036811229443794,0.71338606911949],"aabb_xy":[[-0.513721096383144,-1.060499745137418],[-0.39372109669001043,-0.9468625007513407]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[-0.3551768118281545,1.703794592794678,0.71338606911949],"aabb_xy":[[-0.3728524424167528,1.6861143765152753],[-0.33750118123955614,1.7214748090740808]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648038582698076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9277.png","name":"9277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9277.png","name":"9277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/143.png","name":"143"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7490.png","name":"7490"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.2689079197148,"rotation_z_degrees":52.63181117292422,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004328572266883334,-0.01943607221970904,0.014800908817686784]},{"name":"camera_2","offset_m":[0.0038120788756373716,0.012069547627012994,0.012673414697430576]},{"name":"camera_3","offset_m":[-0.004737281698650082,-0.009811696105594016,-0.00989641844681958]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012941042211482357,-0.00018881103854463308,-0.0013291343674952422],"end_effector_yaw_offset_degrees":0.9164025990103923},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000730998561969443,-0.0012946064848946173,-0.0016757950337498708],"end_effector_yaw_offset_degrees":0.09114870464434932},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017516790741911562,-0.0005273306486640972,-0.0010288405033152875],"end_effector_yaw_offset_degrees":-0.5443256846399043}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00444815256073594,0.004997662271604231],"position_m":[0.3428481525607359,0.09029766227160423,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026152155972937186,-0.002764113940797228],"position_m":[0.3519847844027063,0.23283588605920277,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008780087344157058,-0.003569480163811004],"position_m":[0.2181780087344157,-0.090769480163811,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004625008773203906,0.0004684261329840301],"position_m":[0.25102500877320394,-0.33523157386701596,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eeba8f5146585478524aa9cda998d6ed09d2c4bcc1e490bc419ffb9dea35c3cb","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0108.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9277/tex_ceiling_textures_376/tex_floor_textures_5045/tex_table_textures_143/tex_wall_textures_7490","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4663035259851759435,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4663035259851759435,"visual_seed":4663035259851759435,"scene_id":"lab_003","finished_at":"2026-09-02T06:31:19"}
+{"episode_id":"ep_000064","started_at":"2026-09-02T06:32:47","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.3786257871391059,-1.8632006118535127,0.71338606911949],"aabb_xy":[[0.343625787243087,-1.8715748473654525],[0.41362578703512476,-1.8548263763415724]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.37313111782757535,-1.0212975795882073,0.71338606911949],"aabb_xy":[[0.3091311186578054,-1.0680642667071696],[0.4371311169973453,-0.9745308924692447]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.16406160443103102,-2.4677000869349164,0.71338606911949],"aabb_xy":[[0.14648330224208417,-2.4852745765090214],[0.18163990661997786,-2.4501255973608114]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.3690023683897293,-0.4133550814561615,0.71338606911949],"aabb_xy":[[-0.41118678255056007,-0.4773550817333727],[-0.3268179542288986,-0.3493550811789503]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[0.12152445917638943,-1.4782341627306397,0.71338606911949],"aabb_xy":[[0.08774889998569646,-1.4922726579438046],[0.1553000183670824,-1.4641956675174748]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.39250222443471516,1.4880475876841666,0.71338606911949],"aabb_xy":[[0.32850222514054694,1.4240614473153126],[0.4565022237288834,1.552033728053021]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.6595750251805161,-0.15799015027872176,0.71338606911949],"aabb_xy":[[0.6045750269787712,-0.19851211690515935],[0.7145750233822609,-0.11746818365228419]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.5630404941660003,-1.4554485076155081,0.71338606911949],"aabb_xy":[[0.499040492488003,-1.5039658990948224],[0.6270404958439977,-1.406931116136194]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.5810673002115188,-0.3991134699392651,0.71338606911949],"aabb_xy":[[0.5349822089567872,-0.4631134671918202],[0.6271523914662501,-0.33511347268671]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.4397664852689864,-1.3812598418991289,0.71338606911949],"aabb_xy":[[-0.46975814800285665,-1.4112598412359292],[-0.409774822535116,-1.3512598425623281]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.049117334544728886,1.1891787207757476,0.71338606911949],"aabb_xy":[[0.02528111690412383,1.0991787199672614],[0.07295355218533396,1.2791787215842343]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.06452306819947518,-1.2429138160792497,0.71338606911949],"aabb_xy":[[0.04263332061053438,-1.3329138133684988],[0.08641281578841598,-1.1529138187900005]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.4721728585243287,-2.40442905672035,0.71338606911949],"aabb_xy":[[-0.5361685559194254,-2.4684290550210584],[-0.40817716112923214,-2.340429058419641]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.043837949934324105,1.3370856147666283,0.71338606911949],"aabb_xy":[[-0.06630271990572922,1.3145856138877676],[-0.02137317996291898,1.3595856156454886]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.1952318583521656,1.5746829980579293,0.71338606911949],"aabb_xy":[[0.15773185840839918,1.5663899080230925],[0.232731858295932,1.5829760880927657]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.2881473312002688,-1.1552405315075533,0.71338606911949],"aabb_xy":[[0.2531473298487871,-1.175600267464374],[0.32314733255175054,-1.1348807955507323]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.17327854424430789,0.7818825447711202,0.71338606911949],"aabb_xy":[[0.1615103574496504,0.6968825448658985],[0.18504673103896543,0.8668825446763417]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.2926298976288131,-0.7145581348543746,0.71338606911949],"aabb_xy":[[-0.3014111247760493,-0.7233378821429048],[-0.28384867048157686,-0.7057783875658445]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.25490515052662716,-2.140737064527972,0.71338606911949],"aabb_xy":[[-0.31890515123009655,-2.186755447000893],[-0.19090514982315787,-2.094718682055051]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.5884343276645463,-1.3073383737006,0.71338606911949],"aabb_xy":[[0.5847310663354073,-1.3110403920093174],[0.5921375889936851,-1.303636355391882]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.6364468578453448,-0.00873197791459912,0.71338606911949],"aabb_xy":[[0.5814468582235991,-0.06371567070207185],[0.6914468574670908,0.046251714872873606]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.334441238530782,-2.234991142283701,0.71338606911949],"aabb_xy":[[0.2544412382571749,-2.3079406901094175],[0.4144412388043889,-2.162041594457984]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.5916181119567513,-0.07897133770752385,0.71338606911949],"aabb_xy":[[-0.6194631487373584,-0.10975583644583554],[-0.5637730751761442,-0.04818683896921218]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.19459512953538904,-0.7345922646744703,0.71338606911949],"aabb_xy":[[0.1305951309488166,-0.7815992280739789],[0.2585951281219615,-0.6875853012749614]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[-0.19436580283121474,-1.6778294437345245,0.71338606911949],"aabb_xy":[[-0.2045188183853641,-1.7138989853072646],[-0.18421278727706536,-1.641759902161784]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.4607505971220389,-2.0029844938557457,0.71338606911949],"aabb_xy":[[-0.5407444207005971,-2.0829844964485873],[-0.38075677354348064,-1.9229844912629042]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.450436264938868,-0.3691240735842807,0.71338606911949],"aabb_xy":[[0.4254362656669058,-0.38546943718044296],[0.47543626421083035,-0.3527787099881183]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.12548551337919733,-0.18982511581434958,0.71338606911949],"aabb_xy":[[-0.18548551397521348,-0.24463758835957305],[-0.06548551278318113,-0.1350126432691261]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.2883578712589931,-2.5560414147860633,0.71338606911949],"aabb_xy":[[-0.3258578717563514,-2.560010098334182],[-0.2508578707616349,-2.5520727312379448]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[-0.5294989868637929,-0.8178734391265692,0.71338606911949],"aabb_xy":[[-0.5669989870356648,-0.8505741745094764],[-0.4919989866919209,-0.785172703743662]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[0.33111157789238455,1.2321900130243981,0.71338606911949],"aabb_xy":[[0.2839821988905488,1.168190011979996],[0.37824095689422016,1.2961900140687999]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[-0.48942756982003915,0.7654622068854149,0.71338606911949],"aabb_xy":[[-0.49950927689861263,0.6854622089933002],[-0.4793458627414657,0.8454622047775295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689262368463109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6797.png","name":"6797"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6022.png","name":"6022"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4010.png","name":"4010"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1706.png","name":"1706"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":501.078067373296,"rotation_z_degrees":60.595873797183415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01086191118339305,0.011111294733108033,0.0034349536156901388]},{"name":"camera_2","offset_m":[-0.004835212648890757,0.015907534262096828,0.0006573112531289664]},{"name":"camera_3","offset_m":[-0.012326053062967583,0.013490845459093587,-0.011581218716705383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014022441571836476,-0.000855161913891545,-0.0008602662675647457],"end_effector_yaw_offset_degrees":-0.07617750614289887},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007582119984668543,0.0007618142723223595,0.0006960536660921444],"end_effector_yaw_offset_degrees":0.38283096237185377},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016874027331444759,0.0018083836108156674,0.0016805900032509377],"end_effector_yaw_offset_degrees":-0.6714969638703951}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003097805883235949,-0.0014693111774072508],"position_m":[0.3414978058832359,0.08383068882259274,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008795189708242588,0.001544825513985301],"position_m":[0.3554795189708243,0.2371448255139853,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035423704828530427,0.00010420036962828158],"position_m":[0.22084237048285305,-0.08709579963037171,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017597065265071614,-0.0029097283372685858],"position_m":[0.24815970652650718,-0.3386097283372686,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"141c4b1896b6d83d8c6bfc54ba88a20f2f3e67cf4061c001211d4a9f6b20b8e4","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0110.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1813/tex_ceiling_textures_1706/tex_floor_textures_4010/tex_table_textures_6797/tex_wall_textures_6022","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4570225733646001527,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4570225733646001527,"visual_seed":4570225733646001527,"scene_id":"lab_003","finished_at":"2026-09-02T06:35:28"}
+{"episode_id":"ep_000065","started_at":"2026-09-02T06:40:25","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.16737538358013127,1.6943801087190686,0.71338606911949],"aabb_xy":[[-0.20237538271008693,1.6886348876434045],[-0.1323753844501756,1.7001253297947327]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.38550646811542943,-1.666031672345671,0.71338606911949],"aabb_xy":[[0.33552351792795004,-1.7160316719882307],[0.4354894183029087,-1.6160316727031099]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.09686995516271224,-0.6505424338715999,0.71338606911949],"aabb_xy":[[0.03686995351979039,-0.7025425831635441],[0.1568699568056341,-0.5985422845796557]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.05798376525483806,0.13757211154220617,0.71338606911949],"aabb_xy":[[-0.06619831037052203,0.12889552124456483],[-0.04976922013915407,0.1462487018398474]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.2387636047117353,-1.9561064059375657,0.71338606911949],"aabb_xy":[[0.18377039337459852,-2.011106406276359],[0.29375681604887205,-1.9011064055987723]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[0.4462907125052049,-0.2197248346019136,0.71338606911949],"aabb_xy":[[0.4284216047507494,-0.23355774257912454],[0.4641598202596604,-0.20589192662470268]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.27603045532244136,1.092493125166122,0.71338606911949],"aabb_xy":[[-0.2861834708765907,1.0564235835933815],[-0.2658774397682919,1.1285626667388622]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.6075856158820643,-0.8692053259691339,0.71338606911949],"aabb_xy":[[0.5375856142797849,-0.8826381191707915],[0.6775856174843439,-0.8557725327674763]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.1783560707261701,-1.9119304911861772,0.71338606911949],"aabb_xy":[[-0.21183523798721104,-1.9454096045572844],[-0.14487690346512916,-1.8784513778150704]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.3268143481829974,0.9117520571337736,0.71338606911949],"aabb_xy":[[-0.39681435157455935,0.8764362834303426],[-0.2568143447914354,0.9470678308372044]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.6553897425501278,-2.2662913409007723,0.71338606911949],"aabb_xy":[[0.6489759289069429,-2.2727011611484405],[0.6618035561933128,-2.2598815206531033]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.09696036978172251,-0.7183147098822167,0.71338606911949],"aabb_xy":[[-0.1194603700252379,-0.7305193445419885],[-0.07446036953820712,-0.7061100752224446]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.5745207583645593,1.07512524271668,0.71338606911949],"aabb_xy":[[0.5284356671098278,1.0111252454641249],[0.6206058496192908,1.139125239969235]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.4714086177431135,-2.1125807803723173,0.71338606911949],"aabb_xy":[[-0.5354086210328215,-2.1559156993762345],[-0.40740861445340537,-2.0692458613683993]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.3912233220278418,-0.7413831633122747,0.71338606911949],"aabb_xy":[[0.33622784420718244,-0.7963831647461816],[0.4462187998485012,-0.6863831618783678]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.3589996168528131,1.6588656805788955,0.71338606911949],"aabb_xy":[[0.2949996164752795,1.6091204137280835],[0.42299961723034674,1.708610947429708]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.4674771075565076,-1.3052240618871902,0.71338606911949],"aabb_xy":[[0.45004639247750106,-1.3224961765510406],[0.4849078226355141,-1.287951947223339]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.3874018649821931,0.8175117042923068,0.71338606911949],"aabb_xy":[[0.36490272925596606,0.7950117035140438],[0.40990100070842,0.8400117050705698]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.15277487150734292,1.2822387202344228,0.71338606911949],"aabb_xy":[[0.13761199853040587,1.267073262939304],[0.16793774448428003,1.2974041775295415]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.4413173000568409,-2.350789167211471,0.71338606911949],"aabb_xy":[[0.3963247133383904,-2.39578916648592],[0.48630988677529124,-2.3057891679370224]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.45664579529179083,-1.5080807730576564,0.71338606911949],"aabb_xy":[[0.391645796734718,-1.537833306471539],[0.5216457938488637,-1.4783282396437738]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[0.5909168743125655,-2.201364086736815,0.71338606911949],"aabb_xy":[[0.5109168763317804,-2.208965627698667],[0.6709168722933505,-2.193762545774963]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.5647241745244681,-1.269697797606701,0.71338606911949],"aabb_xy":[[-0.6147241748850341,-1.319677784816304],[-0.5147241741639019,-1.219717810397098]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.1318620112729314,1.4337211525701714,0.71338606911949],"aabb_xy":[[0.1055731869524907,1.40744971891552],[0.158150835593372,1.4599925862248224]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.5229722602417601,-2.5068777523479957,0.71338606911949],"aabb_xy":[[0.5007997332651093,-2.5290534195041188],[0.545144787218411,-2.4847020851918726]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.645082363003017,1.3652679856282894,0.71338606911949],"aabb_xy":[[-0.6577091502902134,1.3557219119267163],[-0.6324555757158207,1.3748140593298621]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[0.11702673268112684,-1.565793230546976,0.71338606911949],"aabb_xy":[[0.11169421802651386,-1.5711175587922115],[0.12235924733573983,-1.5604689023017404]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[0.3752101499272449,0.5716819716691801,0.71338606911949],"aabb_xy":[[0.31521014967584365,0.5174006466327153],[0.435210150178646,0.6259632967056447]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.5438739163798058,-1.8549324446923736,0.71338606911949],"aabb_xy":[[-0.6078739136654544,-1.8964391636452176],[-0.4798739190941571,-1.8134257257395296]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.03577882531008836,0.7465806417917702,0.71338606911949],"aabb_xy":[[-0.03422117732649799,0.7264757767959047],[0.1057788279466747,0.7666855067876357]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[-0.5444740278604637,-0.3766227000987872,0.71338606911949],"aabb_xy":[[-0.6294740262778871,-0.4614969955610722],[-0.4594740294430406,-0.29174840463650226]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.2591557496005113,-1.3608523025630466,0.71338606911949],"aabb_xy":[[-0.3231557510085019,-1.4126412540869713],[-0.1951557481925206,-1.3090633510391219]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_32","position":[-0.4643221995488763,-0.8915120372217802,0.71338606911949],"aabb_xy":[[-0.5543222018828955,-0.968994391806893],[-0.3743221972148573,-0.8140296826366676]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_33","position":[0.08568624007493275,1.700060510265073,0.71338606911949],"aabb_xy":[[0.0698017468096076,1.685707569966249],[0.1015707333402579,1.714413450563897]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_34","position":[-0.41054532341159083,-2.2214166603811467,0.71338606911949],"aabb_xy":[[-0.4280453236566401,-2.2389164482207136],[-0.39304532316654134,-2.20391687254158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615372290678792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4845.png","name":"4845"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4845.png","name":"4845"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9822.png","name":"9822"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4619.png","name":"4619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3422.png","name":"3422"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":693.713865592289,"rotation_z_degrees":349.8720668450697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008444475560811338,-0.011289350419249953,-0.014771784085432853]},{"name":"camera_2","offset_m":[0.011942123495403568,-0.011311942987165615,-0.0013704138320523827]},{"name":"camera_3","offset_m":[-0.016207626996336766,-0.017287040506801996,-0.007707340945185614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001177212178551974,-0.0019561788043815104,0.0011012978841035389],"end_effector_yaw_offset_degrees":0.09601475968830187},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007858586242846619,0.0013472801838546045,0.0006214879093916744],"end_effector_yaw_offset_degrees":-0.7745148171035783},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008842743373200486,-0.0008481614278700836,-0.001414573798908985],"end_effector_yaw_offset_degrees":-0.47913878710050395}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007640213353005991,0.0020134856055382348],"position_m":[0.3391640213353006,0.08731348560553824,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004748411222667062,-0.004482064667297067],"position_m":[0.34985158877733297,0.23111793533270295,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033816140462777314,-0.0026080321880814893],"position_m":[0.21391838595372226,-0.08980803218808149,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029183882419264798,0.0001742858841017837],"position_m":[0.24348161175807354,-0.3355257141158982,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c071bae8b062336e1382a435ddddf9f537c709f446f27501d05caa298778a0d0","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0113.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4845/tex_ceiling_textures_3422/tex_floor_textures_6076/tex_table_textures_9822/tex_wall_textures_4619","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5106634159803298085,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5106634159803298085,"visual_seed":5106634159803298085,"scene_id":"lab_003","finished_at":"2026-09-02T06:43:11"}
+{"episode_id":"ep_000066","started_at":"2026-09-02T06:43:15","dimensions":{"distractor":{"count":20,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.574573124006061,-0.3592634697691821,0.71338606911949],"aabb_xy":[[-0.654573124476277,-0.3675741773835306],[-0.49457312353584515,-0.35095276215483384]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[0.4017990834332763,-1.6234598847824406,0.71338606911949],"aabb_xy":[[0.33779908202528564,-1.6752488363063653],[0.465799084841267,-1.571670933258516]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.4853472450568794,-0.9835168537439798,0.71338606911949],"aabb_xy":[[-0.5353301952443587,-1.03351685338654],[-0.4353642948694,-0.9335168541014193]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.5050853722679713,0.5016071231520067,0.71338606911949],"aabb_xy":[[-0.540085371397927,0.49586190207634273],[-0.4700853731380157,0.507352344227671]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.6221336879201895,-0.6370636177300508,0.71338606911949],"aabb_xy":[[0.6123776984110156,-0.6468261517892853],[0.6318896774293634,-0.6273010836708164]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.10812058556364068,-1.354059879481228,0.71338606911949],"aabb_xy":[[-0.17212058724163803,-1.4025772709605422],[-0.04412058388564333,-1.3055424880019137]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[0.5411685605572221,-1.02978835998091,0.71338606911949],"aabb_xy":[[0.4771685602832437,-1.0798544601781979],[0.6051685608312002,-0.9797222597836219]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.6119951072371987,-1.1811528650449652,0.71338606911949],"aabb_xy":[[0.6060285682964629,-1.1871140097043291],[0.6179616461779344,-1.1751917203856013]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.3666154720590597,1.3222149027310781,0.71338606911949],"aabb_xy":[[-0.37786052762967753,1.3109731050069828],[-0.35537041648844186,1.3334567004551734]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[0.5885729698594362,-0.8169858823372989,0.71338606911949],"aabb_xy":[[0.5798750075687209,-0.8291108566447737],[0.5972709321501515,-0.8048609080298242]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.48713237067298865,1.7056335576501298,0.71338606911949],"aabb_xy":[[0.46329615303238364,1.615633556841644],[0.5109685883135937,1.795633558458617]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.088523422037589,-2.4944198276941725,0.71338606911949],"aabb_xy":[[-0.001476577380781885,-2.527795324538362],[0.1785234214559599,-2.4610443308499828]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.3664508205888417,0.9298037214486392,0.71338606911949],"aabb_xy":[[-0.4464508192457277,0.9152988625243764],[-0.2864508219319557,0.944308580372902]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.14008077857197387,0.7545880651788175,0.71338606911949],"aabb_xy":[[0.07508077746603059,0.7296226921106892],[0.20508077967791716,0.7795534382469458]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[-0.5187280961727849,-1.6188210104482408,0.71338606911949],"aabb_xy":[[-0.5533191790268301,-1.6838210107332716],[-0.48413701331873976,-1.5538210101632095]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.3119632228733673,0.38999088249734815,0.71338606911949],"aabb_xy":[[0.2994958647636317,0.37752555786402464],[0.324430580983103,0.40245620713067165]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[0.5589378762986055,-2.04819451786953,0.71338606911949],"aabb_xy":[[0.48893787448986004,-2.0695482866337174],[0.6289378781073509,-2.0268407491053426]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.34621683226992833,-0.3609502014274515,0.71338606911949],"aabb_xy":[[-0.4102168346127299,-0.405891052671584],[-0.28221682992712677,-0.316009350183319]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.1632119132133928,-1.347945724441933,0.71338606911949],"aabb_xy":[[0.09921191610128713,-1.3969780942363437],[0.2272119103254985,-1.2989133546475224]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.06896453268337066,0.5961015921056227,0.71338606911949],"aabb_xy":[[0.06016247737439794,0.5882902659506937],[0.07776658799234336,0.6039129182605518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717986914047511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6895.png","name":"6895"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8892.png","name":"8892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1984.png","name":"1984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5567.png","name":"5567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9755.png","name":"9755"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":516.5010638821935,"rotation_z_degrees":49.2331014530675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01609305317113158,-0.012210601400430834,0.015738562456730176]},{"name":"camera_2","offset_m":[0.01849017759964257,-0.014586856127935626,0.010990338130278082]},{"name":"camera_3","offset_m":[-0.0144284573547045,0.0018485746288606497,0.01155860439704837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-4.5838645503963084e-05,-0.0007571770940526946,0.001257768565980399],"end_effector_yaw_offset_degrees":0.420734234678948},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009240247248144605,0.0013622715881011146,0.0005384777044212356],"end_effector_yaw_offset_degrees":-0.6865471764715994},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014872846999858364,-4.563837055755098e-05,0.0011586392500138923],"end_effector_yaw_offset_degrees":-0.27480281727265443}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003411583302849161,0.004603204255457217],"position_m":[0.34181158330284916,0.08990320425545721,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004127477160687203,0.0010753636212806443],"position_m":[0.3587274771606872,0.23667536362128064,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003506680872442298,-0.0032285938370966863],"position_m":[0.2137933191275577,-0.09042859383709669,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00373220621567934,-0.0016408184451226072],"position_m":[0.25013220621567933,-0.3373408184451226,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8de92328970b5f07ecf130c4aaf2f9aefff2f72411d1e4f089fcacd651a2d8d9","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0114.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6895/tex_ceiling_textures_9755/tex_floor_textures_5567/tex_table_textures_8892/tex_wall_textures_1984","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7083584783226357383,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7083584783226357383,"visual_seed":7083584783226357383,"scene_id":"lab_003","finished_at":"2026-09-02T06:46:06"}
+{"episode_id":"ep_000067","started_at":"2026-09-02T06:46:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.3017241515451406,1.3648656547906235,0.71338606911949],"aabb_xy":[[-0.3382199721724193,1.328381712363866],[-0.2652283309178618,1.401349597217381]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.38505438853550134,-2.416410693201178,0.71338606911949],"aabb_xy":[[0.3210543882615231,-2.466476793398466],[0.44905438880947957,-2.36634459300389]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.34809748279471187,-2.533860175354419,0.71338606911949],"aabb_xy":[[-0.3561338174959967,-2.5418982946588353],[-0.340061148093427,-2.525822056050002]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[0.19531654005652066,-1.6316799055902262,0.71338606911949],"aabb_xy":[[0.1865353129092845,-1.6404596528787567],[0.20409776720375697,-1.6229001583016966]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.18909260419276908,1.4547516075133866,0.71338606911949],"aabb_xy":[[-0.19789465950174176,1.4469402813584573],[-0.18029054888379634,1.4625629336683155]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.06659606958320063,1.2268281490176345,0.71338606911949],"aabb_xy":[[0.0444235426065498,1.2046524818615114],[0.08876859655985148,1.2490038161737576]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.6491231334639507,0.12031557520422842,0.71338606911949],"aabb_xy":[[0.613209629038961,0.08440206698747378],[0.6850366378889403,0.15622908342098302]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.3683990629661475,0.8527039509561805,0.71338606911949],"aabb_xy":[[-0.37996804371308407,0.8277039508392487],[-0.3568300822192109,0.8777039510731122]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.7087706155187954,-0.19786771751036047,0.71338606911949],"aabb_xy":[[0.6994769972816448,-0.23536771599849435],[0.718064233755946,-0.16036771902222655]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.5542928946413087,0.3761200697721163,0.71338606911949],"aabb_xy":[[-0.5584088447533814,0.37200451473927076],[-0.550176944529236,0.38023562480496176]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.19546748124706503,1.0553837638162333,0.71338606911949],"aabb_xy":[[0.12546747861047866,1.0352788988203678],[0.2654674838836514,1.0754886288120988]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.6712195858778089,1.0559357155311098,0.71338606911949],"aabb_xy":[[0.6541175079194408,1.03882890999984],[0.6883216638361771,1.0730425210623795]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.23629205310040047,0.5067592798771012,0.71338606911949],"aabb_xy":[[0.22829806452269705,0.4987591997820109],[0.24428604167810383,0.5147593599721916]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.13103050774041702,1.0759481698854398,0.71338606911949],"aabb_xy":[[-0.2110305048999923,1.0644005689276228],[-0.05103051058084174,1.0874957708432569]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[0.39558055977556217,-1.7061896532244032,0.71338606911949],"aabb_xy":[[0.3155805583454349,-1.7857068082370127],[0.4755805612056893,-1.6266724982117937]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.4583998865284285,1.3172643905384458,0.71338606911949],"aabb_xy":[[-0.5223998888712299,1.2723235392943133],[-0.3943998841856269,1.3622052417825783]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.45460914885822457,-1.8247738198852381,0.71338606911949],"aabb_xy":[[-0.5346091475151107,-1.839278678809501],[-0.3746091502013386,-1.8102689609609757]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[0.31322494892216524,0.4322701985777462,0.71338606911949],"aabb_xy":[[0.3069128493858268,0.4265032593245274],[0.31953704845850367,0.438037137830965]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.4989302952073178,-1.8376137262734358,0.71338606911949],"aabb_xy":[[0.49522703387817896,-1.841315744582153],[0.5026335565364567,-1.8339117079647176]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.20748080577039563,-2.457861564923798,0.71338606911949],"aabb_xy":[[-0.2273718456507359,-2.4705173762084947],[-0.1875897658900554,-2.445205753639101]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.04651459536275715,-0.2977524442988506,0.71338606911949],"aabb_xy":[[-0.05838667837425827,-0.38275244399250097],[-0.034642512351256045,-0.21275244460520026]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[-0.16515488779830823,0.7115093920060671,0.71338606911949],"aabb_xy":[[-0.17277915588848647,0.7038761684695235],[-0.15753061970812998,0.7191426155426109]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.024199818008527885,1.4545856000922304,0.71338606911949],"aabb_xy":[[-0.03190300868260493,1.4468762293934923],[-0.01649662733445084,1.4622949707909685]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.5117932092104696,-1.1201117842443933,0.71338606911949],"aabb_xy":[[0.44779320716073756,-1.1602062673337012],[0.5757932112602016,-1.0800173011550853]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.6376812513927571,-0.11554569195598319,0.71338606911949],"aabb_xy":[[-0.660596964277807,-0.13844998909240672],[-0.6147655385077072,-0.0926413948195597]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.5251567692882073,-0.298278287808051,0.71338606911949],"aabb_xy":[[-0.5442690766461861,-0.317413066685293],[-0.5060444619302283,-0.27914350893080897]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.02185412003707199,-2.1843334980364344,0.71338606911949],"aabb_xy":[[-0.05529429523309159,-2.2177771238673634],[0.011586055158947615,-2.1508898722055037]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[0.3197676651681849,0.7862008019683326,0.71338606911949],"aabb_xy":[[0.25576766786583843,0.7418343750004758],[0.38376766247053123,0.8305672289361893]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[-0.022387182064686928,-2.4901193977803833,0.71338606911949],"aabb_xy":[[-0.11238717856555867,-2.5360310401988406],[0.06761281443618482,-2.444207755361924]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[0.7028792832939721,1.6012812771834342,0.71338606911949],"aabb_xy":[[0.690946548932144,1.5888991243755746],[0.7148120176558002,1.6136634299912933]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[0.27649099380909814,-1.9731764648397672,0.71338606911949],"aabb_xy":[[0.2539773019856409,-2.0431764654407747],[0.2990046856325553,-1.9031764642387596]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_31","position":[0.0014115917756050145,-1.7144856139609763,0.71338606911949],"aabb_xy":[[-0.011819353759076279,-1.7277130329829757],[0.014642537310286308,-1.701258194938977]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_32","position":[-0.37997141667213663,-1.3736637534213574,0.71338606911949],"aabb_xy":[[-0.4439714152587091,-1.4206707168208659],[-0.31597141808556417,-1.3266567900218484]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_33","position":[0.18894955886875642,-1.2038809995737616,0.71338606911949],"aabb_xy":[[0.1239495562309629,-1.2553605982732086],[0.2539495615065499,-1.1524014008743146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645902223159041,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6108.png","name":"6108"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9874.png","name":"9874"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":520.7862513186753,"rotation_z_degrees":255.8606313763245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017438232818858007,-0.006783144097030784,-0.017910522338335014]},{"name":"camera_2","offset_m":[-0.0076746765802202434,-0.010679968686157629,0.010382899212073277]},{"name":"camera_3","offset_m":[-0.009558687706008429,0.014819266841515678,0.013146710157731948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012982933479456058,0.00164326077405304,-0.0005883858250002167],"end_effector_yaw_offset_degrees":0.4571750877034102},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010239109638119771,0.0002895007800801596,0.0009128346624617425],"end_effector_yaw_offset_degrees":0.6579141646782616},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010251446536386805,-0.0007142307091851103,0.0019122047974749036],"end_effector_yaw_offset_degrees":-0.5479594795125433}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001834497565992843,0.002510194105395642],"position_m":[0.3365655024340071,0.08781019410539564,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004198279161245711,-4.60709498715647e-05],"position_m":[0.3504017208387543,0.23555392905012845,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004978304260192895,0.002791029606260511],"position_m":[0.22227830426019288,-0.08440897039373949,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048637838923037075,0.0013020317122214185],"position_m":[0.2512637838923037,-0.33439796828777857,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"31c7b6683fad85581fb087192fc1abd0665cf1c01b16fa1eb52c95a17ee5b489","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0115.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6475/tex_ceiling_textures_9874/tex_floor_textures_6108/tex_table_textures_6344/tex_wall_textures_2504","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6075444635331228821,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6075444635331228821,"visual_seed":6075444635331228821,"scene_id":"lab_003","finished_at":"2026-09-02T06:48:56"}
+{"episode_id":"ep_000068","started_at":"2026-09-02T06:48:59","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.3875907455254828,1.6498961837787642,0.71338606911949],"aabb_xy":[[0.35009074486090397,1.6342091257785418],[0.4250907461900614,1.6655832417789862]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.35439253907600266,-1.0312978405477895,0.71338606911949],"aabb_xy":[[-0.40939253825259214,-1.0862875153227471],[-0.29939253989941317,-0.9763081657728319]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.4941148491635936,-1.5022396424589421,0.71338606911949],"aabb_xy":[[0.4091148504715189,-1.5342255058538206],[0.5791148478556682,-1.4702537790640628]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.45012731436243714,1.6741953077188323,0.71338606911949],"aabb_xy":[[-0.49511990108088755,1.6291953084443835],[-0.4051347276439867,1.719195306993281]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.521372397715276,1.7753675576345764,0.71338606911949],"aabb_xy":[[0.5105207914664003,1.7645082669069254],[0.5322240039641515,1.7862268483622274]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.10222286610126974,-0.2414843409510783,0.71338606911949],"aabb_xy":[[-0.12513857898631967,-0.2643886380875018],[-0.07930715321621985,-0.21858004381465482]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.13216021192378158,-1.7321744807878163,0.71338606911949],"aabb_xy":[[0.1247477563823931,-1.7380256912094443],[0.13957266746517005,-1.7263232703661884]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.1627594962214559,-1.133790336431118,0.71338606911949],"aabb_xy":[[-0.177922369198393,-1.148955793726237],[-0.14759662324451883,-1.1186248791359994]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.2042489722277817,0.5567607676945006,0.71338606911949],"aabb_xy":[[0.18674897294969484,0.5394226676281546],[0.2217489715058686,0.5740988677608465]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.3388432727602402,1.3854973479315857,0.71338606911949],"aabb_xy":[[-0.4188432713475596,1.3061817459934246],[-0.25884327417292075,1.4648129498697464]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.3246519752274073,1.2078241634443412,0.71338606911949],"aabb_xy":[[0.23465197580903635,1.1744486666001512],[0.41465197464577813,1.2411996602885307]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.43976550425957117,-0.9433517927315287,0.71338606911949],"aabb_xy":[[0.43562964792687103,-0.9808517921758857],[0.4439013605922714,-0.9058517932871717]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.2691831229995379,-0.28043204612321615,0.71338606911949],"aabb_xy":[[-0.35887019930765335,-0.3704320463776667],[-0.17949604669142244,-0.1904320458687656]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.6155753515732959,-1.2500268046825327,0.71338606911949],"aabb_xy":[[-0.6237898966889798,-1.2587033949801738],[-0.6073608064576118,-1.2413502143848911]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.18091271684019727,-2.5652696716831467,0.71338606911949],"aabb_xy":[[-0.2609127173104132,-2.5735803792974954],[-0.10091271636998134,-2.556958964068799]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.19022004289061933,1.1835796547593205,0.71338606911949],"aabb_xy":[[-0.2552200407722672,1.1324559910527796],[-0.12522004500897158,1.2347033184658613]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.6111260407095711,0.0663038064069208,0.71338606911949],"aabb_xy":[[0.6048139411732327,0.06053686715370196],[0.6174381402459095,0.07207074566013963]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.27993370732114364,0.9064233290957029,0.71338606911949],"aabb_xy":[[-0.3649337057385669,0.821549033633418],[-0.19493370890372047,0.991297624557988]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.5910111455367505,1.7496864877095368,0.71338606911949],"aabb_xy":[[-0.6285111458289253,1.7456450123089333],[-0.5535111452445757,1.7537279631101403]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.702912942978382,1.1596722451536867,0.71338606911949],"aabb_xy":[[0.6859028456883313,1.1435377566554128],[0.7199230402684326,1.1758067336519606]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[0.593243186479155,-1.0895907883791842,0.71338606911949],"aabb_xy":[[0.5893293132837325,-1.0983398037857408],[0.5971570596745774,-1.0808417729726272]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.3600387778392384,0.4500043851643931,0.71338606911949],"aabb_xy":[[-0.4100387764851596,0.40008484150493073],[-0.3100387791933172,0.4999239288238555]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.2342399789571583,-1.1349916402967404,0.71338606911949],"aabb_xy":[[0.2117752089857532,-1.1574916411756007],[0.25670474892856343,-1.1124916394178797]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.5366082852186411,-2.378132896769777,0.71338606911949],"aabb_xy":[[0.5295679752851042,-2.458132896169449],[0.5436485951521782,-2.298132897370106]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.28255062418853255,-1.4504370940134483,0.71338606911949],"aabb_xy":[[-0.3130348743155627,-1.5004370937949443],[-0.2520663740615024,-1.4004370942319524]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_25","position":[0.17305175058179034,-0.6888475718314033,0.71338606911949],"aabb_xy":[[0.10905175415446847,-0.7360171956534999],[0.23705174700911227,-0.641677948009307]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.45426140798149084,-2.184480780700132,0.71338606911949],"aabb_xy":[[0.4217997070995633,-2.214613612815034],[0.48672310886341824,-2.1543479485852286]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[0.4174242032163584,-0.44326390171399455,0.71338606911949],"aabb_xy":[[0.3374242062533192,-0.520339543357768],[0.49742420017939754,-0.3661882600702211]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.4087535900513288,-1.992740372233199,0.71338606911949],"aabb_xy":[[-0.416881278244642,-2.0016539806439066],[-0.40062590185801555,-1.9838267638224916]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_29","position":[0.5135015141935209,1.113071028822918,0.71338606911949],"aabb_xy":[[0.4635015128326337,1.0630931242475024],[0.5635015155544081,1.1630489333983336]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_30","position":[0.13326377306484183,-1.1117010638015432,0.71338606911949],"aabb_xy":[[0.12792619739883726,-1.136701064730683],[0.1386013487308464,-1.0867010628724034]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[-0.1948445584050309,-0.5997676244368813,0.71338606911949],"aabb_xy":[[-0.27484455580862427,-0.6797601956350641],[-0.11484456100143746,-0.5197750532386984]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_32","position":[-0.4152138318369523,1.0669209068424226,0.71338606911949],"aabb_xy":[[-0.44561194293609585,1.0365140048407528],[-0.3848157207378087,1.0973278088440919]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688623009499093,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7539.png","name":"7539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5840.png","name":"5840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8627.png","name":"8627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6360.png","name":"6360"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":706.0252372943244,"rotation_z_degrees":244.17001994368786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016738835024322718,0.017362578581525925,-0.01456083468765033]},{"name":"camera_2","offset_m":[0.002151540341476719,0.0129302075143134,-0.0016784802540743583]},{"name":"camera_3","offset_m":[-0.019504278397944403,-0.0035706877179291115,-0.011948311702310642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010674108605514938,-0.0009610842971426359,-0.0005126392970044909],"end_effector_yaw_offset_degrees":0.9946570714951259},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00017563127390817553,-0.00086691770921573,-0.00047658658805774983],"end_effector_yaw_offset_degrees":-0.8179701081934165},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006281610722855234,-0.001132906644239413,0.0004535046695802814],"end_effector_yaw_offset_degrees":-0.3074814855469923}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024634350277523967,-0.0031999193881327515],"position_m":[0.3359365649722476,0.08210008061186724,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006086422702741793,0.0020781812599657886],"position_m":[0.3552086422702742,0.2376781812599658,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004114599149217903,-0.004012178449833382],"position_m":[0.21318540085078208,-0.09121217844983338,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002984784844752432,0.00019021596595298045],"position_m":[0.24341521515524758,-0.335509784034047,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6c0f401cc1e8f25845fc2fd45510324282eb90dd0a109c753f44ea97f0edd788","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0116.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4136/tex_ceiling_textures_6360/tex_floor_textures_8627/tex_table_textures_7539/tex_wall_textures_5840","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8223641498629995107,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8223641498629995107,"visual_seed":8223641498629995107,"scene_id":"lab_003","finished_at":"2026-09-02T06:51:41"}
+{"episode_id":"ep_000069","started_at":"2026-09-02T06:51:44","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.342147223519333,-1.1961135695069083,0.71338606911949],"aabb_xy":[[0.2771472225622058,-1.2480617814406136],[0.40714722447646023,-1.1441653575732025]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.528589062748148,-2.2625016068186876,0.71338606911949],"aabb_xy":[[-0.5785732984563252,-2.3125016056321828],[-0.47860482703997076,-2.2125016080051916]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.3802562466636883,-1.4469421073737148,0.71338606911949],"aabb_xy":[[0.3102562445322587,-1.4697040729994104],[0.4502562487951178,-1.424180141748019]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.3703985502394105,1.728572936758018,0.71338606911949],"aabb_xy":[[0.3528985509613236,1.711234836691672],[0.38789854951749736,1.745911036824364]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[0.2417438829354479,0.8525964910984447,0.71338606911949],"aabb_xy":[[0.20830370773942825,0.8191528652675145],[0.2751840581314674,0.8860401169293747]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.4565613086445286,1.2874766459885962,0.71338606911949],"aabb_xy":[[0.37656130817431277,1.279165938374248],[0.5365613091147446,1.2957873536029445]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.14558140899657612,-2.529032467398712,0.71338606911949],"aabb_xy":[[-0.16808140881047848,-2.533507083769192],[-0.12308140918267371,-2.524557851028231]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.09436139608015981,-1.6228054359801853,0.71338606911949],"aabb_xy":[[-0.1843613954985307,-1.6561809328243748],[-0.004361396661788919,-1.5894299391359954]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.47583722658926497,-0.08349467161374191,0.71338606911949],"aabb_xy":[[0.4158372257284521,-0.13492110162022827],[0.5358372274500777,-0.032068241607255514]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.1755911919637123,-2.2120507796628073,0.71338606911949],"aabb_xy":[[0.1345732485773414,-2.2620507802937646],[0.21660913535008317,-2.16205077903185]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.043790332665747944,-2.036531133079889,0.71338606911949],"aabb_xy":[[-0.016209667180818843,-2.0933497552729277],[0.10379033251231473,-1.9797125108868503]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.6431481213175345,1.097550611757745,0.71338606911949],"aabb_xy":[[-0.6806481221095299,1.0911827707995547],[-0.605648120525539,1.1039184527159351]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.4956765879485001,0.8439460644754435,0.71338606911949],"aabb_xy":[[0.42567658531191366,0.8238411994795779],[0.5656765905850863,0.8640509294713089]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.022505890150603558,-2.390390156173,0.71338606911949],"aabb_xy":[[-0.046342107791208634,-2.480390156981487],[0.0013303274900015006,-2.300390155364514]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.038193672908085174,0.2799994106325614,0.71338606911949],"aabb_xy":[[-0.05707805667659538,0.26111348585220856],[-0.01930928913957497,0.2988853354129141]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.40627435988814903,-0.7042154699900973,0.71338606911949],"aabb_xy":[[-0.42215885315347423,-0.7185684102889213],[-0.39038986662282393,-0.6898625296912732]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.5933506526402919,0.6620450074184996,0.71338606911949],"aabb_xy":[[0.5758507192063085,0.644545007498265],[0.6108505860742752,0.6795450073387341]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.5754762130179015,0.5836728678720178,0.71338606911949],"aabb_xy":[[-0.6129762133100762,0.579631392471414],[-0.5379762127257266,0.5877143432726213]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.5197327067496611,0.3351992485784998,0.71338606911949],"aabb_xy":[[-0.5293643429700907,0.32556193579879084],[-0.5101010705292315,0.34483656135820867]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.5872584679882241,-0.31085539552802643,0.71338606911949],"aabb_xy":[[-0.5913744181002967,-0.3149709505608719],[-0.5831425178761513,-0.3067398404951809]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.20300696139107444,-0.06682535226962916,0.71338606911949],"aabb_xy":[[-0.21276295090024833,-0.07658788632886358],[-0.19325097188190055,-0.0570628182103947]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.09481600783397803,-0.7975558700062577,0.71338606911949],"aabb_xy":[[0.07292626024503722,-0.8875558672955068],[0.11670575542291882,-0.7075558727170086]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.3904990347235977,1.4950334782964858,0.71338606911949],"aabb_xy":[[0.3825757544848493,1.4725334780584824],[0.398422314962346,1.5175334785344892]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[0.38613697062961827,-2.0126137093344174,0.71338606911949],"aabb_xy":[[0.34928642269263066,-2.050113710157451],[0.4229875185666059,-1.9751137085113837]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[0.670138506024218,1.1367201314155917,0.71338606911949],"aabb_xy":[[0.6240534147694865,1.0727201341630364],[0.7162235972789495,1.2007201286681466]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[-0.5454984216483042,-1.7664789970821875,0.71338606911949],"aabb_xy":[[-0.5954984220088702,-1.8164589842917902],[-0.4954984212877381,-1.7164990098725843]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[0.11075194719333059,1.5962433661291624,0.71338606911949],"aabb_xy":[[0.04675194802356066,1.5494766790102],[0.17475194636310054,1.6430100532481249]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[-0.3931776293346102,0.5063642082483151,0.71338606911949],"aabb_xy":[[-0.4156776293447585,0.4922679886087117],[-0.3706776293244619,0.5204604278879182]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.7046937363576886,-1.4239397279514427,0.71338606911949],"aabb_xy":[[0.687263021278682,-1.4412118426152936],[0.722124451436695,-1.406667613287592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676208860465926,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1399.png","name":"1399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1399.png","name":"1399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3503.png","name":"3503"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5499.png","name":"5499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8294.png","name":"8294"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5158.png","name":"5158"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":642.3136590743413,"rotation_z_degrees":23.3707425025621,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00294082903309182,0.013232629001793093,-0.014612846815297162]},{"name":"camera_2","offset_m":[-2.0818698783744982e-05,-0.0018691022195030521,-0.0008220910042018408]},{"name":"camera_3","offset_m":[0.006755239885436078,0.00934648667138635,0.012922988860245444]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014526865420418146,0.001125094267888255,-0.00028738938952567504],"end_effector_yaw_offset_degrees":0.18261454124215715},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010526485511750789,0.0011781358345471491,-0.00017540072768512313],"end_effector_yaw_offset_degrees":-0.30114945939338633},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007806507905187728,0.001344121812221656,0.0007023072573181435],"end_effector_yaw_offset_degrees":-0.3441766154587169}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022748509856953315,-0.003447070954179411],"position_m":[0.3361251490143046,0.08185292904582059,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009718378114588208,-0.002410142159836376],"position_m":[0.35557183781145885,0.23318985784016363,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000977433994916065,0.004887654388090378],"position_m":[0.21827743399491606,-0.08231234561190962,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004721194591208038,-0.0013766964122672587],"position_m":[0.24167880540879197,-0.33707669641226723,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"770b2249cc40d7a0e880479cc7d50c89e746b071c916d9465edf170737581d35","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0117.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1399/tex_ceiling_textures_5158/tex_floor_textures_8294/tex_table_textures_3503/tex_wall_textures_5499","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3356785972288119783,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3356785972288119783,"visual_seed":3356785972288119783,"scene_id":"lab_003","finished_at":"2026-09-02T06:54:41"}
+{"episode_id":"ep_000070","started_at":"2026-09-02T06:58:13","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.4565560704823438,1.6012481698722731,0.71338606911949],"aabb_xy":[[-0.47423170107094215,1.5835679535928702],[-0.4388804398937455,1.6189283861516757]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.22309160396258726,0.8510945734836728,0.71338606911949],"aabb_xy":[[-0.29309160609401674,0.828332607857977],[-0.1530916018311577,0.8738565391093683]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.2981049986956083,1.4570062452330697,0.71338606911949],"aabb_xy":[[-0.3025356280504485,1.4515578734983872],[-0.2936743693407681,1.4624546169677521]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.2981858354857658,-2.0630099627685854,0.71338606911949],"aabb_xy":[[-0.3036437811227859,-2.1430099660762445],[-0.29272788984874576,-1.9830099594609263]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.607328345503954,0.2115371632358367,0.71338606911949],"aabb_xy":[[-0.6298283453178564,0.20706254686535605],[-0.5848283456900516,0.21601177960631743]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.25017789279487146,-0.6857444539768349,0.71338606911949],"aabb_xy":[[0.20304851379303573,-0.7497444550212368],[0.2973072717967071,-0.6217444529324329]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[0.21335886417425998,-1.145890578376702,0.71338606911949],"aabb_xy":[[0.16335886473406436,-1.1958585028610182],[0.2633588636144556,-1.0959226538923856]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.0814510500752128,-0.1558202546442864,0.71338606911949],"aabb_xy":[[-0.09338378443704087,-0.16820240745214576],[-0.06951831571338474,-0.14343810183642702]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.04560103308478913,-0.3009171867354339,0.71338606911949],"aabb_xy":[[-0.06943725072539421,-0.39091718754392046],[-0.021764815444184075,-0.21091718592694747]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.4785578599112642,-0.06261724728836704,0.71338606911949],"aabb_xy":[[-0.4861821280014425,-0.07025047082491077],[-0.470933591821086,-0.05498402375182333]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.6818806649734823,-0.8083425105545055,0.71338606911949],"aabb_xy":[[0.6643806647284329,-0.8258422983940723],[0.6993806652185317,-0.7908427227149386]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.6448438582149774,-2.1884377058066535,0.71338606911949],"aabb_xy":[[0.6273438589368905,-2.2057758058729995],[0.6623438574930642,-2.1710996057403076]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.5814047811261545,-1.8448735041234174,0.71338606911949],"aabb_xy":[[-0.6189047810699209,-1.853166594158254],[-0.543904781182388,-1.8365804140885809]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.5261624310911351,-1.2336064320032094,0.71338606911949],"aabb_xy":[[-0.5334447474677985,-1.323606435612718],[-0.5188801147144712,-1.1436064283937]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[-0.5723346243444241,0.7797280586496251,0.71338606911949],"aabb_xy":[[-0.594833760070651,0.757228057871362],[-0.5498354886181971,0.802228059427888]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.5088060247148025,-0.13854141826089084,0.71338606911949],"aabb_xy":[[-0.5340268615746421,-0.16376516911377756],[-0.4835851878549628,-0.11331766740800407]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.5962402093641188,1.157459294338902,0.71338606911949],"aabb_xy":[[0.5882462207864153,1.1494592142438114],[0.6042341979418221,1.165459374433992]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.5258656715151733,-1.027869327654628,0.71338606911949],"aabb_xy":[[-0.5633656718073482,-1.0319108030552315],[-0.48836567122299857,-1.0238278522540245]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.6027503675276349,1.6107867284951296,0.71338606911949],"aabb_xy":[[-0.6107867022289197,1.6027486091907128],[-0.59471403282635,1.6188248477995464]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[0.638085034653757,0.5575438387228049,0.71338606911949],"aabb_xy":[[0.5764942754297643,0.4935438406137581],[0.6996757938777499,0.6215438368318519]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.038586739163199435,-1.5147219887031056,0.71338606911949],"aabb_xy":[[0.008188628064055846,-1.5451288907047749],[0.06898485026234301,-1.4843150867014359]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.05260760801791209,-2.2786160217435287,0.71338606911949],"aabb_xy":[[-0.09479202217874283,-2.34261602202074],[-0.010423193857081348,-2.2146160214663175]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.6643045588194632,-0.6026744724733986,0.71338606911949],"aabb_xy":[[0.6465110518845467,-0.6204742180691962],[0.6820980657543796,-0.5848747268776009]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.6396351726559311,-0.9760036835996098,0.71338606911949],"aabb_xy":[[0.5746351716988037,-1.0279518955333151],[0.7046351736130582,-0.9240554716659041]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.6283417793120745,-1.2389216949689776,0.71338606911949],"aabb_xy":[[0.5783629708017587,-1.2889216949746962],[0.6783205878223905,-1.1889216949632586]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.6325618051524495,-1.7039359471876243,0.71338606911949],"aabb_xy":[[-0.6407763502681333,-1.7126125374852652],[-0.6243472600367653,-1.6952593568899825]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[0.5161904442637311,1.028440331811452,0.71338606911949],"aabb_xy":[[0.48786073431519084,1.0239795896177348],[0.5445201542122713,1.032901074005169]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.24471413935066955,-1.7740869876911047,0.71338606911949],"aabb_xy":[[-0.3087141366363182,-1.8155937066439487],[-0.18071414206502087,-1.7325802687382608]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666780285038733,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/721.png","name":"721"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/721.png","name":"721"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9878.png","name":"9878"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3380.png","name":"3380"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4450.png","name":"4450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8824.png","name":"8824"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":753.5971882635195,"rotation_z_degrees":123.10957912755123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005755489008380717,-0.010634990618508469,0.008115820570528086]},{"name":"camera_2","offset_m":[0.0051271388605693,0.0034281070958905972,-0.012853693523737091]},{"name":"camera_3","offset_m":[0.00525179283592235,0.015150172054469047,-0.018555369765517936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003560370767616385,0.000545214412003781,0.00031987543591792183],"end_effector_yaw_offset_degrees":0.1809920391951454},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001550991088149792,0.0016122511319360943,0.000496224871854605],"end_effector_yaw_offset_degrees":-0.2744101304505633},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008309723906633048,-0.0007254141344014363,0.0007339759018597874],"end_effector_yaw_offset_degrees":0.6198410280538857}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004001029895975602,-0.0024679773014255123],"position_m":[0.3424010298959756,0.0828320226985745,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025787281006124864,-0.0004316297106720466],"position_m":[0.35202127189938753,0.23516837028932797,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004736673100696477,-0.0016732841262729224],"position_m":[0.22203667310069647,-0.08887328412627292,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041247261048131265,-0.004279523211450534],"position_m":[0.25052472610481313,-0.33997952321145053,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"48ba626cd1896f3e6207e23a9ce56a8e0e2371d4d69d940ea5873d5ba047cbc7","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0119.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_721/tex_ceiling_textures_8824/tex_floor_textures_4450/tex_table_textures_9878/tex_wall_textures_3380","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6176290811911307307,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6176290811911307307,"visual_seed":6176290811911307307,"scene_id":"lab_003","finished_at":"2026-09-02T07:01:12"}
+{"episode_id":"ep_000071","started_at":"2026-09-02T07:01:16","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.2582653898871948,0.4349712887498809,0.71338606911949],"aabb_xy":[[-0.3382653884745142,0.35565568681172005],[-0.17826539129987537,0.5142868906880418]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.5032491712945792,0.7440170616342825,0.71338606911949],"aabb_xy":[[-0.5832429948731376,0.6640170590414408],[-0.42325534771602114,0.824017064227124]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.6181634465764982,-1.5668874271105933,0.71338606911949],"aabb_xy":[[0.6029912772948649,-1.5820562840387966],[0.6333356158581316,-1.55171857018239]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.24109675245813578,-0.49476857090564286,0.71338606911949],"aabb_xy":[[0.2346829388149508,-0.501178391153311],[0.2475105661013207,-0.4883587506579744]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.5929059849705163,0.9656785210702292,0.71338606911949],"aabb_xy":[[0.5709973028311651,0.9437778542501384],[0.6148146671098672,0.9875791878903198]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.49401274481986723,0.6711900594871132,0.71338606911949],"aabb_xy":[[0.4718402178432164,0.64901439233099],[0.5161852717965181,0.6933657266432364]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.11248573434641485,-1.2136978473988838,0.71338606911949],"aabb_xy":[[-0.18248573698300116,-1.2338027123947493],[-0.04248573170982847,-1.1935929824030183]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.675409168315501,-2.171632922542247,0.71338606911949],"aabb_xy":[[-0.683435438946127,-2.1803844175195994],[-0.667382897684875,-2.162881427564894]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.04319753257703951,1.5821755206679229,0.71338606911949],"aabb_xy":[[-0.11319753470846905,1.559413555042227],[0.026802469554390036,1.6049374862936183]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.5598415388536756,-1.3132702200679998,0.71338606911949],"aabb_xy":[[-0.6011460819174116,-1.3772702196361168],[-0.5185369957899396,-1.2492702204998827]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.4274959587883205,1.2456580580024474,0.71338606911949],"aabb_xy":[[-0.4753021264020891,1.1806580552953883],[-0.37968979117455176,1.3106580607095062]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.4731302839932281,0.09128935118126824,0.71338606911949],"aabb_xy":[[-0.5081302831231838,0.08554413010560413],[-0.4381302848632724,0.09703457225693235]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.6542084877743919,-1.328872021149836,0.71338606911949],"aabb_xy":[[0.5992162371388811,-1.3838720228931485],[0.7092007384099029,-1.273872019406523]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.017988010125033926,0.9096302938479499,0.71338606911949],"aabb_xy":[[-0.0670119882923893,0.8247559983856649],[0.10298800854245715,0.9945045893102349]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.28433547651593616,0.6090723573488455,0.71338606911949],"aabb_xy":[[-0.3343128933811897,0.5590723558595968],[-0.23435805965068254,0.6590723588380939]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.2235800037118602,0.16154757942687992,0.71338606911949],"aabb_xy":[[-0.2410800039711969,0.14745603723810732],[-0.20608000345252364,0.17563912161565257]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.49645091746908965,-1.0783934183540969,0.71338606911949],"aabb_xy":[[0.4876488621601168,-1.0862047445090257],[0.5052529727780621,-1.0705820921991676]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[0.5229162650155605,-1.8711268581075806,0.71338606911949],"aabb_xy":[[0.45891626861998736,-1.935090146526314],[0.5869162614111335,-1.8071635696888468]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.5354459978853807,-0.33043918771883973,0.71338606911949],"aabb_xy":[[0.5202831249084436,-0.3456046450139585],[0.5506088708623178,-0.315273730423721]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.35131794441306496,-1.0834371242488883,0.71338606911949],"aabb_xy":[[-0.3738316362365221,-1.1534371248498958],[-0.3288042525896077,-1.0134371236478807]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.6376080043347003,-0.4811995635890449,0.71338606911949],"aabb_xy":[[0.6151115829008362,-0.5036995633957924],[0.6601044257685644,-0.4586995637822974]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.44734292461188985,1.3624281519829378,0.71338606911949],"aabb_xy":[[0.3973480916839483,1.3124281530876944],[0.4973377575398315,1.4124281508781815]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.6632027870693129,-2.506043573035752,0.71338606911949],"aabb_xy":[[0.6597621108292558,-2.509905006010117],[0.6666434633093702,-2.502182140061388]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[0.0235295343137778,1.4617369305550194,0.71338606911949],"aabb_xy":[[-0.0014704648518553132,1.454784684849663],[0.04852953347941091,1.4686891762603762]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.4091736905959678,1.4497897033094564,0.71338606911949],"aabb_xy":[[-0.4891736927587303,1.3698345196833128],[-0.3291736884332053,1.5297448869356]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.257873209766137,-1.4076568772043954,0.71338606911949],"aabb_xy":[[-0.27915121790960923,-1.4726568795304682],[-0.23659520162266473,-1.342656874878322]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[-0.5095007382649936,-0.36635622596213535,0.71338606911949],"aabb_xy":[[-0.5238351633911571,-0.3784164415166742],[-0.4951663131388302,-0.3542960104075965]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[0.13126634572218798,-1.653613252349089,0.71338606911949],"aabb_xy":[[0.09376634561659504,-1.6604354142020699],[0.16876634582778094,-1.6467910904961076]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671528184348576,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8082.png","name":"8082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8082.png","name":"8082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4775.png","name":"4775"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/811.png","name":"811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4837.png","name":"4837"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":750.1099573374606,"rotation_z_degrees":310.0085375774784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016454246940037602,0.01831701390802599,-5.069901755630837e-05]},{"name":"camera_2","offset_m":[0.014319275955631077,0.0025217238669349787,-0.0051862119757410015]},{"name":"camera_3","offset_m":[0.01782181889469502,0.01536167386203342,-0.002989384953435068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001673158437155535,-0.0003781456385969957,0.0013856274821122216],"end_effector_yaw_offset_degrees":-0.11023437900749089},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006182891233127933,0.0019797599647454677,0.0009011428328866366],"end_effector_yaw_offset_degrees":0.30785343280797695},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00016501828109190438,0.00036666477771958713,-0.0013974004443577167],"end_effector_yaw_offset_degrees":-0.691444782219305}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002694232863568061,0.0037034170637628904],"position_m":[0.3357057671364319,0.08900341706376289,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007063108986957644,-0.003038422609795943],"position_m":[0.3553063108986958,0.23256157739020406,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037295768140765927,-0.004382150199990764],"position_m":[0.2135704231859234,-0.09158215019999076,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004034728953232212,0.003066654263713606],"position_m":[0.2504347289532322,-0.3326333457362864,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ea7bf90dedfea3195ba440ed8e3648eb259e8201c4a192413b63b4b455a28387","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0120.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8082/tex_ceiling_textures_4837/tex_floor_textures_811/tex_table_textures_917/tex_wall_textures_4775","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3953546942367929955,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3953546942367929955,"visual_seed":3953546942367929955,"scene_id":"lab_003","finished_at":"2026-09-02T07:04:18"}
+{"episode_id":"ep_000072","started_at":"2026-09-02T07:04:21","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.5361732874449875,-1.6892043375574457,0.71338606911949],"aabb_xy":[[-0.5645029973935277,-1.693665079751163],[-0.5078435774964473,-1.6847435953637289]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.35250714235399383,1.0864228519674866,0.71338606911949],"aabb_xy":[[0.3025340768214784,1.0364228521549539],[0.4024802078865094,1.1364228517800197]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.5955288573553907,-0.9879645522700351,0.71338606911949],"aabb_xy":[[-0.660528858461334,-1.0129299253381634],[-0.5305288562494475,-0.9629991792019068]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.30082535706910885,1.6757631306726073,0.71338606911949],"aabb_xy":[[0.2968648732993745,1.668095266087087],[0.3047858408388432,1.6834309952581281]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.5569683352511368,1.2440328062205688,0.71338606911949],"aabb_xy":[[0.47696833659425075,1.2295279472963059],[0.6369683339080228,1.2585376651448317]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.5434604963811469,0.6001022804999274,0.71338606911949],"aabb_xy":[[0.5134929394713212,0.5701022802020416],[0.5734280532909726,0.630102280797813]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.21932403605452727,-1.290156772108148,0.71338606911949],"aabb_xy":[[-0.23179139416426295,-1.3026220967414712],[-0.20685667794479165,-1.2776914474748242]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.507470548639461,0.6349000953582458,0.71338606911949],"aabb_xy":[[-0.5874705489130678,0.5619505475325289],[-0.4274705483658539,0.7078496431839624]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.4282556053923803,-1.0758021243504485,0.71338606911949],"aabb_xy":[[0.41219367793386263,-1.1608021261630401],[0.4443175328508979,-0.9908021225378566]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.17094735342922196,-1.0159090953448344,0.71338606911949],"aabb_xy":[[-0.23594735606701547,-1.0673886940442814],[-0.1059473507914285,-0.9644294966453875]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[-0.269064422464051,-0.7818139938653759,0.71338606911949],"aabb_xy":[[-0.28656442272338767,-0.7959055360541487],[-0.2515644222047144,-0.7677224516766035]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[-0.32574772779717703,-0.24515194365027382,0.71338606911949],"aabb_xy":[[-0.3339622729128609,-0.25382853394791505],[-0.31753318268149294,-0.2364753533526325]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.1343986766948958,1.159071273590151,0.71338606911949],"aabb_xy":[[-0.19839867312221773,1.1119016497680547],[-0.07039868026757393,1.2062408974122476]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.3984812694033414,-2.2430039406736233,0.71338606911949],"aabb_xy":[[-0.46348126943764406,-2.2897046173539506],[-0.3334812693690386,-2.196303263993296]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.316495348693112,1.2210081585002373,0.71338606911949],"aabb_xy":[[-0.37808610791710484,1.1570081603911906],[-0.2549045894691192,1.2850081566092844]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.28736716477704916,0.8776301236007646,0.71338606911949],"aabb_xy":[[0.26236716484453126,0.8707474553798414],[0.31236716470956705,0.8845127918216881]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.6368163545725543,-0.1387138637417027,0.71338606911949],"aabb_xy":[[0.6318603343876731,-0.16121386394382434],[0.6417723747574354,-0.1162138635395811]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.34657930966655726,-0.5176001104440222,0.71338606911949],"aabb_xy":[[0.2865793088057444,-0.5690265404505084],[0.40657931052737,-0.46617368043753565]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.08155286636201364,-0.5383724120766753,0.71338606911949],"aabb_xy":[[-0.16155286337626162,-0.5585069637500866],[-0.0015528693477656619,-0.518237860403264]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.33949370550686786,1.2694243878015055,0.71338606911949],"aabb_xy":[[0.32199370637250063,1.2595447607639172],[0.356993704641235,1.2793040148390928]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.6145237712903869,0.8492422931321588,0.71338606911949],"aabb_xy":[[-0.6721542401776577,0.7892422942054481],[-0.556893302403116,0.9092422920588693]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.18288834690651612,0.3751311343249495,0.71338606911949],"aabb_xy":[[-0.1883462925435362,0.2951311310172903],[-0.17743040126949605,0.45513113763260854]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.27027058823696204,1.780344832251449,0.71338606911949],"aabb_xy":[[0.2327705896613412,1.767608536587891],[0.3077705868125828,1.793081127915007]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[-0.5246664393417966,1.619166868976245,0.71338606911949],"aabb_xy":[[-0.574639733345057,1.5691668684216975],[-0.4746931453385361,1.6691668695307922]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[-0.3362192335921974,-0.33555932758283324,0.71338606911949],"aabb_xy":[[-0.3712192334882162,-0.34393356309477313],[-0.3012192336961785,-0.32718509207089325]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.14837833013507862,-2.0610056628853197,0.71338606911949],"aabb_xy":[[0.06837833215429358,-2.0686072038471717],[0.22837832811586367,-2.0534041219234678]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.2593086518912815,-1.6886455956952018,0.71338606911949],"aabb_xy":[[0.24615740591999213,-1.7136455954518885],[0.27245989786257085,-1.6636455959385155]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[0.5063040698878347,-0.24833326280630974,0.71338606911949],"aabb_xy":[[0.4713040699113389,-0.25779787885392635],[0.5413040698643306,-0.23886864675869313]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.11512846932962595,-1.53862881621168,0.71338606911949],"aabb_xy":[[-0.2048155456377414,-1.6286288164661304],[-0.02544139302151048,-1.4486288159572294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672225508480198,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9128.png","name":"9128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9128.png","name":"9128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7456.png","name":"7456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2655.png","name":"2655"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":695.5556131191328,"rotation_z_degrees":44.85913976155117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036161471165289706,-0.01935441105495344,0.01885359833803776]},{"name":"camera_2","offset_m":[-0.015605336464502613,0.019292655281298757,0.019934367131191285]},{"name":"camera_3","offset_m":[-0.01926985001808124,-0.004636117471758468,-0.001654845521385808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003743318687510996,-0.001922922056773353,0.00019174868141132954],"end_effector_yaw_offset_degrees":-0.17962723931224134},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015328099322034165,0.00011043706049135987,-0.00030798751709219243],"end_effector_yaw_offset_degrees":0.712585174071459},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006262023604603436,0.0010017577376752146,0.0016453610297183581],"end_effector_yaw_offset_degrees":0.20163608808110567}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002389833193836701,0.004313945968244568],"position_m":[0.34078983319383666,0.08961394596824457,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008280576591329306,-0.0031657864413408244],"position_m":[0.35542805765913293,0.23243421355865918,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0025450966199668246,0.002433705051052599],"position_m":[0.21984509661996682,-0.0847662949489474,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012237179461795063,-0.002452604520558791],"position_m":[0.24762371794617952,-0.3381526045205588,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aafcfc9ba8d7a41337554a13c52318051e81d6990265f40cb16ef498de45b25f","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0121.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9128/tex_ceiling_textures_2655/tex_floor_textures_7456/tex_table_textures_5086/tex_wall_textures_6076","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2658587314908429815,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2658587314908429815,"visual_seed":2658587314908429815,"scene_id":"lab_003","finished_at":"2026-09-02T07:07:14"}
+{"episode_id":"ep_000073","started_at":"2026-09-02T07:07:18","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.6272282188873841,-0.25326887439406676,0.71338606911949],"aabb_xy":[[0.5672282172444622,-0.30526902368601094],[0.6872282205303059,-0.20126872510212257]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.2561115420329806,-0.974488194382124,0.71338606911949],"aabb_xy":[[0.22826650525237346,-1.0052726931204357],[0.2839565788135877,-0.9437036956438123]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.3202401041707772,1.1281741954780613,0.71338606911949],"aabb_xy":[[0.24024010091293424,1.0481776876860773],[0.40024010742862015,1.2081707032700453]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[-0.18908968310507013,0.03612772868267866,0.71338606911949],"aabb_xy":[[-0.20695879085952562,0.022294820705467733],[-0.17122057535061463,0.04996063665988959]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.5590492527350859,-1.8346489571286801,0.71338606911949],"aabb_xy":[[-0.594049251927904,-1.8456160031263427],[-0.5240492535422675,-1.8236819111310172]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.5562104642222646,-2.21317704689685,0.71338606911949],"aabb_xy":[[-0.6062097393907009,-2.2631770481727975],[-0.5062111890538286,-2.163177045620903]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.3961496938372866,1.7249622818798138,0.71338606911949],"aabb_xy":[[0.3411759718009537,1.669962282315581],[0.4511234158736195,1.7799622814440474]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.4497831714729441,1.551772026210085,0.71338606911949],"aabb_xy":[[-0.47195569844959495,1.5295963590539616],[-0.42761064449629327,1.5739476933662078]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.540969874124473,-0.4794224039917374,0.71338606911949],"aabb_xy":[[-0.5910673381055466,-0.5434224045015492],[-0.49087241014339933,-0.4154224034819256]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.35207989350039015,-2.091547975129641,0.71338606911949],"aabb_xy":[[0.28707989254326294,-2.143496187063346],[0.41707989445751736,-2.039599763195935]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.08591917381170233,1.6299564051950441,0.71338606911949],"aabb_xy":[[-0.133048552813538,1.5659564041506417],[-0.03878979480986665,1.6939564062394457]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.2920947048715865,-0.2121676109696411,0.71338606911949],"aabb_xy":[[-0.30952541995059296,-0.22943972563349185],[-0.27466398979257994,-0.19489549630579023]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.6336973946036223,1.1586373584443836,0.71338606911949],"aabb_xy":[[-0.6429910128407729,1.1211373599562495],[-0.6244037763664717,1.1961373569325173]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.5068951389518044,-0.24550425480946814,0.71338606911949],"aabb_xy":[[-0.5718951371077233,-0.27180049935938033],[-0.4418951407958852,-0.2192080102595559]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.23915994576963417,1.1556276260222846,0.71338606911949],"aabb_xy":[[-0.30915994840622046,1.135522761026419],[-0.16915994313304777,1.17573249101815]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.5539086894844367,-1.2974581017546711,0.71338606911949],"aabb_xy":[[0.47390869252139756,-1.3745337433984448],[0.6339086864474759,-1.220382460110898]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.5993411163194968,1.5664470802351356,0.71338606911949],"aabb_xy":[[-0.6843411150115715,1.534461216840257],[-0.5143411176274222,1.5984329436300146]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.16793533022935792,-2.101936986264802,0.71338606911949],"aabb_xy":[[-0.23193533244976494,-2.1463100703900904],[-0.10393532800895089,-2.057563902139514]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.5903913401615004,0.5064912806243371,0.71338606911949],"aabb_xy":[[0.5353913405397547,0.4515075878368644],[0.6453913397832464,0.5614749734118099]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[-0.2712929425738884,-0.7320771119641802,0.71338606911949],"aabb_xy":[[-0.283061129368546,-0.8170771118694019],[-0.25952475577923095,-0.6470771120589587]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.25129269656294717,-1.5223511543901953,0.71338606911949],"aabb_xy":[[0.22938401442359613,-1.5442518212102858],[0.2732013787022982,-1.5004504875701044]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.5572289976555858,-2.4940953602535334,0.71338606911949],"aabb_xy":[[0.5222289963041039,-2.514455096210354],[0.5922289990070674,-2.473735624296712]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.278976857052358,-2.4775249397051797,0.71338606911949],"aabb_xy":[[-0.3289499225848735,-2.527524939517713],[-0.22900379151984257,-2.4275249398926473]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.19628126352814929,-0.09991983847142105,0.71338606911949],"aabb_xy":[[-0.20752631909876712,-0.11116163619551633],[-0.18503620795753145,-0.08867804074732577]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.5544710854110937,1.3125493626744262,0.71338606911949],"aabb_xy":[[0.4904710821213855,1.2692144436705086],[0.6184710887008017,1.3558842816783439]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.06974428092934393,-1.7824213828232374,0.71338606911949],"aabb_xy":[[-0.0731849571694011,-1.786282815797602],[-0.06630360468928675,-1.7785599498488731]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[-0.1898588450234483,1.576007979976103,0.71338606911949],"aabb_xy":[[-0.1978528336011517,1.5680078998810123],[-0.1818648564457449,1.584008060071193]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.5143902784920464,-0.10101240088948904,0.71338606911949],"aabb_xy":[[-0.5518902800076781,-0.1122391739056341],[-0.47689027697641473,-0.08978562787334399]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[0.3174010678384718,-1.7715909508863752,0.71338606911949],"aabb_xy":[[0.22740106550445272,-1.8490733054714878],[0.40740107017249083,-1.6941085963012625]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.5259907566522751,0.15008217155762393,0.71338606911949],"aabb_xy":[[-0.5484907561759824,0.12758622410700313],[-0.5034907571285676,0.17257811900824468]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_30","position":[0.018285907142327584,0.928093027158627,0.71338606911949],"aabb_xy":[[-0.0005984766261826202,0.9092071023782742],[0.03717029091083779,0.9469789519389797]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_31","position":[-0.6827418360858231,1.7455180155327432,0.71338606911949],"aabb_xy":[[-0.6868199939928726,1.7414370352844797],[-0.6786636781787733,1.7495989957810063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657131351513205,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2380.png","name":"2380"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2380.png","name":"2380"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9559.png","name":"9559"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3628.png","name":"3628"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4344.png","name":"4344"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":848.6216273908361,"rotation_z_degrees":175.79349125160437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009005618065104078,-0.0074096253725627025,0.0031718011290146203]},{"name":"camera_2","offset_m":[0.016464339433221734,0.006699011700823262,0.01237747845646259]},{"name":"camera_3","offset_m":[0.014144783812007438,0.007629858208449081,0.0017396115196888218]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005453358719981253,-0.0014816161052358097,0.00045062193446661434],"end_effector_yaw_offset_degrees":-0.22749872009827188},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002834605665277966,0.0005883369392611277,0.0008723066812740222],"end_effector_yaw_offset_degrees":-0.33738474192558354},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011152955238013565,0.0003653721138789181,-0.0010794223064107364],"end_effector_yaw_offset_degrees":0.7451230735373102}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013551446942130308,0.004456480075298916],"position_m":[0.33704485530578693,0.08975648007529892,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002805534278347347,0.002193202948828751],"position_m":[0.3517944657216527,0.23779320294882875,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0040818167421850645,-0.0006531009387185857],"position_m":[0.22138181674218504,-0.08785310093871859,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020646266406590097,-0.004339054549450164],"position_m":[0.244335373359341,-0.34003905454945016,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"26b83bc8f83e4ede0173623de9e336dadd70e5048d686f51b1a2e8bc2b610e94","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0122.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2380/tex_ceiling_textures_4344/tex_floor_textures_3628/tex_table_textures_3624/tex_wall_textures_9559","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7924169725708911202,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7924169725708911202,"visual_seed":7924169725708911202,"scene_id":"lab_003","finished_at":"2026-09-02T07:10:06"}
+{"episode_id":"ep_000074","started_at":"2026-09-02T07:13:19","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.2848137601488645,-1.7852493266310612,0.71338606911949],"aabb_xy":[[-0.3488137621985965,-1.8253438097203691],[-0.2208137580991325,-1.7451548435417532]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.40795056751416325,1.5271954247239647,0.71338606911949],"aabb_xy":[[-0.47195056919216055,1.4786780332446505],[-0.34395056583616584,1.575712816203279]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.5479241574988951,-1.500076555614666,0.71338606911949],"aabb_xy":[[-0.5573416320687579,-1.509492732752385],[-0.5385066829290324,-1.490660378476947]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.3471010310213496,-0.6175354153992314,0.71338606911949],"aabb_xy":[[0.25741395471323414,-0.7075354156536818],[0.43678810732946505,-0.5275354151447808]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[0.17000016187836697,1.184295348598205,0.71338606911949],"aabb_xy":[[0.12781574771753626,1.120295348320994],[0.21218457603919774,1.2482953488754165]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.3106631957205533,-0.10720487067509232,0.71338606911949],"aabb_xy":[[-0.3906631928801286,-0.11875247163290935],[-0.230663198560978,-0.09565726971727527]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.1919886134409753,-2.124578924827035,0.71338606911949],"aabb_xy":[[-0.22698861479245702,-2.144938660783856],[-0.15698861208949355,-2.104219188870214]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.1402886995818573,-2.327181627051707,0.71338606911949],"aabb_xy":[[-0.2302886990002282,-2.3605571238958967],[-0.05028870016348641,-2.2938061302075172]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.18089550805533006,-0.9055772363246894,0.71338606911949],"aabb_xy":[[-0.20278525564427086,-0.9955772336139385],[-0.15900576046638926,-0.8155772390354402]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.5409798795664326,-1.6394514345739115,0.71338606911949],"aabb_xy":[[-0.5909798812279272,-1.6894498768296138],[-0.49097987790493774,-1.5894529923182084]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.6272389950132481,1.4983503130059659,0.71338606911949],"aabb_xy":[[-0.6772389944534437,1.4483823885216496],[-0.5772389955730525,1.5483182374902822]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.6640524492151827,-0.7177198250002417,0.71338606911949],"aabb_xy":[[0.653279475293815,-0.7527198232192805],[0.6748254231365506,-0.6827198267812026]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.24599971741579973,1.0410606125926654,0.71338606911949],"aabb_xy":[[0.17599972100583788,1.0206226769409832],[0.3159997138257614,1.0614985482443466]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.35155828134707345,-1.6723395028885109,0.71338606911949],"aabb_xy":[[0.287558284044727,-1.7167059298563674],[0.4155582786494198,-1.6279730759206539]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.6718807587863522,-1.6000887407972841,0.71338606911949],"aabb_xy":[[0.6343807579943568,-1.6064565817554741],[0.7093807595783477,-1.5937208998390942]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.1977157829561383,-0.5734254852465659,0.71338606911949],"aabb_xy":[[-0.2049980993328019,-0.6634254888560747],[-0.19043346657947458,-0.48342548163705673]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.41135186337486573,-0.2053685017979512,0.71338606911949],"aabb_xy":[[-0.4161954581360957,-0.21022015427693533],[-0.40650826861363576,-0.2005168493189671]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.23087414450382548,-0.3225993985534408,0.71338606911949],"aabb_xy":[[-0.32087414818074356,-0.384031805130545],[-0.14087414082690725,-0.26116699197633636]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.5231061959328029,0.4382224627615332,0.71338606911949],"aabb_xy":[[0.4431123723542447,0.35822246016869164],[0.6031000195113612,0.5182224653543748]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.30180379759760734,-2.5108941689808546,0.71338606911949],"aabb_xy":[[0.24417332871033648,-2.570894167907565],[0.3594342664848782,-2.450894170054144]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.5106328320908669,-1.8009770342616358,0.71338606911949],"aabb_xy":[[-0.5187605202841801,-1.8098906426723436],[-0.5025051438975536,-1.792063425850928]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.10780817468185289,-1.5371868337294832,0.71338606911949],"aabb_xy":[[-0.15780817332777408,-1.5871063773889453],[-0.05780817603593168,-1.4872672900700206]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.38283554157389155,-2.2372141771768814,0.71338606911949],"aabb_xy":[[0.3719839353250159,-2.248073467904533],[0.3936871478227671,-2.2263548864492306]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.5662047681750773,-2.1002199502307644,0.71338606911949],"aabb_xy":[[0.5503202749097521,-2.1145728905295886],[0.5820892614404024,-2.08586700993194]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.03201316428756684,-1.160775368033098,0.71338606911949],"aabb_xy":[[-0.09601316757727495,-1.2041102870370157],[0.03198683900214127,-1.1174404490291805]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.5307435109125811,-0.6757047039623767,0.71338606911949],"aabb_xy":[[0.5130678803239827,-0.6933849202417793],[0.5484191415011793,-0.6580244876829738]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[0.40862666076343124,-2.318739096816182,0.71338606911949],"aabb_xy":[[0.3736266624527358,-2.3264541117397273],[0.4436266590741267,-2.311024081892636]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.3930348057023944,-0.9964260888328231,0.71338606911949],"aabb_xy":[[-0.4730348031059878,-1.0764186600310057],[-0.3130348082988009,-0.9164335176346403]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[0.6357447280423782,0.089379581978275,0.71338606911949],"aabb_xy":[[0.6278214478036298,0.06687958174027163],[0.6436680082811265,0.11187958221627835]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_29","position":[-0.10537176569659612,-2.4874875497948947,0.71338606911949],"aabb_xy":[[-0.1113383046373319,-2.4934486944542584],[-0.09940522675586032,-2.48152640513553]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_30","position":[-0.1976644138018312,1.6675445197080623,0.71338606911949],"aabb_xy":[[-0.28766441030270284,1.6216328772896038],[-0.1076644173009594,1.7134561621265203]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_31","position":[0.3728137744599038,1.1316495597683,0.71338606911949],"aabb_xy":[[0.36885329069016953,1.1239816951827797],[0.3767742582296382,1.1393174243538209]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6720808920167843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7335.png","name":"7335"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7335.png","name":"7335"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4740.png","name":"4740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2486.png","name":"2486"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7802.png","name":"7802"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":800.4961712685251,"rotation_z_degrees":62.07355034103856,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014696072743786663,0.007835670206892839,-0.010629842096663946]},{"name":"camera_2","offset_m":[-0.007526449594494285,0.007590499853242144,0.008526822514901423]},{"name":"camera_3","offset_m":[0.014170352343924376,0.005605811726905569,0.016975013962970086]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017708911020758848,0.0005874294493911705,-8.888620133323767e-05],"end_effector_yaw_offset_degrees":-0.1288518751975769},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010037637672394243,0.001828449307910302,0.0013511321103985888],"end_effector_yaw_offset_degrees":-0.918981644980388},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0001534632163996746,-0.0005524018475787384,0.0011429040474206053],"end_effector_yaw_offset_degrees":-0.022477933746363643}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00020879320421278262,0.002764115282732609],"position_m":[0.3386087932042128,0.08806411528273261,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0043134175831957165,0.0013823307820296556],"position_m":[0.3589134175831957,0.23698233078202965,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004726262979952668,-0.002691484150659359],"position_m":[0.21257373702004734,-0.08989148415065935,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004399034540174142,0.003550038033835772],"position_m":[0.24200096545982586,-0.33214996196616425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6cc1a229089b4eda83a0c6ef3ee263d20dbfd020a6c33fe8ed134ad05443dd23","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0124.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7335/tex_ceiling_textures_9529/tex_floor_textures_7802/tex_table_textures_4740/tex_wall_textures_2486","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2163340362273560793,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2163340362273560793,"visual_seed":2163340362273560793,"scene_id":"lab_003","finished_at":"2026-09-02T07:16:06"}
+{"episode_id":"ep_000075","started_at":"2026-09-02T07:16:10","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.11643935674449246,-2.344662184763349,0.71338606911949],"aabb_xy":[[0.10126718746285912,-2.3598310416915522],[0.1316115260261258,-2.329493327835146]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.6530678801084235,-1.5742297269815009,0.71338606911949],"aabb_xy":[[0.6317898719649513,-1.6392297293075737],[0.6743458882518958,-1.5092297246554276]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.5132349884413505,-2.4344076055170776,0.71338606911949],"aabb_xy":[[0.4631375244602769,-2.4984076060268894],[0.5633324524224241,-2.3704076050072658]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.5274706367596207,0.7426099755049127,0.71338606911949],"aabb_xy":[[0.516564860672058,0.6626099791060834],[0.5383764128471834,0.8226099719037417]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.4979070842984692,-1.3057189413220263,0.71338606911949],"aabb_xy":[[0.4179070863176842,-1.3133204822838782],[0.5779070822792542,-1.2981174003601743]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.6365413118215462,-0.14507171297647936,0.71338606911949],"aabb_xy":[[-0.6444645920602945,-0.16757171321448272],[-0.6286180315827978,-0.122571712738476]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.14376225982847524,-1.0517167986773848,0.71338606911949],"aabb_xy":[[-0.2077622589982452,-1.0984834857963472],[-0.0797622606587053,-1.0049501115584223]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.08777481112874908,-0.7683099633394768,0.71338606911949],"aabb_xy":[[-0.14276802246588582,-0.8233099636782705],[-0.032781599791612305,-0.7133099630006832]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.5189828145720394,-0.43740682854658575,0.71338606911949],"aabb_xy":[[0.4690053977067858,-0.48740683003583424],[0.5689602314372929,-0.38740682705733714]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.2787261506653602,-1.94061494259032,0.71338606911949],"aabb_xy":[[0.22873131773741862,-1.9906149414855638],[0.3287209835933018,-1.8906149436950768]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.5441937367338414,1.3515970946174267,0.71338606911949],"aabb_xy":[[0.49420062462464964,1.301597093943231],[0.5941868488430334,1.4015970952916224]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_11","position":[0.5307995580747451,-0.18175203279879026,0.71338606911949],"aabb_xy":[[0.49620847522069983,-0.24675203308382126],[0.5653906409287902,-0.11675203251375917]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.6242507696539843,-2.0791809052639056,0.71338606911949],"aabb_xy":[[0.6017516339277573,-2.1016809060421684],[0.6467499053802113,-2.056680904485643]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.13443492561953196,1.0026310131518024,0.71338606911949],"aabb_xy":[[0.09693492704391117,0.9898947174882443],[0.17193492419515277,1.01536730881536]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.6968807810065241,-2.4735574543485135,0.71338606911949],"aabb_xy":[[0.6909142420657882,-2.479518599007877],[0.7028473199472597,-2.467596309689149]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.2565807059897187,-2.5249774138707926,0.71338606911949],"aabb_xy":[[0.22158070463823695,-2.5453371498276134],[0.2915807073412004,-2.5046176779139717]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.2537427961563617,-0.5307680445175662,0.71338606911949],"aabb_xy":[[-0.2712427954344486,-0.5481061445839122],[-0.23624279687827487,-0.5134299444512203]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.1761666806102744,1.0880118631781217,0.71338606911949],"aabb_xy":[[-0.2411666817162177,1.0630464901099934],[-0.11116667950433112,1.11297723624625]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.13947487941639336,1.194591559989218,0.71338606911949],"aabb_xy":[[0.10214360289115076,1.1599385051943658],[0.176806155941636,1.2292446147840703]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.05835834033819376,-2.478978233097546,0.71338606911949],"aabb_xy":[[-0.06657288545387774,-2.4876548233951867],[-0.05014379522250978,-2.470301642799904]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.22505411634372674,-0.6180544703325921,0.71338606911949],"aabb_xy":[[0.20594180898574788,-0.637189249209834],[0.2441664237017056,-0.59891969145535]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.35317553137291946,-0.6417645830269323,0.71338606911949],"aabb_xy":[[0.3443734760639467,-0.6495759091818613],[0.3619775866818921,-0.6339532568720031]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705841467497508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2333.png","name":"2333"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2333.png","name":"2333"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4078.png","name":"4078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3511.png","name":"3511"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6395.png","name":"6395"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8354.png","name":"8354"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":704.2654877823531,"rotation_z_degrees":294.57125744719303,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009185966367484179,0.003839563051254099,0.012493938177846647]},{"name":"camera_2","offset_m":[0.0018654147927182549,-0.013642532624982783,0.011279530826645078]},{"name":"camera_3","offset_m":[0.01060170393364442,-0.013041665378090986,-0.01857440856436446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019216557492891,0.0016663790418552848,0.0008860027134070967],"end_effector_yaw_offset_degrees":-0.8587259189927823},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005396277997164276,0.0018778440381271924,0.0018934225067112516],"end_effector_yaw_offset_degrees":0.42525863138134445},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00029101770787399246,-0.0006906571608967442,-0.001649699867213087],"end_effector_yaw_offset_degrees":-0.8479206518208726}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011537533827079786,-0.0039030319134878556],"position_m":[0.33955375338270793,0.08139696808651214,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018029555643559667,0.0037792423982942495],"position_m":[0.35640295556435597,0.23937924239829425,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001083012125198293,0.0017582190811902551],"position_m":[0.2162169878748017,-0.08544178091880975,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034217617557910328,-0.0023907847000692053],"position_m":[0.24297823824420897,-0.3380907847000692,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2887c5f49c11ad7396c401a99baafee85639b29e68500298ec0542044536ba46","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0125.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2333/tex_ceiling_textures_8354/tex_floor_textures_6395/tex_table_textures_4078/tex_wall_textures_3511","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3089332875566322746,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3089332875566322746,"visual_seed":3089332875566322746,"scene_id":"lab_003","finished_at":"2026-09-02T07:19:05"}
+{"episode_id":"ep_000076","started_at":"2026-09-02T07:26:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.4880781248710247,-1.1060629660036412,0.71338606911949],"aabb_xy":[[-0.49404466381176054,-1.112024110663005],[-0.48211158593028897,-1.1001018213442768]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.5496340926722642,1.1668315276436618,0.71338606911949],"aabb_xy":[[-0.5614022794669217,1.0818315277384405],[-0.5378659058776066,1.2518315275488836]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[0.09161981193660307,1.4946086366374076,0.71338606911949],"aabb_xy":[[0.079687077574775,1.4822264838295482],[0.10355254629843114,1.506990789445267]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.6645161288835058,1.2013454009747826,0.71338606911949],"aabb_xy":[[0.6095229175463691,1.146345400635989],[0.7195093402206426,1.2563454013135762]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.13211214879974842,-1.2266475098818068,0.71338606911949],"aabb_xy":[[0.11777772367358497,-1.2387077254363457],[0.14644657392591187,-1.214587294327268]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.3162402958257214,-1.6253875688768695,0.71338606911949],"aabb_xy":[[-0.4062402955488955,-1.6484609214120491],[-0.22624029610254717,-1.6023142163416895]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.05842891367108016,1.0610724986307307,0.71338606911949],"aabb_xy":[[0.051927277163075554,1.051304676604421],[0.06493055017908478,1.0708403206570405]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.5957388299322286,0.4716691849482424,0.71338606911949],"aabb_xy":[[0.5805759569552915,0.4565037276531237],[0.6109017029091657,0.4868346422433612]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.17079522739215858,-0.17207452594045147,0.71338606911949],"aabb_xy":[[-0.23579522834928576,-0.22402273787415705],[-0.10579522643503135,-0.12012631400674591]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.4497258913283173,0.32146677667962864,0.71338606911949],"aabb_xy":[[0.39973105840037576,0.27146677778438516],[0.49972072425625896,0.37146677557487223]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.07900253603103036,0.7480425461663867,0.71338606911949],"aabb_xy":[[-0.1430025352008003,0.7012758590474242],[-0.01500253686126042,0.7948092332853491]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.21262333835446579,1.637148020339351,0.71338606911949],"aabb_xy":[[0.1326233350966228,1.557151512547367],[0.29262334161230874,1.717144528131335]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.1337719545524082,1.6303992769213926,0.71338606911949],"aabb_xy":[[-0.1637636172862785,1.600399277584592],[-0.10378029181853785,1.6603992762581932]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.23251847657491276,0.9913117391550417,0.71338606911949],"aabb_xy":[[0.19501847578291728,0.9849438981968515],[0.2700184773669082,0.9976795801132317]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.2397894988938561,0.920440139503103,0.71338606911949],"aabb_xy":[[-0.2499425144480054,0.8843705979303624],[-0.22963648333970663,0.9565096810758431]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.6265642794552972,1.6391800039265552,0.71338606911949],"aabb_xy":[[0.6090642791959606,1.625088461737783],[0.6440642797146339,1.6532715461153282]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.3341422883524545,1.1445584148986634,0.71338606911949],"aabb_xy":[[-0.3676214556134955,1.1110793015275564],[-0.30066312109141363,1.1780375282697704]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.3387438407312389,-1.410736986257279,0.71338606911949],"aabb_xy":[[-0.4187438378908142,-1.4222845872150958],[-0.25874384357166363,-1.3991893852994617]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.03514399782294053,-1.2579458828494616,0.71338606911949],"aabb_xy":[[-0.08502669470063673,-1.3079458820957361],[0.014738699054755677,-1.2079458836031867]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.5522676703759917,-0.8066949257524592,0.71338606911949],"aabb_xy":[[0.5152335609479318,-0.8410721330861686],[0.5893017798040513,-0.7723177184187497]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.09206299610032209,-2.4935068425908264,0.71338606911949],"aabb_xy":[[-0.14206299711945738,-2.5299730583286544],[-0.042062995081186834,-2.4570406268529985]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.6140678951461327,-1.978185460555723,0.71338606911949],"aabb_xy":[[0.5911521822610828,-2.0010897576921467],[0.6369836080311826,-1.9552811634192995]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.37820347468385046,-0.5431833015139578,0.71338606911949],"aabb_xy":[[-0.45820347684661294,-0.6231384851401014],[-0.298203472521088,-0.46322811788781415]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.5869440309536873,-0.9609709693146837,0.71338606911949],"aabb_xy":[[-0.6044440302317741,-0.9783090693810297],[-0.5694440316756003,-0.9436328692483378]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[0.4724213642436783,-2.286628187509125,0.71338606911949],"aabb_xy":[[0.4074213660877593,-2.312924432059037],[0.5374213623995974,-2.260331942959213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677418775868849,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5850.png","name":"5850"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9461.png","name":"9461"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9695.png","name":"9695"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2755.png","name":"2755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4738.png","name":"4738"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":723.3995552613422,"rotation_z_degrees":65.09734309087163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007978023833061974,-0.0033317354050051984,0.004167143133494273]},{"name":"camera_2","offset_m":[0.012801147448750865,0.01853435276897877,-0.0012047136653734608]},{"name":"camera_3","offset_m":[-0.011622712450512869,-0.008215869034196107,-0.0042051689539653984]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00032981517809627233,-0.0007367800967410809,0.0007409854548887976],"end_effector_yaw_offset_degrees":0.9826234493801325},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00037964399710823087,0.0005817677443628066,-0.0015098657715874562],"end_effector_yaw_offset_degrees":-0.7258578208310948},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009338984989680325,0.0012018332387892655,-0.0011037217688948213],"end_effector_yaw_offset_degrees":-0.9298838341421212}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037359736114168218,0.004267682614722876],"position_m":[0.33466402638858317,0.08956768261472288,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003316618697119401,-0.00035625477722185054],"position_m":[0.354931661869712,0.23524374522277816,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021724937064137705,-0.0013734576621990324],"position_m":[0.21947249370641375,-0.08857345766219903,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009600665117163341,-0.0005372461706894139],"position_m":[0.24736006651171635,-0.3362372461706894,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5101ffd013f4014233ff16735e6b03bb92d903fcb6f886ab738644bd4216a4b7","episode_index":128,"episode_name":"episode_0128"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0128.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5850/tex_ceiling_textures_4738/tex_floor_textures_2755/tex_table_textures_9461/tex_wall_textures_9695","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":697362920230847744,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":697362920230847744,"visual_seed":697362920230847744,"scene_id":"lab_003","finished_at":"2026-09-02T07:28:55"}
+{"episode_id":"ep_000077","started_at":"2026-09-02T07:28:58","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.6226561288652084,-2.423515961942801,0.71338606911949],"aabb_xy":[[-0.6726561284415431,-2.4734965408949074],[-0.5726561292888737,-2.3735353829906956]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.49670780629948597,-0.2680033398173771,0.71338606911949],"aabb_xy":[[-0.521707806232004,-0.27488600803830043],[-0.47170780636696813,-0.2611206715964538]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.5357190884680652,-1.5102206698673852,0.71338606911949],"aabb_xy":[[-0.5405626832292951,-1.5150723223463696],[-0.5308754937068352,-1.5053690173884013]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.6275088302656753,1.5186243011461467,0.71338606911949],"aabb_xy":[[0.563508829562206,1.4726059186732257],[0.6915088309691447,1.5646426836190679]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.1617394765043274,-2.33733218539827,0.71338606911949],"aabb_xy":[[-0.17054153181330012,-2.3451435115531987],[-0.1529374211953547,-2.3295208592433405]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[0.6327030114078918,-0.09144451669067566,0.71338606911949],"aabb_xy":[[0.628587061295819,-0.09556007172352114],[0.6368189615199643,-0.08732896165783015]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.3825169394414176,1.529872880629744,0.71338606911949],"aabb_xy":[[0.3326342425637214,1.4798728813834692],[0.4323996363191139,1.5798728798760189]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.31092916952486305,-0.4425637125809443,0.71338606911949],"aabb_xy":[[-0.3235559568120594,-0.4521097862825172],[-0.2983023822376667,-0.4330176388793714]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.04937437304766734,-1.9577570663443673,0.71338606911949],"aabb_xy":[[-0.09935318155798323,-2.007757066350086],[0.0006044354626485379,-1.9077570663386483]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.46192749883357664,0.674187844552915,0.71338606911949],"aabb_xy":[[0.4548860478828291,0.6671610928151205],[0.4689689497843243,0.6812145962907096]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.4409644481550255,-0.7002095837519273,0.71338606911949],"aabb_xy":[[-0.4909473983425047,-0.7502095833944875],[-0.39098149796754605,-0.6502095841093667]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.44931435495700045,1.6879753336359227,0.71338606911949],"aabb_xy":[[-0.48681435524917527,1.6839338582353192],[-0.41181435466482563,1.6920168090365262]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.05323998801798391,0.6087784683316126,0.71338606911949],"aabb_xy":[[0.04282842933750019,0.6034327349957139],[0.06365154669846762,0.6141242016675109]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.34244287466325846,-1.6556452975235862,0.71338606911949],"aabb_xy":[[-0.3799428746070248,-1.663938387558423],[-0.304942874719492,-1.6473522074887499]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.24407223260328725,-0.7677977584775368,0.71338606911949],"aabb_xy":[[0.16407223462250217,-0.7753992994393888],[0.32407223058407225,-0.7601962175156849]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.2936709383260303,1.2127102577855045,0.71338606911949],"aabb_xy":[[0.2136709368959031,1.1331931027728948],[0.3736709397561575,1.2922274127981137]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.6574478072405817,0.2955950849995208,0.71338606911949],"aabb_xy":[[-0.6726106802175189,0.28042962770440205],[-0.6422849342636447,0.31076054229463956]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.4485215881558322,0.6517883189767519,0.71338606911949],"aabb_xy":[[-0.45651507795111423,0.6437901870362763],[-0.4405280983605502,0.6597864509172275]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.4104184614407185,-1.8903615444352182,0.71338606911949],"aabb_xy":[[0.40650458824529595,-1.899110559841775],[0.414332334636141,-1.8816125290286614]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.021388933400298793,-1.4238648002009802,0.71338606911949],"aabb_xy":[[-0.01611106517532201,-1.436601095864538],[0.058888931975919594,-1.4111285045374222]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.4719731163310026,0.018408674235094846,0.71338606911949],"aabb_xy":[[-0.5141575304918333,-0.045591326042116354],[-0.4297887021701719,0.08240867451230605]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.23570033194258766,0.6676342424089619,0.71338606911949],"aabb_xy":[[-0.2957003328034004,0.6162078124024754],[-0.17570033108177482,0.7190606724154481]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.08841685076245986,-0.02884996902188597,0.71338606911949],"aabb_xy":[[-0.13841685171299267,-0.060399116025407366],[-0.03841684981192704,0.0026991779816354436]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.5155850430307283,-2.150912639000928,0.71338606911949],"aabb_xy":[[0.42558504330755403,-2.1739859915361075],[0.6055850427539023,-2.127839286465748]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.09310014631015784,0.9047179769862117,0.71338606911949],"aabb_xy":[[0.07986920077547655,0.8914905579642122],[0.10633109184483913,0.917945396008211]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[-0.294213811017277,1.6599150225210013,0.71338606911949],"aabb_xy":[[-0.30125412095081405,1.5799150231213304],[-0.28717350108374007,1.7399150219206732]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.4583339134912291,-1.0426324011088215,0.71338606911949],"aabb_xy":[[-0.5483339099921007,-1.0885440435272795],[-0.3683339169903573,-0.9967207586903631]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.6767187604923983,-0.8718919795043425,0.71338606911949],"aabb_xy":[[0.6422564130942563,-0.9063858619021652],[0.7111811078905399,-0.8373980971065198]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[0.596047077406711,-1.6172104689212605,0.71338606911949],"aabb_xy":[[0.5735470771631956,-1.6294151035810323],[0.6185470776502264,-1.6050058342614884]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[-0.5118452362775886,1.37340763366712,0.71338606911949],"aabb_xy":[[-0.6018452399545067,1.3119752270900154],[-0.4218452326006703,1.434840040244224]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_30","position":[-0.3357623702731576,-0.07415180196627036,0.71338606911949],"aabb_xy":[[-0.3556534101534979,-0.0868076132509672],[-0.3158713303928174,-0.06149599068157352]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[0.4516265795440968,-1.2963592236571746,0.71338606911949],"aabb_xy":[[0.4191648786621693,-1.326492055772077],[0.4840882804260242,-1.2662263915422718]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_32","position":[-0.14287768720705674,1.3990374731883897,0.71338606911949],"aabb_xy":[[-0.16579340009210666,1.3761331760519662],[-0.11996197432200686,1.4219417703248132]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_33","position":[0.49134125659098227,-1.6058561290558495,0.71338606911949],"aabb_xy":[[0.45634125739816395,-1.6168231750535118],[0.5263412557838005,-1.5948890830581863]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_34","position":[0.2851555149397583,1.6943463951650632,0.71338606911949],"aabb_xy":[[0.23113991865785832,1.6303463922728059],[0.33917111122165833,1.7583463980573202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624640393120486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5901.png","name":"5901"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5901.png","name":"5901"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8501.png","name":"8501"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3579.png","name":"3579"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9929.png","name":"9929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8123.png","name":"8123"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":719.3543840464738,"rotation_z_degrees":97.62232775082353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01045167948649822,0.01747781003650942,0.01308262205358]},{"name":"camera_2","offset_m":[-0.012089054177347803,0.012720865165394123,-0.014033437794659265]},{"name":"camera_3","offset_m":[0.008184626633017,-0.01818095109379733,0.0069946033066829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001580510533073691,-0.0017156819268761999,0.00038055036069020503],"end_effector_yaw_offset_degrees":0.4909621210660582},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013865710002817903,-0.00038830356018895924,-0.0012604849843950651],"end_effector_yaw_offset_degrees":-0.30061835987925045},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001864894292731842,0.0007504533316561985,0.0015549803084221963],"end_effector_yaw_offset_degrees":0.21105398084139404}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[1.4900245452698947e-05,-0.0032694353763230034],"position_m":[0.3384149002454527,0.082030564623677,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004989634374173042,-0.0012037865167861816],"position_m":[0.349610365625827,0.23439621348321382,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027680375919221754,-0.003513495451159512],"position_m":[0.21453196240807781,-0.09071349545115952,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012742383396798706,0.0015880315401326272],"position_m":[0.2476742383396799,-0.33411196845986735,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa96467a29fa4776e7fd4cb152334ef0fd430a5d61d360089ee94846c865a5f5","episode_index":129,"episode_name":"episode_0129"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0129.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5901/tex_ceiling_textures_8123/tex_floor_textures_9929/tex_table_textures_8501/tex_wall_textures_3579","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6242797268698941914,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6242797268698941914,"visual_seed":6242797268698941914,"scene_id":"lab_003","finished_at":"2026-09-02T07:31:50"}
+{"episode_id":"ep_000078","started_at":"2026-09-02T07:31:53","dimensions":{"distractor":{"count":32,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.16451866306931473,-1.9408421478343176,0.71338606911949],"aabb_xy":[[0.07451866073529567,-2.0183245024194303],[0.2545186654033338,-1.863359793249205]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.5856882774527457,0.3876535964878114,0.71338606911949],"aabb_xy":[[0.576056641232316,0.3780162837081025],[0.5953199136731753,0.3972909092675203]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.13901140560389702,-1.7183124931581415,0.71338606911949],"aabb_xy":[[-0.14991718169145973,-1.7983124895569704],[-0.1281056295163343,-1.6383124967593121]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.6400652768003097,-1.6557285529754768,0.71338606911949],"aabb_xy":[[0.6054741939462644,-1.7207285532605079],[0.6746563596543549,-1.5907285526904458]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.008712998031854546,1.5165140650537983,0.71338606911949],"aabb_xy":[[-0.041282012927597485,1.4665140660182068],[0.058708008991306584,1.5665140640893904]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.38705506949749524,0.8973308416819528,0.71338606911949],"aabb_xy":[[0.3230550662788574,0.8506077297829444],[0.4510550727161331,0.9440539535809611]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.5949682932870457,0.717647933471353,0.71338606911949],"aabb_xy":[[-0.614859333167386,0.7049921221866562],[-0.5750772534067055,0.7303037447560499]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.30319215509369585,1.1588777998438435,0.71338606911949],"aabb_xy":[[-0.3671921523960422,1.1145113728759868],[-0.2391921577913494,1.2032442268117003]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.31604558496640395,-1.1231390431677033,0.71338606911949],"aabb_xy":[[-0.3330556822564546,-1.1392735316659772],[-0.2990354876763533,-1.1070045546694294]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.3033206115916961,-0.330432510852666,0.71338606911949],"aabb_xy":[[-0.31409358551306393,-0.365432509071705],[-0.2925476376703284,-0.295432512633627]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.3375390551034434,1.731390248625138,0.71338606911949],"aabb_xy":[[0.2575390571226583,1.723788707663286],[0.4175390530842284,1.73899178958699]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.6547488660372875,-0.03875122379629792,0.71338606911949],"aabb_xy":[[0.6507883822675533,-0.04641908838181852],[0.658709349807022,-0.031083359210777317]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.4694201498252766,-0.9854033322342661,0.71338606911949],"aabb_xy":[[0.40542015065550663,-1.0321700193532286],[0.5334201489950465,-0.9386366451153036]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.420075521937997,1.6158266335155074,0.71338606911949],"aabb_xy":[[-0.48507552049506986,1.5860741001016248],[-0.3550755233809242,1.64557916692939]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.5782283787157476,0.12185230824053184,0.71338606911949],"aabb_xy":[[0.49822838131215413,0.04185973704234903],[0.6582283761193409,0.20184487943871465]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.6927327562947925,-0.8873942213932919,0.71338606911949],"aabb_xy":[[0.6864206567584542,-0.8931611606465109],[0.699044855831131,-0.8816272821400732]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.15164678723821357,-1.9053123175163686,0.71338606911949],"aabb_xy":[[-0.1555606604336361,-1.9140613329229257],[-0.14773291404279104,-1.896563302109812]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.5352913335961014,-0.7401008628179608,0.71338606911949],"aabb_xy":[[0.47129133332212314,-0.7901669630152488],[0.5992913338700796,-0.6900347626206729]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.37002234269188206,-2.391329201151464,0.71338606911949],"aabb_xy":[[0.31502234351529257,-2.4463188759264214],[0.42502234186847154,-2.336339526376506]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.5991785658663551,-0.09459871706713185,0.71338606911949],"aabb_xy":[[0.5932120269256193,-0.10055986172649589],[0.6051451048070907,-0.08863757240776782]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.1294799898500396,-2.2435125435079577,0.71338606911949],"aabb_xy":[[-0.15197999036208018,-2.266004401873356],[-0.10697998933799899,-2.2210206851425593]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.19466740754270118,-0.7148099268681734,0.71338606911949],"aabb_xy":[[-0.2052348872008002,-0.7253549569811819],[-0.18409992788460217,-0.7042648967551648]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[-0.5550307634002454,-0.2471054239859427,0.71338606911949],"aabb_xy":[[-0.5651837789543945,-0.283174965558683],[-0.5448777478460958,-0.2110358824132023]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.5770173316399627,-2.100040920501812,0.71338606911949],"aabb_xy":[[0.5411038272149731,-2.1359544287185663],[0.6129308360649524,-2.064127412285057]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.5962696196604009,-2.5409446334204295,0.71338606911949],"aabb_xy":[[0.5847006389134645,-2.5659446335373617],[0.6078386004073376,-2.5159446333034983]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.05152637606696864,-1.6269023063204606,0.71338606911949],"aabb_xy":[[0.00544128481223717,-1.6909023035730157],[0.09761146732170012,-1.5629023090679055]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.11383740646484619,0.07492274154622747,0.71338606911949],"aabb_xy":[[-0.1513374065704391,0.06810057969324634],[-0.07633740635925321,0.08174490339920859]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[-0.07437877123953085,0.9281454890711682,0.71338606911949],"aabb_xy":[[-0.13837877161706447,0.8784002222203559],[-0.010378770861997233,0.9778907559219804]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[-0.13530022163834987,0.6989579879637637,0.71338606911949],"aabb_xy":[[-0.1423405315718869,0.6189579885640925],[-0.1282599117048129,0.7789579873634354]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[-0.1692746516740793,1.7172492306215008,0.71338606911949],"aabb_xy":[[-0.20677465202230702,1.7054578350404173],[-0.1317746513258515,1.7290406262025844]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[0.5908279274757748,-1.4667094707321773,0.71338606911949],"aabb_xy":[[0.5573877522797551,-1.5001530965631071],[0.6242681026717943,-1.433265844901247]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_31","position":[0.5786458564481616,1.1016033592660905,0.71338606911949],"aabb_xy":[[0.5745299063360888,1.0974878042332448],[0.5827618065602341,1.1057189142989359]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642166996456914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9392.png","name":"9392"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9392.png","name":"9392"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9340.png","name":"9340"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9070.png","name":"9070"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2693.png","name":"2693"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.5672933842452,"rotation_z_degrees":49.36537136434869,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011646617121483724,0.00557253198434755,-0.004300913325496033]},{"name":"camera_2","offset_m":[0.0028997651888316954,0.006437934447742339,0.011683186952896742]},{"name":"camera_3","offset_m":[-0.014706233158165261,0.010087244315369108,0.01586872701871488]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015494216819458293,0.00109373984108334,-0.0018399627095843504],"end_effector_yaw_offset_degrees":0.3759703232959666},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00015592041693341676,-0.00108196116396745,0.0013361190329963992],"end_effector_yaw_offset_degrees":0.8433654318824779},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0019065845477914999,0.0018024056791537037,-0.00011227449074052622],"end_effector_yaw_offset_degrees":0.9369109233098383}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004411480282758905,-0.0015113227013833909],"position_m":[0.3428114802827589,0.08378867729861661,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00465793756310306,0.002844228294977924],"position_m":[0.34994206243689696,0.23844422829497794,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004494760074012271,0.002823885871738257],"position_m":[0.2128052399259877,-0.08437611412826174,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003430102853385659,0.004169950777376316],"position_m":[0.24983010285338567,-0.3315300492226237,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ef90a8d774de3f984db8d3e63d5be054dee851b51187fbe3eb352df9c37ea157","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0130.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9392/tex_ceiling_textures_2693/tex_floor_textures_4841/tex_table_textures_9340/tex_wall_textures_9070","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6182607738072693753,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6182607738072693753,"visual_seed":6182607738072693753,"scene_id":"lab_003","finished_at":"2026-09-02T07:34:39"}
+{"episode_id":"ep_000079","started_at":"2026-09-02T07:34:42","dimensions":{"distractor":{"count":34,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.0759501114913449,-0.9761313555483031,0.71338606911949],"aabb_xy":[[0.04247094423030396,-1.0096104689194103],[0.10942927875238584,-0.9426522421771962]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.4524600255745467,-0.5984173993125081,0.71338606911949],"aabb_xy":[[-0.45887383921773156,-0.6048272195601764],[-0.4460462119313617,-0.5920075790648397]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.17564649496078222,-0.7480748078132182,0.71338606911949],"aabb_xy":[[0.11564649511421543,-0.8048934300062568],[0.235646494807349,-0.6912561856201794]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.296920122611288,-1.2945971568823065,0.71338606911949],"aabb_xy":[[0.2719201226787701,-1.3014798251032298],[0.32192012254380586,-1.2877144886613832]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.028311580098932643,0.8274377429887285,0.71338606911949],"aabb_xy":[[-0.06685727292413368,0.7888919719325399],[0.01023411272626839,0.8659835140449171]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.24421803795000313,-0.8150439509047518,0.71338606911949],"aabb_xy":[[-0.25053013748634156,-0.8208108901579707],[-0.23790593841366472,-0.8092770116515331]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.42349937973383023,-2.0112123618973548,0.71338606911949],"aabb_xy":[[0.36349937913781405,-2.0660248344425782],[0.4834993803298464,-1.9563998893521313]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.24019567795759322,0.7646641027724677,0.71338606911949],"aabb_xy":[[0.22826294359576516,0.7522819499646082],[0.2521284123194213,0.7770462555803269]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.12466904356253572,-2.358082969994951,0.71338606911949],"aabb_xy":[[-0.2046690405767837,-2.378217521668362],[-0.044669046548287725,-2.33794841832154]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.17804863781874736,-2.068880834385711,0.71338606911949],"aabb_xy":[[0.11404863923217487,-2.1158877977852195],[0.2420486364053198,-2.021873870986202]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.6438437430451418,1.112532857502265,0.71338606911949],"aabb_xy":[[0.5938437426845755,1.0625528702926619],[0.6938437434057076,1.1625128447118678]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.4872882025245604,0.3069960799822371,0.71338606911949],"aabb_xy":[[0.4232882054124547,0.2579637101878265],[0.5512881996366661,0.3560284497766477]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[-0.37258894171895945,-1.3105047587715433,0.71338606911949],"aabb_xy":[[-0.38435712851361703,-1.3955047586767648],[-0.36082075492430193,-1.2255047588663217]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.017320617449210762,-1.155579491128203,0.71338606911949],"aabb_xy":[[-0.03552644111045844,-1.1666048917101948],[0.0008852062120369153,-1.1445540905462115]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.5584921964595237,-0.7631175308822575,0.71338606911949],"aabb_xy":[[0.5084921954403885,-0.7995837466200856],[0.608492197478659,-0.7266513151444296]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.4244824494842312,-1.0964361253680617,0.71338606911949],"aabb_xy":[[0.4110359228501879,-1.1099059770211526],[0.4379289761182746,-1.0829662737149703]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.34314933913592194,-0.5219281107902733,0.71338606911949],"aabb_xy":[[0.3131817822260962,-0.5519281110881591],[0.37311689604574755,-0.4919281104923876]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[0.5693701568457858,-0.5676520478162588,0.71338606911949],"aabb_xy":[[0.5222407778439501,-0.6316520488606606],[0.6164995358476214,-0.5036520467718567]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.4365755981761952,-2.5572890268671045,0.71338606911949],"aabb_xy":[[-0.4453568253234315,-2.566068774155635],[-0.42779437102895906,-2.5485092795785746]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.27802453452428433,1.6268647610903826,0.71338606911949],"aabb_xy":[[0.21402453812871125,1.562901472671649],[0.3420245309198574,1.6908280495091161]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.035955399074384053,-1.545817286292994,0.71338606911949],"aabb_xy":[[-0.029044599081535005,-1.5721135308429062],[0.10095539723030311,-1.5195210417430818]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.5621169379825067,0.7899648240543082,0.71338606911949],"aabb_xy":[[-0.642110761561065,0.7099648214614667],[-0.4821231144039485,0.8699648266471498]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.544324708415986,1.3370604979450746,0.71338606911949],"aabb_xy":[[-0.5787871864290738,1.3303968207621517],[-0.5098622304028982,1.3437241751279971]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.10997445350861046,-1.8810955987049047,0.71338606911949],"aabb_xy":[[0.08368562918816978,-1.9073670323595557],[0.1362632778290511,-1.8548241650502533]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.5586490011083345,-1.5645629244544033,0.71338606911949],"aabb_xy":[[-0.6236490020654616,-1.6165111363881088],[-0.4936490001512072,-1.5126147125206977]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[0.1814717258629821,1.181672689884567,0.71338606911949],"aabb_xy":[[0.17421047829257472,1.1688856796210576],[0.18873297343338954,1.1944597001480766]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[0.07466446087889778,0.6743746099903816,0.71338606911949],"aabb_xy":[[0.06667097108361575,0.666376478049906],[0.0826579506741798,0.6823727419308572]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.27080963663749225,1.536975365640377,0.71338606911949],"aabb_xy":[[-0.3608096389715113,1.4594930110552646],[-0.1808096343034732,1.61445772022549]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[-0.056811173288368266,-0.4694697624412947,0.71338606911949],"aabb_xy":[[-0.06771694937593098,-0.5494697588401238],[-0.04590539720080555,-0.38946976604246547]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[-0.03580864147800955,1.3297634297773073,0.71338606911949],"aabb_xy":[[-0.054693025246519755,1.3108775049969545],[-0.016924257709499346,1.34864935455766]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[-0.16002108491452194,-1.6826635854331309,0.71338606911949],"aabb_xy":[[-0.1968157180394282,-1.7195694605297134],[-0.12322645178961567,-1.6457577103365488]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_31","position":[-0.5474134904622772,-1.2228158079190397,0.71338606911949],"aabb_xy":[[-0.6274134884430621,-1.2304173488808916],[-0.46741349248149205,-1.2152142669571877]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_32","position":[0.6215728617952763,-1.1860461025206435,0.71338606911949],"aabb_xy":[[0.612225854212981,-1.2003497247382875],[0.6309198693775715,-1.1717424803029994]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_33","position":[-0.10375117054345817,-2.515533527088327,0.71338606911949],"aabb_xy":[[-0.15372446454671862,-2.565533527642874],[-0.05377787654019771,-2.4655335265337794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688373496808696,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3422.png","name":"3422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1892.png","name":"1892"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/837.png","name":"837"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":760.2477111834597,"rotation_z_degrees":24.06090094755275,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009509767179883832,0.004243040243971187,-0.015392546915592237]},{"name":"camera_2","offset_m":[-0.007270196528259505,0.01723502680676139,-0.009366296630398096]},{"name":"camera_3","offset_m":[0.01719558402250958,0.004618047922810998,-0.01504552686417528]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015666723536368666,0.0007205038563309232,-7.223461411667484e-05],"end_effector_yaw_offset_degrees":-0.7551660705344183},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005936371120692156,-0.0017456747087534526,-0.0017285384456208592],"end_effector_yaw_offset_degrees":-0.7841780092527044},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016347913737344909,0.001031662222269618,7.137940022699726e-05],"end_effector_yaw_offset_degrees":0.02428400041317369}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002254200802302847,0.002679702785512086],"position_m":[0.3406542008023028,0.08797970278551209,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003081461935184799,-0.004603529891784468],"position_m":[0.35768146193518485,0.23099647010821553,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008218292278775749,0.004534039751582478],"position_m":[0.21812182922787757,-0.08266596024841752,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023919043683344188,0.000980542338131496],"position_m":[0.24879190436833443,-0.3347194576618685,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"004c9e4457c4f7ab2ffda6348f3171ed74a6b20eec7e5c36b00fc115c1f3f0e3","episode_index":131,"episode_name":"episode_0131"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0131.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5162/tex_ceiling_textures_837/tex_floor_textures_1892/tex_table_textures_3422/tex_wall_textures_9649","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6626952812693064046,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6626952812693064046,"visual_seed":6626952812693064046,"scene_id":"lab_003","finished_at":"2026-09-02T07:37:28"}
+{"episode_id":"ep_000080","started_at":"2026-09-02T07:39:00","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.6364835980196042,1.7476650233893412,0.71338606911949],"aabb_xy":[[0.6277856357288889,1.7355400490818664],[0.6451815603103195,1.7597899976968159]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.1885211725999717,-1.6336955263445163,0.71338606911949],"aabb_xy":[[-0.19781479083712225,-1.6711955248326502],[-0.1792275543628211,-1.5961955278563824]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.6104127342932506,0.5524421728995996,0.71338606911949],"aabb_xy":[[0.5304127310292374,0.5388821405906863],[0.6904127375572636,0.566002205208513]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.4616516720991355,0.36409320536598333,0.71338606911949],"aabb_xy":[[0.4397429899597844,0.34219253854589254],[0.4835603542384865,0.385993872186074]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.05690618186995977,-2.1791434280285356,0.71338606911949],"aabb_xy":[[-0.09149726472400499,-2.2441434283135666],[-0.022315099015914556,-2.1141434277435045]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.5028919196802805,-2.4727804237652653,0.71338606911949],"aabb_xy":[[-0.5928919194034545,-2.4958537763004447],[-0.4128919199571062,-2.449707071230085]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.6050385673056973,0.3332590135541085,0.71338606911949],"aabb_xy":[[0.5970445787279938,0.3252589334590181],[0.6130325558834006,0.34125909364919876]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.55488920193715,-2.295416045939124,0.71338606911949],"aabb_xy":[[-0.6348892051949929,-2.375412553731108],[-0.474889198679307,-2.21541953814714]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.6114167422151403,-1.1828776200632924,0.71338606911949],"aabb_xy":[[-0.6418148533142838,-1.213284522064962],[-0.5810186311159966,-1.152470718061623]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.37206019013277286,0.7460891650389692,0.71338606911949],"aabb_xy":[[-0.38452754824250857,0.7336238404056457],[-0.35959283202303727,0.7585544896722927]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.1839946700769618,-0.6258782431708925,0.71338606911949],"aabb_xy":[[0.15948104597995597,-0.650142836472929],[0.20850829417396768,-0.6016136498688561]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.22431720852015735,-1.342899545570168,0.71338606911949],"aabb_xy":[[0.20681720938579015,-1.3527791726077556],[0.2418172076545245,-1.33301991853258]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.3375664308851034,0.6242917645686097,0.71338606911949],"aabb_xy":[[-0.4075664330165329,0.6015297989429139],[-0.2675664287536738,0.6470537301943052]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.649081097282904,-1.4558516395237944,0.71338606911949],"aabb_xy":[[0.6122305493459164,-1.493351640346828],[0.6859316452198916,-1.4183516387007606]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.5579638672207491,1.4344078475378415,0.71338606911949],"aabb_xy":[[-0.6219638694411561,1.390034763412553],[-0.49396386500034206,1.4787809316631295]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.0045736284812394334,-1.4809484905196304,0.71338606911949],"aabb_xy":[[0.00043777214853924027,-1.5184484899639874],[0.008709484813939627,-1.4434484910752734]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.05083835101286893,0.19259767752476753,0.71338606911949],"aabb_xy":[[-0.07335204283632613,0.12259767692376],[-0.02832465918941173,0.26259767812577506]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.553777871763456,-1.767810850034389,0.71338606911949],"aabb_xy":[[0.5428720956758933,-1.8478108464332181],[0.5646836478510188,-1.6878108536355598]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.43504200139263416,1.1968810239158354,0.71338606911949],"aabb_xy":[[-0.500041999949707,1.1671284905019528],[-0.3700420028355613,1.226633557329718]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.42296613122542187,0.5174305979048639,0.71338606911949],"aabb_xy":[[-0.4579661294955417,0.5103564702098756],[-0.3879661329553019,0.524504725599852]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.5079568782331427,0.9809725127378788,0.71338606911949],"aabb_xy":[[0.44395688112103704,0.9319401429434682],[0.5719568753452484,1.0300048825322894]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.09069074546804434,0.37579249708858153,0.71338606911949],"aabb_xy":[[-0.15469074189536625,0.3286228732664851],[-0.02669074904072244,0.422962120910678]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.09028933968551034,-2.4164692797478025,0.71338606911949],"aabb_xy":[[0.00028933735149128115,-2.493951634332915],[0.1802893420195294,-2.33898692516269]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[0.6617813298785442,-1.7780131634435818,0.71338606911949],"aabb_xy":[[0.633936293097937,-1.8087976621818935],[0.6896263666591512,-1.7472286647052702]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.5793882831637389,0.9196139561154122,0.71338606911949],"aabb_xy":[[-0.6164223925917987,0.8852367487817026],[-0.5423541737356792,0.9539911634491214]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.45256883830094785,-0.563888561013032,0.71338606911949],"aabb_xy":[[0.4481382089461078,-0.5693369327477147],[0.45699946765578814,-0.5584401892783495]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.049829863669182406,-0.6568245687677063,0.71338606911949],"aabb_xy":[[-0.06762337060409884,-0.674624314363504],[-0.032036356734265976,-0.6390248231719087]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[0.5383998897714102,-0.8935671738110949,0.71338606911949],"aabb_xy":[[0.4743998877216783,-0.9336616569004029],[0.6023998918211423,-0.853472690721787]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.24380966984875857,0.4615720830458381,0.71338606911949],"aabb_xy":[[-0.27880966897871423,0.4558268619701739],[-0.2088096707188029,0.46731730412150213]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[0.18693543871645424,1.4510162316150796,0.71338606911949],"aabb_xy":[[0.16943543845711762,1.436924689426307],[0.2044354389757909,1.4651077738038523]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_30","position":[-0.542869325635388,0.6905719121954825,0.71338606911949],"aabb_xy":[[-0.5928535613435653,0.6405719133819869],[-0.4928850899272108,0.7405719110089781]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_31","position":[-0.4394095929480906,-1.6900179342396306,0.71338606911949],"aabb_xy":[[-0.5244095916401652,-1.7220037976345095],[-0.35440959425601604,-1.6580320708447518]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_32","position":[0.2649028789218061,-0.9831377455865455,0.71338606911949],"aabb_xy":[[0.22740287740617438,-0.9943645186026906],[0.3024028804374378,-0.9719109725704005]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657938146968574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5226.png","name":"5226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5226.png","name":"5226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9480.png","name":"9480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9931.png","name":"9931"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4892.png","name":"4892"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":522.668822766848,"rotation_z_degrees":125.60112549027475,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010627548384675906,0.010399427073497752,-0.017096325805661606]},{"name":"camera_2","offset_m":[-0.007775099544851364,-0.010692159952468146,0.0007064051119555666]},{"name":"camera_3","offset_m":[0.014292745263931966,-0.01055064421276224,0.008359447882372723]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017868015490607038,-0.0012743088932333727,-0.0008969662244147144],"end_effector_yaw_offset_degrees":0.3302917087282533},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016764642537714248,-0.0012588679698668029,0.0011442004779364393],"end_effector_yaw_offset_degrees":0.3365052530912984},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010896802269204828,-0.00014275400420876,0.0009558420610067159],"end_effector_yaw_offset_degrees":0.5356851960398585}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004891040952078119,0.0033917388915493058],"position_m":[0.3335089590479219,0.08869173889154931,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029828177299929806,0.0028815906036194798],"position_m":[0.35161718227000704,0.23848159060361948,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005411485070381458,0.0009250676281386929],"position_m":[0.21675885149296184,-0.0862749323718613,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002542947777035274,-0.0047519435008858925],"position_m":[0.2489429477770353,-0.34045194350088587,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7c677ad1c5a694b20c19314ec850a74ab151285bcfe2fe17eda1c9df06d46808","episode_index":133,"episode_name":"episode_0133"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0133.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5226/tex_ceiling_textures_4892/tex_floor_textures_9931/tex_table_textures_9480/tex_wall_textures_9263","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1798439878243047483,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1798439878243047483,"visual_seed":1798439878243047483,"scene_id":"lab_003","finished_at":"2026-09-02T07:41:56"}
+{"episode_id":"ep_000081","started_at":"2026-09-02T07:44:51","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[-0.1868780152131253,-1.1133396112354037,0.71338606911949],"aabb_xy":[[-0.1949213751390805,-1.19833961233077],[-0.17883465528717016,-1.028339610140037]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.3035794537597689,-0.48345148151674744,0.71338606911949],"aabb_xy":[[-0.35355251929228443,-0.5334514813292803],[-0.2536063882272535,-0.43345148170421455]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.4346097157848576,-2.4378045416119827,0.71338606911949],"aabb_xy":[[-0.47210971589045053,-2.444626703464964],[-0.3971097156792646,-2.4309823797590013]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.26493647408287685,0.2859553720387229,0.71338606911949],"aabb_xy":[[-0.29993647235299675,0.2788812443437347],[-0.22993647581275695,0.293029499733711]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.4191042072261473,0.39915228094995836,0.71338606911949],"aabb_xy":[[-0.4831042036534692,0.351982657127862],[-0.35510421079882537,0.44632190477205486]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.5376026001423931,-1.240021800112871,0.71338606911949],"aabb_xy":[[-0.5874193796072279,-1.2900217985971745],[-0.4877858206775584,-1.1900218016285677]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.12461533763618904,-1.9926329710551598,0.71338606911949],"aabb_xy":[[-0.15891224865392967,-2.026929857265101],[-0.09031842661844841,-1.9583360848452185]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.31714020265380727,-1.7157730034702936,0.71338606911949],"aabb_xy":[[0.30526811964230616,-1.8007730031639437],[0.3290122856653084,-1.630773003776643]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.3706146923513758,1.1340954530708878,0.71338606911949],"aabb_xy":[[0.34432586803093507,1.1078240194162363],[0.3969035166718164,1.1603668867255388]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[0.38839690473745137,-1.3596702894812038,0.71338606911949],"aabb_xy":[[0.3046746792373689,-1.4496702930158998],[0.4721191302375338,-1.2696702859465079]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.21786301455696877,-0.217656766079124,0.71338606911949],"aabb_xy":[[-0.22910807012758658,-0.22889856380321927],[-0.2066179589863509,-0.2064149683550287]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.11504564444867138,0.8322703031539436,0.71338606911949],"aabb_xy":[[-0.11912380235572112,0.8281893229056801],[-0.11096748654162164,0.8363512834022068]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.01569391638271156,1.668547990445712,0.71338606911949],"aabb_xy":[[-0.06567815209088879,1.618547991632216],[0.03429031932546567,1.7185479892592073]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.4502475286504658,-1.7709974072464343,0.71338606911949],"aabb_xy":[[-0.46774752778483303,-1.7808770342840219],[-0.4327475295160987,-1.7611177802088462]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.2988100967364774,1.311084164972736,0.71338606911949],"aabb_xy":[[-0.3022507729765346,1.3072227319983718],[-0.29536942049642023,1.3149455979471008]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.34390122429226055,-0.7653991526701087,0.71338606911949],"aabb_xy":[[0.33976536795956036,-0.8028991521144658],[0.34803708062496075,-0.7278991532257518]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.08095833433989175,-0.47163414026817474,0.71338606911949],"aabb_xy":[[-0.10313086131654257,-0.4938098074242979],[-0.058785807363240905,-0.44945847311205156]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.4263469822631989,-1.982301742361069,0.71338606911949],"aabb_xy":[[0.34635315868464067,-2.0623017449539107],[0.5063408058417571,-1.9023017397682276]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.4464136245420889,1.6142967107772797,0.71338606911949],"aabb_xy":[[0.42391362453194054,1.6002004911376766],[0.4689136245522371,1.6283929304168832]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.6369635205719884,1.6984811724965394,0.71338606911949],"aabb_xy":[[-0.6463105281542836,1.6841775502788954],[-0.6276165129896931,1.7127847947141834]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.6388505178083298,-0.9886582991239246,0.71338606911949],"aabb_xy":[[-0.6638505169739629,-0.9956105448292811],[-0.6138505186426967,-0.981706053418568]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.586355619098784,-0.13122178693434305,0.71338606911949],"aabb_xy":[[0.5363768105884681,-0.18122178694006186],[0.6363344276090999,-0.08122178692862425]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.4429053728157224,1.0006082131513776,0.71338606911949],"aabb_xy":[[-0.45381114890328506,0.9206082167525484],[-0.43199959672815963,1.0806082095502068]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.17057358953684898,1.064252318780147,0.71338606911949],"aabb_xy":[[-0.22458918581874898,1.00025231588789],[-0.11655799325494898,1.1282523216724043]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650599989329068,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3968.png","name":"3968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8269.png","name":"8269"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1890.png","name":"1890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/528.png","name":"528"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":822.0051014072744,"rotation_z_degrees":90.39193812693318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009831946719463228,-0.006343962930065925,0.014513575443654652]},{"name":"camera_2","offset_m":[-0.006754572687620541,0.0009324911457165644,-0.018954288749419096]},{"name":"camera_3","offset_m":[-0.003952439008432847,-0.01175947470324509,0.018684138949881687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013599469902999674,0.0016889317081542374,-0.0012531017174580229],"end_effector_yaw_offset_degrees":-0.20848169280898765},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003662327642645971,-0.0016954517845360671,7.669739559273189e-05],"end_effector_yaw_offset_degrees":0.18963844023360688},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003562430915952596,-0.0013283460614950163,-3.840424778233861e-05],"end_effector_yaw_offset_degrees":-0.19358487105090205}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004616201580130868,0.0011622551747283508],"position_m":[0.34301620158013085,0.08646225517472836,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004311709114408466,0.004290027014311156],"position_m":[0.35028829088559155,0.23989002701431117,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003865282342306083,-0.00014171986249826227],"position_m":[0.22116528234230606,-0.08734171986249827,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008456271314957022,-0.004106440301577488],"position_m":[0.24555437286850432,-0.3398064403015775,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8f71a5b12e5b3f7350f50192f3eddde5953763e9d86785afe9b983bac4de7f0e","episode_index":136,"episode_name":"episode_0136"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0136.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1884/tex_ceiling_textures_528/tex_floor_textures_1890/tex_table_textures_3968/tex_wall_textures_8269","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":3154914034410477594,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":3154914034410477594,"visual_seed":3154914034410477594,"scene_id":"lab_003","finished_at":"2026-09-02T07:47:35"}
+{"episode_id":"ep_000082","started_at":"2026-09-02T07:47:38","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.029912017294649873,-0.857470688148704,0.71338606911949],"aabb_xy":[[0.02191802871694648,-0.8654707682437942],[0.037906005872353266,-0.8494706080536135]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.4197613878308484,-2.0656379390296777,0.71338606911949],"aabb_xy":[[0.3597613875794472,-2.119919264066142],[0.47976138808224955,-2.0113566139932124]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.24107350715700226,-1.8219362890502506,0.71338606911949],"aabb_xy":[[0.2110818444231319,-1.851936288387051],[0.2710651698908726,-1.7919362897134499]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.3787613165105751,1.7538358814179005,0.71338606911949],"aabb_xy":[[-0.3954384525036706,1.73713595744397],[-0.3620841805174796,1.7705358053918305]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.26429540043313293,-1.6181265360659158,0.71338606911949],"aabb_xy":[[0.18429540177624698,-1.6326313949901787],[0.344295399090019,-1.603621677141653]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.05699435104690753,-1.1725558936791751,0.71338606911949],"aabb_xy":[[-0.11196807308324042,-1.2275558932434083],[-0.0020206290105746483,-1.117555894114942]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[-0.10489332643383609,1.4409272200591494,0.71338606911949],"aabb_xy":[[-0.16489332702985227,1.386114747513926],[-0.04489332583781991,1.495739692604373]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.6195422370028147,0.8081580999294213,0.71338606911949],"aabb_xy":[[-0.6414509191421657,0.7862574331093305],[-0.5976335548634636,0.830058766749512]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.14022976021981903,1.617525225634877,0.71338606911949],"aabb_xy":[[-0.17522975853051448,1.6098102107113317],[-0.10522976190912359,1.625240240558423]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.19169204989124622,-1.24665782288399,0.71338606911949],"aabb_xy":[[0.13767645360934622,-1.3106578257762471],[0.24570764617314622,-1.1826578199917328]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.4531548319805825,1.568105997089543,0.71338606911949],"aabb_xy":[[0.38915483268641426,1.504119856720689],[0.5171548312747507,1.6320921374583974]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.20966320059201204,0.3767550937021138,0.71338606911949],"aabb_xy":[[-0.22854758436052225,0.35786916892176096],[-0.19077881682350184,0.3956410184824665]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.5439745707812004,-1.8179298944378721,0.71338606911949],"aabb_xy":[[-0.6079745672085223,-1.8650995182599688],[-0.47997457435387847,-1.770760270615776]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.5319535819945563,-0.6195412324042591,0.71338606911949],"aabb_xy":[[-0.573202393024471,-0.6745412319164763],[-0.49070477096464155,-0.5645412328920414]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[-0.08153845758138667,-1.880671941077074,0.71338606911949],"aabb_xy":[[-0.13152140776886598,-1.9306719407196342],[-0.03155550739390733,-1.8306719414345134]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.2783706455139151,1.0125172860993574,0.71338606911949],"aabb_xy":[[0.25587064599020765,0.9900213386487365],[0.30087064503762245,1.035013233549978]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.4880271195161294,-1.0583851754275233,0.71338606911949],"aabb_xy":[[0.40802712092881005,-1.1377007773656842],[0.5680271181034489,-0.9790695734893625]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.4292194862025547,1.4209086677151874,0.71338606911949],"aabb_xy":[[0.3947570081894669,1.4142449905322645],[0.46368196421564245,1.42757234489811]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.2337903345924096,0.6979369604246752,0.71338606911949],"aabb_xy":[[0.2240343450832357,0.6881744263654407],[0.24354632410158347,0.7076994944839096]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.5095623132868854,-1.56611527215793,0.71338606911949],"aabb_xy":[[0.41956231356371115,-1.5891886246931095],[0.5995623130100595,-1.5430419196227498]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.21683114322535935,-0.2599681903893756,0.71338606911949],"aabb_xy":[[-0.2968311442984797,-0.26974623672676],[-0.136831142152239,-0.25019014405199114]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[0.5576271565319741,-2.0619039469101565,0.71338606911949],"aabb_xy":[[0.526480237688391,-2.1319039455969637],[0.5887740753755573,-1.9919039482233494]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627774033531634,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3569.png","name":"3569"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6617.png","name":"6617"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4694.png","name":"4694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9699.png","name":"9699"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":770.979803094454,"rotation_z_degrees":335.2855890088148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01728925820273183,-0.0007087134731401795,0.014025744974371711]},{"name":"camera_2","offset_m":[-0.006935676783464224,-0.018382954895634466,-0.012415467257023173]},{"name":"camera_3","offset_m":[-0.012174424310202743,-0.017369359520806947,-0.012109085623483186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00040194074052039407,-0.0009804855384817892,0.0009342482871203626],"end_effector_yaw_offset_degrees":0.30099352600817864},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014727887172448387,0.0007343835362085306,0.00022953548006427555],"end_effector_yaw_offset_degrees":0.7913735086377203},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015756091198087128,0.0008612313736905243,0.0014194481413080011],"end_effector_yaw_offset_degrees":0.38547612680380605}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016044250918376256,0.004463211479894724],"position_m":[0.33679557490816237,0.08976321147989473,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045328491972937346,-0.0015260766642766887],"position_m":[0.3500671508027063,0.23407392333572333,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023820253724598298,0.0019210573462979897],"position_m":[0.21968202537245982,-0.085278942653702,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004995827572795055,0.00033639837166860725],"position_m":[0.24140417242720497,-0.3353636016283314,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"51efb4b6423dcec3b634cc8b40ddd05e47fbcb5d4ddacb3762b95096a2614eb9","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0137.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2126/tex_ceiling_textures_9699/tex_floor_textures_4694/tex_table_textures_3569/tex_wall_textures_6617","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":141117158332314896,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":141117158332314896,"visual_seed":141117158332314896,"scene_id":"lab_003","finished_at":"2026-09-02T07:50:23"}
+{"episode_id":"ep_000083","started_at":"2026-09-02T07:51:42","dimensions":{"distractor":{"count":31,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.5878992668468979,-0.6925167260746354,0.71338606911949],"aabb_xy":[[0.4978992645128788,-0.7699990806597481],[0.6778992691809169,-0.6150343714895228]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.4915029433655054,-1.82914083720135,0.71338606911949],"aabb_xy":[[0.4415029423463701,-1.865607052939178],[0.5415029443846406,-1.792674621463522]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.14581430341145662,-2.1171130243038703,0.71338606911949],"aabb_xy":[[-0.17365934019206375,-2.147897523042182],[-0.1179692666308495,-2.0863285255655586]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.10061213760821452,1.1926345173084751,0.71338606911949],"aabb_xy":[[-0.16461213952055687,1.136723368050465],[-0.0366121356958722,1.2485456665664858]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.03703810117849404,-1.2960041907904052,0.71338606911949],"aabb_xy":[[0.0005422805512153017,-1.3324881332171628],[0.07353392180577278,-1.2595202483636476]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.6266373701132335,-0.9898155151322052,0.71338606911949],"aabb_xy":[[-0.6331390066212381,-0.9995833371585153],[-0.6201357336052289,-0.9800476931058958]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.6298593099378997,-1.2676376800567066,0.71338606911949],"aabb_xy":[[0.6123593096785632,-1.2817292222454795],[0.6473593101972365,-1.2535461378679342]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.1250753473390006,-1.1119183085051934,0.71338606911949],"aabb_xy":[[-0.19007534522064845,-1.1630419722117344],[-0.060075349457352836,-1.0607946447986527]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.5811579753909095,0.673100200986529,0.71338606911949],"aabb_xy":[[0.5747441617477244,0.6666903807388606],[0.5875717890340942,0.6795100212341972]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.0650618679832331,1.2367013503586275,0.71338606911949],"aabb_xy":[[0.00506186747538019,1.1798546166727062],[0.12506186849108603,1.2935480840445488]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.40767580010810084,0.6665026472026647,0.71338606911949],"aabb_xy":[[-0.47167579927787084,0.6197359600837022],[-0.34367580093833094,0.7132693343216272]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[0.22712167961671448,-2.0433229481920323,0.71338606911949],"aabb_xy":[[0.20465690964530936,-2.0658229490708924],[0.2495864495881196,-2.0208229473131714]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.05841141395279226,-1.4717095724010418,0.71338606911949],"aabb_xy":[[-0.0015885876901295948,-1.5237097216929862],[0.11841141559571411,-1.4197094231090979]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.44034657541383426,1.7711856619583366,0.71338606911949],"aabb_xy":[[0.42284664197985083,1.7536856620381018],[0.4578465088478176,1.788685661878571]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[0.4608725102910489,-0.24250648644667772,0.71338606911949],"aabb_xy":[[0.41087250900720884,-0.2924853408372997],[0.5108725115748887,-0.19252763205605555]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.004119771089566737,-0.7882205814884058,0.71338606911949],"aabb_xy":[[-0.03712903994034799,-0.8432205810006232],[0.045368582119481464,-0.7332205819761883]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.5622209525606138,1.3572270113640088,0.71338606911949],"aabb_xy":[[-0.5847346443840709,1.287227010763001],[-0.5397072607371565,1.4272270119650161]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.3112458096045082,0.5252379478782947,0.71338606911949],"aabb_xy":[[-0.39124580676408344,0.5136903469204777],[-0.23124581244493286,0.5367855488361117]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.5578644912868878,-2.1490730587393085,0.71338606911949],"aabb_xy":[[0.49386449090935414,-2.1988183255901204],[0.6218644916644214,-2.099327791888496]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.2890386476722093,0.9252999009982017,0.71338606911949],"aabb_xy":[[0.22503864562247733,0.8852054179088936],[0.3530386497219413,0.9653943840875095]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.24584103911595706,-1.8164430865003365,0.71338606911949],"aabb_xy":[[-0.2708410382815902,-1.823395332205693],[-0.22084103995032395,-1.80949084079498]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.102520850096539,0.9122799416182765,0.71338606911949],"aabb_xy":[[-0.1254365629815889,0.8893756444818531],[-0.07960513721148908,0.9351842387547001]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[0.5893555303545492,-1.382700755385241,0.71338606911949],"aabb_xy":[[0.5393822363512887,-1.4327007559397882],[0.6393288243578096,-1.3327007548306935]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.42801700338457715,-1.2194724568418267,0.71338606911949],"aabb_xy":[[-0.5080170038547931,-1.227783164456175],[-0.3480170029143612,-1.2111617492274784]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.3954884603027091,-1.077970074410692,0.71338606911949],"aabb_xy":[[0.36200929304166823,-1.111449187781799],[0.4289676275637501,-1.044490961039585]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.45026551630176537,-0.950046735814581,0.71338606911949],"aabb_xy":[[-0.4621375993132665,-1.0350467355082311],[-0.43839343329026426,-0.8650467361209305]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[-0.08804786092540418,0.5881579489054594,0.71338606911949],"aabb_xy":[[-0.13752828213936297,0.5241579509926075],[-0.0385674397114454,0.6521579468183112]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.20057641154266537,-1.0104169326408523,0.71338606911949],"aabb_xy":[[0.18451448408414767,-1.095416934453444],[0.21663833900118296,-0.9254169308282604]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[0.5131231823687366,1.362497145862318,0.71338606911949],"aabb_xy":[[0.4793476231780436,1.3484586506491532],[0.5468987415594295,1.376535641075483]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[-0.6468099754527581,-0.4687344965576621,0.71338606911949],"aabb_xy":[[-0.6772942255797881,-0.518734496339158],[-0.6163257253257278,-0.4187344967761661]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_30","position":[-0.622156693269725,1.5995655955671846,0.71338606911949],"aabb_xy":[[-0.6861566946777157,1.5477766440432599],[-0.5581566918617343,1.6513545470911093]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659183365197955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2259.png","name":"2259"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2259.png","name":"2259"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9239.png","name":"9239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1058.png","name":"1058"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8838.png","name":"8838"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":789.477514336855,"rotation_z_degrees":247.77680296282261,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011437734587903165,-0.015924712275716475,-0.01944439575902899]},{"name":"camera_2","offset_m":[-0.0059827393078632825,-0.014537560208429574,0.015366215610390584]},{"name":"camera_3","offset_m":[0.010628697580743366,0.0018611925873092405,0.00589597203674103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004891322162339593,-0.0015164805728598472,0.001294341138350219],"end_effector_yaw_offset_degrees":0.48184335913821896},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008576266767145837,0.001019689595475352,-0.000921712732808035],"end_effector_yaw_offset_degrees":-0.4048758058374069},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-7.12321078058329e-05,-0.001725607579346562,-0.00013093540732461587],"end_effector_yaw_offset_degrees":0.4329192639847963}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012429642356436578,-0.0032310610898336244],"position_m":[0.3371570357643563,0.08206893891016638,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003879596120132875,-0.0036376190977928805],"position_m":[0.35421204038798676,0.2319623809022071,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021160846545781927,0.003745636648772606],"position_m":[0.21941608465457818,-0.0834543633512274,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029999151354018574,0.0038880429861664614],"position_m":[0.24340008486459816,-0.33181195701383354,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d047f1658ef95f840186ce553af2ecf36ae60226146844c2e8b42c130bff8792","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0139.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2259/tex_ceiling_textures_8838/tex_floor_textures_1058/tex_table_textures_8080/tex_wall_textures_9239","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2031183604402214211,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2031183604402214211,"visual_seed":2031183604402214211,"scene_id":"lab_003","finished_at":"2026-09-02T07:54:08"}
+{"episode_id":"ep_000084","started_at":"2026-09-02T07:54:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.592612029036091,0.9740041069196046,0.71338606911949],"aabb_xy":[[0.5286120317337445,0.9296376799517477],[0.6566120263384373,1.0183705338874613]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.6113755715013094,-1.069462645877932,0.71338606911949],"aabb_xy":[[-0.6613488655045697,-1.1194626464324793],[-0.5614022774980488,-1.0194626453233846]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.4414429115446712,-1.435387489665811,0.71338606911949],"aabb_xy":[[0.41692928744766533,-1.4596520829678474],[0.46595653564167705,-1.4111228963637745]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.32607198904343737,-0.550977648982188,0.71338606911949],"aabb_xy":[[0.2710719908416925,-0.5914996156086256],[0.38107198724518215,-0.5104556823557505]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.022792359993985434,1.5029917999440756,0.71338606911949],"aabb_xy":[[-0.014707640798010013,1.4966239589858854],[0.06029236078598088,1.5093596409022658]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[0.5155828009085115,-0.5229050384885552,0.71338606911949],"aabb_xy":[[0.4615672046266114,-0.5869050413808123],[0.5695983971904114,-0.458905035596298]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.21604594787964393,-1.7733810247530266,0.71338606911949],"aabb_xy":[[0.19615490799930374,-1.786036836037724],[0.23593698775998423,-1.7607252134683302]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.0523756524747766,-1.9178779897967289,0.71338606911949],"aabb_xy":[[-0.01262434568114245,-1.944174234346641],[0.11737565063069566,-1.8915817452468167]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.17665420292735312,1.4656147821515986,0.71338606911949],"aabb_xy":[[-0.1991542027412555,1.4611401657811176],[-0.15415420311345074,1.470089398522079]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.5840096414436193,1.2931021058866325,0.71338606911949],"aabb_xy":[[-0.6640096386031946,1.2815545049288155],[-0.504009644284044,1.3046497068444496]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.2793948251584436,1.2204859017316063,0.71338606911949],"aabb_xy":[[0.27405724949243904,1.1954859008024665],[0.2847324008244482,1.245485902660746]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.6070685241490144,-1.8463169180996457,0.71338606911949],"aabb_xy":[[0.5695685238007865,-1.858108313680729],[0.644568524497242,-1.834525522518562]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.6060213959632428,0.19081777852848392,0.71338606911949],"aabb_xy":[[0.5701078915382531,0.1549042703117293],[0.6419349003882324,0.22673128674523854]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.34321676152115665,-0.13591630287810386,0.71338606911949],"aabb_xy":[[-0.34879843315528536,-0.14841630269587935],[-0.33763508988702784,-0.12341630306032837]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.502232216319654,-2.2727645603401907,0.71338606911949],"aabb_xy":[[-0.5241219639085947,-2.3627645576294394],[-0.4803424687307131,-2.182764563050941]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.17646335335012397,1.6690173936008024,0.71338606911949],"aabb_xy":[[-0.184166544024201,1.661308022902064],[-0.1687601626760469,1.6767267642995403]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.5028448673956856,0.3641334319618994,0.71338606911949],"aabb_xy":[[-0.5396954153326732,0.3266334311388656],[-0.46599431945869796,0.4016334327849331]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.004426859789890103,1.370642845294347,0.71338606911949],"aabb_xy":[[-0.013073139488196772,1.3533047452280011],[0.021926859067976978,1.387980945360693]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.504116032106577,-2.104329601358542,0.71338606911949],"aabb_xy":[[0.4401160288879391,-2.1510527132575503],[0.5681160353252148,-2.0576064894595336]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.05512709894776924,0.8878860421249386,0.71338606911949],"aabb_xy":[[-0.13512710002088957,0.878107995787554],[0.024872902125351086,0.8976640884623229]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.5624498030700296,1.52914224930247,0.71338606911949],"aabb_xy":[[0.5505777200585285,1.4441422496088197],[0.5743218860815307,1.6141422489961204]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.41068073994480603,-0.2893151464056549,0.71338606911949],"aabb_xy":[[0.3731807394474478,-0.29328382995377333],[0.44818074044216427,-0.2853464628575365]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[0.2938795581807103,-1.9893412116066644,0.71338606911949],"aabb_xy":[[0.2879130192399746,-1.995302356266028],[0.29984609712144616,-1.9833800669473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636253016498359,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4454.png","name":"4454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2636.png","name":"2636"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/877.png","name":"877"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.4178910361409,"rotation_z_degrees":309.11965725923494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01579980631503231,0.010786617361265297,0.01370877653042456]},{"name":"camera_2","offset_m":[-0.014250001536154723,0.019167511440237994,0.014569223047988997]},{"name":"camera_3","offset_m":[0.004335587037357352,-0.0014722232494628652,-0.012033800836551967]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012564517833155825,-0.0018451038552633504,0.0001994235322794781],"end_effector_yaw_offset_degrees":0.6664267195042366},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009317427500754546,-0.0018245545147812904,-0.0006766698348147843],"end_effector_yaw_offset_degrees":0.21208243156680462},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017189261930113456,0.0014726821118729297,-0.00025043730512240483],"end_effector_yaw_offset_degrees":-0.24215535723620696}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017278050448367114,0.0019524662375200218],"position_m":[0.3401278050448367,0.08725246623752002,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00483740405737662,0.0016611480239308663],"position_m":[0.34976259594262343,0.23726114802393086,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[2.4893953325286558e-05,0.000776881943616213],"position_m":[0.21732489395332527,-0.08642311805638378,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002852418516484172,0.0038962571378559933],"position_m":[0.24354758148351582,-0.331803742862144,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cb8bffe00820a70df5b6dd3141059b0a25bac2758c5d10dc491163027715d9e0","episode_index":140,"episode_name":"episode_0140"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0140.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9952/tex_ceiling_textures_877/tex_floor_textures_2636/tex_table_textures_4454/tex_wall_textures_5964","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6503362544368662826,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6503362544368662826,"visual_seed":6503362544368662826,"scene_id":"lab_003","finished_at":"2026-09-02T07:56:50"}
+{"episode_id":"ep_000085","started_at":"2026-09-02T07:56:53","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.08511207989973457,-0.8369993627104684,0.71338606911949],"aabb_xy":[[-0.08881534122887343,-0.8407013810191861],[-0.08140881857059569,-0.8332973444017504]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.5755742012352315,-0.5592050698777342,0.71338606911949],"aabb_xy":[[-0.6555741998225508,-0.6385206718158951],[-0.495574202647912,-0.4798894679395734]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.5247050294473958,-0.8414375523908757,0.71338606911949],"aabb_xy":[[-0.5747050308082831,-0.8914154569662912],[-0.47470502808650866,-0.79145964781546]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.3286430022888023,-1.7101738943102796,0.71338606911949],"aabb_xy":[[0.2646429989990941,-1.7535088133141972],[0.39264300557851034,-1.666838975306362]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.5077022481436363,-2.513689282108192,0.71338606911949],"aabb_xy":[[-0.5571826693575951,-2.577689280021044],[-0.4582218269296775,-2.4496892841953404]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[0.23366509395820567,-0.5798196049268824,0.71338606911949],"aabb_xy":[[0.1636650905666437,-0.6151353786303132],[0.30366509734976765,-0.5445038312234515]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.5958327121967162,-1.2332433488371235,0.71338606911949],"aabb_xy":[[0.5903747665596961,-1.3132433521447826],[0.6012906578337363,-1.1532433455294644]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.41216312182710885,-2.357529506660651,0.71338606911949],"aabb_xy":[[-0.4291732191171595,-2.3736639951589247],[-0.3951530245370582,-2.341395018162377]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.46835996344803416,-1.7593981685106606,0.71338606911949],"aabb_xy":[[-0.48724434721654436,-1.7782840932910136],[-0.44947557967952395,-1.740512243730308]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.20828949096135274,-1.6277165905614859,0.71338606911949],"aabb_xy":[[-0.21470330460453765,-1.6341264108091538],[-0.20187567731816777,-1.621306770313817]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.2710669881444576,-0.9726591494508907,0.71338606911949],"aabb_xy":[[0.24860221817305245,-0.9951591503297511],[0.2935317581158627,-0.9501591485720301]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.006137776205965784,1.4504333075146936,0.71338606911949],"aabb_xy":[[0.0017071468511256089,1.4449849357800113],[0.010568405560805962,1.4558816792493763]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.5878498138357733,0.9765173960256828,0.71338606911949],"aabb_xy":[[0.5327246082061824,0.9165173945843955],[0.642975019465364,1.0365173974669697]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.2207334284680365,-1.4541594291552125,0.71338606911949],"aabb_xy":[[-0.2783638973553073,-1.5141594280819226],[-0.1631029595807656,-1.3941594302285016]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.3657377412305281,-0.5110876964754847,0.71338606911949],"aabb_xy":[[-0.4307377421876553,-0.5630359084091902],[-0.3007377402734009,-0.45913948454177905]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.4009666107942955,-1.268684001030482,0.71338606911949],"aabb_xy":[[0.3810755709139554,-1.2813398123151791],[0.4208576506746359,-1.2560281897457855]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.5066923494746187,0.7827190733047975,0.71338606911949],"aabb_xy":[[-0.5431881701018975,0.7462351308780399],[-0.47019652884734,0.8192030157315551]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.28615727118527523,-1.6753461386187563,0.71338606911949],"aabb_xy":[[-0.31400230796588235,-1.7061306373570682],[-0.2583122344046681,-1.6445616398804448]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[0.003783665645002432,-2.5517447180818755,0.71338606911949],"aabb_xy":[[-0.018712755788861668,-2.574244717888623],[0.026280087078866532,-2.529244718275128]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.6314393782102126,0.45118621230529277,0.71338606911949],"aabb_xy":[[0.6081575360120812,0.3661862110080647],[0.6547212204083439,0.5361862136025208]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.14021593056354698,0.5597042607553147,0.71338606911949],"aabb_xy":[[-0.14745969660979227,0.4797042625517123],[-0.13297216451730162,0.639704258958917]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.38657331581338716,1.4046665495747517,0.71338606911949],"aabb_xy":[[-0.404151618002334,1.3870920600006467],[-0.3689950136244403,1.4222410391488567]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.44520158938364074,-2.0468910980564674,0.71338606911949],"aabb_xy":[[0.43648762033370625,-2.0693910987156547],[0.45391555843357523,-2.0243910973972783]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.1090978768693549,-0.1934180314610887,0.71338606911949],"aabb_xy":[[-0.12652859194836136,-0.2106901461249395],[-0.09166716179034837,-0.17614591679723787]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[0.5380354916857841,-2.1842093647339302,0.71338606911949],"aabb_xy":[[0.4740354902777935,-2.235998316257855],[0.6020354930937748,-2.1324204132100055]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.0631112724860472,-1.2258631546056824,0.71338606911949],"aabb_xy":[[0.013132463975731312,-1.275863154611401],[0.11309008099636308,-1.1758631545999634]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[0.2585693699729764,0.6073334689553995,0.71338606911949],"aabb_xy":[[0.17856936671513346,0.5273369611634156],[0.33856937323081937,0.6873299767473835]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_27","position":[0.3395963154516466,-1.1631663908955039,0.71338606911949],"aabb_xy":[[0.3307942601426738,-1.1709777170504327],[0.34839837076061925,-1.1553550647405746]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.3690834111867979,-0.35805777900404934,0.71338606911949],"aabb_xy":[[-0.4190782441147395,-0.4080577778992929],[-0.3190885782588563,-0.3080577801088058]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_29","position":[-0.2133568477604893,-1.9506374465147622,0.71338606911949],"aabb_xy":[[-0.24781919515863107,-1.985131328912585],[-0.17889450036234747,-1.9161435641169395]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[0.5444630184806143,0.013458715976462532,0.71338606911949],"aabb_xy":[[0.5094630202104944,0.0063845882814743665],[0.5794630167507342,0.020532843671450696]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_31","position":[-0.41480650205388464,-0.1750454986514116,0.71338606911949],"aabb_xy":[[-0.46980197987454403,-0.23004550008531854],[-0.35981102423322525,-0.12004549721750468]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[0.6120325610052759,1.529480339467701,0.71338606911949],"aabb_xy":[[0.5745325603406972,1.5137932814674784],[0.6495325616698546,1.5451673974679228]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_33","position":[0.015508270251237466,0.6774909348381466,0.71338606911949],"aabb_xy":[[0.009413642363119146,0.6689215402864779],[0.021602898139355786,0.6860603293898153]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_34","position":[0.0250492731204085,1.0422479543941505,0.71338606911949],"aabb_xy":[[-0.06463780318770695,0.9522479541397002],[0.11473634942852395,1.1322479546486013]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6719530363364157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5667.png","name":"5667"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5667.png","name":"5667"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/339.png","name":"339"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9209.png","name":"9209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/906.png","name":"906"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5000.png","name":"5000"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":823.1761642729339,"rotation_z_degrees":259.321382411724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004904272624448366,-0.012544944312066552,0.003327818202538725]},{"name":"camera_2","offset_m":[-0.014666347576985931,-0.002143111916224235,-0.005362995898170917]},{"name":"camera_3","offset_m":[-0.015108134748161249,-0.0063114434465374285,-0.0001708884824814516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001326027039831998,-9.770146090651863e-05,0.0001929197874173793],"end_effector_yaw_offset_degrees":0.16462367459362204},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012938761870584818,-0.0017118158830457192,-0.0013924607270081398],"end_effector_yaw_offset_degrees":0.8949984765854142},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000234875221646564,0.0005533776400435718,0.001025770907218582],"end_effector_yaw_offset_degrees":0.44918077918612864}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00020852541615723821,-0.003453740689093753],"position_m":[0.3386085254161572,0.08184625931090625,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003123316097440821,0.004158853850863045],"position_m":[0.35772331609744085,0.23975885385086304,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002320598174194528,0.002654246390120303],"position_m":[0.21962059817419452,-0.0845457536098797,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001021602994361455,0.0035897232137606988],"position_m":[0.24537839700563854,-0.3321102767862393,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2f1ca85962ef60f6d78e51548318c120d44e4fd2c21bd9d6569fbcd93cd59a48","episode_index":141,"episode_name":"episode_0141"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0141.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5667/tex_ceiling_textures_5000/tex_floor_textures_906/tex_table_textures_339/tex_wall_textures_9209","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":2838204449961633162,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":2838204449961633162,"visual_seed":2838204449961633162,"scene_id":"lab_003","finished_at":"2026-09-02T07:59:39"}
+{"episode_id":"ep_000086","started_at":"2026-09-02T08:01:07","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.3152395365514741,-1.8497307840237207,0.71338606911949],"aabb_xy":[[-0.3652395375020069,-1.881279931027242],[-0.26523953560094127,-1.818181637020199]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.27223012555866366,-1.0401650273869134,0.71338606911949],"aabb_xy":[[0.26410243736535044,-1.049078635797621],[0.2803578137519769,-1.0312514189762059]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.2772008649814037,0.63517347422043,0.71338606911949],"aabb_xy":[[0.22722779944888832,0.5851734744078971],[0.32717393051391924,0.6851734740329629]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.6499609967436499,-0.31549638247047396,0.71338606911949],"aabb_xy":[[-0.6849609958736056,-0.32124160354613807],[-0.6149609976136943,-0.30975116139480985]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.021231989235193316,1.6156091768532783,0.71338606911949],"aabb_xy":[[-0.001267146491033655,1.5931091760750156],[0.04373112496142029,1.6381091776315415]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.002275160802589604,-1.0430311177378073,0.71338606911949],"aabb_xy":[[-0.047724838773745115,-1.0930116966899135],[0.052275160378924324,-0.9930505387857016]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.4697271103433095,1.7353474121079322,0.71338606911949],"aabb_xy":[[-0.473640983538732,1.7265983967013752],[-0.46581323714788697,1.7440964275144888]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[0.5731739932230768,-2.403298016345466,0.71338606911949],"aabb_xy":[[0.5481739940574437,-2.4102502620508224],[0.5981739923887099,-2.3963457706401092]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.22116140900331305,0.9586222638797675,0.71338606911949],"aabb_xy":[[0.1838301324780704,0.9239692090849152],[0.25849268552855564,0.9932753186746197]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.14850458122867094,-2.513394736812359,0.71338606911949],"aabb_xy":[[-0.21350457978574378,-2.5431472702262417],[-0.0835045826715981,-2.4836422033984764]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.09382754411367111,-2.3451959777471614,0.71338606911949],"aabb_xy":[[0.02382754072210914,-2.380511751450592],[0.1638275475052331,-2.30988020404373]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.5950093452228056,1.616956212791807,0.71338606911949],"aabb_xy":[[0.5848563296686561,1.5808866712190661],[0.6051623607769548,1.6530257543645468]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.15342216173723644,-0.9988070233777595,0.71338606911949],"aabb_xy":[[0.13736023427871877,-1.083807025190351],[0.16948408919575406,-0.9138070215651676]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.5510852711060459,1.7970077917374838,0.71338606911949],"aabb_xy":[[0.48108526929730033,1.7756540229732967],[0.6210852729147912,1.8183615605016714]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.4772435045301997,-1.1750595597358522,0.71338606911949],"aabb_xy":[[0.4722874843453187,-1.197559559937974],[0.48219952471508104,-1.1525595595337308]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.5902903592354116,-0.945662468580386,0.71338606911949],"aabb_xy":[[0.5771391132641224,-0.9706624683370726],[0.6034416052067011,-0.9206624688236995]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.4477149349786135,-0.7089035087272901,0.71338606911949],"aabb_xy":[[-0.4845654829156012,-0.7464035095503239],[-0.410864387041626,-0.6714035079042564]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.1888277775855146,-2.4910676183009044,0.71338606911949],"aabb_xy":[[0.15319862168555487,-2.5267002850577573],[0.22445693348547435,-2.4554349515440514]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.17217766665812717,-1.445508144020408,0.71338606911949],"aabb_xy":[[-0.23617766987676503,-1.4922312559194164],[-0.10817766343948931,-1.3987850321213997]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.4625397765163948,-0.9444396401000485,0.71338606911949],"aabb_xy":[[0.43625095219595406,-0.9707110737546997],[0.4888286008368354,-0.9181682064453972]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.25456195692281525,-2.170814595077829,0.71338606911949],"aabb_xy":[[-0.2832112892832314,-2.1994601543549037],[-0.22591262456239897,-2.142169035800752]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.32659917534955696,-0.616154945807643,0.71338606911949],"aabb_xy":[[0.32246331901685676,-0.6536549452520001],[0.33073503168225715,-0.5786549463632861]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.24808486768954185,-1.5351739550448313,0.71338606911949],"aabb_xy":[[0.20531816081012166,-1.5991739584666336],[0.29085157456896205,-1.4711739516230287]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[0.6534851107535928,0.6352156573818295,0.71338606911949],"aabb_xy":[[0.6462238631831854,0.6224286471183201],[0.6607463583240003,0.6480026676453391]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.2741336233820925,0.677980580850432,0.71338606911949],"aabb_xy":[[-0.2834272416192431,0.6404805823622981],[-0.26484000514494194,0.7154805793385659]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.03934765430925402,-1.8857127073710866,0.71338606911949],"aabb_xy":[[-0.04662997068591766,-1.9757127109805954],[-0.03206533793259035,-1.7957127037615774]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.10893122319333093,-0.8092809199058757,0.71338606911949],"aabb_xy":[[-0.1889312234669379,-0.8822304677315924],[-0.02893122291972394,-0.736331372080159]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[-0.23158604078701933,-0.48947330470202033,0.71338606911949],"aabb_xy":[[-0.3015860434236056,-0.5095781696978858],[-0.16158603815043296,-0.46936843970615477]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[0.6083436536757241,0.9548778247517773,0.71338606911949],"aabb_xy":[[0.5965754668810668,0.8698778248465558],[0.6201118404703818,1.0398778246569989]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[-0.2811963194794742,-1.568229905441365,0.71338606911949],"aabb_xy":[[-0.29629862094049214,-1.5833314270724266],[-0.26609401801845595,-1.5531283838103027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694671867389151,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1078.png","name":"1078"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4114.png","name":"4114"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7530.png","name":"7530"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6216.png","name":"6216"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":587.9007338976985,"rotation_z_degrees":251.85314005536114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013403597951244375,0.0023645623999726875,-0.006991574410062134]},{"name":"camera_2","offset_m":[-0.001298001454096212,0.016156675525529265,0.007518263110300984]},{"name":"camera_3","offset_m":[0.011587934758199536,0.016767443972856923,-0.011001774803400522]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006885524169105573,-0.0007827549512899904,0.0016291735896219856],"end_effector_yaw_offset_degrees":0.2667080514610216},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001317197359098174,-0.001289249942487233,-0.00198152805042798],"end_effector_yaw_offset_degrees":-0.6775585227479359},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015108182931127799,-0.0015651085957427014,-0.0008468445358972647],"end_effector_yaw_offset_degrees":-0.06544662465161388}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043449469433355405,0.0028958069942538007],"position_m":[0.33405505305666444,0.0881958069942538,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019305973030939606,0.00029343212403663745],"position_m":[0.356530597303094,0.23589343212403663,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019051567135020906,-0.003602160099277333],"position_m":[0.21920515671350208,-0.09080216009927733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003473504156512084,0.0043363449128947925],"position_m":[0.2498735041565121,-0.3313636550871052,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8c97e4aab24b773113ad96365d612757465b304a70a88927aaf0a5f14e280453","episode_index":143,"episode_name":"episode_0143"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0143.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3046/tex_ceiling_textures_6216/tex_floor_textures_7530/tex_table_textures_1078/tex_wall_textures_4114","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4053018273574820347,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4053018273574820347,"visual_seed":4053018273574820347,"scene_id":"lab_003","finished_at":"2026-09-02T08:03:48"}
+{"episode_id":"ep_000087","started_at":"2026-09-02T08:05:12","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[0.6150145605932964,-1.5456585524393485,0.71338606911949],"aabb_xy":[[0.5697359457121471,-1.6096585517875321],[0.6602931754744457,-1.4816585530911648]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.13615723684644376,1.1797666683948744,0.71338606911949],"aabb_xy":[[-0.15865723735848433,1.1572748100294759],[-0.11365723633440314,1.2022585267602726]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.06824329748705149,0.8259763875245745,0.71338606911949],"aabb_xy":[[0.04195447316661082,0.7997049538699231],[0.09453212180749214,0.8522478211792256]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.11681485934168123,-1.8531319118241445,0.71338606911949],"aabb_xy":[[-0.17181033716234062,-1.908131913258051],[-0.06181938152102183,-1.7981319103902371]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.07178644965020786,-0.6723346656757947,0.71338606911949],"aabb_xy":[[0.06474499869946027,-0.6793614174135894],[0.07882790060095546,-0.6653079139380003]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.24555683398968486,-1.104694224360586,0.71338606911949],"aabb_xy":[[-0.3095568332838531,-1.16868036472944],[-0.18155683469551664,-1.0407080839917315]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.576813091355942,-1.9960466644363506,0.71338606911949],"aabb_xy":[[-0.5828501043566069,-2.002073365505299],[-0.5707760783552774,-1.9900199633674027]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.00933261168076438,1.2646763128073664,0.71338606911949],"aabb_xy":[[-0.0468326119729392,1.2606348374067629],[0.028167388611410438,1.2687177882079699]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.015155343991365089,-0.7491115015191185,0.71338606911949],"aabb_xy":[[-0.03966896808837095,-0.773376094821155],[0.009358280105640769,-0.7248469082170821]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.18787120485390563,-1.3032998903164585,0.71338606911949],"aabb_xy":[[-0.2288891482402765,-1.3532998909474159],[-0.14685326146753475,-1.2532998896855012]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.31352302129949916,0.810893267906168,0.71338606911949],"aabb_xy":[[-0.368523019501244,0.7703713012797305],[-0.2585230230977543,0.8514152345326057]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.619355407630239,-1.6320527873834334,0.71338606911949],"aabb_xy":[[-0.6295084231843883,-1.668122328956173],[-0.6092023920760895,-1.5959832458106924]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.4301091531635324,1.0739577171953445,0.71338606911949],"aabb_xy":[[-0.4409496313900473,1.0567714359046958],[-0.41926867493701747,1.0911439984859932]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.26389458429457946,-2.5198068088818,0.71338606911949],"aabb_xy":[[0.2541385947854055,-2.529569342941035],[0.2736505738037533,-2.510044274822566]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.585389720845372,1.0257832545078531,0.71338606911949],"aabb_xy":[[0.5353897214051764,0.9758153300235366],[0.6353897202855676,1.0757511789921692]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.37379873220060644,-1.307633013600281,0.71338606911949],"aabb_xy":[[0.3684662175459935,-1.3129573418455165],[0.3791312468552195,-1.3023086853550454]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.42030637243939406,0.7144420941648186,0.71338606911949],"aabb_xy":[[0.38571528958534884,0.6494420938797876],[0.4548974552934393,0.7794420944498497]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.09865731819126655,0.12365312384904081,0.71338606911949],"aabb_xy":[[-0.12980423703484967,0.053653125162233625],[-0.06751039934768342,0.193653122535848]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.052615134144162856,0.37707045400268946,0.71338606911949],"aabb_xy":[[-0.10260996707210446,0.3270704551074459],[-0.0026203012162212616,0.427070452897933]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.18975358863278036,-0.5612492521165708,0.71338606911949],"aabb_xy":[[0.1785085330621625,-0.5724910498406662],[0.20099864420339816,-0.5500074543924757]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.015686521706230416,1.5367886819798255,0.71338606911949],"aabb_xy":[[-0.09568652217644638,1.5284779743654773],[0.06431347876398553,1.5450993895941738]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.19241131328307726,-1.2553052253245234,0.71338606911949],"aabb_xy":[[0.10241131355990306,-1.278378577859703],[0.2824113130062514,-1.2322318727893433]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[-0.3511054900905732,0.4773004927004889,0.71338606911949],"aabb_xy":[[-0.38158974021760333,0.4273004929189929],[-0.320621239963543,0.5273004924819849]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.27915936828541227,0.6687894421669203,0.71338606911949],"aabb_xy":[[-0.28727302295878937,0.6606836257128911],[-0.27104571361203517,0.6768952586209492]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[0.48288318888481974,-1.9554105335405376,0.71338606911949],"aabb_xy":[[0.4328831885242536,-2.00539052075014],[0.5328831892453857,-1.9054305463309344]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.25986326685346894,-1.4869665397376177,0.71338606911949],"aabb_xy":[[-0.27773237460792444,-1.5007994477148285],[-0.24199415909901345,-1.473133631760407]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[-0.4009646217870612,1.6546859533401332,0.71338606911949],"aabb_xy":[[-0.40895861036476455,1.646685873245043],[-0.39297063320935777,1.6626860334352236]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[-0.4455480525959919,1.238547115082496,0.71338606911949],"aabb_xy":[[-0.5095480528564625,1.193538315729568],[-0.381548052335521,1.283555914435424]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[0.5956181480437177,-2.2122538943794483,0.71338606911949],"aabb_xy":[[0.5669688156833015,-2.2408994536565237],[0.6242674804041339,-2.183608335102372]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_29","position":[0.3158711741220277,-1.6564996747637344,0.71338606911949],"aabb_xy":[[0.2933574822985705,-1.7264996753647417],[0.3383848659454849,-1.5864996741627266]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[0.20685549547315274,1.2598810180251232,0.71338606911949],"aabb_xy":[[0.11685549605478185,1.2265055211809335],[0.29685549489152363,1.293256514869313]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_31","position":[0.7117433297708757,-0.7880597363545709,0.71338606911949],"aabb_xy":[[0.7071082146186424,-0.7919270714317196],[0.7163784449231091,-0.7841924012774223]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_32","position":[0.5174336126501733,-0.9205054429914079,0.71338606911949],"aabb_xy":[[0.48313670163243255,-0.9548023292013492],[0.5517305236679138,-0.8862085567814666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6632245037267314,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1541.png","name":"1541"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2605.png","name":"2605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8141.png","name":"8141"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":689.0664904860278,"rotation_z_degrees":331.7573859339328,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006898703839318662,0.00037752332451723714,0.019340199275225473]},{"name":"camera_2","offset_m":[-0.018211690657271302,-0.001907069891846979,-0.005058363614599238]},{"name":"camera_3","offset_m":[0.01665169084956854,-0.009616509052615943,-0.00433800009011227]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008267365778440933,0.0017258580811604848,0.00028392509851773865],"end_effector_yaw_offset_degrees":-0.23732823714842177},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007802587290893547,-0.001003007446738093,-0.000802644893793898],"end_effector_yaw_offset_degrees":-0.3572849345288056},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008794612580368534,5.7001183441070594e-05,-0.0007119046723121612],"end_effector_yaw_offset_degrees":0.9286189091977561}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035288803890808325,-0.003333785692654644],"position_m":[0.3419288803890808,0.08196621430734535,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004806815980750239,0.00045748894608363747],"position_m":[0.3497931840192498,0.23605748894608364,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005417497896956823,-0.0047870756196296575],"position_m":[0.21784174978969567,-0.09198707561962965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024949463249852744,0.003492221556434188],"position_m":[0.24390505367501472,-0.3322077784435658,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f898af68cf1131ab37960109207c9a27a70b59fa33c34824707d212a14affee1","episode_index":145,"episode_name":"episode_0145"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0145.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6676/tex_ceiling_textures_8141/tex_floor_textures_2605/tex_table_textures_8411/tex_wall_textures_1541","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5398156563954613482,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5398156563954613482,"visual_seed":5398156563954613482,"scene_id":"lab_003","finished_at":"2026-09-02T08:08:04"}
+{"episode_id":"ep_000088","started_at":"2026-09-02T08:08:07","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.18775740766730897,1.7237246847748398,0.71338606911949],"aabb_xy":[[0.17800141815813506,1.713962150715605],[0.19751339717648284,1.733487218834074]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.48775557504308087,-2.21695164865064,0.71338606911949],"aabb_xy":[[0.43775557468251475,-2.266931635860243],[0.5377555754036468,-2.1669716614410373]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.17905732591312007,1.255427946557627,0.71338606911949],"aabb_xy":[[0.10905732431084056,1.2419951533559697],[0.24905732751539952,1.2688607397592848]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.22534788861134658,-1.5196520089410859,0.71338606911949],"aabb_xy":[[0.1910509775936059,-1.553948895151027],[0.25964479962908715,-1.4853551227311443]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.6314780753030091,-1.6331141909936084,0.71338606911949],"aabb_xy":[[-0.6517623780264078,-1.653396816136317],[-0.6111937725796103,-1.6128315658508994]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.5533536687051612,0.3231320769174699,0.71338606911949],"aabb_xy":[[0.49335366706223927,0.2711319276255258],[0.613353670348083,0.37513222620941417]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.399728030302981,-2.361743303197295,0.71338606911949],"aabb_xy":[[-0.40368851407271533,-2.3694111677828156],[-0.39576754653324664,-2.3540754386117744]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.4240887128966866,-2.4525445678141664,0.71338606911949],"aabb_xy":[[0.3640887123006704,-2.50735704035939],[0.48408871349270277,-2.397732095268943]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.05294657220857568,-0.41569540942477046,0.71338606911949],"aabb_xy":[[-0.07483631979751647,-0.5056954067140196],[-0.03105682461963488,-0.32569541213552133]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.12976932711930544,-2.5672524454842325,0.71338606911949],"aabb_xy":[[-0.15226932693320783,-2.571727061854713],[-0.10726932730540306,-2.562777829113752]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.24976685804351034,-0.9508908815157584,0.71338606911949],"aabb_xy":[[-0.27167554018286133,-0.9727915483358491],[-0.22785817590415927,-0.9289902146956677]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.63397641892091,0.8987155693962641,0.71338606911949],"aabb_xy":[[-0.667455586181951,0.8652364560251571],[-0.6004972516598691,0.932194682767371]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.511283621904786,0.12467839739924402,0.71338606911949],"aabb_xy":[[0.4472836216443152,0.07966959804631601],[0.5752836221652567,0.16968719675217203]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.4254077889935044,-0.5258510313661158,0.71338606911949],"aabb_xy":[[0.37543472346098905,-0.5758510311786488],[0.47538085452601997,-0.475851031553583]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[0.4441468127231949,-1.482069430021508,0.71338606911949],"aabb_xy":[[0.3943300332583602,-1.5320694285058114],[0.4939635921880297,-1.4320694315372047]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.5774624416844675,-0.5759894153595648,0.71338606911949],"aabb_xy":[[-0.5818930710393077,-0.5814377870942474],[-0.5730318123296273,-0.5705410436248822]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[-0.1935075252397086,-1.4829014823247726,0.71338606911949],"aabb_xy":[[-0.19846354542458988,-1.5054014825268947],[-0.18855150505482748,-1.4604014821226512]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.5198157503210468,0.8088025438139135,0.71338606911949],"aabb_xy":[[-0.5373157495991336,0.7914644437475675],[-0.5023157510429599,0.8261406438802594]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.4344428676550754,1.5349268192623895,0.71338606911949],"aabb_xy":[[-0.48441616165833584,1.484926818707842],[-0.38446957365181494,1.5849268198169366]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.07008447949268493,1.364348475833324,0.71338606911949],"aabb_xy":[[-0.16008447622829514,1.3111650125160295],[0.0199155172429253,1.4175319391506185]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.3076685286334947,-0.16828422291680445,0.71338606911949],"aabb_xy":[[-0.31529279672367294,-0.1759174464533482],[-0.30004426054331645,-0.16065099938026076]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.16810647717775862,0.4101851138761554,0.71338606911949],"aabb_xy":[[-0.2018820363684516,0.3961466186629904],[-0.13433091798706565,0.42422360908932044]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.3738538803489458,-0.457780143926688,0.71338606911949],"aabb_xy":[[-0.4438538767589074,-0.4782180795783697],[-0.3038538839389838,-0.43734220827500625]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.6413168753989371,-0.9512106695249274,0.71338606911949],"aabb_xy":[[0.61880318357548,-1.0212106701259347],[0.6638305672223944,-0.8812106689239197]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[-0.21997978425096226,-2.493919725519054,0.71338606911949],"aabb_xy":[[-0.24125779239443448,-2.5589197278451272],[-0.19870177610748999,-2.428919723192981]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[-0.6768396241434311,0.025476112280713448,0.71338606911949],"aabb_xy":[[-0.6899908701147205,0.00047611252402689913],[-0.6636883781721418,0.050476112037399996]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.020282461546623276,-2.2657071586780786,0.71338606911949],"aabb_xy":[[-0.06940461476149218,-2.355707158932529],[0.10996953785473873,-2.175707158423628]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.1793631811682571,-1.2606915113638903,0.71338606911949],"aabb_xy":[[0.15436318123573922,-1.2675741795848137],[0.204363181100775,-1.253808843142967]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[-0.10358203153047507,-0.7415257720410868,0.71338606911949],"aabb_xy":[[-0.11274191047435167,-0.7480569900846239],[-0.09442215258659847,-0.7349945539975498]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_29","position":[-0.331340783036242,-1.431896433273326,0.71338606911949],"aabb_xy":[[-0.39534078525664895,-1.4762695173986145],[-0.2673407808158349,-1.3875233491480379]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_30","position":[0.6141884560661253,1.4655661763123073,0.71338606911949],"aabb_xy":[[0.5341884546359981,1.3860490212996974],[0.6941884574962525,1.5450833313249164]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[0.6739981126563317,-1.8559214457548108,0.71338606911949],"aabb_xy":[[0.6564981124112823,-1.8734212335943776],[0.6914981129013811,-1.838421657915244]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658550674479646,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9714.png","name":"9714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4215.png","name":"4215"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4478.png","name":"4478"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":755.8795082696647,"rotation_z_degrees":328.5929760730905,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017489440789702472,-0.008498834672268698,0.012516735787772511]},{"name":"camera_2","offset_m":[-0.0016362339692339266,0.01938477555996544,0.004284470137827227]},{"name":"camera_3","offset_m":[0.01202396005784431,0.009976892841633615,1.6826353316869852e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013070217926789101,-0.0014459677665692818,0.0017692889158718527],"end_effector_yaw_offset_degrees":0.5432278378162192},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014535682528538348,-0.000446932048240826,0.0015162011454154627],"end_effector_yaw_offset_degrees":-0.8009118078026276},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007366164097296411,0.0002823405007212538,0.0017871315159398793],"end_effector_yaw_offset_degrees":-0.0021216777516186447}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015844232613752428,-0.0022295941681871843],"position_m":[0.3368155767386247,0.08307040583181281,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036012628841971574,0.004657208053211382],"position_m":[0.3509987371158029,0.24025720805321138,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004043568195412051,-0.0012439157535602285],"position_m":[0.22134356819541204,-0.08844391575356023,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021867786835524363,0.0019610923997194227],"position_m":[0.24421322131644757,-0.3337389076002806,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e15814065fb3833285d982fa2815e2782f81cfd0901062eb0d562be9f8e41359","episode_index":146,"episode_name":"episode_0146"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0146.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3597/tex_ceiling_textures_4478/tex_floor_textures_4215/tex_table_textures_9714/tex_wall_textures_9497","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":9110425188071883959,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":9110425188071883959,"visual_seed":9110425188071883959,"scene_id":"lab_003","finished_at":"2026-09-02T08:11:04"}
+{"episode_id":"ep_000089","started_at":"2026-09-02T08:25:03","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.5456391734093531,-1.854452647141665,0.71338606911949],"aabb_xy":[[0.5347333973217904,-1.9344526435404938],[0.5565449494969158,-1.7744526507428355]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.3302058141912889,-1.0058956834670165,0.71338606911949],"aabb_xy":[[0.28020581283040175,-1.0558735880424321],[0.3802058155521762,-0.955917778891601]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.5348335247407168,-2.1287482223244116,0.71338606911949],"aabb_xy":[[-0.5848285357001688,-2.178748221360004],[-0.48483851378126475,-2.0787482232888204]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.5521634713049591,0.3580803225002356,0.71338606911949],"aabb_xy":[[-0.5627309509630581,0.347535292387227],[-0.5415959916468601,0.36862535261324414]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.5840511030505993,1.151014626212631,0.71338606911949],"aabb_xy":[[-0.6480511037540686,1.10499624373971],[-0.5200511023471299,1.197033008685552]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.3929525151017321,0.2597502899301207,0.71338606911949],"aabb_xy":[[-0.4429525137476534,0.20983074627065834],[-0.342952516455811,0.3096698335895831]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.5110320341855068,-0.422206419024739,0.71338606911949],"aabb_xy":[[0.46390265518367113,-0.4862064200691409],[0.5581614131873425,-0.358206417980337]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.08923000688578231,-1.706563387978072,0.71338606911949],"aabb_xy":[[-0.10624010417583295,-1.722697876476346],[-0.07221990959573164,-1.6904288994797982]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[-0.301498989182838,-2.1576732032606225,0.71338606911949],"aabb_xy":[[-0.37149898559279976,-2.1781111389123033],[-0.2314989927728762,-2.13723526760894]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.5804760520178778,-2.5492328224883414,0.71338606911949],"aabb_xy":[[0.5554760520853599,-2.5561154907092645],[0.6054760519503957,-2.5423501542674183]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.4993104804216346,1.1736282348240157,0.71338606911949],"aabb_xy":[[0.4841476074446976,1.1584627775288971],[0.5144733533985717,1.1887936921191347]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.698558929325741,1.7177924124770212,0.71338606911949],"aabb_xy":[[0.6944429792136683,1.7136768574441752],[0.7026748794378136,1.7219079675098663]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.3027234022237236,-2.0654552213140827,0.71338606911949],"aabb_xy":[[0.28485429446926813,-2.0792881292912937],[0.3205925099781791,-2.0516223133368716]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.5645020424311258,-0.7504266636698222,0.71338606911949],"aabb_xy":[[0.5399884183341199,-0.7746912569718586],[0.5890156665281316,-0.7261620703677857]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.008898584985538971,-1.7515405717532795,0.71338606911949],"aabb_xy":[[-0.026329300064545477,-1.76881268641713],[0.008532130093467536,-1.7342684570894285]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.570661410900867,-0.9486133471070146,0.71338606911949],"aabb_xy":[[0.5350322550009072,-0.9842460138638675],[0.6062905668008267,-0.9129806803501616]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.11147724237894474,1.7215301849474245,0.71338606911949],"aabb_xy":[[0.021790166070829287,1.6315301846929737],[0.2011643186870602,1.8115301852018748]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.007236090815707197,1.2638255070950888,0.71338606911949],"aabb_xy":[[-0.047889114813883575,1.2038255056538014],[0.06236129644529797,1.3238255085363757]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.06078524269480934,-0.9642712523599917,0.71338606911949],"aabb_xy":[[-0.11076265956006291,-1.01427125384924],[-0.010807825829555749,-0.914271250870743]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.6243072384989536,0.5738240180349168,0.71338606911949],"aabb_xy":[[0.5443072380287378,0.5655133104205685],[0.7043072389691697,0.5821347256492653]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637597197584213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1457.png","name":"1457"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1457.png","name":"1457"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8472.png","name":"8472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6810.png","name":"6810"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8162.png","name":"8162"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":578.7014762620919,"rotation_z_degrees":248.3983221720178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01729097595365465,0.014276478091308279,0.01380896382258565]},{"name":"camera_2","offset_m":[0.01408610726232697,0.0013001512245374436,-0.01565928526224534]},{"name":"camera_3","offset_m":[0.006507112075683667,-0.013201804143304071,0.01037868530098025]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017420129441634252,-0.0001976251373842098,-0.0010876300784766588],"end_effector_yaw_offset_degrees":0.5068085680307022},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005294587162556863,-0.000968060699276451,-0.00035369289110207],"end_effector_yaw_offset_degrees":0.3503790486243741},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014323264165507282,0.000605235706799748,0.0015264783898773612],"end_effector_yaw_offset_degrees":0.5966861297737827}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003794389992886597,-0.0013217921860270276],"position_m":[0.3421943899928866,0.08397820781397297,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031525313487398544,-0.002404811486379903],"position_m":[0.3514474686512602,0.2331951885136201,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002584581811075274,-0.004168292959490389],"position_m":[0.21471541818892473,-0.0913682929594904,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00047982123941557944,-0.00224245034906181],"position_m":[0.2468798212394156,-0.3379424503490618,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6208eb58dcaf86da26b5f1ab4dd6559ecef1ffb249325ed37a903d0ace878d46","episode_index":153,"episode_name":"episode_0153"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0153.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1457/tex_ceiling_textures_8162/tex_floor_textures_539/tex_table_textures_8472/tex_wall_textures_6810","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5722606719403047094,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5722606719403047094,"visual_seed":5722606719403047094,"scene_id":"lab_003","finished_at":"2026-09-02T08:27:49"}
+{"episode_id":"ep_000090","started_at":"2026-09-02T08:29:18","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.4409557754968747,0.908304413133219,0.71338606911949],"aabb_xy":[[-0.4747313346875677,0.8942659179200539],[-0.40718021630618173,0.922342908346384]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.681242212846946,-2.1075439040713335,0.71338606911949],"aabb_xy":[[0.6587422128367977,-2.121640123710937],[0.7037422128570943,-2.0934476844317302]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.15656144477787315,0.6000504768949528,0.71338606911949],"aabb_xy":[[-0.1844064815584803,0.5692659781566412],[-0.12871640799726605,0.6308349756332645]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.3653823265938648,0.13715838190339147,0.71338606911949],"aabb_xy":[[-0.4553823260122357,0.10378288505920172],[-0.27538232717549394,0.17053387874758116]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.3831647775454036,-0.9479486611747066,0.71338606911949],"aabb_xy":[[-0.4064466197435349,-1.0329486624719344],[-0.3598829353472722,-0.8629486598774784]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.3111765983212047,-0.5178262797824535,0.71338606911949],"aabb_xy":[[0.2761765983447089,-0.5272908958300703],[0.3461765982977006,-0.508361663734837]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.6231841427355145,-1.5697463728430094,0.71338606911949],"aabb_xy":[[0.6032931028551742,-1.5824021841277065],[0.6430751826158547,-1.5570905615583128]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[0.05339510123471747,-1.5250968695315088,0.71338606911949],"aabb_xy":[[0.0461127848580538,-1.6150968731410174],[0.06067741761138111,-1.4350968659219994]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.4447242500948512,-0.7904246395186607,0.71338606911949],"aabb_xy":[[-0.47512236119399476,-0.82083154152033],[-0.4143261389957076,-0.760017737516991]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.24068028625368504,0.29621250424980117,0.71338606911949],"aabb_xy":[[-0.2763094421536448,0.2605798374929482],[-0.2050511303537253,0.3318451710066541]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.4078190262544889,1.3630975703548853,0.71338606911949],"aabb_xy":[[-0.42810332897788766,1.342814945212176],[-0.38753472353109014,1.3833801954975937]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.6665979867863994,0.6075817079079959,0.71338606911949],"aabb_xy":[[0.6624820366743267,0.6034661528751503],[0.670713936898472,0.6116972629408414]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.10584773895415878,-1.0306358683599732,0.71338606911949],"aabb_xy":[[0.06056912407300952,-1.0946358677081567],[0.15112635383530804,-0.9666358690117893]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.34587276096414543,0.3648652648854025,0.71338606911949],"aabb_xy":[[0.33624112474371576,0.3552279521056936],[0.355504397184575,0.3745025776651114]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.011820989124528669,1.8007435375300491,0.71338606911949],"aabb_xy":[[-0.0918209923885418,1.7871835052211353],[0.06817901413948446,1.814303569838962]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.14355298180339926,1.167544304121817,0.71338606911949],"aabb_xy":[[0.09642360280156356,1.103544303077415],[0.1906823608052349,1.231544305166219]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.059887421847442224,-2.207366504995707,0.71338606911949],"aabb_xy":[[-0.10988742286657752,-2.243832720733535],[-0.009887420828306953,-2.170900289257879]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.06458190759419158,-1.7249897588550218,0.71338606911949],"aabb_xy":[[0.014587074666249977,-1.774989757750265],[0.11457674052213318,-1.6749897599597778]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.11657347937096285,1.0120160581237605,0.71338606911949],"aabb_xy":[[-0.18157347940526558,0.9653153814434332],[-0.05157347933666011,1.0587167348040878]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.6597906462441465,1.1637487884440962,0.71338606911949],"aabb_xy":[[0.6406783388861677,1.1446140095668542],[0.6789029536021254,1.1828835673213383]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.5870390503203722,-0.981785373074507,0.71338606911949],"aabb_xy":[[0.5835983740803151,-0.9856468060488716],[0.5904797265604295,-0.9779239401001426]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.1848325775014179,1.7218157683370303,0.71338606911949],"aabb_xy":[[-0.19029052313843797,1.641815765029371],[-0.17937463186439784,1.8018157716446892]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.45780667671577824,-0.13742747621688123,0.71338606911949],"aabb_xy":[[-0.46223730607061847,-0.14287584795156383],[-0.4533760473609381,-0.13197910448219863]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.18346369051788447,0.07591524050190301,0.71338606911949],"aabb_xy":[[-0.1985659919789025,0.06081371887084117],[-0.16836138905686632,0.0910167621329648]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.23492781371432603,0.5808940221555576,0.71338606911949],"aabb_xy":[[0.21742781345498946,0.5668024799667851],[0.2524278139736627,0.5949855643443304]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.2842497389279265,0.7416278301254984,0.71338606911949],"aabb_xy":[[0.28017158102087675,0.7375468498772351],[0.2883278968349762,0.7457088103737617]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[-0.27421070474621634,-2.3360439317056243,0.71338606911949],"aabb_xy":[[-0.33821070665855874,-2.3919550809636347],[-0.21021070283387405,-2.280132782447614]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.5966043968489514,-1.6399024132802533,0.71338606911949],"aabb_xy":[[0.5883898517332673,-1.6485790035778944],[0.6048189419646353,-1.6312258229826118]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_28","position":[0.5104215900332725,0.9542680554812044,0.71338606911949],"aabb_xy":[[0.48851290789392143,0.9323673886611136],[0.5323302721726235,0.976168722301295]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[-0.34684588631734375,-1.8970087606154449,0.71338606911949],"aabb_xy":[[-0.3693106562887488,-1.9195087614943054],[-0.3243811163459386,-1.8745087597365844]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_30","position":[-0.3723827874798524,-0.2832137267855157,0.71338606911949],"aabb_xy":[[-0.3959679109437472,-0.3482137290309475],[-0.3487976640159575,-0.21821372454008392]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[-0.04645184263547819,-0.5650648271150049,0.71338606911949],"aabb_xy":[[-0.05838457699730626,-0.5774469799228643],[-0.03451910827365012,-0.5526826743071456]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700251744540082,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6206.png","name":"6206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6206.png","name":"6206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9189.png","name":"9189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5794.png","name":"5794"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2023.png","name":"2023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9506.png","name":"9506"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":774.6958666354619,"rotation_z_degrees":27.84989110895434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012167872507119343,-0.0028158278245407516,0.008120470060502313]},{"name":"camera_2","offset_m":[-0.0036325395149293463,0.004803786906782848,0.0025910262218082104]},{"name":"camera_3","offset_m":[0.011894238065198456,0.018312174466855572,0.006347790046747265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009355307741996271,-0.0009521702384808078,-0.0018734368381411698],"end_effector_yaw_offset_degrees":0.24203958079860732},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010385874430914811,7.258877966006801e-05,-0.0014764804317484509],"end_effector_yaw_offset_degrees":0.970434493052982},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001304859021512401,0.00032563427898725213,-0.0014119235003565568],"end_effector_yaw_offset_degrees":0.5849050521944847}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001671597889222113,0.0007838650349250012],"position_m":[0.33672840211077787,0.086083865034925,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002114071591937816,0.0013877495208439762],"position_m":[0.35671407159193785,0.23698774952084398,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008856600769131077,-0.0038382014604727344],"position_m":[0.2181856600769131,-0.09103820146047273,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001816215462858639,-0.004338945565404924],"position_m":[0.24821621546285866,-0.3400389455654049,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"356e6bbe6982967bd5076de8529e1d7486ae8073c00a757f8cc5a85fbbbfb38c","episode_index":155,"episode_name":"episode_0155"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0155.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6206/tex_ceiling_textures_9506/tex_floor_textures_2023/tex_table_textures_9189/tex_wall_textures_5794","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":4129535236062291059,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":4129535236062291059,"visual_seed":4129535236062291059,"scene_id":"lab_003","finished_at":"2026-09-02T08:31:57"}
+{"episode_id":"ep_000091","started_at":"2026-09-02T08:35:12","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.6675515579977735,-0.842242326775289,0.71338606911949],"aabb_xy":[[0.6638482966686345,-0.8459443450840067],[0.6712548193269123,-0.838540308466571]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.3899173769026783,1.6251665315165336,0.71338606911949],"aabb_xy":[[-0.4399104890118703,1.5751665308423384],[-0.3399242647934865,1.6751665321907296]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.30969810712500356,-1.6088691373296862,0.71338606911949],"aabb_xy":[[0.2259758816249211,-1.6988691408643823],[0.393420332625086,-1.5188691337949904]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.5120533315676654,-0.5682882169915104,0.71338606911949],"aabb_xy":[[0.489553331557517,-0.5823844366311137],[0.5345533315778136,-0.5541919973519072]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.5345051152013338,0.897297591866411,0.71338606911949],"aabb_xy":[[0.5095051160357008,0.8903453461610543],[0.559505114366967,0.9042498375717675]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.4237235206193126,1.4461901502275265,0.71338606911949],"aabb_xy":[[0.4121545398723761,1.4211901501105948],[0.43529250136624925,1.4711901503444582]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.5357180149874724,-2.2717932230758255,0.71338606911949],"aabb_xy":[[-0.54275946593822,-2.27881997481362],[-0.5286765640367248,-2.264766471338031]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.04317517726576425,1.0330644355408354,0.71338606911949],"aabb_xy":[[-0.011950028363826531,0.9730644340995481],[0.098300382895355,1.0930644369821223]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.014476772519336989,-0.9899727064655315,0.71338606911949],"aabb_xy":[[-0.04552322798851593,-1.0468194401514528],[0.0744767730271899,-0.9331259727796102]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.15280807955806253,-1.5178045597577015,0.71338606911949],"aabb_xy":[[-0.1699101575164307,-1.534911365288971],[-0.1357060015996944,-1.5006977542264315]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.3564471543218175,-2.093509060859501,0.71338606911949],"aabb_xy":[[0.31894715437805105,-2.1018021508943376],[0.39394715426558385,-2.0852159708246645]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[0.4304593059245738,-0.2763542075603884,0.71338606911949],"aabb_xy":[[0.3664593037041668,-0.32072729168567676],[0.49445930814498085,-0.2319811234351002]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.0858492647139274,-0.10081069193608849,0.71338606911949],"aabb_xy":[[-0.13582668157918093,-0.150810693425337],[-0.03587184784867379,-0.05081069044683994]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.08534628109446551,0.024948142781516136,0.71338606911949],"aabb_xy":[[-0.09412750824170177,0.01616839549298599],[-0.0765650539472293,0.03372789007004629]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.3361804068977947,-1.8415389725148412,0.71338606911949],"aabb_xy":[[0.29868040538216295,-1.852765745530986],[0.37368040841342637,-1.830312199498696]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.15775620060981466,-2.4854842581704237,0.71338606911949],"aabb_xy":[[0.10775620116961904,-2.53545218265474],[0.20775620005001028,-2.4355163336861074]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.22753996602216509,0.5672866621290127,0.71338606911949],"aabb_xy":[[0.1625399633843716,0.5158070634295657],[0.29253996865995857,0.6187662608284596]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.6689971080929542,-2.1714402291325063,0.71338606911949],"aabb_xy":[[0.6514504131768353,-2.208940230696758],[0.6865438030090731,-2.133940227568255]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.500247247540099,1.4646592745165532,0.71338606911949],"aabb_xy":[[-0.5043631976521715,1.4605437194837074],[-0.4961312974280262,1.4687748295493985]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.268848731310664,-1.8431573815225029,0.71338606911949],"aabb_xy":[[-0.29134873182270454,-1.865649239887901],[-0.24634873079862335,-1.8206655231571043]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.17083495217529232,0.20498631280837243,0.71338606911949],"aabb_xy":[[-0.1804665883957219,0.19534900002866354],[-0.16120331595486267,0.21462362558808137]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.18721857195859282,1.8128831680828426,0.71338606911949],"aabb_xy":[[-0.2048514075521204,1.7952602220672194],[-0.16958573636506524,1.8305061140984653]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_22","position":[-0.6241119148807353,1.7549174589486065,0.71338606911949],"aabb_xy":[[-0.633867904389909,1.7451549248893719],[-0.6143559253715613,1.7646799930078407]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6683376673198058,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8695.png","name":"8695"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8695.png","name":"8695"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5321.png","name":"5321"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/324.png","name":"324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7315.png","name":"7315"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.9582867850096,"rotation_z_degrees":64.50843664523491,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017935911323686448,-0.0018648365149364354,-0.016816764292965195]},{"name":"camera_2","offset_m":[-0.005824041456209957,-0.0015151484501649652,0.00214768431112939]},{"name":"camera_3","offset_m":[-0.00792967138679265,0.0007585314136600227,0.011930693412225291]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010396796030727792,0.001374607364896916,0.0009891152782428138],"end_effector_yaw_offset_degrees":0.38511708355482654},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00044851878414827254,0.000557731501508145,0.0008131515876510886],"end_effector_yaw_offset_degrees":-0.5064189084806083},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013157932506143422,0.00030951941239581397,-0.0006752918469622453],"end_effector_yaw_offset_degrees":0.0897798162925203}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006542049008092807,-0.0023044692424605264],"position_m":[0.3390542049008093,0.08299553075753947,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004406107183749057,0.0010420484600393767],"position_m":[0.35504061071837495,0.2366420484600394,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035444009207720893,0.0007327015608984862],"position_m":[0.2208444009207721,-0.08646729843910152,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004130225153910425,0.0034002999352157988],"position_m":[0.25053022515391044,-0.3322997000647842,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cfee7b60de7c1ef80afc671c8597a5b906421f1591e21dac0f7f6a4fcc6d8d0e","episode_index":157,"episode_name":"episode_0157"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0157.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8695/tex_ceiling_textures_7315/tex_floor_textures_324/tex_table_textures_5321/tex_wall_textures_1963","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6680630401090414677,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6680630401090414677,"visual_seed":6680630401090414677,"scene_id":"lab_003","finished_at":"2026-09-02T08:38:05"}
+{"episode_id":"ep_000092","started_at":"2026-09-02T08:45:47","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.3105891745885738,-1.7725819369103153,0.71338606911949],"aabb_xy":[[0.24658917728622742,-1.816948363878172],[0.3745891718909202,-1.7282155099424585]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.04856149669231824,1.6479442560151507,0.71338606911949],"aabb_xy":[[-0.09854444687979758,1.5979442563725903],[0.0014214534951610886,1.6979442556577111]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.3141376525252424,-0.565191780594883,0.71338606911949],"aabb_xy":[[0.307825552988904,-0.5709587198481018],[0.3204497520615809,-0.5594248413416641]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.18770822942565335,-0.818632260845114,0.71338606911949],"aabb_xy":[[-0.2677082280129728,-0.897947862783275],[-0.10770823083833393,-0.7393166589069532]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.6054779189455515,0.6943718999324164,0.71338606911949],"aabb_xy":[[0.5957219294363775,0.684609365873182],[0.6152339084547253,0.7041344339916509]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.10262577479369872,-1.6203715945370525,0.71338606911949],"aabb_xy":[[-0.10820744642782748,-1.6328715943548278],[-0.09704410315956996,-1.6078715947192768]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.22035934911924115,-2.498018507427851,0.71338606911949],"aabb_xy":[[-0.22977682368910388,-2.5074346845655695],[-0.21094187454937838,-2.4886023302901314]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.07643064146120326,-1.5453435148615746,0.71338606911949],"aabb_xy":[[0.06838728153524809,-1.6303435159569413],[0.08447400138715844,-1.4603435137662084]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.35745750067434273,1.4762353044067829,0.71338606911949],"aabb_xy":[[-0.43745750174746306,1.4664572580693986],[-0.2774574996012224,1.4860133507441675]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.24176654511360474,-2.332531878345674,0.71338606911949],"aabb_xy":[[0.17776654473607112,-2.3822771451964857],[0.30576654549113835,-2.282786611494861]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[0.011508134182027785,-1.9651926856441677,0.71338606911949],"aabb_xy":[[0.004264368135782459,-2.0451926838477696],[0.01875190022827311,-1.885192687440565]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.6015634375135708,0.4333261323803175,0.71338606911949],"aabb_xy":[[0.5640634376965372,0.42868792106917564],[0.6390634373306043,0.4379643436914593]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.3751623410848334,-2.1753219559574175,0.71338606911949],"aabb_xy":[[-0.42516233973075457,-2.22524149961688],[-0.3251623424389122,-2.125402412297955]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.6752432502190349,1.6706432850871198,0.71338606911949],"aabb_xy":[[0.6447590000920046,1.6206432853056238],[0.7057275003460649,1.7206432848686157]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.3732435504890361,0.3442914914805413,0.71338606911949],"aabb_xy":[[-0.4036416615881796,0.3138845894788717],[-0.3428454393898924,0.37469839348221073]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.6326959821327987,0.0622250219907845,0.71338606911949],"aabb_xy":[[0.5826959808489586,0.012246167600162386],[0.6826959834166385,0.11220387638140658]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.6609501171637825,1.2636039375193238,0.71338606911949],"aabb_xy":[[-0.6674517536717871,1.2538361154930142],[-0.6544484806557779,1.2733717595456338]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.06438097066401549,0.6194110943775311,0.71338606911949],"aabb_xy":[[-0.08688097047791787,0.6149364780070503],[-0.04188097085011311,0.6238857107480118]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.30060734885388085,1.2650987377584126,0.71338606911949],"aabb_xy":[[0.27560734958191857,1.24875337416225],[0.32560734812584313,1.2814441013545748]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.2857598455872067,-0.8278635288785003,0.71338606911949],"aabb_xy":[[0.221759844179216,-0.879652480402425],[0.3497598469951973,-0.7760745773545756]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.1308182143958242,-0.12535970286002263,0.71338606911949],"aabb_xy":[[-0.1658182126659441,-0.1324338305550108],[-0.09581821612570429,-0.11828557516503446]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.18668612470688795,-0.5846568823937495,0.71338606911949],"aabb_xy":[[0.1631010012429931,-0.6496568846391814],[0.2102712481707828,-0.5196568801483178]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.45908963595237084,-1.9790709574581005,0.71338606911949],"aabb_xy":[[0.4090896350018379,-2.0106201044616214],[0.5090896369029035,-1.9475218104545786]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.2898965745886126,1.3104668275175362,0.71338606911949],"aabb_xy":[[-0.35489657558911314,1.2596804623628612],[-0.2248965735881121,1.3612531926722111]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[0.032026869301691185,-2.109525966353671,0.71338606911949],"aabb_xy":[[-0.005473131195667058,-2.1134946499017895],[0.06952686979904943,-2.1055572828055524]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[-0.5259703841153023,-0.427657525025086,0.71338606911949],"aabb_xy":[[-0.5304010134701426,-0.4331058967597687],[-0.5215397547604622,-0.4222091532904035]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[-0.5005977042789493,-0.781042261936002,0.71338606911949],"aabb_xy":[[-0.5655977028360222,-0.8107947953498846],[-0.4355977057218765,-0.7512897285221194]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_27","position":[0.04218454274809735,-0.6935983071744898,0.71338606911949],"aabb_xy":[[-0.015445926139173501,-0.7535983061012002],[0.09981501163536818,-0.6335983082477791]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[-0.1265910779237317,-1.0084725048029881,0.71338606911949],"aabb_xy":[[-0.14426670851232998,-1.0261527210823909],[-0.10891544733513332,-0.9907922885235855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668198723506745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7198.png","name":"7198"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7198.png","name":"7198"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3003.png","name":"3003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5188.png","name":"5188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/744.png","name":"744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":772.300887868472,"rotation_z_degrees":112.4047718675114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007682762225753731,0.01461521375978515,0.00896460780721298]},{"name":"camera_2","offset_m":[0.014703561752642712,-0.01611949719342273,-0.0006470691994655414]},{"name":"camera_3","offset_m":[-0.012789827837234383,0.011509370935846499,-0.006621962849520142]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010983320515461892,-0.0002515975842314528,0.0010559541488617424],"end_effector_yaw_offset_degrees":0.0038596409060294157},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006368157488638015,0.0015044748342043866,-0.0015327800372237617],"end_effector_yaw_offset_degrees":0.9097237746845119},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019876065438994214,0.00031681048064778096,0.0008243799919007626],"end_effector_yaw_offset_degrees":0.6352584554249865}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004208121060340222,-0.0036189376738264513],"position_m":[0.33419187893965974,0.08168106232617355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008075245657380384,-0.004268728965286588],"position_m":[0.35540752456573804,0.2313312710347134,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00421788298685522,0.004327188220779816],"position_m":[0.21308211701314478,-0.08287281177922018,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003416816026550868,0.002718303685573257],"position_m":[0.24981681602655087,-0.33298169631442676,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8ce678175a04c847db9cf2b2ff2e647617e06a578e76fe3992a81fa1cd9e3d35","episode_index":161,"episode_name":"episode_0161"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0161.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7198/tex_ceiling_textures_9289/tex_floor_textures_744/tex_table_textures_3003/tex_wall_textures_5188","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":8105061386105235607,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":8105061386105235607,"visual_seed":8105061386105235607,"scene_id":"lab_003","finished_at":"2026-09-02T08:48:29"}
+{"episode_id":"ep_000093","started_at":"2026-09-02T08:48:32","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.10434822555427037,-2.538612895489939,0.71338606911949],"aabb_xy":[[0.040348223504538386,-2.578707378579247],[0.16834822760400237,-2.498518412400631]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.23125567716667644,-1.5929633096952376,0.71338606911949],"aabb_xy":[[-0.29625567816717696,-1.6437496748499125],[-0.16625567616617593,-1.5421769445405626]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.5170281720997156,1.508961294459072,0.71338606911949],"aabb_xy":[[0.4670439363915383,1.4589612956455762],[0.5670124078078927,1.5589612932725674]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[-0.6428917616102622,-1.8403690441072083,0.71338606911949],"aabb_xy":[[-0.6473223909651025,-1.845817415841891],[-0.6384611322554221,-1.8349206723725255]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[0.4777561532623962,1.7178404822741142,0.71338606911949],"aabb_xy":[[0.4402561533186298,1.7095473922392777],[0.5152561532061626,1.7261335723089508]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.410896646295422,-1.8704672539841503,0.71338606911949],"aabb_xy":[[0.34689664395262043,-1.9154081052282828],[0.47489664863822356,-1.8255264027400178]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.3600383029189971,1.063630410805775,0.71338606911949],"aabb_xy":[[0.35062082834913433,1.054214233668056],[0.3694557774888598,1.073046587943494]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.3811145013503694,-0.5195826520655227,0.71338606911949],"aabb_xy":[[0.31711450276379693,-0.5665896154650313],[0.44511449993694185,-0.47257568866601385]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.09213752508074513,-1.908009318405248,0.71338606911949],"aabb_xy":[[0.06964110364688103,-1.9305093182119955],[0.11463394651460923,-1.8855093185985006]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.07088786778622269,0.8833367248437622,0.71338606911949],"aabb_xy":[[-0.0790015224595998,0.8752309083897332],[-0.06277421311284559,0.8914425412977913]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.10239031091164308,0.7599041681898822,0.71338606911949],"aabb_xy":[[-0.16739030879329087,0.7087805044833414],[-0.037390313029995285,0.8110278318964232]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.011608371361577441,1.2588389534986417,0.71338606911949],"aabb_xy":[[-0.06839162891202953,1.1858894056729248],[0.09160837163518441,1.3317885013243582]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.14149283849476124,-0.8890626686566412,0.71338606911949],"aabb_xy":[[-0.15613624404879423,-0.9037213883134253],[-0.12684943294072826,-0.8744039489998569]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[-0.30708731178743204,1.3524588950790828,0.71338606911949],"aabb_xy":[[-0.3710873131954227,1.3006699435551579],[-0.2430873103794414,1.4042478466030073]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.06117770470789752,-1.508284304776091,0.71338606911949],"aabb_xy":[[0.011177703347010298,-1.5582622093515064],[0.11117770606878474,-1.4583064002006751]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.034763919275886956,1.570432815744859,0.71338606911949],"aabb_xy":[[-0.11476391623892612,1.4933571741010856],[0.04523607768715221,1.6475084573886325]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.3789554204760173,-0.42917020893280045,0.71338606911949],"aabb_xy":[[-0.44295111787111385,-0.4931702072335091],[-0.3149597230809207,-0.3651702106320917]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.6091199470791016,1.0253094556921383,0.71338606911949],"aabb_xy":[[0.5591468815465861,0.9753094558796056],[0.659093012611617,1.0753094555046714]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.6553366574364123,-0.38018024765413694,0.71338606911949],"aabb_xy":[[0.6428692993266767,-0.39264557228746055],[0.667804015546148,-0.36771492302081354]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.09472172444068672,-1.224147218150666,0.71338606911949],"aabb_xy":[[-0.1497172022613461,-1.279147219584573],[-0.039726246620027314,-1.1691472167167591]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.4197181370759686,0.9419673743742645,0.71338606911949],"aabb_xy":[[0.4022181379416014,0.9320877473366767],[0.43721813621033573,0.9518470014118523]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.600667133591917,-2.1480160064252853,0.71338606911949],"aabb_xy":[[-0.6806671346650374,-2.15779405276267],[-0.5206671325187967,-2.138237960087901]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670800064772393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4538.png","name":"4538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7811.png","name":"7811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7315.png","name":"7315"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.7598494287465,"rotation_z_degrees":280.899447303633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011338183378577827,-0.010997601763307224,-0.018833688296326492]},{"name":"camera_2","offset_m":[0.0030529142038044736,-0.016388064688530362,0.0055719169112427615]},{"name":"camera_3","offset_m":[-0.0014217028526068536,-0.013182378251946321,0.0021487815019188006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003649650247921194,-0.0018105808504319638,0.00041195981816058175],"end_effector_yaw_offset_degrees":0.7424997080637834},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001244955908642739,-0.0008813024763257987,-0.001724206461169902],"end_effector_yaw_offset_degrees":0.9854734455036123},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00010343507062315514,-0.0014489708781730362,0.0005288271285696696],"end_effector_yaw_offset_degrees":-0.25596675793555246}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002701700530698759,0.0007215422009104336],"position_m":[0.3386701700530699,0.08602154220091043,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018918347485006371,0.0036284736583777786],"position_m":[0.3527081652514994,0.2392284736583778,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004060645852129975,0.0006339844344193423],"position_m":[0.21323935414787,-0.08656601556558066,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004581521811915505,0.004806770707222747],"position_m":[0.2418184781880845,-0.33089322929277726,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f4ce851469089696d76f9d5f03c55c6f936c7a751f4a751673eb8e4fef67602b","episode_index":162,"episode_name":"episode_0162"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0162.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9944/tex_ceiling_textures_7315/tex_floor_textures_7811/tex_table_textures_9198/tex_wall_textures_4538","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":1782465199083047990,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":1782465199083047990,"visual_seed":1782465199083047990,"scene_id":"lab_003","finished_at":"2026-09-02T08:51:21"}
+{"episode_id":"ep_000094","started_at":"2026-09-02T08:51:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.18207618365155798,-0.3755240389660166,0.71338606911949],"aabb_xy":[[-0.19149365822142073,-0.38494021610373563],[-0.17265870908169523,-0.3661078618282976]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.16921025629162778,-1.0074345559236864,0.71338606911949],"aabb_xy":[[0.13217614686356807,-1.0418117632573958],[0.2062443657196875,-0.973057348589977]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.4644817538263468,-2.5475794975964297,0.71338606911949],"aabb_xy":[[0.43663671704573964,-2.5783639963347413],[0.4923267906069539,-2.516794998858118]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.5817310346681499,-1.6249757217422551,0.71338606911949],"aabb_xy":[[0.5567310353961875,-1.6413210853384175],[0.6067310339401121,-1.6086303581460928]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.6313523136862482,1.6727704672489474,0.71338606911949],"aabb_xy":[[0.6204465375986855,1.592770470850118],[0.6422580897738109,1.7527704636477763]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.41746977692659026,0.8828574700993386,0.71338606911949],"aabb_xy":[[0.3799697771095567,0.8782192587881967],[0.4549697767436238,0.8874956814104804]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.3650522043696771,0.8088756650833377,0.71338606911949],"aabb_xy":[[0.3275522044259107,0.8005825750485012],[0.4025522043134435,0.8171687551181743]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.34179593485713156,-1.985537467836021,0.71338606911949],"aabb_xy":[[-0.43179593719115067,-2.0630198224211336],[-0.25179593252311255,-1.908055113250908]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.4179619342966517,-0.9027969767806012,0.71338606911949],"aabb_xy":[[-0.440461934540167,-0.9150016114403733],[-0.39546193405313623,-0.8905923421208294]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.19107865941040558,-1.7392997405009472,0.71338606911949],"aabb_xy":[[0.1310786588143894,-1.7941122130461704],[0.25107866000642176,-1.6844872679557235]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.6101322561327915,-1.4031357358148497,0.71338606911949],"aabb_xy":[[-0.6901322564063984,-1.4760852836405665],[-0.5301322558591844,-1.330186187989133]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.008813269636709253,-1.8427922496597138,0.71338606911949],"aabb_xy":[[0.0017729597031722615,-1.9227922490593852],[0.01585357957024625,-1.7627922502600424]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.5273905290438765,0.38456241372783406,0.71338606911949],"aabb_xy":[[0.49239052991392085,0.37881719265216995],[0.5623905281738322,0.39030763480349817]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.576906635738213,-0.7845605218280036,0.71338606911949],"aabb_xy":[[-0.600491759202108,-0.8495605240734354],[-0.5533215122743183,-0.7195605195825718]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.6461517274455171,-1.3471366188520082,0.71338606911949],"aabb_xy":[[0.6283582205106006,-1.3649363644478059],[0.6639452343804335,-1.3293368732562105]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.5772745799112948,-1.8372179639709514,0.71338606911949],"aabb_xy":[[-0.627274578557216,-1.8871375076304133],[-0.5272745812653736,-1.7872984203114886]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.5474930954286972,-1.2188049016946851,0.71338606911949],"aabb_xy":[[0.5212042711082564,-1.2450763353493364],[0.5737819197491377,-1.192533468040034]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.2821661372856783,1.6615921782021403,0.71338606911949],"aabb_xy":[[-0.31866195791295704,1.6251082357753825],[-0.24567031665839956,1.6980761206288977]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.6056243882806704,-2.0999601141372835,0.71338606911949],"aabb_xy":[[0.5506506662443377,-2.154960113701517],[0.6605981103170034,-2.0449601145730507]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.6129908790020366,-2.4041029737106174,0.71338606911949],"aabb_xy":[[-0.6489043834270262,-2.440016481927372],[-0.5770773745770469,-2.3681894654938627]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716689293679364,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/450.png","name":"450"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/450.png","name":"450"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2909.png","name":"2909"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6390.png","name":"6390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3215.png","name":"3215"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9923.png","name":"9923"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":616.2215383341152,"rotation_z_degrees":310.41667744431453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014741162792461609,-0.005162296742747659,-0.007046089394687871]},{"name":"camera_2","offset_m":[-0.003026700033240029,0.0031425743921185273,0.0017296424042797832]},{"name":"camera_3","offset_m":[0.0012652638757003933,0.017473793161680396,0.0018359972914540994]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017356595518336565,-0.00028836970952317124,-0.001850565420775142],"end_effector_yaw_offset_degrees":-0.06220665454815877},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016591189839012769,-0.0003217246103393472,-0.0016851258007012984],"end_effector_yaw_offset_degrees":0.17603486556481163},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005304778665418696,0.0019489192649505454,-0.00030698792490434375],"end_effector_yaw_offset_degrees":-0.5800183604516775}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004063466054324027,-0.00416602783577123],"position_m":[0.342463466054324,0.08113397216422877,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004625749316235329,-0.0006232063075757932],"position_m":[0.35922574931623535,0.23497679369242422,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006569438458143397,0.0025201644603856845],"position_m":[0.21664305615418566,-0.08467983553961432,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004183230912871107,-0.0019926201457151904],"position_m":[0.2505832309128711,-0.3376926201457152,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e97c9d3ba8834bc629c96516f706aab1fb47abc2540dab62f9041fd457e33d78","episode_index":163,"episode_name":"episode_0163"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0163.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_450/tex_ceiling_textures_9923/tex_floor_textures_3215/tex_table_textures_2909/tex_wall_textures_6390","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":7813618988991541002,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":7813618988991541002,"visual_seed":7813618988991541002,"scene_id":"lab_003","finished_at":"2026-09-02T08:54:15"}
+{"episode_id":"ep_000095","started_at":"2026-09-02T09:03:56","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[-0.47267701703415865,-0.09359859238939316,0.71338606911949],"aabb_xy":[[-0.5526708406127169,-0.17359859498223473],[-0.39268319345560043,-0.013598589796551597]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.2030089795437136,-2.4031309428094088,0.71338606911949],"aabb_xy":[[-0.23980361266861985,-2.440036817905991],[-0.1662143464188073,-2.3662250677128265]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.10022197833018986,-0.8277060255459416,0.71338606911949],"aabb_xy":[[-0.11063353701067356,-0.83305175888184],[-0.08981041964970614,-0.822360292210043]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.5356715147605706,1.5419481925855973,0.71338606911949],"aabb_xy":[[0.5292577011173856,1.5355383723379288],[0.5420853284037555,1.5483580128332655]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.11090770329872401,0.3866202140024244,0.71338606911949],"aabb_xy":[[-0.1168742422394598,0.3806590693430604],[-0.10494116435798823,0.39258135866178845]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.23418473243598853,1.817870801832656,0.71338606911949],"aabb_xy":[[-0.24665209054572418,1.8054054771993324],[-0.22171737432625288,1.8303361264659794]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.13452985898540248,-0.4917931819257455,0.71338606911949],"aabb_xy":[[-0.17554780237177336,-0.5417931825567028],[-0.0935119155990316,-0.4417931812947882]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.3422093305080679,-1.6100427587335373,0.71338606911949],"aabb_xy":[[-0.35101138581704056,-1.6178540848884662],[-0.33340727519909513,-1.602231432578608]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.5675390893528138,-2.1905895720317754,0.71338606911949],"aabb_xy":[[-0.6020014367509554,-2.2250834544295977],[-0.5330767419546718,-2.1560956896339523]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.1903824429782368,1.6219113328478127,0.71338606911949],"aabb_xy":[[0.13538244477649194,1.581389366221375],[0.24538244117998162,1.6624332994742501]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.053285121563762416,0.4959352336988774,0.71338606911949],"aabb_xy":[[-0.06263212914605765,0.48163161148123335],[-0.04393811398146719,0.5102388559165214]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.5401990008906556,-1.3832997986877982,0.71338606911949],"aabb_xy":[[-0.6101990026994011,-1.4046535674519856],[-0.4701989990819102,-1.3619460299236108]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[0.5948686071231433,-2.4675481588745645,0.71338606911949],"aabb_xy":[[0.574810195509903,-2.487613245783722],[0.6149270187363836,-2.447483071965407]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.4928461517041389,-0.2644325909501548,0.71338606911949],"aabb_xy":[[0.4553461531285181,-0.27716888661371275],[0.5303461502797597,-0.25169629528659687]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.16688630940900018,-0.08219884903753405,0.71338606911949],"aabb_xy":[[-0.17703932496314953,-0.11826839061027436],[-0.15673329385485077,-0.046129307464793705]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.3510217284166417,0.47033776730455346,0.71338606911949],"aabb_xy":[[0.34302773983893825,0.46233768720946306],[0.35901571699434504,0.47833784739964375]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.11742631672890214,1.7785978121599535,0.71338606911949],"aabb_xy":[[-0.177426318371824,1.7265976628680093],[-0.05742631508598027,1.8305979614518977]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.3954122404952227,1.5017490145021877,0.71338606911949],"aabb_xy":[[0.39127638416252253,1.4642490150578307],[0.3995480968279229,1.5392490139465447]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.232304056508164,-0.6010207995318282,0.71338606911949],"aabb_xy":[[0.18517467750632827,-0.66502080057623],[0.2794334355099996,-0.5370207984874261]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.3162155975084856,0.5668506977825198,0.71338606911949],"aabb_xy":[[-0.380215598211955,0.520832315309599],[-0.25221559680501626,0.612869080255441]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.29455583333771207,-0.7629306377579617,0.71338606911949],"aabb_xy":[[0.2811093067036687,-0.7764004894110529],[0.30800235997175535,-0.7494607861048704]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.5911066912993868,0.988228979131204,0.71338606911949],"aabb_xy":[[0.5011066947985149,0.9423173367127456],[0.6811066878002584,1.034140621549662]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.3858436542896282,-0.8343524856744358,0.71338606911949],"aabb_xy":[[0.3520680950989352,-0.8483909808876008],[0.41961921348032116,-0.8203139904612707]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[-0.38558630474549094,0.315677504726009,0.71338606911949],"aabb_xy":[[-0.43339247235925954,0.25067750201895],[-0.3377801371317223,0.3806775074330679]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669096817197301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9959.png","name":"9959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9959.png","name":"9959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4614.png","name":"4614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6910.png","name":"6910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3323.png","name":"3323"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9662.png","name":"9662"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":728.1757772912252,"rotation_z_degrees":175.40447908360633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01778407192783094,-0.016736917215167284,0.019370865113030235]},{"name":"camera_2","offset_m":[0.004685169608899472,-0.014876065603049805,0.01535400382692555]},{"name":"camera_3","offset_m":[0.014803265456804288,0.004523137785057151,-0.0012502981129543372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014183595032914967,-0.0018392803605105225,0.0003111715513954222],"end_effector_yaw_offset_degrees":0.16232516706834765},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008820719223901477,-0.0008350518617196644,-0.0017957832616027677],"end_effector_yaw_offset_degrees":0.434037501729196},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016307325051706126,0.0019294557450910098,0.0015619254587077003],"end_effector_yaw_offset_degrees":0.45557244403184405}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038256013266239567,0.004048012828287931],"position_m":[0.334574398673376,0.08934801282828793,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[4.681764912512192e-05,-0.001965962734738527],"position_m":[0.35464681764912515,0.23363403726526147,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016755089536196642,0.004258651378639536],"position_m":[0.21897550895361967,-0.08294134862136046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015009804931817982,-0.003472842735575619],"position_m":[0.24489901950681822,-0.33917284273557563,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e27650c54ae28c8055546ede7d89c8536a774adfebe6349a9f19bd182fde2d3","episode_index":167,"episode_name":"episode_0167"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0167.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9959/tex_ceiling_textures_9662/tex_floor_textures_3323/tex_table_textures_4614/tex_wall_textures_6910","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":266936953179007891,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":266936953179007891,"visual_seed":266936953179007891,"scene_id":"lab_003","finished_at":"2026-09-02T09:06:41"}
+{"episode_id":"ep_000096","started_at":"2026-09-02T09:06:44","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.3783164279996346,0.5074050381448028,0.71338606911949],"aabb_xy":[[-0.3958631229157535,0.4699050365805515],[-0.3607697330835156,0.544905039709054]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.046332985491060796,-1.29929343100351,0.71338606911949],"aabb_xy":[[-0.023667017900501176,-1.3346092047069409],[0.11633298888262278,-1.2639776573000792]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.5430677717875838,1.6544300635110187,0.71338606911949],"aabb_xy":[[-0.6070677710817521,1.5904439231421643],[-0.4790677724934157,1.7184162038798727]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[-0.4039951784985948,1.2203773346899927,0.71338606911949],"aabb_xy":[[-0.43899517762855045,1.2146321136143285],[-0.3689951793686391,1.2261225557656568]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.3594553725368883,-2.0999589727522987,0.71338606911949],"aabb_xy":[[0.3501617542997377,-2.1374589712404326],[0.3687489907740389,-2.062458974264165]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.16360455329622248,1.2451484536620825,0.71338606911949],"aabb_xy":[[0.08361072971766423,1.165148451069241],[0.24359837687478067,1.325148456254924]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.40071014512663244,0.16195088773484567,0.71338606911949],"aabb_xy":[[-0.41148311904800017,0.1269508895158067],[-0.3899371712052646,0.19695088595388466]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.571034397062651,-2.270658479260201,0.71338606911949],"aabb_xy":[[-0.5880444943527016,-2.2867929677584744],[-0.5540242997726003,-2.2545239907619266]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.20963603703253614,-1.4754237466333784,0.71338606911949],"aabb_xy":[[-0.2161376735405408,-1.4851915686596882],[-0.20313440052453158,-1.4656559246070686]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.5584508874066492,-0.4581248743435591,0.71338606911949],"aabb_xy":[[0.46845088798827816,-0.4915003711877488],[0.64845088682502,-0.42474937749936936]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.34600143956617496,-1.4824762545602213,0.71338606911949],"aabb_xy":[[-0.35090073187273846,-1.5101531738627898],[-0.34110214725961147,-1.4547993352576523]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.42387611590051516,1.3930753593357497,0.71338606911949],"aabb_xy":[[-0.4613761161926899,1.3890338839351462],[-0.3863761156083403,1.3971168347363532]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.6266628130102954,1.2670001810050144,0.71338606911949],"aabb_xy":[[0.6047730654213546,1.177000183715765],[0.6485525605992362,1.3570001782942633]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.23387909554352232,-1.3148148244069389,0.71338606911949],"aabb_xy":[[-0.28387837071195854,-1.3648148256828863],[-0.18387982037508618,-1.264814823130992]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.6811638013578012,0.9048440691796409,0.71338606911949],"aabb_xy":[[0.6477236261617815,0.8714004433487107],[0.7146039765538207,0.9382876950105709]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.5584232923230182,-0.8058961088792658,0.71338606911949],"aabb_xy":[[-0.5675831712668947,-0.812427326922803],[-0.5492634133791415,-0.7993648908357288]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.6596747906809006,-0.6114904556208045,0.71338606911949],"aabb_xy":[[0.6310254583204843,-0.6401360148978803],[0.6883241230413167,-0.5828448963437287]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.5704340081944987,1.239135988416268,0.71338606911949],"aabb_xy":[[-0.5745698645271989,1.2016359889719113],[-0.5662981518617985,1.2766359878606253]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.21715096809606393,-2.494891848065063,0.71338606911949],"aabb_xy":[[0.20845300580534867,-2.5070168223725378],[0.22584893038677925,-2.4827668737575883]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.3426554378357956,1.47718509036577,0.71338606911949],"aabb_xy":[[-0.3601554369701627,1.467305463328182],[-0.3251554387014284,1.4870647174033575]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[-0.3476670051578232,-0.6061278058354345,0.71338606911949],"aabb_xy":[[-0.39764995534530245,-0.6561278054779948],[-0.2976840549703438,-0.5561278061928739]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.39646116132934656,-0.7900051990606021,0.71338606911949],"aabb_xy":[[-0.43209031722930624,-0.825637865817455],[-0.36083200542938676,-0.7543725323037491]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.30124011138096063,1.7543269512846105,0.71338606911949],"aabb_xy":[[-0.32341263835761147,1.7321512841284874],[-0.2790675844043098,1.7765026184407335]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.03420926233650323,-1.500029533806151,0.71338606911949],"aabb_xy":[[-0.04951296316357923,-1.5900295373408468],[0.11793148783658569,-1.410029530271455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6675010776775792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4090.png","name":"4090"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6279.png","name":"6279"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9164.png","name":"9164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8473.png","name":"8473"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":650.398161881137,"rotation_z_degrees":225.77092112329237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013094406958223982,-0.018569921184727226,0.01954841013911095]},{"name":"camera_2","offset_m":[0.002536150780931695,-0.002974660676918029,-0.018721203699319112]},{"name":"camera_3","offset_m":[0.00712245910418648,0.01093995626554392,-0.009156445875943966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006521492106246649,0.0015904658238110503,-0.0015732479169406378],"end_effector_yaw_offset_degrees":-0.0796208845459836},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001359888356529392,-0.0011145379378629326,-0.0014687326526126756],"end_effector_yaw_offset_degrees":0.027933977740824734},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0002399589366850368,-0.00016807099918102653,-0.001984594220785809],"end_effector_yaw_offset_degrees":0.7558975081493684}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003458555607038464,0.0006269037991417778],"position_m":[0.34185855560703843,0.08592690379914178,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012315220931964953,0.0030826681534458092],"position_m":[0.35336847790680354,0.23868266815344583,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00493339548026821,0.002693498789474856],"position_m":[0.22223339548026821,-0.08450650121052514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005001611782703089,-0.004181300271393544],"position_m":[0.2458998388217297,-0.3398813002713935,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"907cf479ed3ab0da4df0b7939bc70f91de75d8562867af5e67a196aecfb39b08","episode_index":168,"episode_name":"episode_0168"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0168.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4090/tex_ceiling_textures_8473/tex_floor_textures_9164/tex_table_textures_7864/tex_wall_textures_6279","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":5969863005734850442,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":5969863005734850442,"visual_seed":5969863005734850442,"scene_id":"lab_003","finished_at":"2026-09-02T09:09:29"}
+{"episode_id":"ep_000097","started_at":"2026-09-02T09:09:31","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.09093694401187025,-0.36876402233319183,0.71338606911949],"aabb_xy":[[-0.13593694547809912,-0.4137638791946726],[-0.04593694254564141,-0.3237641654717112]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.13627247795919994,-2.374013645478176,0.71338606911949],"aabb_xy":[[-0.22627248029321897,-2.4514960000632886],[-0.04627247562518086,-2.2965312908930633]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.07486482877197187,-0.6040664161450915,0.71338606911949],"aabb_xy":[[-0.09736482901548728,-0.6162710508048634],[-0.05236482852845649,-0.5918617814853195]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.21036843065123978,-0.7895294576259144,0.71338606911949],"aabb_xy":[[0.20021541509709032,-0.8255989991986545],[0.22052144620538908,-0.7534599160531739]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.2799467778161585,1.008298272304998,0.71338606911949],"aabb_xy":[[-0.2974467780754952,0.9942067301162254],[-0.26244677755682194,1.0223898144937706]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[0.5202882468428618,0.2652703826734131,0.71338606911949],"aabb_xy":[[0.460288246996295,0.2084517604803744],[0.5802882466894286,0.32208900486645176]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.5894709415019164,-0.9917147747658803,0.71338606911949],"aabb_xy":[[0.5254709395895739,-1.0476259240238908],[0.6534709434142586,-0.9358036255078698]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.2909810365658392,1.6764568271260365,0.71338606911949],"aabb_xy":[[-0.35498103682630994,1.6314480277731085],[-0.22698103630536834,1.7214656264789645]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.6557361728056351,-0.5165348296383829,0.71338606911949],"aabb_xy":[[-0.666509146727003,-0.551534827857422],[-0.6449631988842675,-0.48153483141934406]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_9","position":[-0.4687006148634094,0.9855585180530149,0.71338606911949],"aabb_xy":[[-0.5287006165063313,0.9335583687610706],[-0.40870061322048756,1.037558667344959]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.03637113268556136,1.4991458054145652,0.71338606911949],"aabb_xy":[[-0.01875407294402941,1.4391458039732778],[0.09149633831515214,1.5591458068558521]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.21439776429259816,-0.4171662810848731,0.71338606911949],"aabb_xy":[[-0.21831163748802068,-0.4259152964914299],[-0.21048389109717563,-0.4084172656783164]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.2187386978228152,-0.7130353731310604,0.71338606911949],"aabb_xy":[[-0.26873180993200707,-0.7630353738052562],[-0.1687455857136233,-0.6630353724568648]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.2791869624815557,1.5238435012820521,0.71338606911949],"aabb_xy":[[0.24870271235452557,1.473843501500556],[0.3096712126085859,1.5738435010635479]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.5053281878290914,-0.3837320054122717,0.71338606911949],"aabb_xy":[[0.4640793767991766,-0.43873200492448916],[0.546576998859006,-0.32873200590005425]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.5030841279386415,1.3785961349038502,0.71338606911949],"aabb_xy":[[-0.5830841249528894,1.3584615832304388],[-0.42308413092439345,1.3987306865772613]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.5438364019899912,-0.8404535898931609,0.71338606911949],"aabb_xy":[[-0.6078364033979817,-0.8922425414170855],[-0.47983640058200044,-0.7886646383692361]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[-0.22003281978833739,-0.1550914465158182,0.71338606911949],"aabb_xy":[[-0.30003282195109987,-0.23504663014196184],[-0.1400328176255749,-0.0751362628896746]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_18","position":[0.4243026506555492,-1.4613427290696852,0.71338606911949],"aabb_xy":[[0.4163793704168009,-1.4838427293076886],[0.43222593089429756,-1.4388427288316818]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.5292273067365746,-1.7997374706583193,0.71338606911949],"aabb_xy":[[-0.5792273080974618,-1.849715375233735],[-0.4792273053756874,-1.7497595660829037]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.24977018971757659,-2.5448746307186747,0.71338606911949],"aabb_xy":[[0.22759766274092572,-2.5670502978747973],[0.2719427166942274,-2.522698963562551]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[0.12890354959203798,-1.0175373596172763,0.71338606911949],"aabb_xy":[[0.07880608561096436,-1.0815373601270881],[0.1790010135731116,-0.9535373591074645]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[0.24136357921524043,-1.9032773234392475,0.71338606911949],"aabb_xy":[[0.19138477070492455,-1.953277323444966],[0.2913423877255563,-1.8532773234335285]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.0624267023163213,-1.317565320232538,0.71338606911949],"aabb_xy":[[-0.0968890497144631,-1.3520592026303602],[-0.027964354918179505,-1.2830714378347148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642343317834879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8152.png","name":"8152"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8152.png","name":"8152"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3053.png","name":"3053"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8941.png","name":"8941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/525.png","name":"525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/939.png","name":"939"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":680.5462620916919,"rotation_z_degrees":151.4603833943394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009339090744186826,-0.014181786187835792,-0.007352288685795143]},{"name":"camera_2","offset_m":[-0.009599052391841365,0.0032053042075337775,-0.0067880585385439885]},{"name":"camera_3","offset_m":[0.014753317702743903,0.010034769863002412,-0.0065076001694354575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001794391310485432,-0.00039717372170590404,-0.0005152393594884473],"end_effector_yaw_offset_degrees":0.2769481919145136},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003661964504585026,-0.0017303918707217974,0.0005113541346588183],"end_effector_yaw_offset_degrees":-0.1904256067585135},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007514778994002561,-0.0019305990678159417,-0.0011930814552064493],"end_effector_yaw_offset_degrees":-0.30988133991697664}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036276725505156966,-0.0031219788233982984],"position_m":[0.3420276725505157,0.0821780211766017,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004385729986079617,0.0021845526576569577],"position_m":[0.3502142700139204,0.23778455265765697,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-3.702421192436096e-05,-0.0006269045174230933],"position_m":[0.21726297578807563,-0.08782690451742309,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019390879931738061,-0.002809877821670539],"position_m":[0.2483390879931738,-0.3385098778216705,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c466effd439580c409a8414caf1aea10308e9e8c0709320b51f81300017b0152","episode_index":169,"episode_name":"episode_0169"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0169.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8152/tex_ceiling_textures_939/tex_floor_textures_525/tex_table_textures_3053/tex_wall_textures_8941","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":636790819229921841,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":636790819229921841,"visual_seed":636790819229921841,"scene_id":"lab_003","finished_at":"2026-09-02T09:12:27"}
+{"episode_id":"ep_000098","started_at":"2026-09-02T09:15:42","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.3749312847655113,0.7575096387328695,0.71338606911949],"aabb_xy":[[0.3705006554106711,0.7520612669981869],[0.3793619141203515,0.7629580104675521]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.2971710388901666,-2.4228146901834298,0.71338606911949],"aabb_xy":[[-0.31967103870406904,-2.4272893065539103],[-0.2746710390762643,-2.4183400738129492]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.32027522786011886,0.6422310219637644,0.71338606911949],"aabb_xy":[[0.2780908136992881,0.5782310216865532],[0.3624596420209496,0.7062310222409756]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[-0.4354848949032079,-0.2881045754433327,0.71338606911949],"aabb_xy":[[-0.4403841872097713,-0.3157814947459014],[-0.4305856025966443,-0.26042765614076385]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.10228237417787134,-0.8715870087866413,0.71338606911949],"aabb_xy":[[0.0679854631601307,-0.9058838949965827],[0.13657928519561197,-0.8372901225767001]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[-0.2258182867524371,-1.1137023118335116,0.71338606911949],"aabb_xy":[[-0.2757913522849526,-1.1637023116460448],[-0.17584522121992166,-1.063702312020979]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.3446856460456938,0.7987590161400484,0.71338606911949],"aabb_xy":[[-0.36919927014269965,0.774494422838012],[-0.32017202194868793,0.8230236094420849]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.40013297203305315,1.1604466520321162,0.71338606911949],"aabb_xy":[[-0.48982004834116855,1.0704466517776656],[-0.31044589572493764,1.2504466522865667]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.5483853710080797,-0.6370242336431453,0.71338606911949],"aabb_xy":[[0.5233853714563411,-0.64716671750828],[0.5733853705598181,-0.6268817497780106]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.23225726232850208,-1.1641921045196226,0.71338606911949],"aabb_xy":[[0.16825726195096843,-1.213937371370435],[0.2962572627060357,-1.1144468376688104]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.2591346335549545,-2.216327861293739,0.71338606911949],"aabb_xy":[[0.24126552580049898,-2.23016076927095],[0.27700374130940997,-2.202494953316528]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.1322139762743817,-2.4414147326919236,0.71338606911949],"aabb_xy":[[-0.22221397277525343,-2.4873263751103813],[-0.04221397977350993,-2.395503090273465]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.3904883922136624,-1.6042028915680469,0.71338606911949],"aabb_xy":[[-0.4454816035507992,-1.6592028919068404],[-0.33549518087652563,-1.5492028912292533]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.40878359027756583,1.4348004607213567,0.71338606911949],"aabb_xy":[[0.374321112264478,1.428136783538434],[0.44324606829065355,1.4414641379042794]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.21793295061631313,1.181062838354038,0.71338606911949],"aabb_xy":[[0.17184785936158165,1.1170628411014827],[0.2640180418710446,1.245062835606593]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.5641790207751345,-0.06167082794361756,0.71338606911949],"aabb_xy":[[-0.5816790210344712,-0.07576237013239018],[-0.546679020515798,-0.04757928575484494]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.5214849973817355,-0.14436259797856632,0.71338606911949],"aabb_xy":[[0.5161474217157309,-0.1693625989077061],[0.52682257304774,-0.11936259704942653]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.5805077055492602,-0.5463683972676963,0.71338606911949],"aabb_xy":[[-0.615507706900742,-0.566728133224517],[-0.5455077041977785,-0.5260086613108753]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.7005965772825973,1.6342265704787198,0.71338606911949],"aabb_xy":[[0.691249569700302,1.619922948261076],[0.7099435848648925,1.648530192696364]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.5903121562399619,0.6638103934850919,0.71338606911949],"aabb_xy":[[-0.6355907711211112,0.5998103941369081],[-0.5450335413588127,0.7278103928332754]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.013900182914913128,-1.2981882194997505,0.71338606911949],"aabb_xy":[[-0.06390018156083432,-1.3481077631592129],[0.03609981573100807,-1.2482686758402881]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.5580101505943327,-1.20080408614982,0.71338606911949],"aabb_xy":[[0.5526776359397196,-1.2061284143950555],[0.5633426652489457,-1.1954797579045844]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[0.6133390624013431,-1.9246681860463686,0.71338606911949],"aabb_xy":[[0.5964283299650012,-1.9381403916389832],[0.6302497948376847,-1.911195980453754]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.32917845691782754,1.3415712082155813,0.71338606911949],"aabb_xy":[[0.31724572255599953,1.329189055407722],[0.34111119127965567,1.3539533610234407]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[-0.12945853744792268,-0.7768620155287111,0.71338606911949],"aabb_xy":[[-0.15195767317414965,-0.7993620163069741],[-0.10695940172169571,-0.7543620147504482]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638965234211706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5644.png","name":"5644"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5644.png","name":"5644"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2952.png","name":"2952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7042.png","name":"7042"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9109.png","name":"9109"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":591.9624824179576,"rotation_z_degrees":269.687251646689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01825960717949615,0.011529705220004047,-0.018015260731127105]},{"name":"camera_2","offset_m":[-0.011069731960611277,0.008276078970624406,0.003330880562026361]},{"name":"camera_3","offset_m":[0.01995507193299297,-0.007179001784315249,-0.007328919318915262]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013592152947804067,0.0001035461433543162,0.0005955771574119089],"end_effector_yaw_offset_degrees":0.0965207519465725},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017967741039988153,0.0011507661441049386,-0.0009355170908033888],"end_effector_yaw_offset_degrees":0.34441035940219145},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011228590820938958,0.00047382256547492474,0.00037774411383276023],"end_effector_yaw_offset_degrees":0.5357871388666127}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003070036878264462,-0.0011725098764923747],"position_m":[0.3353299631217355,0.08412749012350762,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004001860657258591,0.00023157112323338083],"position_m":[0.3505981393427414,0.23583157112323339,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022474743943885116,-0.003707577051203075],"position_m":[0.21954747439438851,-0.09090757705120307,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004245006108177136,0.003662842540870892],"position_m":[0.25064500610817714,-0.3320371574591291,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f3e845dfdc04d94445e0d21d306adffd1633609dd3b967c14facdb8992498cdc","episode_index":171,"episode_name":"episode_0171"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0171.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5644/tex_ceiling_textures_9109/tex_floor_textures_7042/tex_table_textures_5587/tex_wall_textures_2952","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":6114397551098848772,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":6114397551098848772,"visual_seed":6114397551098848772,"scene_id":"lab_003","finished_at":"2026-09-02T09:18:38"}
+{"episode_id":"ep_000099","started_at":"2026-09-02T09:18:41","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.6503285379109924,1.5563493693452801,0.71338606911949],"aabb_xy":[[-0.6632004414119325,1.4763493689314438],[-0.6374566344100522,1.636349369759116]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.26606815333884265,-0.9707736656151231,0.71338606911949],"aabb_xy":[[-0.3025639739661214,-1.007257608041881],[-0.2295723327115639,-0.9342897231883657]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.17643692296869284,-0.8324929664584408,0.71338606911949],"aabb_xy":[[0.1064369203321065,-0.8525978314543062],[0.2464369256052792,-0.8123881014625752]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.2606685152863726,1.513301964242642,0.71338606911949],"aabb_xy":[[0.21538990040522327,1.4493019648944583],[0.3059471301675218,1.5773019635908256]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.3239944278867941,1.6066351782442818,0.71338606911949],"aabb_xy":[[-0.3614944290715868,1.6022169555482209],[-0.2864944267020012,1.6110534009403419]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.6637640186292428,0.4570186915042709,0.71338606911949],"aabb_xy":[[0.6262640200536219,0.44428239584071294],[0.7012640172048635,0.4697549871678288]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.5507828649760758,-0.41103212805838707,0.71338606911949],"aabb_xy":[[0.5435005485994119,-0.5010321316678958],[0.5580651813527392,-0.32103212444887796]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.48521229958680756,0.49418105538794155,0.71338606911949],"aabb_xy":[[-0.4945593071691028,0.47987743317029746],[-0.47586529200451233,0.5084846776055856]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.5672360373797987,1.4310828189674933,0.71338606911949],"aabb_xy":[[0.5072360367837826,1.37627034642227],[0.627236037975815,1.485895291512717]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.29094805754626585,1.0409535637073888,0.71338606911949],"aabb_xy":[[0.21094805428225272,1.0273935313984754],[0.370948060810279,1.0545135960163021]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.18859858024679,0.3232467844223006,0.71338606911949],"aabb_xy":[[-0.19456511918752575,0.31728563976293656],[-0.18263204130605418,0.32920792908166463]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.4782715112992606,1.0935800324665719,0.71338606911949],"aabb_xy":[[0.4369669682355246,1.0295800328984548],[0.5195760543629966,1.157580032034689]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.13362108630424985,1.4289978552620126,0.71338606911949],"aabb_xy":[[0.12549339811093663,1.420084246851305],[0.14174877449756307,1.4379114636727206]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.5103572479523739,-0.8081160883366203,0.71338606911949],"aabb_xy":[[0.43035725054878043,-0.888108659534803],[0.5903572453559672,-0.7281235171384374]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.03955982831620142,-0.3287802755238922,0.71338606911949],"aabb_xy":[[-0.05666190627456957,-0.3458870810551619],[-0.02245775035783326,-0.3116734699926224]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.2496779166770745,-0.9896135438066442,0.71338606911949],"aabb_xy":[[0.1946856660415636,-1.0446135455499572],[0.30467016731258545,-0.9346135420633317]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.48160059857326587,-0.579114805172861,0.71338606911949],"aabb_xy":[[-0.5041005985834142,-0.5932110248124642],[-0.4591005985631176,-0.5650185855332577]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.010264661762296234,-1.7247428476852018,0.71338606911949],"aabb_xy":[[-0.020832141420395245,-1.73528787779821],[0.0003028178958027778,-1.7141978175721928]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.49049235751623854,-0.12002247410251554,0.71338606911949],"aabb_xy":[[0.45617608034162066,-0.17002247407569326],[0.5248086346908565,-0.0700224741293378]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.4626796550450486,1.6854626941008637,0.71338606911949],"aabb_xy":[[-0.47530644233224495,1.6759166203992908],[-0.45005286775785225,1.6950087678024366]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.165483526221732,1.7715945673505273,0.71338606911949],"aabb_xy":[[0.13048352702891372,1.7606275213528648],[0.20048352541455025,1.7825616133481899]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.5034689243757803,-2.179950900776544,0.71338606911949],"aabb_xy":[[-0.5114951950064064,-2.1887023957538965],[-0.4954426537451544,-2.1711994057991912]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.27949057056669924,-2.3408478516637192,0.71338606911949],"aabb_xy":[[0.251160860618159,-2.3453085938574363],[0.30782028051523946,-2.336387109470002]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.5130566923660973,-0.7966624871173662,0.71338606911949],"aabb_xy":[[-0.5580566938323261,-0.841662343978847],[-0.46805669089986845,-0.7516626302558856]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.0721398522252441,1.6142848147892281,0.71338606911949],"aabb_xy":[[-0.10213151495911442,1.5842848154524274],[-0.042148189491373764,1.6442848141260284]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.29542989212097326,-2.1213306956774565,0.71338606911949],"aabb_xy":[[0.24934480086624175,-2.1853306929300116],[0.3415149833757047,-2.0573306984249013]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[-0.021774083751106676,1.237640407431114,0.71338606911949],"aabb_xy":[[-0.08576978114620326,1.1736404091304053],[0.04222161364398991,1.3016404057318227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656515682990073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3045.png","name":"3045"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3045.png","name":"3045"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3316.png","name":"3316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7195.png","name":"7195"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.3971675149915,"rotation_z_degrees":174.86046965786983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01113766821335814,-0.01654524809434097,0.016099137052517653]},{"name":"camera_2","offset_m":[-0.007530691516141613,-0.013292379375127665,0.018249924902129785]},{"name":"camera_3","offset_m":[0.011826309094672884,-0.018412905770273883,-0.017570509990204486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010469862646512312,0.000682602762871545,0.001569837991982972],"end_effector_yaw_offset_degrees":0.4996820391534671},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011975987080085169,-0.00030284532727359857,0.0015300180132736601],"end_effector_yaw_offset_degrees":-0.8283200593353908},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010927360274319777,-0.0014976885685013407,0.0009328264925567674],"end_effector_yaw_offset_degrees":0.9254544440811776}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00020","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00019026270344198876,-0.0011152821213754448],"position_m":[0.33859026270344195,0.08418471787862455,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023791637789254494,0.0009020676439508244],"position_m":[0.3522208362210746,0.23650206764395082,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001022756242876577,0.00437511087292721],"position_m":[0.21832275624287656,-0.0828248891270728,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004531948693481981,0.00023429192349171644],"position_m":[0.24186805130651803,-0.3354657080765083,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50e96f21a4d2459049df4854df7122aeac70ad56780866d6a6a206dca493ba7d","episode_index":172,"episode_name":"episode_0172"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/dataset/episode_0172.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3045/tex_ceiling_textures_7195/tex_floor_textures_3316/tex_table_textures_1848/tex_wall_textures_6711","seeds":{"action_seed":5991770722474229261,"physical_seed":1018468742626781814,"visual_seed":83943653321541905,"layout_id":"layout_00020","physical_randomization_enabled":true},"episode_seed":83943653321541905,"visual_seed":83943653321541905,"scene_id":"lab_003","finished_at":"2026-09-02T09:21:30"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..57a36907f73b42940a16b45f1075b50184170e5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_gqr_00020
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b at inspection platform.
+  layout_id: layout_00020
+  reproducibility:
+    enabled: true
+    layout_id: layout_00020
+    action_seed: 5991770722474229261
+    step_seeds:
+    - 3028738977928516977
+    - 5597848014300184368
+    - 589239366799290088
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2173
+      - 0.2173
+      'y':
+      - -0.0872
+      - -0.0872
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3384
+      - 0.3384
+      'y':
+      - 0.0853
+      - 0.0853
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3546
+      - 0.3546
+      'y':
+      - 0.2356
+      - 0.2356
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2464
+      - 0.2464
+      'y':
+      - -0.3357
+      - -0.3357
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08f050f4ea75b4ce807b39fae61f0720f42dc95b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3663531172821718,
+              0.08724441601340771,
+              1.0468290099219375
+            ],
+            "current_z": 1.0468290099219375,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19024244290872716,
+            "gripper_z": 1.0474526663244794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3615284413228964,
+              0.08254251856785605,
+              1.0474526663244794
+            ],
+            "object_minus_gripper": [
+              0.004824675959275382,
+              0.0047018974455516616,
+              -0.0006236564025419167
+            ],
+            "object_to_gripper_xy": 0.006736864085054342,
+            "object_to_gripper_z": -0.0006236564025419167,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3663531172821718,
+              0.0629567975808988,
+              1.0468290099219375
+            ],
+            "finger_b": [
+              0.35477679401385703,
+              0.08724441601340771,
+              1.0468290099219375
+            ],
+            "finger_midpoint": [
+              0.3605649556480144,
+              0.07510060679715325,
+              1.0468290099219375
+            ],
+            "object_minus_finger_midpoint": [
+              0.005788161634157407,
+              0.012143809216254464,
+              0.0
+            ],
+            "finger_gap": 0.026905383653381947,
+            "fingertip_max_gap": 0.09251732596533171,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013452691826690993,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468290099219375,
+            "object_top_z": 1.092801184110416,
+            "finger_top_clearance": 0.04597217418847843,
+            "fingertip_min_top_clearance": 0.01379165225654353,
+            "object_projection_between_fingers": 0.8148759198930372,
+            "object_to_finger_line_xy": 0.010450002349506077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875866298266586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0575753888351982,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3670393771225908,
+              0.08469273659789976,
+              1.2386490988985934
+            ],
+            "held_position": [
+              0.37221661830203023,
+              0.08897992880734704,
+              1.2378830647842798
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006765401062399836,
+            "max_held_gripper_dist": 0.006767604761718411,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007660341143136407,
+            "max_held_gripper_z_dist": 0.0007760635610685185,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781938168994852,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37221661830203023,
+              0.06354897479209418,
+              1.2378830647842798
+            ],
+            "held_grasp_finger_b": [
+              0.3628629772337377,
+              0.08897992880734704,
+              1.2378830647842798
+            ],
+            "held_grasp_midpoint": [
+              0.367539797767884,
+              0.0762644517997206,
+              1.2378830647842798
+            ],
+            "held_grasp_object_position": [
+              0.37221661830203023,
+              0.08897992880734704,
+              1.2378830647842798
+            ],
+            "held_grasp_finger_gap": 0.02709656847942842,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024775914597876418,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06409593640356376,
+              -0.9978172649642593,
+              0.01588762649975639
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038576118972963236,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221273728381753,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3474334689073323,
+              0.23455576094548483,
+              0.762585700477697
+            ],
+            "target_position": [
+              0.35215432525313783,
+              0.2332052987715927,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004910217176545852,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16860886437713402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585700477697,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569136252112668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555801895974606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13690543642091374,
+            "release_required_pad_clearance": 0.05277900947987303,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6026265447726173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcd20fc242de4fdd1c95f129766935f5f1e36722ad2a08bee02d93d584ed2c25",
+    "visual_seed": 2401471704279623276,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1afa95442b927cb6b5cbd50e4fa448b20e107dc6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_102_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36118998903226157,
+              0.08785353005720174,
+              1.0496537826039647
+            ],
+            "current_z": 1.0496537826039647,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19306739440468867,
+            "gripper_z": 1.0505187477096096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35614334023338845,
+              0.08304515385125603,
+              1.0505187477096096
+            ],
+            "object_minus_gripper": [
+              0.005046648798873121,
+              0.004808376205945708,
+              -0.0008649651056449326
+            ],
+            "object_to_gripper_xy": 0.006970591498364566,
+            "object_to_gripper_z": -0.0008649651056449326,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36118998903226157,
+              0.06341405251112824,
+              1.0496537826039647
+            ],
+            "finger_b": [
+              0.3494498597004661,
+              0.08785353005720174,
+              1.0496537826039647
+            ],
+            "finger_midpoint": [
+              0.35531992436636384,
+              0.07563379128416499,
+              1.0496537826039647
+            ],
+            "object_minus_finger_midpoint": [
+              0.005870064665897734,
+              0.012219738773036753,
+              0.0
+            ],
+            "finger_gap": 0.02711307248270316,
+            "fingertip_max_gap": 0.09416148395612814,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01355653624135158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496537826039647,
+            "object_top_z": 1.0963891229324965,
+            "finger_top_clearance": 0.04673534032853177,
+            "fingertip_min_top_clearance": 0.014020602098559497,
+            "object_projection_between_fingers": 0.8125056037481129,
+            "object_to_finger_line_xy": 0.010582446064549035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958074197806407,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5267840311888465,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3616541354585916,
+              0.08516121792920339,
+              1.2395811311040497
+            ],
+            "held_position": [
+              0.36703926313465746,
+              0.08955236002059073,
+              1.238557425788167
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007023510627033346,
+            "max_held_gripper_dist": 0.007024563438055543,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010237053158825837,
+            "max_held_gripper_z_dist": 0.0010336680262152953,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08758931324357414,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36703926313465746,
+              0.06401567604525742,
+              1.238557425788167
+            ],
+            "held_grasp_finger_b": [
+              0.35749183264017725,
+              0.08955236002059073,
+              1.238557425788167
+            ],
+            "held_grasp_midpoint": [
+              0.3622655478874174,
+              0.07678401803292408,
+              1.238557425788167
+            ],
+            "held_grasp_object_position": [
+              0.36703926313465746,
+              0.08955236002059073,
+              1.238557425788167
+            ],
+            "held_grasp_finger_gap": 0.027263082318457244,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02494903774008624,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05651588367272348,
+              -0.9981178149796562,
+              0.023807190361908037
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004056119658468415,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321861246245682,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.348720054436172,
+              0.24056020932622163,
+              0.7625856806813367
+            ],
+            "target_position": [
+              0.3542884827708422,
+              0.23975678567854325,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005626089554566894,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16945778670727063,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856806813367,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575422468339743,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655237588383029,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13761245041885306,
+            "release_required_pad_clearance": 0.053276187941915146,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5666901447189578,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8e13c4b3dadfa003a0d422d8446ae565a0b5fa5ca5f0fb7623b325eed879a2e",
+    "visual_seed": 5431346429761786054,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb385bacd0151fd610c250cbae928e2ad0f734b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_103_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36305065821809235,
+              0.08774154563225685,
+              1.0461244285580151
+            ],
+            "current_z": 1.0461244285580151,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.18953792114944978,
+            "gripper_z": 1.0477802618453964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3577423929420849,
+              0.08279048500718873,
+              1.0477802618453964
+            ],
+            "object_minus_gripper": [
+              0.005308265276007473,
+              0.0049510606250681155,
+              -0.0016558332873812809
+            ],
+            "object_to_gripper_xy": 0.00725883472422169,
+            "object_to_gripper_z": -0.0016558332873812809,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36305065821809235,
+              0.06303327784314253,
+              1.0461244285580151
+            ],
+            "finger_b": [
+              0.3512283963934153,
+              0.08774154563225685,
+              1.0461244285580151
+            ],
+            "finger_midpoint": [
+              0.3571395273057538,
+              0.0753874117376997,
+              1.0461244285580151
+            ],
+            "object_minus_finger_midpoint": [
+              0.005911130912338525,
+              0.012354133894557154,
+              0.0
+            ],
+            "finger_gap": 0.027390954196409453,
+            "fingertip_max_gap": 0.09412827727176956,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01369547709820472,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461244285580151,
+            "object_top_z": 1.091904654253046,
+            "finger_top_clearance": 0.04578022569503082,
+            "fingertip_min_top_clearance": 0.013734067708509245,
+            "object_projection_between_fingers": 0.8137111664814944,
+            "object_to_finger_line_xy": 0.010664382443289785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956413863588478,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.702653100464766,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3627486818814363,
+              0.08573947711005239,
+              1.2383583085192371
+            ],
+            "held_position": [
+              0.3683645872500698,
+              0.09040410101342643,
+              1.2365426671228386
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007522875975961028,
+            "max_held_gripper_dist": 0.007528299629648222,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0018156413963985596,
+            "max_held_gripper_z_dist": 0.0018347708906436555,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08803363141927542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3683645872500698,
+              0.06495938555061853,
+              1.2365426671228386
+            ],
+            "held_grasp_finger_b": [
+              0.35795492023630926,
+              0.09040410101342643,
+              1.2365426671228386
+            ],
+            "held_grasp_midpoint": [
+              0.36315975374318954,
+              0.07768174328202249,
+              1.2365426671228386
+            ],
+            "held_grasp_object_position": [
+              0.3683645872500698,
+              0.09040410101342643,
+              1.2365426671228386
+            ],
+            "held_grasp_finger_gap": 0.02749172079591654,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025391203050345902,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004839222864527516,
+              -0.9998766850491422,
+              0.014939766303590174
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005146724024321885,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03245424874201272,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3524437777741648,
+              0.23571556718272163,
+              0.7625849154386767
+            ],
+            "target_position": [
+              0.35616705935491605,
+              0.23366517503800588,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042505215770154104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17182640352081274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849154386767,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757681743737289,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08816878795095882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1399322625306877,
+            "release_required_pad_clearance": 0.054084393975479414,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1719390458724477,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c244ee3b63f428fe42ba3a51eed363fc7accf51657bb0c643a49064db4951b7",
+    "visual_seed": 4357010138858559389,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6ca752c3a6fce837ca355e8ecfc868c7c3a155
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_104_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36063545575845807,
+              0.0840674703533678,
+              1.0470912402078578
+            ],
+            "current_z": 1.0470912402078578,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19050473279929225,
+            "gripper_z": 1.048003984266637,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35552080759577454,
+              0.07922953689085672,
+              1.048003984266637
+            ],
+            "object_minus_gripper": [
+              0.005114648162683533,
+              0.004837933462511074,
+              -0.0009127440587792801
+            ],
+            "object_to_gripper_xy": 0.0070402575248158655,
+            "object_to_gripper_z": -0.0009127440587792801,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36063545575845807,
+              0.05954532162050048,
+              1.0470912402078578
+            ],
+            "finger_b": [
+              0.34889497773922085,
+              0.0840674703533678,
+              1.0470912402078578
+            ],
+            "finger_midpoint": [
+              0.35476521674883943,
+              0.07180639598693414,
+              1.0470912402078578
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058702390096186385,
+              0.012261074366433658,
+              0.0
+            ],
+            "finger_gap": 0.027187765678647786,
+            "fingertip_max_gap": 0.0943768277445938,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013593882839323905,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470912402078578,
+            "object_top_z": 1.0936914358306145,
+            "finger_top_clearance": 0.046600195622756635,
+            "fingertip_min_top_clearance": 0.013980058686827024,
+            "object_projection_between_fingers": 0.8135233223166738,
+            "object_to_finger_line_xy": 0.01058938610791403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0496884138722969,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8434641492926669,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36109901354297763,
+              0.08104943424206307,
+              1.237632617160292
+            ],
+            "held_position": [
+              0.366565988315875,
+              0.08544932277618782,
+              1.2365543017525404
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007099971577324321,
+            "max_held_gripper_dist": 0.007101155424899104,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010783154077516066,
+            "max_held_gripper_z_dist": 0.0010887676332218543,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662841872527885,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.366565988315875,
+              0.05981014767320738,
+              1.2365543017525404
+            ],
+            "held_grasp_finger_b": [
+              0.3570873363678827,
+              0.08544932277618782,
+              1.2365543017525404
+            ],
+            "held_grasp_midpoint": [
+              0.3618266623418789,
+              0.0726297352246976,
+              1.2365543017525404
+            ],
+            "held_grasp_object_position": [
+              0.366565988315875,
+              0.08544932277618782,
+              1.2365543017525404
+            ],
+            "held_grasp_finger_gap": 0.02733518140990599,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025107081210672247,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0518356647469,
+              -0.9984101802216416,
+              0.02213991621565803
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00407852038466938,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215535213584597,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3508187499118672,
+              0.2405092098880453,
+              0.7625858293283894
+            ],
+            "target_position": [
+              0.35578251878424527,
+              0.23947558341011763,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005070245074378838,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17149300771976744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858293283894,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519401352603428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629068555944845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14092872820410668,
+            "release_required_pad_clearance": 0.05314534277972423,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3098250913202896,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "738197c98c313697e1a6f7821e9089768a278e4c33ebf59b72d215a66a5e5cb8",
+    "visual_seed": 3867757324231497921,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21de8b4d1eb2a9fa8c0a23088bde7dd78514627d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_105_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36506915272022633,
+              0.08268213129144776,
+              1.0482867774073164
+            ],
+            "current_z": 1.0482867774073164,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19170026999875078,
+            "gripper_z": 1.048935661624801,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3600933115067283,
+              0.0779025542261693,
+              1.048935661624801
+            ],
+            "object_minus_gripper": [
+              0.004975841213498033,
+              0.004779577065278456,
+              -0.0006488842174845466
+            ],
+            "object_to_gripper_xy": 0.006899518295133466,
+            "object_to_gripper_z": -0.0006488842174845466,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36506915272022633,
+              0.05829600719887622,
+              1.0482867774073164
+            ],
+            "finger_b": [
+              0.3533636687511729,
+              0.08268213129144776,
+              1.0482867774073164
+            ],
+            "finger_midpoint": [
+              0.35921641073569965,
+              0.07048906924516199,
+              1.0482867774073164
+            ],
+            "object_minus_finger_midpoint": [
+              0.005852741984526677,
+              0.012193062046285771,
+              0.0
+            ],
+            "finger_gap": 0.027049979726574004,
+            "fingertip_max_gap": 0.09106989642927674,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01352498986328699,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482867774073164,
+            "object_top_z": 1.0937323724404528,
+            "finger_top_clearance": 0.0454455950331365,
+            "fingertip_min_top_clearance": 0.013633678509940949,
+            "object_projection_between_fingers": 0.8127400680810171,
+            "object_to_finger_line_xy": 0.010552739318784563,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803494821463837,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5596037346585964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36576047221060387,
+              0.07947067624987983,
+              1.2399540253409653
+            ],
+            "held_position": [
+              0.37111648315377377,
+              0.08379308479160197,
+              1.2391487775884202
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006929537702320922,
+            "max_held_gripper_dist": 0.006931891253250026,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008052477525450907,
+            "max_held_gripper_z_dist": 0.000815650266550616,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792822022220526,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37111648315377377,
+              0.0582017792150681,
+              1.2391487775884202
+            ],
+            "held_grasp_finger_b": [
+              0.36179205351900223,
+              0.08379308479160197,
+              1.2391487775884202
+            ],
+            "held_grasp_midpoint": [
+              0.366454268336388,
+              0.07099743200333503,
+              1.2391487775884202
+            ],
+            "held_grasp_object_position": [
+              0.37111648315377377,
+              0.08379308479160197,
+              1.2391487775884202
+            ],
+            "held_grasp_finger_gap": 0.027237105373466894,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02479263003742519,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07728589919841912,
+              -0.9969509718822426,
+              0.01075404333931318
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036620058093761545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032083263018262476,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3468426567478366,
+              0.23404381548459507,
+              0.7625843926892517
+            ],
+            "target_position": [
+              0.3506226707186592,
+              0.23218987271027516,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004210179263412327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17094339713732254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843926892517,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550004075485567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08838300126907604,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13981516133691757,
+            "release_required_pad_clearance": 0.05419150063453802,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3893124810080186,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af4bb7f846b6620f483eb575de821a7b4e3ab950d2dffd95fcd5a55071669cd7",
+    "visual_seed": 8577599340539894380,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99ff7d4911333be2bb3d1a11398c201e24d9a321
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_106_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36723759746770895,
+              0.08800736953887184,
+              1.0492221090872837
+            ],
+            "current_z": 1.0492221090872837,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1926357804926525,
+            "gripper_z": 1.0497711372339942,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36236568059233343,
+              0.08319536673995766,
+              1.0497711372339942
+            ],
+            "object_minus_gripper": [
+              0.004871916875375526,
+              0.004812002798914181,
+              -0.0005490281467104285
+            ],
+            "object_to_gripper_xy": 0.00684769632630761,
+            "object_to_gripper_z": -0.0005490281467104285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36723759746770895,
+              0.06383455514023514,
+              1.0492221090872837
+            ],
+            "finger_b": [
+              0.35531037495466183,
+              0.08800736953887184,
+              1.0492221090872837
+            ],
+            "finger_midpoint": [
+              0.3612739862111854,
+              0.07592096233955349,
+              1.0492221090872837
+            ],
+            "object_minus_finger_midpoint": [
+              0.00596361125652356,
+              0.012086407199318347,
+              0.0
+            ],
+            "finger_gap": 0.026955214575786174,
+            "fingertip_max_gap": 0.0913315921796862,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013477607287893087,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492221090872837,
+            "object_top_z": 1.0947239595378295,
+            "finger_top_clearance": 0.04550185045054578,
+            "fingertip_min_top_clearance": 0.013650555135163733,
+            "object_projection_between_fingers": 0.8042088504609635,
+            "object_to_finger_line_xy": 0.010696057910743613,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481657960898431,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7458004329511515,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3681275520953067,
+              0.08484269454165952,
+              1.2403162808803965
+            ],
+            "held_position": [
+              0.3734354798774172,
+              0.08914472159116048,
+              1.2396099455250502
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006868802203364928,
+            "max_held_gripper_dist": 0.006869766407867659,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007063353553462548,
+            "max_held_gripper_z_dist": 0.0007172380348343665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785622196428503,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3734354798774172,
+              0.06358300446544313,
+              1.2396099455250502
+            ],
+            "held_grasp_finger_b": [
+              0.36415210785474184,
+              0.08914472159116048,
+              1.2396099455250502
+            ],
+            "held_grasp_midpoint": [
+              0.3687937938660795,
+              0.07636386302830181,
+              1.2396099455250502
+            ],
+            "held_grasp_object_position": [
+              0.3734354798774172,
+              0.08914472159116048,
+              1.2396099455250502
+            ],
+            "held_grasp_finger_gap": 0.02719526389882223,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024670570199496002,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0856671625909427,
+              -0.9962495952329369,
+              0.012160643561367923
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035332493691105963,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032069659725604036,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3529878719850079,
+              0.23990506834857922,
+              0.762583815903958
+            ],
+            "target_position": [
+              0.35692206074455957,
+              0.23824549317986166,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004269898234900508,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17071309151524056,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762583815903958,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540628569914112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749400622945845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13972752220223006,
+            "release_required_pad_clearance": 0.05374700311472923,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.491355950393467,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e40591ce4ac36f09b2928d428ebcc9d8e511c65b6da676ae96b8d62512dc6676",
+    "visual_seed": 3179419627797562448,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_107_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2886c25da37be4a13f72e005b3245c5b7d94ac7a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_107_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36417776551642483,
+              0.0859077653608006,
+              1.0478538528700831
+            ],
+            "current_z": 1.0478538528700831,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1912672858568728,
+            "gripper_z": 1.0485477413428763,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35938833128188596,
+              0.08118488934370455,
+              1.0485477413428763
+            ],
+            "object_minus_gripper": [
+              0.00478943423453887,
+              0.004722876017096048,
+              -0.0006938884727931693
+            ],
+            "object_to_gripper_xy": 0.006726383735695872,
+            "object_to_gripper_z": -0.0006938884727931693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36417776551642483,
+              0.06172206118348096,
+              1.0478538528700831
+            ],
+            "finger_b": [
+              0.35247012462022365,
+              0.0859077653608006,
+              1.0478538528700831
+            ],
+            "finger_midpoint": [
+              0.3583239450683242,
+              0.07381491327214078,
+              1.0478538528700831
+            ],
+            "object_minus_finger_midpoint": [
+              0.005853820448100622,
+              0.012092852088659817,
+              0.0
+            ],
+            "finger_gap": 0.026870376661059646,
+            "fingertip_max_gap": 0.09118805967174146,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013435188330529835,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478538528700831,
+            "object_top_z": 1.0932594789223224,
+            "finger_top_clearance": 0.0454056260522393,
+            "fingertip_min_top_clearance": 0.013621687815671824,
+            "object_projection_between_fingers": 0.8101584472186726,
+            "object_to_finger_line_xy": 0.010537907335707792,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809402983587073,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7212455131302286,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3650827417477901,
+              0.08312328574622123,
+              1.2418933895413515
+            ],
+            "held_position": [
+              0.3702716585770522,
+              0.08737730185268323,
+              1.241065630568867
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006760672733653522,
+            "max_held_gripper_dist": 0.006763876151041825,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008277589724845491,
+            "max_held_gripper_z_dist": 0.0008393535885415915,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669318663020016,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3702716585770522,
+              0.06191848509028142,
+              1.241065630568867
+            ],
+            "held_grasp_finger_b": [
+              0.36099098952011877,
+              0.08737730185268323,
+              1.241065630568867
+            ],
+            "held_grasp_midpoint": [
+              0.36563132404858545,
+              0.07464789347148232,
+              1.241065630568867
+            ],
+            "held_grasp_object_position": [
+              0.3702716585770522,
+              0.08737730185268323,
+              1.241065630568867
+            ],
+            "held_grasp_finger_gap": 0.027097641393410483,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024641102633269553,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0792859819001526,
+              -0.9967835437511822,
+              0.011674758282894215
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036196033758428255,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214384669030667,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3478572634127904,
+              0.23254156013521632,
+              0.7625857438366819
+            ],
+            "target_position": [
+              0.3520304366401311,
+              0.2309444605050256,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004468344437725096,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17085886711471154,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857438366819,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525581366590987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877891626379672,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14015895463126535,
+            "release_required_pad_clearance": 0.0538945813189836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.787052536767293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c74bcf801ef9513395e86f056009c106066b6094270dd1819d2ede6655b1c14",
+    "visual_seed": 5404150057551257971,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..627ec09244fdf98740885bd99f7c3276c0bb65c5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_108_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3669458607514065,
+              0.09332540923327046,
+              1.047594846646356
+            ],
+            "current_z": 1.047594846646356,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19100839884243526,
+            "gripper_z": 1.0481425398261097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3621647023482335,
+              0.08856283459866147,
+              1.0481425398261097
+            ],
+            "object_minus_gripper": [
+              0.0047811584031730026,
+              0.004762574634608982,
+              -0.0005476931797536722
+            ],
+            "object_to_gripper_xy": 0.006748451142777333,
+            "object_to_gripper_z": -0.0005476931797536722,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3669458607514065,
+              0.06921701438917682,
+              1.047594846646356
+            ],
+            "finger_b": [
+              0.3550946024369672,
+              0.09332540923327046,
+              1.047594846646356
+            ],
+            "finger_midpoint": [
+              0.36102023159418684,
+              0.08127121181122364,
+              1.047594846646356
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059256291572196695,
+              0.012054197422046817,
+              0.0
+            ],
+            "finger_gap": 0.02686386095843795,
+            "fingertip_max_gap": 0.09320422828005318,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013431930479218987,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047594846646356,
+            "object_top_z": 1.0938346963717573,
+            "finger_top_clearance": 0.046239849725401294,
+            "fingertip_min_top_clearance": 0.013871954917620355,
+            "object_projection_between_fingers": 0.8053779393344113,
+            "object_to_finger_line_xy": 0.0106356571486835,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910211414002659,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.313724416133897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36770039968164087,
+              0.09043469501540229,
+              1.2371528148485136
+            ],
+            "held_position": [
+              0.37288892067936136,
+              0.0947271142808513,
+              1.236451177542219
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006770369872006165,
+            "max_held_gripper_dist": 0.0067729506510782675,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000701637306294689,
+            "max_held_gripper_z_dist": 0.0007126377380799465,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878563276184902,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37288892067936136,
+              0.06927912879442259,
+              1.236451177542219
+            ],
+            "held_grasp_finger_b": [
+              0.3635646116815453,
+              0.0947271142808513,
+              1.236451177542219
+            ],
+            "held_grasp_midpoint": [
+              0.36822676618045336,
+              0.08200312153763695,
+              1.236451177542219
+            ],
+            "held_grasp_object_position": [
+              0.37288892067936136,
+              0.0947271142808513,
+              1.236451177542219
+            ],
+            "held_grasp_finger_gap": 0.027102448295389103,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024705985798126787,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07201566907762487,
+              -0.9972295120501667,
+              0.01862910903636017
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037414376477184217,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032175735715583145,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34582722038086805,
+              0.23327370947208392,
+              0.7625857341384386
+            ],
+            "target_position": [
+              0.3519847844027063,
+              0.23283588605920277,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0061731097531069245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16998197855224986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857341384386,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075304871533366,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624645964527942,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13886580339561966,
+            "release_required_pad_clearance": 0.053123229822639714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2685435434450874,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eeba8f5146585478524aa9cda998d6ed09d2c4bcc1e490bc419ffb9dea35c3cb",
+    "visual_seed": 4663035259851759435,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbec69cade3131f2c0803b05260c1364ebf0b920
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35999533178662224,
+              0.09224699067849446,
+              1.0470169998686891
+            ],
+            "current_z": 1.0470169998686891,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19043055206476833,
+            "gripper_z": 1.0478525411201969,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35523799291425834,
+              0.08753802758249105,
+              1.0478525411201969
+            ],
+            "object_minus_gripper": [
+              0.004757338872363903,
+              0.00470896309600341,
+              -0.0008355412515077543
+            ],
+            "object_to_gripper_xy": 0.00669377371786847,
+            "object_to_gripper_z": -0.0008355412515077543,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35999533178662224,
+              0.06809577790240981,
+              1.0470169998686891
+            ],
+            "finger_b": [
+              0.34829102712356663,
+              0.09224699067849446,
+              1.0470169998686891
+            ],
+            "finger_midpoint": [
+              0.35414317945509444,
+              0.08017138429045213,
+              1.0470169998686891
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058521523315278046,
+              0.012075606388042323,
+              0.0
+            ],
+            "finger_gap": 0.02683788043421722,
+            "fingertip_max_gap": 0.09337021183741048,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341894021710861,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470169998686891,
+            "object_top_z": 1.0933815236838327,
+            "finger_top_clearance": 0.046364523815143555,
+            "fingertip_min_top_clearance": 0.013909357144543099,
+            "object_projection_between_fingers": 0.8098068775394085,
+            "object_to_finger_line_xy": 0.010532618364048531,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049185105918705244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3433385856709459,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36072963562646976,
+              0.08962206639466301,
+              1.2407013647169327
+            ],
+            "held_position": [
+              0.36587177787930925,
+              0.09387776497001168,
+              1.239739843171406
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006743672663702922,
+            "max_held_gripper_dist": 0.006746598091347993,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009615215455267556,
+            "max_held_gripper_z_dist": 0.0009723906840410912,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08754437061968175,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36587177787930925,
+              0.06848943503693236,
+              1.239739843171406
+            ],
+            "held_grasp_finger_b": [
+              0.35651409240566684,
+              0.09387776497001168,
+              1.239739843171406
+            ],
+            "held_grasp_midpoint": [
+              0.36119293514248807,
+              0.08118360000347202,
+              1.239739843171406
+            ],
+            "held_grasp_object_position": [
+              0.36587177787930925,
+              0.09387776497001168,
+              1.239739843171406
+            ],
+            "held_grasp_finger_gap": 0.027057966926850023,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02467807648605133,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06876408444784672,
+              -0.9973696271846914,
+              0.022920023113406237
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003806284781666714,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221771404863917,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3542875660738971,
+              0.2364430796201843,
+              0.7625855675914779
+            ],
+            "target_position": [
+              0.35861956304630244,
+              0.2348198543209704,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046261277696294685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17087361943169252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855675914779,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577873461204275,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565043441158014,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1389582508622996,
+            "release_required_pad_clearance": 0.05282521720579007,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6909621693879502,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c8801b0f833dc2870acb980b6f311698cef74c344205ac3354ac1999108692d",
+    "visual_seed": 4827988100552408580,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03596d3b3231eee066af01a57982a10eff6559a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_110_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.366068054900659,
+              0.08625599372354836,
+              1.0476745704413004
+            ],
+            "current_z": 1.0476745704413004,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19108806303273485,
+            "gripper_z": 1.0484614370908403,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3608219297048837,
+              0.08135513926559733,
+              1.0484614370908403
+            ],
+            "object_minus_gripper": [
+              0.005246125195775331,
+              0.004900854457951034,
+              -0.0007868666495398635
+            ],
+            "object_to_gripper_xy": 0.0071791506452899626,
+            "object_to_gripper_z": -0.0007868666495398635,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.366068054900659,
+              0.06164512422814643,
+              1.0476745704413004
+            ],
+            "finger_b": [
+              0.3542319673234911,
+              0.08625599372354836,
+              1.0476745704413004
+            ],
+            "finger_midpoint": [
+              0.36015001111207506,
+              0.0739505589758474,
+              1.0476745704413004
+            ],
+            "object_minus_finger_midpoint": [
+              0.00591804378858396,
+              0.01230543474770096,
+              0.0
+            ],
+            "finger_gap": 0.02730911691091629,
+            "fingertip_max_gap": 0.09480032819930459,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01365455845545814,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476745704413004,
+            "object_top_z": 1.0943333653760323,
+            "finger_top_clearance": 0.046658794934731906,
+            "fingertip_min_top_clearance": 0.013997638480419539,
+            "object_projection_between_fingers": 0.8121544001507136,
+            "object_to_finger_line_xy": 0.010666635894820453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0499001640996523,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1763769534955717,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36641736526229707,
+              0.08304111508907984,
+              1.2404534010112533
+            ],
+            "held_position": [
+              0.372021233287852,
+              0.08749946869325395,
+              1.2395125154982716
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007222570128162723,
+            "max_held_gripper_dist": 0.007224848378346942,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009408855129817706,
+            "max_held_gripper_z_dist": 0.0009520254283390539,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671016810855481,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.372021233287852,
+              0.06182627426171798,
+              1.2395125154982716
+            ],
+            "held_grasp_finger_b": [
+              0.36234968506928056,
+              0.08749946869325395,
+              1.2395125154982716
+            ],
+            "held_grasp_midpoint": [
+              0.36718545917856626,
+              0.07466287147748596,
+              1.2395125154982716
+            ],
+            "held_grasp_object_position": [
+              0.372021233287852,
+              0.08749946869325395,
+              1.2395125154982716
+            ],
+            "held_grasp_finger_gap": 0.0274344993988154,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025208422355912623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04461816334854358,
+              -0.9987050556773344,
+              0.02444240708144707
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00426995044670583,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032164487069604925,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34966956705754254,
+              0.23776696034764316,
+              0.7625861095063308
+            ],
+            "target_position": [
+              0.3554795189708243,
+              0.2371448255139853,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005843166349326101,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1716916001808987,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861095063308,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526030972464445,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865538738641815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14081991911404082,
+            "release_required_pad_clearance": 0.05327693693209075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5706844872596966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "141c4b1896b6d83d8c6bfc54ba88a20f2f3e67cf4061c001211d4a9f6b20b8e4",
+    "visual_seed": 4570225733646001527,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccea578b170d681141d16e77f7054a2bf23905e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_113_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36353276765060394,
+              0.08861435971014699,
+              1.0494964894233285
+            ],
+            "current_z": 1.0494964894233285,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19290992241011817,
+            "gripper_z": 1.0502752399144468,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3584658716088941,
+              0.0837976648246332,
+              1.0502752399144468
+            ],
+            "object_minus_gripper": [
+              0.005066896041709845,
+              0.004816694885513784,
+              -0.0007787504911183074
+            ],
+            "object_to_gripper_xy": 0.006990993142439029,
+            "object_to_gripper_z": -0.0007787504911183074,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36353276765060394,
+              0.06415277092184654,
+              1.0494964894233285
+            ],
+            "finger_b": [
+              0.35179103652514365,
+              0.08861435971014699,
+              1.0494964894233285
+            ],
+            "finger_midpoint": [
+              0.3576619020878738,
+              0.07638356531599677,
+              1.0494964894233285
+            ],
+            "object_minus_finger_midpoint": [
+              0.005870865562730143,
+              0.012230794394150216,
+              0.0
+            ],
+            "finger_gap": 0.02713369816059928,
+            "fingertip_max_gap": 0.09402413626536646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013566849080299636,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494964894233285,
+            "object_top_z": 1.0961226626967977,
+            "finger_top_clearance": 0.046626173273469185,
+            "fingertip_min_top_clearance": 0.013987851982040755,
+            "object_projection_between_fingers": 0.8127394548429685,
+            "object_to_finger_line_xy": 0.010585412897047376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951206813268323,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5239716272109989,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3640222786074777,
+              0.08597670543173672,
+              1.2423599446727873
+            ],
+            "held_position": [
+              0.36943530784905365,
+              0.09037229593443492,
+              1.2414376492683565
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007033685396049571,
+            "max_held_gripper_dist": 0.007035064175668615,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009222954044307841,
+            "max_held_gripper_z_dist": 0.0009333058896929813,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784235434253113,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36943530784905365,
+              0.06484284037843954,
+              1.2414376492683565
+            ],
+            "held_grasp_finger_b": [
+              0.3598219471083945,
+              0.09037229593443492,
+              1.2414376492683565
+            ],
+            "held_grasp_midpoint": [
+              0.36462862747872404,
+              0.07760756815643724,
+              1.2414376492683565
+            ],
+            "held_grasp_object_position": [
+              0.36943530784905365,
+              0.09037229593443492,
+              1.2414376492683565
+            ],
+            "held_grasp_finger_gap": 0.027279475906175146,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02494586531679159,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055795113335760586,
+              -0.9981506974546477,
+              0.024126551735589412
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040988136403523326,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219091375535235,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34342056276120525,
+              0.23149866774762812,
+              0.7625842358827806
+            ],
+            "target_position": [
+              0.34985158877733297,
+              0.23111793533270295,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006442286301608016,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16903303316410265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842358827806,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532824150341275,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647383136032259,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1378914148467302,
+            "release_required_pad_clearance": 0.0532369156801613,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.483006390385918,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c071bae8b062336e1382a435ddddf9f537c709f446f27501d05caa298778a0d0",
+    "visual_seed": 5106634159803298085,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..126ff4a472b54cbeac2ea4a7a11a62ee86970751
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_114_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3660608876186773,
+              0.09227807720228506,
+              1.0499310802105792
+            ],
+            "current_z": 1.0499310802105792,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1933445131973689,
+            "gripper_z": 1.0505680958043426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3611598498641206,
+              0.0875162297727317,
+              1.0505680958043426
+            ],
+            "object_minus_gripper": [
+              0.004901037754556692,
+              0.004761847429553365,
+              -0.0006370155937633903
+            ],
+            "object_to_gripper_xy": 0.006833400472234456,
+            "object_to_gripper_z": -0.0006370155937633903,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3660608876186773,
+              0.06798634645804598,
+              1.0499310802105792
+            ],
+            "finger_b": [
+              0.35433022422313265,
+              0.09227807720228506,
+              1.0499310802105792
+            ],
+            "finger_midpoint": [
+              0.36019555592090496,
+              0.08013221183016553,
+              1.0499310802105792
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058653316977723136,
+              0.012145865372119535,
+              0.0
+            ],
+            "finger_gap": 0.026975853021733734,
+            "fingertip_max_gap": 0.09279878284303814,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01348792651086686,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499310802105792,
+            "object_top_z": 1.0961571483848822,
+            "finger_top_clearance": 0.04622606817430297,
+            "fingertip_min_top_clearance": 0.01386782045229089,
+            "object_projection_between_fingers": 0.8108985874695634,
+            "object_to_finger_line_xy": 0.010563451558928957,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889939142151907,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.004062080796827,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3668660742404451,
+              0.08926715543601606,
+              1.2420027629671602
+            ],
+            "held_position": [
+              0.37215632231361384,
+              0.09356760784935056,
+              1.2412180157411843
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006862684885939103,
+            "max_held_gripper_dist": 0.006863753913733855,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007847472259758792,
+            "max_held_gripper_z_dist": 0.0007956425559638713,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877054586795853,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37215632231361384,
+              0.06805050869327287,
+              1.2412180157411843
+            ],
+            "held_grasp_finger_b": [
+              0.36281256062131995,
+              0.09356760784935056,
+              1.2412180157411843
+            ],
+            "held_grasp_midpoint": [
+              0.3674844414674669,
+              0.08080905827131171,
+              1.2412180157411843
+            ],
+            "held_grasp_object_position": [
+              0.37215632231361384,
+              0.09356760784935056,
+              1.2412180157411843
+            ],
+            "held_grasp_finger_gap": 0.027174035988485033,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024746978763415507,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0743061373526681,
+              -0.9970285982548318,
+              0.020311873712968387
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003720210877941475,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213243674440483,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3541429376212968,
+              0.2380075150845126,
+              0.7625850506550527
+            ],
+            "target_position": [
+              0.3587274771606872,
+              0.23667536362128064,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004774162786209239,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17258451109163117,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850506550527,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754069597834633,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086868129643055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14143895889377703,
+            "release_required_pad_clearance": 0.0534340648215275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8708765705752968,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8de92328970b5f07ecf130c4aaf2f9aefff2f72411d1e4f089fcacd651a2d8d9",
+    "visual_seed": 7083584783226357383,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30623cf00bed680a11d8aa04cbc25b3ebada36a4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_115_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3606777380730312,
+              0.0925707430175603,
+              1.047982644322745
+            ],
+            "current_z": 1.047982644322745,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19139613691417956,
+            "gripper_z": 1.0487790191572366,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3558787934213446,
+              0.08785922793353214,
+              1.0487790191572366
+            ],
+            "object_minus_gripper": [
+              0.004798944651686621,
+              0.004711515084028159,
+              -0.0007963748344916866
+            ],
+            "object_to_gripper_xy": 0.0067251947300413905,
+            "object_to_gripper_z": -0.0007963748344916866,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3606777380730312,
+              0.06834497158428048,
+              1.047982644322745
+            ],
+            "finger_b": [
+              0.34902791102125064,
+              0.0925707430175603,
+              1.047982644322745
+            ],
+            "finger_midpoint": [
+              0.35485282454714095,
+              0.0804578573009204,
+              1.047982644322745
+            ],
+            "object_minus_finger_midpoint": [
+              0.005824913525890263,
+              0.012112885716639904,
+              0.0
+            ],
+            "finger_gap": 0.026881340589224995,
+            "fingertip_max_gap": 0.09219251570552997,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01344067029461248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047982644322745,
+            "object_top_z": 1.0938283771796733,
+            "finger_top_clearance": 0.04584573285692839,
+            "fingertip_min_top_clearance": 0.013753719857078517,
+            "object_projection_between_fingers": 0.8121820442813864,
+            "object_to_finger_line_xy": 0.010498957314160262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859625785276499,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9392363339920506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36138735577711656,
+              0.08990627502240944,
+              1.2404680870548201
+            ],
+            "held_position": [
+              0.36655704613591295,
+              0.09418247526279633,
+              1.2395379285627535
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006773240119919042,
+            "max_held_gripper_dist": 0.006774200257153085,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009301584920666794,
+            "max_held_gripper_z_dist": 0.0009404183274106526,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08756580020987534,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36655704613591295,
+              0.06876330615535789,
+              1.2395379285627535
+            ],
+            "held_grasp_finger_b": [
+              0.3571993317306608,
+              0.09418247526279633,
+              1.2395379285627535
+            ],
+            "held_grasp_midpoint": [
+              0.3618781889332869,
+              0.08147289070907711,
+              1.2395379285627535
+            ],
+            "held_grasp_object_position": [
+              0.36655704613591295,
+              0.09418247526279633,
+              1.2395379285627535
+            ],
+            "held_grasp_finger_gap": 0.027086915236010464,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024696431780217205,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07021814412931879,
+              -0.9974170678783901,
+              0.015119687163064995
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003779879394596066,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219492773687317,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34539831817118666,
+              0.2366458378310941,
+              0.7625854776407095
+            ],
+            "target_position": [
+              0.3504017208387543,
+              0.23555392905012845,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00512116227430581,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1722349084302256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854776407095,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530410312452139,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772844457753258,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1413435655570433,
+            "release_required_pad_clearance": 0.05386422228876629,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.73375128475313,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31c7b6683fad85581fb087192fc1abd0665cf1c01b16fa1eb52c95a17ee5b489",
+    "visual_seed": 6075444635331228821,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dfc517d4ca1410d69d9bb81ffbdd04b86f1f4b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_116_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3601668616241732,
+              0.08430794875453532,
+              1.047858074850224
+            ],
+            "current_z": 1.047858074850224,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1912715674416583,
+            "gripper_z": 1.0487152186238768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3553287914580886,
+              0.07949309485867136,
+              1.0487152186238768
+            ],
+            "object_minus_gripper": [
+              0.004838070166084618,
+              0.00481485389586396,
+              -0.0008571437736528686
+            ],
+            "object_to_gripper_xy": 0.00682566780399357,
+            "object_to_gripper_z": -0.0008571437736528686,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3601668616241732,
+              0.060173408169385885,
+              1.047858074850224
+            ],
+            "finger_b": [
+              0.34822070978336517,
+              0.08430794875453532,
+              1.047858074850224
+            ],
+            "finger_midpoint": [
+              0.3541937857037692,
+              0.0722406784619606,
+              1.047858074850224
+            ],
+            "object_minus_finger_midpoint": [
+              0.005973075920404025,
+              0.01206727029257472,
+              0.0
+            ],
+            "finger_gap": 0.02692928875889348,
+            "fingertip_max_gap": 0.09244384146131165,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013464644379446743,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047858074850224,
+            "object_top_z": 1.093946211920022,
+            "finger_top_clearance": 0.046088137069798085,
+            "fingertip_min_top_clearance": 0.013826441120939425,
+            "object_projection_between_fingers": 0.8032085187875772,
+            "object_to_finger_line_xy": 0.010706368408750588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872192073065583,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9722950004642262,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36098129334526563,
+              0.08116163040166546,
+              1.2393390158669457
+            ],
+            "held_position": [
+              0.36625651956885197,
+              0.08545654673111047,
+              1.2383291360288888
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006877076070123129,
+            "max_held_gripper_dist": 0.006880389108145828,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001009879838056893,
+            "max_held_gripper_z_dist": 0.001020091716901872,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788254075758536,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36625651956885197,
+              0.059902336177343904,
+              1.2383291360288888
+            ],
+            "held_grasp_finger_b": [
+              0.35699804868047313,
+              0.08545654673111047,
+              1.2383291360288888
+            ],
+            "held_grasp_midpoint": [
+              0.36162728412466255,
+              0.0726794414542272,
+              1.2383291360288888
+            ],
+            "held_grasp_object_position": [
+              0.36625651956885197,
+              0.08545654673111047,
+              1.2383291360288888
+            ],
+            "held_grasp_finger_gap": 0.02717971597013466,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024658956883015098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08597662886124294,
+              -0.996116430396083,
+              0.01897567876577466
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035221779760567025,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032074734408910455,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3504567012112678,
+              0.23887864526339783,
+              0.7625852898530321
+            ],
+            "target_position": [
+              0.3552086422702742,
+              0.2376781812599658,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004901230218201027,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17119190113176236,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852898530321,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539433691275269,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08832401790845733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14009570809248736,
+            "release_required_pad_clearance": 0.054162008954228666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.331544528353671,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c0f401cc1e8f25845fc2fd45510324282eb90dd0a109c753f44ea97f0edd788",
+    "visual_seed": 8223641498629995107,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e89de4e2247a7a75fac82180c541e0c8bc56249
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_117_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3605342454165079,
+              0.08616741680361982,
+              1.0481746806818648
+            ],
+            "current_z": 1.0481746806818648,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19158823287794402,
+            "gripper_z": 1.0490512723624632,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3554673337672115,
+              0.08134000374772525,
+              1.0490512723624632
+            ],
+            "object_minus_gripper": [
+              0.005066911649296402,
+              0.004827413055894569,
+              -0.0008765916805983931
+            ],
+            "object_to_gripper_xy": 0.006998393420921471,
+            "object_to_gripper_z": -0.0008765916805983931,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3605342454165079,
+              0.061724242484983836,
+              1.0481746806818648
+            ],
+            "finger_b": [
+              0.3487516563259097,
+              0.08616741680361982,
+              1.0481746806818648
+            ],
+            "finger_midpoint": [
+              0.3546429508712088,
+              0.07394582964430182,
+              1.0481746806818648
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058912945452991305,
+              0.012221587159317995,
+              0.0
+            ],
+            "finger_gap": 0.027134814840884938,
+            "fingertip_max_gap": 0.09389112929096213,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013567407420442485,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481746806818648,
+            "object_top_z": 1.0948863143436203,
+            "finger_top_clearance": 0.04671163366175546,
+            "fingertip_min_top_clearance": 0.014013490098526671,
+            "object_projection_between_fingers": 0.8114494777816698,
+            "object_to_finger_line_xy": 0.010613814052359219,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944556464548107,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3664198651855897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36102338566948056,
+              0.0830912979859179,
+              1.2398825633358472
+            ],
+            "held_position": [
+              0.36645746090650655,
+              0.08746690146534014,
+              1.238852130649594
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00705243723911741,
+            "max_held_gripper_dist": 0.007053360577244227,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010304326862531354,
+            "max_held_gripper_z_dist": 0.001041096439788225,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781084133400355,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36645746090650655,
+              0.06187390392250405,
+              1.238852130649594
+            ],
+            "held_grasp_finger_b": [
+              0.356966698356189,
+              0.08746690146534014,
+              1.238852130649594
+            ],
+            "held_grasp_midpoint": [
+              0.36171207963134777,
+              0.0746704026939221,
+              1.238852130649594
+            ],
+            "held_grasp_object_position": [
+              0.36645746090650655,
+              0.08746690146534014,
+              1.238852130649594
+            ],
+            "held_grasp_finger_gap": 0.02729608208175899,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024903930247597496,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06588856225696789,
+              -0.9975096861565661,
+              0.02516194323852816
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039055480925343795,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032122927142849325,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3494383639653159,
+              0.2336852134826402,
+              0.7625860374675892
+            ],
+            "target_position": [
+              0.35557183781145885,
+              0.23318985784016363,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0061534444528128125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1701235032738329,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860374675892,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537952255867793,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618878210064777,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.138947506745202,
+            "release_required_pad_clearance": 0.05309439105032389,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2162577147052138,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "770b2249cc40d7a0e880479cc7d50c89e746b071c916d9465edf170737581d35",
+    "visual_seed": 3356785972288119783,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..631e26daafac2657807e3bf74e17724e0aabfa2d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_119_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36666030102735553,
+              0.08651433235076678,
+              1.0488949370974876
+            ],
+            "current_z": 1.0488949370974876,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19230837008427726,
+            "gripper_z": 1.0496381116120677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3617237670651062,
+              0.08176449935114331,
+              1.0496381116120677
+            ],
+            "object_minus_gripper": [
+              0.004936533962249301,
+              0.004749832999623463,
+              -0.0007431745145800583
+            ],
+            "object_to_gripper_xy": 0.006850567938846589,
+            "object_to_gripper_z": -0.0007431745145800583,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36666030102735553,
+              0.06214905782110789,
+              1.0488949370974876
+            ],
+            "finger_b": [
+              0.35500980887480643,
+              0.08651433235076678,
+              1.0488949370974876
+            ],
+            "finger_midpoint": [
+              0.360835054951081,
+              0.07433169508593733,
+              1.0488949370974876
+            ],
+            "object_minus_finger_midpoint": [
+              0.005825246076274548,
+              0.012182637264829446,
+              0.0
+            ],
+            "finger_gap": 0.02700741694983532,
+            "fingertip_max_gap": 0.0942857422375015,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013503708474917662,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488949370974876,
+            "object_top_z": 1.0956732206482975,
+            "finger_top_clearance": 0.04677828355080993,
+            "fingertip_min_top_clearance": 0.014033485065242945,
+            "object_projection_between_fingers": 0.8139102532640438,
+            "object_to_finger_line_xy": 0.010510721563256595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04964287111875075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5482227215971474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36733255882618826,
+              0.08363574159865725,
+              1.2412677290023684
+            ],
+            "held_position": [
+              0.3726288335137675,
+              0.08795431253187155,
+              1.2403795614267368
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006891256932802577,
+            "max_held_gripper_dist": 0.006892065351498341,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008881675756315932,
+            "max_held_gripper_z_dist": 0.0008994569146942855,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877385539781611,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3726288335137675,
+              0.062448617533712156,
+              1.2403795614267368
+            ],
+            "held_grasp_finger_b": [
+              0.3632234230829712,
+              0.08795431253187155,
+              1.2403795614267368
+            ],
+            "held_grasp_midpoint": [
+              0.36792612829836935,
+              0.07520146503279185,
+              1.2403795614267368
+            ],
+            "held_grasp_object_position": [
+              0.3726288335137675,
+              0.08795431253187155,
+              1.2403795614267368
+            ],
+            "held_grasp_finger_gap": 0.027184595319976093,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024879517061858772,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0606912792196825,
+              -0.9978298358200611,
+              0.025537959471902186
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003933857607562519,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218964004425021,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34649090965121615,
+              0.23600767568218245,
+              0.7625847338142798
+            ],
+            "target_position": [
+              0.35202127189938753,
+              0.23516837028932797,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005593687525995161,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16930647598533222,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847338142798,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576527543434972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696965677286538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13736937130209192,
+            "release_required_pad_clearance": 0.05348482838643269,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9738939779581248,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48ba626cd1896f3e6207e23a9ce56a8e0e2371d4d69d940ea5873d5ba047cbc7",
+    "visual_seed": 6176290811911307307,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b4e9551d20bdeeb4569bad14f313d170428e3b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36541351004699146,
+              0.08410149028241622,
+              1.0464901233754371
+            ],
+            "current_z": 1.0464901233754371,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18990355636222678,
+            "gripper_z": 1.0475215438916827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3603583065101619,
+              0.07931238262636969,
+              1.0475215438916827
+            ],
+            "object_minus_gripper": [
+              0.005055203536829589,
+              0.0047891076560465234,
+              -0.001031420516245607
+            ],
+            "object_to_gripper_xy": 0.006963521734006279,
+            "object_to_gripper_z": -0.001031420516245607,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36541351004699146,
+              0.059620754422063424,
+              1.0464901233754371
+            ],
+            "finger_b": [
+              0.3537414708520146,
+              0.08410149028241622,
+              1.0464901233754371
+            ],
+            "finger_midpoint": [
+              0.35957749044950305,
+              0.07186112235223982,
+              1.0464901233754371
+            ],
+            "object_minus_finger_midpoint": [
+              0.005836019597488418,
+              0.012240367930176396,
+              0.0
+            ],
+            "finger_gap": 0.027120894661375756,
+            "fingertip_max_gap": 0.09147850475056504,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013560447330687866,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464901233754371,
+            "object_top_z": 1.0919504489340952,
+            "finger_top_clearance": 0.04546032555865809,
+            "fingertip_min_top_clearance": 0.013638097667597425,
+            "object_projection_between_fingers": 0.8147810359872589,
+            "object_to_finger_line_xy": 0.010535792128231348,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048239252375282524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9649823819273075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3659053351094471,
+              0.08097060572091146,
+              1.23836566579961
+            ],
+            "held_position": [
+              0.37130653960581095,
+              0.08532683720874572,
+              1.2371847223475916
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007038777608648029,
+            "max_held_gripper_dist": 0.0070395857740461415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001180943452018468,
+            "max_held_gripper_z_dist": 0.0011927963443185696,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672153149625535,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37130653960581095,
+              0.05974796632071002,
+              1.2371847223475916
+            ],
+            "held_grasp_finger_b": [
+              0.36185063367181314,
+              0.08532683720874572,
+              1.2371847223475916
+            ],
+            "held_grasp_midpoint": [
+              0.36657858663881204,
+              0.07253740176472787,
+              1.2371847223475916
+            ],
+            "held_grasp_object_position": [
+              0.37130653960581095,
+              0.08532683720874572,
+              1.2371847223475916
+            ],
+            "held_grasp_finger_gap": 0.027270731433891082,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024919207193911348,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.064031450434907,
+              -0.9978815201721913,
+              0.011508477485691837
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003902167316557687,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213514599672518,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3471140318619674,
+              0.23553909416776875,
+              0.7625857785377449
+            ],
+            "target_position": [
+              0.35074413604936083,
+              0.23359382429190045,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0041184622495893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17275759566133525,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857785377449,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563516520322629,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705437110805957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14106558881004158,
+            "release_required_pad_clearance": 0.053527185554029785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0619495951887936,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c17c672966d76705a53c49c826cbaa43166b7ddfb907fa1c1c26c2a196d44692",
+    "visual_seed": 1049907275184935726,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_120_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c20373243b7d33b9926f9c22d04fc1471f6be7f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_120_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3672445576525567,
+              0.09081295283416108,
+              1.0067137763663085
+            ],
+            "current_z": 1.0067137763663085,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.15012732856238764,
+            "gripper_z": 1.052373559151481,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3587914950213144,
+              0.08045349789566854,
+              1.052373559151481
+            ],
+            "object_minus_gripper": [
+              0.008453062631242292,
+              0.010359454938492538,
+              -0.045659782785172354
+            ],
+            "object_to_gripper_xy": 0.013370586167792431,
+            "object_to_gripper_z": -0.045659782785172354,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3672445576525567,
+              0.06038303635871081,
+              1.0387744449932033
+            ],
+            "finger_b": [
+              0.3522055524829,
+              0.09081295283416108,
+              1.038890416048577
+            ],
+            "finger_midpoint": [
+              0.35972505506772834,
+              0.07559799459643594,
+              1.0388324305208902
+            ],
+            "object_minus_finger_midpoint": [
+              0.007519502584828364,
+              0.015214958237725132,
+              -0.032118654154581705
+            ],
+            "finger_gap": 0.03394355524221831,
+            "fingertip_max_gap": 0.10432899070130644,
+            "finger_z_skew": 0.00011597105537375363,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01697167856456633,
+            "object_to_finger_midpoint_z": 0.032118654154581705,
+            "finger_midpoint_minus_object_z": 0.032118654154581705,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0067137763663085,
+            "object_top_z": 1.055327741140772,
+            "finger_top_clearance": 0.016495310619881742,
+            "fingertip_min_top_clearance": 0.014584189432339,
+            "object_projection_between_fingers": 0.8036962345415132,
+            "object_to_finger_line_xy": 0.013482333802325705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05466449535065322,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 10.211492369136801,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3713544973795314,
+              0.06452837987420106,
+              1.207517795895649
+            ],
+            "held_position": [
+              0.3801486285372612,
+              0.06858371311478467,
+              1.1605051804308957
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.04799967170042197,
+            "max_held_gripper_dist": 0.04803892564125251,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.047012615464753216,
+            "max_held_gripper_z_dist": 0.047040352370487204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09213328647139146,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3801486285372612,
+              0.03878181150726784,
+              1.1944083607213498
+            ],
+            "held_grasp_finger_b": [
+              0.377272488608314,
+              0.08596338611393037,
+              1.1912145490741162
+            ],
+            "held_grasp_midpoint": [
+              0.3787105585727876,
+              0.0623725988105991,
+              1.192811454897733
+            ],
+            "held_grasp_object_position": [
+              0.3801486285372612,
+              0.06858371311478467,
+              1.1605051804308957
+            ],
+            "held_grasp_finger_gap": 0.047376931053973434,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.045692041070547085,
+            "held_grasp_world_z_skew": 0.0031938116472336464,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.19557639348658568,
+              -0.9806767290432805,
+              -0.004798689795387556
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0323370729655223,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.038982904958646016,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35243107058235823,
+              0.23427521484677394,
+              0.7625855446186055
+            ],
+            "target_position": [
+              0.3553063108986958,
+              0.23256157739020406,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003347171971867035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17096312882125034,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855446186055,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525250479532707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08902133028833963,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14025711097735608,
+            "release_required_pad_clearance": 0.054510665144169815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.048780565714733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea7bf90dedfea3195ba440ed8e3648eb259e8201c4a192413b63b4b455a28387",
+    "visual_seed": 3953546942367929955,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_121_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d0a664d7fc02b7d3400d62197b951c29783550
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_121_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3654094710297955,
+              0.09105282796919396,
+              1.0479391314146462
+            ],
+            "current_z": 1.0479391314146462,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19135262400608066,
+            "gripper_z": 1.0494746556932226,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3600978520115298,
+              0.08609177432328399,
+              1.0494746556932226
+            ],
+            "object_minus_gripper": [
+              0.005311619018265712,
+              0.004961053645909971,
+              -0.0015355242785763945
+            ],
+            "object_to_gripper_xy": 0.0072681049712286505,
+            "object_to_gripper_z": -0.0015355242785763945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3654094710297955,
+              0.06634482901154183,
+              1.0479391314146462
+            ],
+            "finger_b": [
+              0.3535575594895034,
+              0.09105282796919396,
+              1.0479391314146462
+            ],
+            "finger_midpoint": [
+              0.35948351525964944,
+              0.0786988284903679,
+              1.0479391314146462
+            ],
+            "object_minus_finger_midpoint": [
+              0.005925955770146041,
+              0.012353999478826067,
+              0.0
+            ],
+            "finger_gap": 0.02740352203002832,
+            "fingertip_max_gap": 0.09339322888764309,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370176101501416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479391314146462,
+            "object_top_z": 1.0935273860282764,
+            "finger_top_clearance": 0.04558825461363014,
+            "fingertip_min_top_clearance": 0.013676476384089042,
+            "object_projection_between_fingers": 0.8129472770156371,
+            "object_to_finger_line_xy": 0.010686108802468399,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919661444382155,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6315579403904636,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3656787122977846,
+              0.08798685371069874,
+              1.2393193278716117
+            ],
+            "held_position": [
+              0.3713212976308914,
+              0.09250942497824288,
+              1.2376206559300853
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007428183255435802,
+            "max_held_gripper_dist": 0.007430025375903543,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016986719415263973,
+            "max_held_gripper_z_dist": 0.0017113794490482004,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783221337797892,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3713212976308914,
+              0.06678426896503342,
+              1.2376206559300853
+            ],
+            "held_grasp_finger_b": [
+              0.36160420239931146,
+              0.09250942497824288,
+              1.2376206559300853
+            ],
+            "held_grasp_midpoint": [
+              0.3664627500151014,
+              0.07964684697163815,
+              1.2376206559300853
+            ],
+            "held_grasp_object_position": [
+              0.3713212976308914,
+              0.09250942497824288,
+              1.2376206559300853
+            ],
+            "held_grasp_finger_gap": 0.027499192563483755,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025406970880643896,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03140499584496129,
+              -0.9994938885040768,
+              0.00506883408470038
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004452684909906039,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032191574190115965,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3523732489389883,
+              0.23478239159048225,
+              0.7625852887551452
+            ],
+            "target_position": [
+              0.35542805765913293,
+              0.23243421355865918,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038530243167943,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17228480721879016,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852887551452,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755920775510803,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523462142457115,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14099016092175568,
+            "release_required_pad_clearance": 0.05261731071228558,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.28798101319443953,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aafcfc9ba8d7a41337554a13c52318051e81d6990265f40cb16ef498de45b25f",
+    "visual_seed": 2658587314908429815,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_122_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8c2a3de2d781d7602785d6eeabd83262a795c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_122_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3616233429060295,
+              0.09175757717280847,
+              1.0481447741368013
+            ],
+            "current_z": 1.0481447741368013,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.19155844554217005,
+            "gripper_z": 1.0498280510730904,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3562903962983847,
+              0.08680191052439784,
+              1.0498280510730904
+            ],
+            "object_minus_gripper": [
+              0.005332946607644773,
+              0.004955666648410628,
+              -0.0016832769362891131
+            ],
+            "object_to_gripper_xy": 0.007280037874225609,
+            "object_to_gripper_z": -0.0016832769362891131,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3616233429060295,
+              0.0670431672686426,
+              1.0481447741368013
+            ],
+            "finger_b": [
+              0.34977152943967826,
+              0.09175757717280847,
+              1.0481447741368013
+            ],
+            "finger_midpoint": [
+              0.3556974361728539,
+              0.07940037222072553,
+              1.0481447741368013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005925906733175612,
+              0.012357204952082937,
+              0.0
+            ],
+            "finger_gap": 0.027409260102241293,
+            "fingertip_max_gap": 0.09359225942491703,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013704630051120647,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481447741368013,
+            "object_top_z": 1.093864419440161,
+            "finger_top_clearance": 0.0457196453033597,
+            "fingertip_min_top_clearance": 0.01371589359100791,
+            "object_projection_between_fingers": 0.8130286814171653,
+            "object_to_finger_line_xy": 0.01068655538392899,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04929612971245852,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.409275482133887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3616194623353908,
+              0.08934474355167252,
+              1.240468435548115
+            ],
+            "held_position": [
+              0.36724438958498007,
+              0.09392258438583127,
+              1.2386528389937823
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074761503539032955,
+            "max_held_gripper_dist": 0.007480261108235138,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0018155965543327213,
+            "max_held_gripper_z_dist": 0.001831315422300639,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737951535481397,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36724438958498007,
+              0.06833261795035933,
+              1.2386528389937823
+            ],
+            "held_grasp_finger_b": [
+              0.35721057564388425,
+              0.09392258438583127,
+              1.2386528389937823
+            ],
+            "held_grasp_midpoint": [
+              0.36222748261443216,
+              0.08112760116809531,
+              1.2386528389937823
+            ],
+            "held_grasp_object_position": [
+              0.36724438958498007,
+              0.09392258438583127,
+              1.2386528389937823
+            ],
+            "held_grasp_finger_gap": 0.027486793271917137,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025334499354838263,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02454667570045962,
+              -0.9996416445560422,
+              0.01067910021247087
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004703325320099499,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228667851154081,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3484117795118482,
+              0.2399274654285894,
+              0.7625837130680387
+            ],
+            "target_position": [
+              0.3517944657216527,
+              0.23779320294882875,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0039997052799569405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17169025411924296,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625837130680387,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581923847783396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685213175362776,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13964624861494826,
+            "release_required_pad_clearance": 0.05342606587681388,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8536400761052665,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26b83bc8f83e4ede0173623de9e336dadd70e5048d686f51b1a2e8bc2b610e94",
+    "visual_seed": 7924169725708911202,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_124_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21d2e92886fc4593ffb571962fca0815381df39e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_124_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36308890263802696,
+              0.09180146522063108,
+              1.0485212523174423
+            ],
+            "current_z": 1.0485212523174423,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19193480451352152,
+            "gripper_z": 1.0492607481113254,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.357955178988026,
+              0.08696864003387182,
+              1.0492607481113254
+            ],
+            "object_minus_gripper": [
+              0.005133723650000976,
+              0.00483282518675926,
+              -0.0007394957938831048
+            ],
+            "object_to_gripper_xy": 0.007050625348176857,
+            "object_to_gripper_z": -0.0007394957938831048,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36308890263802696,
+              0.06723754242160851,
+              1.0485212523174423
+            ],
+            "finger_b": [
+              0.351390541087638,
+              0.09180146522063108,
+              1.0485212523174423
+            ],
+            "finger_midpoint": [
+              0.3572397218628325,
+              0.0795195038211198,
+              1.0485212523174423
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058491807751944735,
+              0.01228196139951128,
+              0.0
+            ],
+            "finger_gap": 0.027207314572371147,
+            "fingertip_max_gap": 0.09343846617180943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013603657286185568,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485212523174423,
+            "object_top_z": 1.0947627107326063,
+            "finger_top_clearance": 0.04624145841516403,
+            "fingertip_min_top_clearance": 0.01387243752454924,
+            "object_projection_between_fingers": 0.8151247717558222,
+            "object_to_finger_line_xy": 0.01056177923162685,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049219233085904715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5203302936931038,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3636803427506211,
+              0.08876711603947506,
+              1.2418582691965687
+            ],
+            "held_position": [
+              0.36917627934330893,
+              0.0931587054630811,
+              1.2409690495285493
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007090986413353655,
+            "max_held_gripper_dist": 0.0070920303583465825,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008892196680194697,
+            "max_held_gripper_z_dist": 0.0008997439934792517,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675279870250092,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36917627934330893,
+              0.06752155330087954,
+              1.2409690495285493
+            ],
+            "held_grasp_finger_b": [
+              0.35966463813988614,
+              0.0931587054630811,
+              1.2409690495285493
+            ],
+            "held_grasp_midpoint": [
+              0.36442045874159756,
+              0.08034012938198032,
+              1.2409690495285493
+            ],
+            "held_grasp_object_position": [
+              0.36917627934330893,
+              0.0931587054630811,
+              1.2409690495285493
+            ],
+            "held_grasp_finger_gap": 0.027344741530512334,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02505196123551209,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05662738270565462,
+              -0.9981834339551554,
+              0.020571137678833118
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004031122686593529,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213562500146964,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3541730200840092,
+              0.2382184727594932,
+              0.7625847840632045
+            ],
+            "target_position": [
+              0.3589134175831957,
+              0.23698233078202965,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0048989198236694415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1707781412636114,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847840632045,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550426109193126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644919127344312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13949829959263949,
+            "release_required_pad_clearance": 0.053224595636721564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4612141884156402,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6cc1a229089b4eda83a0c6ef3ee263d20dbfd020a6c33fe8ed134ad05443dd23",
+    "visual_seed": 2163340362273560793,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_125_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeca65a6f430a6b6732e23688aa7bbc4eb0fc4db
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_125_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3653150830933243,
+              0.08380876387372867,
+              1.0190753153871828
+            ],
+            "current_z": 1.0190753153871828,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.16248874837397242,
+            "gripper_z": 1.0500739155197987,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3602410876624682,
+              0.07880818020908166,
+              1.0500739155197987
+            ],
+            "object_minus_gripper": [
+              0.005073995430856071,
+              0.005000583664647007,
+              -0.030998600132615906
+            ],
+            "object_to_gripper_xy": 0.007123992323092633,
+            "object_to_gripper_z": -0.030998600132615906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3653150830933243,
+              0.058704414737651055,
+              1.0364931465154785
+            ],
+            "finger_b": [
+              0.3540116150703755,
+              0.08380876387372867,
+              1.0366023793543977
+            ],
+            "finger_midpoint": [
+              0.3596633490818499,
+              0.07125658930568986,
+              1.036547762934938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005651734011474396,
+              0.01255217456803881,
+              -0.017472447547755232
+            ],
+            "finger_gap": 0.0275319571898731,
+            "fingertip_max_gap": 0.10260124559766301,
+            "finger_z_skew": 0.00010923283891917102,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013765870249387677,
+            "object_to_finger_midpoint_z": 0.017472447547755232,
+            "finger_midpoint_minus_object_z": 0.017472447547755232,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0190753153871828,
+            "object_top_z": 1.068008255524771,
+            "finger_top_clearance": 0.03146049258983297,
+            "fingertip_min_top_clearance": 0.014679882041276493,
+            "object_projection_between_fingers": 0.8314393935165878,
+            "object_to_finger_line_xy": 0.010306874994307696,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05380062279883151,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.4903698154491645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 198,
+            "max_stable_success_frames": 198,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36869929412176633,
+              0.07260504281054408,
+              1.2142493814362214
+            ],
+            "held_position": [
+              0.37325694244260726,
+              0.07526794560680226,
+              1.1828476906813101
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.031842257956776004,
+            "max_held_gripper_dist": 0.031859492419063315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03140169075491128,
+            "max_held_gripper_z_dist": 0.031407706251701084,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08878434639582938,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37325694244260726,
+              0.04863605230286591,
+              1.2007567517858937
+            ],
+            "held_grasp_finger_b": [
+              0.3699878974095211,
+              0.08615503016052278,
+              1.1993648757613207
+            ],
+            "held_grasp_midpoint": [
+              0.37162241992606415,
+              0.06739554123169435,
+              1.2000608137736073
+            ],
+            "held_grasp_object_position": [
+              0.37325694244260726,
+              0.07526794560680226,
+              1.1828476906813101
+            ],
+            "held_grasp_finger_gap": 0.03768683687681248,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.03658449895630792,
+            "held_grasp_world_z_skew": 0.0013918760245730244,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.15195992421221255,
+              -0.9855646884322485,
+              0.07463528889783722
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.016571044194219474,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.035908372868080206,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34325021667614747,
+              0.23544579165820334,
+              0.7625853996914866
+            ],
+            "target_position": [
+              0.35640295556435597,
+              0.23937924239829425,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.013728312896569412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16222071938865015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853996914866,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751990143160775,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859142290635622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.130816394701176,
+            "release_required_pad_clearance": 0.052957114531781105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9462487191045357,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 126,
+            "max_placed_release_frames": 126
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2887c5f49c11ad7396c401a99baafee85639b29e68500298ec0542044536ba46",
+    "visual_seed": 3089332875566322746,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_128_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f2f630e7930400650c1adebf61b34713a1d6f3a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_128_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35886142248782404,
+              0.09196928630115239,
+              1.049247918958963
+            ],
+            "current_z": 1.049247918958963,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19266129234110785,
+            "gripper_z": 1.0501576984499181,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35406552310375966,
+              0.08718346233151754,
+              1.0501576984499181
+            ],
+            "object_minus_gripper": [
+              0.004795899384064384,
+              0.004785823969634853,
+              -0.0009097794909551649
+            ],
+            "object_to_gripper_xy": 0.006775305304589649,
+            "object_to_gripper_z": -0.0009097794909551649,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35886142248782404,
+              0.06785789612334468,
+              1.049247918958963
+            ],
+            "finger_b": [
+              0.3469620047427589,
+              0.09196928630115239,
+              1.049247918958963
+            ],
+            "finger_midpoint": [
+              0.3529117136152915,
+              0.07991359121224853,
+              1.049247918958963
+            ],
+            "object_minus_finger_midpoint": [
+              0.005949708872532544,
+              0.012055695088903862,
+              0.0
+            ],
+            "finger_gap": 0.02688782771028655,
+            "fingertip_max_gap": 0.09284987692776767,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013443913855143269,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049247918958963,
+            "object_top_z": 1.0954127895819186,
+            "finger_top_clearance": 0.0461648706229556,
+            "fingertip_min_top_clearance": 0.01384946118688668,
+            "object_projection_between_fingers": 0.8041425980432331,
+            "object_to_finger_line_xy": 0.010670683672605897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048924938463883835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2061875231914927,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35979549140517475,
+              0.08897249362741937,
+              1.2394393244941242
+            ],
+            "held_position": [
+              0.3650207087887261,
+              0.09324707935485653,
+              1.2383690390241602
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006835238901003602,
+            "max_held_gripper_dist": 0.006836453962233289,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010702854699640163,
+            "max_held_gripper_z_dist": 0.001080107180337242,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657117724908889,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3650207087887261,
+              0.0677156778591937,
+              1.2383690390241602
+            ],
+            "held_grasp_finger_b": [
+              0.3558246235928765,
+              0.09324707935485653,
+              1.2383690390241602
+            ],
+            "held_grasp_midpoint": [
+              0.3604226661908013,
+              0.08048137860702512,
+              1.2383690390241602
+            ],
+            "held_grasp_object_position": [
+              0.3650207087887261,
+              0.09324707935485653,
+              1.2383690390241602
+            ],
+            "held_grasp_finger_gap": 0.027137067735148887,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024697243069225223,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08104260172793673,
+              -0.9965186495355813,
+              0.019562153075476374
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003557385767495624,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210632876121475,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34983988188087983,
+              0.23623191218685524,
+              0.7625844843404385
+            ],
+            "target_position": [
+              0.354931661869712,
+              0.23524374522277816,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005186781025218319,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17015349224657822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844843404385,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075169430506224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08949305744983115,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13957214812947538,
+            "release_required_pad_clearance": 0.054746528724915575,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.53230388120385,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 128,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5101ffd013f4014233ff16735e6b03bb92d903fcb6f886ab738644bd4216a4b7",
+    "visual_seed": 697362920230847744,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_129_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0dd8e1c981b1d7c187920c18d80f06cecfbf384
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_129_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.362643351340491,
+              0.08350438871209057,
+              1.0488325652528772
+            ],
+            "current_z": 1.0488325652528772,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19224617705360114,
+            "gripper_z": 1.0495906994573003,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35775074592653666,
+              0.07873698189550997,
+              1.0495906994573003
+            ],
+            "object_minus_gripper": [
+              0.004892605413954365,
+              0.004767406816580597,
+              -0.0007581342044231665
+            ],
+            "object_to_gripper_xy": 0.006831233819116039,
+            "object_to_gripper_z": -0.0007581342044231665,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.362643351340491,
+              0.05923508676998986,
+              1.0488325652528772
+            ],
+            "finger_b": [
+              0.3508856726656334,
+              0.08350438871209057,
+              1.0488325652528772
+            ],
+            "finger_midpoint": [
+              0.35676451200306225,
+              0.07136973774104022,
+              1.0488325652528772
+            ],
+            "object_minus_finger_midpoint": [
+              0.005878839337428776,
+              0.012134650971050348,
+              0.0
+            ],
+            "finger_gap": 0.026967425249327277,
+            "fingertip_max_gap": 0.09131417763307012,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013483712624663623,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488325652528772,
+            "object_top_z": 1.0942343149548188,
+            "finger_top_clearance": 0.04540174970194166,
+            "fingertip_min_top_clearance": 0.013620524910582531,
+            "object_projection_between_fingers": 0.8099078392761887,
+            "object_to_finger_line_xy": 0.010581308792371145,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815708881653506,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8435897364071524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3632869926774708,
+              0.08059860075161283,
+              1.2391881615939284
+            ],
+            "held_position": [
+              0.3685581894675225,
+              0.0849168404795776,
+              1.2382778582911291
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006874689960333633,
+            "max_held_gripper_dist": 0.006875714005287001,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009103033027992868,
+            "max_held_gripper_z_dist": 0.0009228539834744698,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878342452569015,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3685581894675225,
+              0.05941102656461653,
+              1.2382778582911291
+            ],
+            "held_grasp_finger_b": [
+              0.3591878231830793,
+              0.0849168404795776,
+              1.2382778582911291
+            ],
+            "held_grasp_midpoint": [
+              0.3638730063253009,
+              0.07216393352209706,
+              1.2382778582911291
+            ],
+            "held_grasp_object_position": [
+              0.3685581894675225,
+              0.0849168404795776,
+              1.2382778582911291
+            ],
+            "held_grasp_finger_gap": 0.027172602153074175,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024761444616889037,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07223024966135058,
+              -0.9973517644975537,
+              0.008499934557115838
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003753406993300667,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214267876122262,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34581110717058644,
+              0.2362717807754091,
+              0.762584911144877
+            ],
+            "target_position": [
+              0.349610365625827,
+              0.23439621348321382,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004236993919899993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17353912907677208,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584911144877,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559506475340338,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08732956201146673,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14196352480524382,
+            "release_required_pad_clearance": 0.05366478100573337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.328302430138903,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 137,
+            "max_placed_release_frames": 137
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 129,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa96467a29fa4776e7fd4cb152334ef0fd430a5d61d360089ee94846c865a5f5",
+    "visual_seed": 6242797268698941914,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_130_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..173cd0d1c881de959f9a256e951808dea91da907
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_130_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36695007172190724,
+              0.08800508972333605,
+              1.0468349837909998
+            ],
+            "current_z": 1.0468349837909998,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.19024841677778936,
+            "gripper_z": 1.047455869954267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36211525424878493,
+              0.08328743111095609,
+              1.047455869954267
+            ],
+            "object_minus_gripper": [
+              0.00483481747312231,
+              0.004717658612379966,
+              -0.0006208861632672757
+            ],
+            "object_to_gripper_xy": 0.006755128628040451,
+            "object_to_gripper_z": -0.0006208861632672757,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36695007172190724,
+              0.06374346256344944,
+              1.0468349837909998
+            ],
+            "finger_b": [
+              0.3553045731289691,
+              0.08800508972333605,
+              1.0468349837909998
+            ],
+            "finger_midpoint": [
+              0.3611273224254382,
+              0.07587427614339275,
+              1.0468349837909998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005822749296469032,
+              0.012130813579943306,
+              0.0
+            ],
+            "finger_gap": 0.026911785335117986,
+            "fingertip_max_gap": 0.09261667230689427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01345589266755898,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468349837909998,
+            "object_top_z": 1.0929815966386909,
+            "finger_top_clearance": 0.04614661284769106,
+            "fingertip_min_top_clearance": 0.013843983854307318,
+            "object_projection_between_fingers": 0.8127459779933423,
+            "object_to_finger_line_xy": 0.01049869941494204,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880833615344714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.952121944758223,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3676709738742491,
+              0.08539367730844115,
+              1.239956887034128
+            ],
+            "held_position": [
+              0.3728780316407571,
+              0.08967626861366883,
+              1.239201220213055
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006784178005907134,
+            "max_held_gripper_dist": 0.006785218161169019,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007556668210730866,
+            "max_held_gripper_z_dist": 0.0007662551546552265,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08790211060332292,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3728780316407571,
+              0.06423560867595608,
+              1.239201220213055
+            ],
+            "held_grasp_finger_b": [
+              0.36350651347724205,
+              0.08967626861366883,
+              1.239201220213055
+            ],
+            "held_grasp_midpoint": [
+              0.36819227255899956,
+              0.07695593864481245,
+              1.239201220213055
+            ],
+            "held_grasp_object_position": [
+              0.3728780316407571,
+              0.08967626861366883,
+              1.239201220213055
+            ],
+            "held_grasp_finger_gap": 0.027111852219194373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02470375110635746,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07124593844129186,
+              -0.99727891393755,
+              0.018941596320276474
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037754785158909225,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032180666806452804,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34567869464925155,
+              0.24002142842869406,
+              0.7625855062770897
+            ],
+            "target_position": [
+              0.34994206243689696,
+              0.23844422829497794,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004545752429964338,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1690674706014056,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855062770897,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590315507293276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859592739375196,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13699964568467576,
+            "release_required_pad_clearance": 0.052979636968759805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9883217498456587,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef90a8d774de3f984db8d3e63d5be054dee851b51187fbe3eb352df9c37ea157",
+    "visual_seed": 6182607738072693753,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_131_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_131_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e338ec126aa59bebe352afb2bb9fcfea69b408
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_131_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 131,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36438526362764695,
+              0.09159507834926033,
+              1.0218574552584834
+            ],
+            "current_z": 1.0218574552584834,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1652709478499178,
+            "gripper_z": 1.0493762476957988,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3597858519923246,
+              0.08737408261544212,
+              1.0493762476957988
+            ],
+            "object_minus_gripper": [
+              0.004599411635322348,
+              0.004220995733818206,
+              -0.027518792437315476
+            ],
+            "object_to_gripper_xy": 0.0062427071352138645,
+            "object_to_gripper_z": -0.027518792437315476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36438526362764695,
+              0.06743334842485403,
+              1.0358003647166478
+            ],
+            "finger_b": [
+              0.3535265137806306,
+              0.09159507834926033,
+              1.0359108141888909
+            ],
+            "finger_midpoint": [
+              0.35895588870413875,
+              0.07951421338705718,
+              1.0358555894527695
+            ],
+            "object_minus_finger_midpoint": [
+              0.005429374923508201,
+              0.012080864962203147,
+              -0.013998134194286083
+            ],
+            "finger_gap": 0.026489881846960866,
+            "fingertip_max_gap": 0.10386489871652746,
+            "finger_z_skew": 0.00011044947224303492,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013244825793305375,
+            "object_to_finger_midpoint_z": 0.013998134194286083,
+            "finger_midpoint_minus_object_z": 0.013998134194286083,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0218574552584834,
+            "object_top_z": 1.0713626126323594,
+            "finger_top_clearance": 0.03550702317958998,
+            "fingertip_min_top_clearance": 0.014851547212162801,
+            "object_projection_between_fingers": 0.8319621313101276,
+            "object_to_finger_line_xy": 0.00990447836818326,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05443244935826373,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 6.248366321808022,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 195,
+            "max_stable_success_frames": 195,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36421990829066075,
+              0.09067353605830884,
+              1.211557393089244
+            ],
+            "held_position": [
+              0.36824603333827133,
+              0.09438440431847861,
+              1.1839125038104605
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.02818191138619827,
+            "max_held_gripper_dist": 0.028235408728199452,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.027644889278783502,
+            "max_held_gripper_z_dist": 0.027655952338079937,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664324180695768,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36824603333827133,
+              0.06986718619873505,
+              1.1975816186439967
+            ],
+            "held_grasp_finger_b": [
+              0.3594954963239027,
+              0.09438440431847861,
+              1.1980472172283303
+            ],
+            "held_grasp_midpoint": [
+              0.36387076483108705,
+              0.08212579525860683,
+              1.1978144179361636
+            ],
+            "held_grasp_object_position": [
+              0.36824603333827133,
+              0.09438440431847861,
+              1.1839125038104605
+            ],
+            "held_grasp_finger_gap": 0.02603617991205028,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024903834970840685,
+            "held_grasp_world_z_skew": 0.000465598584333593,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05530605422210324,
+              -0.9970429238560826,
+              0.05335399099313663
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.014171371759525769,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03247812178259203,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34555728576172245,
+              0.22810126364261385,
+              0.7625858611187364
+            ],
+            "target_position": [
+              0.35768146193518485,
+              0.23099647010821553,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.012465065918943833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16303200101551113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858611187364,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552136627733304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08782220343853252,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1311504628614331,
+            "release_required_pad_clearance": 0.05391110171926626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8302603457969826,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 127,
+            "max_placed_release_frames": 127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 131,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "004c9e4457c4f7ab2ffda6348f3171ed74a6b20eec7e5c36b00fc115c1f3f0e3",
+    "visual_seed": 6626952812693064046,
+    "episode_index": 131,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_133_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00353a124185883f000142fda2268cc8957cc3ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_133_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35795884263679506,
+              0.0906758420367334,
+              1.0473599646090748
+            ],
+            "current_z": 1.0473599646090748,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1907734572005092,
+            "gripper_z": 1.048323752830907,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3528474392550801,
+              0.08580329156206169,
+              1.048323752830907
+            ],
+            "object_minus_gripper": [
+              0.005111403381714952,
+              0.004872550474671708,
+              -0.0009637882218322957
+            ],
+            "object_to_gripper_xy": 0.007061741474935947,
+            "object_to_gripper_z": -0.0009637882218322957,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35795884263679506,
+              0.06624129040586442,
+              1.0473599646090748
+            ],
+            "finger_b": [
+              0.3460586856701538,
+              0.0906758420367334,
+              1.0473599646090748
+            ],
+            "finger_midpoint": [
+              0.35200876415347443,
+              0.0784585662212989,
+              1.0473599646090748
+            ],
+            "object_minus_finger_midpoint": [
+              0.005950078483320631,
+              0.012217275815434497,
+              0.0
+            ],
+            "finger_gap": 0.027178319470348097,
+            "fingertip_max_gap": 0.09413115853418488,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013589159735174055,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473599646090748,
+            "object_top_z": 1.0939903922960057,
+            "finger_top_clearance": 0.04663042768693093,
+            "fingertip_min_top_clearance": 0.013989128306079313,
+            "object_projection_between_fingers": 0.8082831956851101,
+            "object_to_finger_line_xy": 0.010698785115616893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049565579267092444,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.650243242934914,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35838871892801116,
+              0.08779699823184471,
+              1.2406598342355535
+            ],
+            "held_position": [
+              0.3638834117400239,
+              0.0921993552030224,
+              1.2395516819120977
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007127439762778906,
+            "max_held_gripper_dist": 0.007128393487767715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011081523234557356,
+            "max_held_gripper_z_dist": 0.0011185265918058906,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08795185455455577,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3638834117400239,
+              0.06660348141527628,
+              1.2395516819120977
+            ],
+            "held_grasp_finger_b": [
+              0.3542834763628433,
+              0.0921993552030224,
+              1.2395516819120977
+            ],
+            "held_grasp_midpoint": [
+              0.3590834440514336,
+              0.07940141830914935,
+              1.2395516819120977
+            ],
+            "held_grasp_object_position": [
+              0.3638834117400239,
+              0.0921993552030224,
+              1.2395516819120977
+            ],
+            "held_grasp_finger_gap": 0.027336925836755552,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024948560546926058,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06151684688134814,
+              -0.9977826314263832,
+              0.025406652152911484
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040170742897968955,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213538693767889,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3467717773026285,
+              0.23971910939635244,
+              0.7625843148780604
+            ],
+            "target_position": [
+              0.35161718227000704,
+              0.23848159060361948,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005000940117644291,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1718839707075927,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843148780604,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573031076502966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08707380840113048,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.139954182715795,
+            "release_required_pad_clearance": 0.05353690420056524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.075184575940018,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 133,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c677ad1c5a694b20c19314ec850a74ab151285bcfe2fe17eda1c9df06d46808",
+    "visual_seed": 1798439878243047483,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_136_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_136_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b43cdae1df75fd01c21f80564f46d56cba53275
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_136_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 136,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.367362286300773,
+              0.09119532859571346,
+              1.0474578537306853
+            ],
+            "current_z": 1.0474578537306853,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19087122711283022,
+            "gripper_z": 1.0479705391159255,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36234688875472654,
+              0.08644022574367749,
+              1.0479705391159255
+            ],
+            "object_minus_gripper": [
+              0.005015397546046463,
+              0.004755102852035967,
+              -0.0005126853852401858
+            ],
+            "object_to_gripper_xy": 0.006911238360694085,
+            "object_to_gripper_z": -0.0005126853852401858,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.367362286300773,
+              0.06668051755493916,
+              1.0474578537306853
+            ],
+            "finger_b": [
+              0.3558220060283143,
+              0.09119532859571346,
+              1.0474578537306853
+            ],
+            "finger_midpoint": [
+              0.36159214616454366,
+              0.07893792307532631,
+              1.0474578537306853
+            ],
+            "object_minus_finger_midpoint": [
+              0.00577014013622934,
+              0.012257405520387149,
+              0.0
+            ],
+            "finger_gap": 0.027095276878669618,
+            "fingertip_max_gap": 0.09221588020979929,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013547638439334809,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474578537306853,
+            "object_top_z": 1.0932375257029647,
+            "finger_top_clearance": 0.04577967197227939,
+            "fingertip_min_top_clearance": 0.013733901591683816,
+            "object_projection_between_fingers": 0.8185965567410981,
+            "object_to_finger_line_xy": 0.010441221601230977,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860794010489965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0321128892511344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36803967362574863,
+              0.08812593890728393,
+              1.238849324749019
+            ],
+            "held_position": [
+              0.37341014000718037,
+              0.0924554954854933,
+              1.238178197656094
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006930900438821978,
+            "max_held_gripper_dist": 0.006933911877883635,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0006711270929251612,
+            "max_held_gripper_z_dist": 0.0006808046542510215,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878584831919493,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37341014000718037,
+              0.06685247013513738,
+              1.238178197656094
+            ],
+            "held_grasp_finger_b": [
+              0.3640857978935455,
+              0.0924554954854933,
+              1.238178197656094
+            ],
+            "held_grasp_midpoint": [
+              0.36874796895036294,
+              0.07965398281031534,
+              1.238178197656094
+            ],
+            "held_grasp_object_position": [
+              0.37341014000718037,
+              0.0924554954854933,
+              1.238178197656094
+            ],
+            "held_grasp_finger_gap": 0.027248087326325717,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024960233855967465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06316373287237596,
+              -0.9978974656637044,
+              0.014525524829873904
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038488683186972254,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032131147783350765,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3459131801413469,
+              0.24136210425420812,
+              0.7625845276892484
+            ],
+            "target_position": [
+              0.35028829088559155,
+              0.23989002701431117,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004616124502721671,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17111802279176555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845276892484,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543750200201434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086465300257953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13996097474243782,
+            "release_required_pad_clearance": 0.0532326501289765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.477728104798953,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 136,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f71a5b12e5b3f7350f50192f3eddde5953763e9d86785afe9b983bac4de7f0e",
+    "visual_seed": 3154914034410477594,
+    "episode_index": 136,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_137_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..136b11fb665a93538f11399fed26d0e29a323c90
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_137_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3611947713059286,
+              0.09208307071365034,
+              1.0493256738439503
+            ],
+            "current_z": 1.0493256738439503,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1927391664353847,
+            "gripper_z": 1.0501960126759946,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3561021349752418,
+              0.08722060138367103,
+              1.0501960126759946
+            ],
+            "object_minus_gripper": [
+              0.005092636330686795,
+              0.004862469329979302,
+              -0.0008703388320443484
+            ],
+            "object_to_gripper_xy": 0.007041203929841858,
+            "object_to_gripper_z": -0.0008703388320443484,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3611947713059286,
+              0.06765011569256732,
+              1.0493256738439503
+            ],
+            "finger_b": [
+              0.34932717581401806,
+              0.09208307071365034,
+              1.0493256738439503
+            ],
+            "finger_midpoint": [
+              0.3552609735599733,
+              0.07986659320310882,
+              1.0493256738439503
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059337977459552604,
+              0.012216477510541515,
+              0.0
+            ],
+            "finger_gap": 0.02716264187854121,
+            "fingertip_max_gap": 0.09393218810842782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01358132093927061,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493256738439503,
+            "object_top_z": 1.096017914798324,
+            "finger_top_clearance": 0.04669224095437374,
+            "fingertip_min_top_clearance": 0.014007672286312122,
+            "object_projection_between_fingers": 0.8091107576185133,
+            "object_to_finger_line_xy": 0.010674971461127628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946609405421391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.384991235235349,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3616054549043959,
+              0.08933759351491914,
+              1.2411422949805249
+            ],
+            "held_position": [
+              0.3670608159324554,
+              0.09375659447633576,
+              1.2401257109529906
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007093798455588448,
+            "max_held_gripper_dist": 0.0070952938695387725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010165840275342397,
+            "max_held_gripper_z_dist": 0.0010271215341226547,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08814929887373765,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3670608159324554,
+              0.06820273060882787,
+              1.2401257109529906
+            ],
+            "held_grasp_finger_b": [
+              0.3574106399468493,
+              0.09375659447633576,
+              1.2401257109529906
+            ],
+            "held_grasp_midpoint": [
+              0.3622357279396523,
+              0.08097966254258182,
+              1.2401257109529906
+            ],
+            "held_grasp_object_position": [
+              0.3670608159324554,
+              0.09375659447633576,
+              1.2401257109529906
+            ],
+            "held_grasp_finger_gap": 0.027315304411854792,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024887287528965296,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06297435425571093,
+              -0.997696523011147,
+              0.025216634936967346
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004024119120091359,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214886760018061,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3445594483078131,
+              0.23496822122700986,
+              0.7625860605215165
+            ],
+            "target_position": [
+              0.3500671508027063,
+              0.23407392333572333,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0055798347189331835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17199323671075004,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860605215165,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566639986549388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598814028674394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14011774525584153,
+            "release_required_pad_clearance": 0.05299407014337197,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0187439028897458,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 137,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51efb4b6423dcec3b634cc8b40ddd05e47fbcb5d4ddacb3762b95096a2614eb9",
+    "visual_seed": 141117158332314896,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_139_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_139_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..378cb3e69a64ed612b36fd8512c60a18a9b3321e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_139_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 139,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3614712417512653,
+              0.08359904890912802,
+              1.0496066525489873
+            ],
+            "current_z": 1.0496066525489873,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.193020085535777,
+            "gripper_z": 1.0505061835489138,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35657874246593235,
+              0.07882827928439502,
+              1.0505061835489138
+            ],
+            "object_minus_gripper": [
+              0.004892499285332974,
+              0.004770769624732996,
+              -0.0008995309999264567
+            ],
+            "object_to_gripper_xy": 0.006833505108599734,
+            "object_to_gripper_z": -0.0008995309999264567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3614712417512653,
+              0.059316605830018354,
+              1.0496066525489873
+            ],
+            "finger_b": [
+              0.3497157151665491,
+              0.08359904890912802,
+              1.0496066525489873
+            ],
+            "finger_midpoint": [
+              0.3555934784589072,
+              0.07145782736957318,
+              1.0496066525489873
+            ],
+            "object_minus_finger_midpoint": [
+              0.005877763292358118,
+              0.012141221539554839,
+              0.0
+            ],
+            "finger_gap": 0.026978314387192004,
+            "fingertip_max_gap": 0.09168881628486489,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013489157193596007,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496066525489873,
+            "object_top_z": 1.0953497657167794,
+            "finger_top_clearance": 0.045743113167792115,
+            "fingertip_min_top_clearance": 0.013722933950337602,
+            "object_projection_between_fingers": 0.8101307856936703,
+            "object_to_finger_line_xy": 0.010580828033268489,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048344408142432446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8162911354135606,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36242402361956727,
+              0.08030807044068301,
+              1.2402152332578096
+            ],
+            "held_position": [
+              0.3677296482709961,
+              0.08457692635813911,
+              1.239149652340465
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006892622612421042,
+            "max_held_gripper_dist": 0.006898039991170876,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001065580917344544,
+            "max_held_gripper_z_dist": 0.001074304313976704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811265890495837,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3677296482709961,
+              0.0589537930078519,
+              1.239149652340465
+            ],
+            "held_grasp_finger_b": [
+              0.3586058023898315,
+              0.08463569407460556,
+              1.239149652340465
+            ],
+            "held_grasp_midpoint": [
+              0.36316772533041375,
+              0.07179474354122872,
+              1.239149652340465
+            ],
+            "held_grasp_object_position": [
+              0.3677296482709961,
+              0.08457692635813911,
+              1.239149652340465
+            ],
+            "held_grasp_finger_gap": 0.027254441951097934,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02483056258816151,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08318103749483205,
+              -0.9964018429938758,
+              0.016256761045519652
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034892558211633887,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032084568966387506,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34968472441163406,
+              0.23343348569111733,
+              0.7625860308035017
+            ],
+            "target_position": [
+              0.35421204038798676,
+              0.2319623809022071,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004760329741697831,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17026597712488378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860308035017,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568623417325622,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643786381524475,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13852410931069853,
+            "release_required_pad_clearance": 0.05321893190762238,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4596195633972768,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 139,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d047f1658ef95f840186ce553af2ecf36ae60226146844c2e8b42c130bff8792",
+    "visual_seed": 2031183604402214211,
+    "episode_index": 139,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ceaa3e2d033c18e71f0b9cde399fbe3902a523
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_13_success.json
@@ -0,0 +1,693 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36557225541424604,
+              0.08579111224321878,
+              1.0469982174981682
+            ],
+            "current_z": 1.0469982174981682,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.190411590880313,
+            "gripper_z": 1.0476147161470066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3607867799128768,
+              0.08105594040972518,
+              1.0476147161470066
+            ],
+            "object_minus_gripper": [
+              0.004785475501369263,
+              0.004735171833493604,
+              -0.0006164986488383928
+            ],
+            "object_to_gripper_xy": 0.006732208260809864,
+            "object_to_gripper_z": -0.0006164986488383928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36557225541424604,
+              0.0616335343934421,
+              1.0469982174981682
+            ],
+            "finger_b": [
+              0.35381548633932347,
+              0.08579111224321878,
+              1.0469982174981682
+            ],
+            "finger_midpoint": [
+              0.3596938708767847,
+              0.07371232331833044,
+              1.0469982174981682
+            ],
+            "object_minus_finger_midpoint": [
+              0.005878384537461312,
+              0.01207878892488834,
+              0.0
+            ],
+            "finger_gap": 0.02686652539218789,
+            "fingertip_max_gap": 0.0913315687481984,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013433262696093956,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469982174981682,
+            "object_top_z": 1.0924256556263694,
+            "finger_top_clearance": 0.04542743812820116,
+            "fingertip_min_top_clearance": 0.013628231438460347,
+            "object_projection_between_fingers": 0.8085069708939213,
+            "object_to_finger_line_xy": 0.010571335892652255,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481657843740992,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8189514174828293,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_a"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3664422751581906,
+              0.08297515632371213,
+              1.2382037048390913
+            ],
+            "held_position": [
+              0.37162995871528803,
+              0.08723889424687005,
+              1.2374356873615926
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006758799642813607,
+            "max_held_gripper_dist": 0.006761634584848047,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007680174774986614,
+            "max_held_gripper_z_dist": 0.0007788008759392895,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657888834591261,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37162995871528803,
+              0.06175994673567944,
+              1.2374356873615926
+            ],
+            "held_grasp_finger_b": [
+              0.36239153028059257,
+              0.08723889424687005,
+              1.2374356873615926
+            ],
+            "held_grasp_midpoint": [
+              0.3670107444979403,
+              0.07449942049127474,
+              1.2374356873615926
+            ],
+            "held_grasp_object_position": [
+              0.37162995871528803,
+              0.08723889424687005,
+              1.2374356873615926
+            ],
+            "held_grasp_finger_gap": 0.0271021277065288,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024674098055792494,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07847420989341666,
+              -0.9968652126115713,
+              0.010077016745575039
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003607599168115883,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213819756584492,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.348186610464345,
+              0.23464207955117772,
+              0.7625853314697031
+            ],
+            "target_position": [
+              0.35287355498991957,
+              0.2333689147277292,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004856788821173924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16947623578173548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853314697031,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525334014780935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601062800941282,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13883401471627912,
+            "release_required_pad_clearance": 0.053005314004706414,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0430413966794934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b7f2c2d6ad11b2a8511702946215660f585b06c35916cddb24ef9863654a33d",
+    "visual_seed": 6556181654519793417,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_140_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_140_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65bf0671128dcaecb80ac2a45a608f7e6248bb9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_140_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 140,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3642676724353951,
+              0.08863027024912362,
+              1.0490189418091334
+            ],
+            "current_z": 1.0490189418091334,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1924324344005678,
+            "gripper_z": 1.0496863245032628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35945421145358636,
+              0.08388319567984905,
+              1.0496863245032628
+            ],
+            "object_minus_gripper": [
+              0.004813460981808737,
+              0.004747074569274576,
+              -0.0006673826941294703
+            ],
+            "object_to_gripper_xy": 0.0067604824968080885,
+            "object_to_gripper_z": -0.0006673826941294703,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3642676724353951,
+              0.06444589301863088,
+              1.0490189418091334
+            ],
+            "finger_b": [
+              0.35250486887584837,
+              0.08863027024912362,
+              1.0490189418091334
+            ],
+            "finger_midpoint": [
+              0.35838627065562173,
+              0.07653808163387725,
+              1.0490189418091334
+            ],
+            "object_minus_finger_midpoint": [
+              0.005881401779773365,
+              0.012092188615246371,
+              0.0
+            ],
+            "finger_gap": 0.02689326401921606,
+            "fingertip_max_gap": 0.092225733162108,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01344663200960803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490189418091334,
+            "object_top_z": 1.094893538358251,
+            "finger_top_clearance": 0.04587459654911763,
+            "fingertip_min_top_clearance": 0.013762378964735289,
+            "object_projection_between_fingers": 0.8086913277137926,
+            "object_to_finger_line_xy": 0.010577967715967607,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048612866581054,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9463325468574362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36503551326551337,
+              0.08592953861779543,
+              1.2400701616001066
+            ],
+            "held_position": [
+              0.37023368629727527,
+              0.0902266200470822,
+              1.2392566784465413
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006793207380846886,
+            "max_held_gripper_dist": 0.006795489689101267,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008134831535653309,
+            "max_held_gripper_z_dist": 0.000825104277834221,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.087835442766064,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37023368629727527,
+              0.06478244645220808,
+              1.2392566784465413
+            ],
+            "held_grasp_finger_b": [
+              0.3608707454371394,
+              0.0902266200470822,
+              1.2392566784465413
+            ],
+            "held_grasp_midpoint": [
+              0.3655522158672073,
+              0.07750453324964515,
+              1.2392566784465413
+            ],
+            "held_grasp_object_position": [
+              0.37023368629727527,
+              0.0902266200470822,
+              1.2392566784465413
+            ],
+            "held_grasp_finger_gap": 0.027112186032787762,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024692432668017593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07278352073969149,
+              -0.9972381446653673,
+              0.014786545678791119
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003747946633340673,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217254083152377,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34394862845409446,
+              0.2379234430083485,
+              0.7625852463210634
+            ],
+            "target_position": [
+              0.34976259594262343,
+              0.23726114802393086,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005851568388394399,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1708944947042655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852463210634,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541811820138482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08746558319818752,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13954668526713537,
+            "release_required_pad_clearance": 0.05373279159909376,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.471810784143634,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 140,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb8bffe00820a70df5b6dd3141059b0a25bac2758c5d10dc491163027715d9e0",
+    "visual_seed": 6503362544368662826,
+    "episode_index": 140,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_141_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_141_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b42a06edcfa8be114b420d808b9b15512a03aebc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_141_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 141,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3628684611987801,
+              0.08488043095093765,
+              1.0488450477450821
+            ],
+            "current_z": 1.0488450477450821,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.1922584211272269,
+            "gripper_z": 1.0496756144058033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3579518837082557,
+              0.0801443787266828,
+              1.0496756144058033
+            ],
+            "object_minus_gripper": [
+              0.004916577490524376,
+              0.004736052224254855,
+              -0.0008305666607211215
+            ],
+            "object_to_gripper_xy": 0.006826633496182458,
+            "object_to_gripper_z": -0.0008305666607211215,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3628684611987801,
+              0.060522123149921385,
+              1.0488450477450821
+            ],
+            "finger_b": [
+              0.35124600939401374,
+              0.08488043095093765,
+              1.0488450477450821
+            ],
+            "finger_midpoint": [
+              0.3570572352963969,
+              0.07270127705042952,
+              1.0488450477450821
+            ],
+            "object_minus_finger_midpoint": [
+              0.005811225902383199,
+              0.012179153900508138,
+              0.0
+            ],
+            "finger_gap": 0.026989044904982586,
+            "fingertip_max_gap": 0.09321577165184677,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013494522452491308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488450477450821,
+            "object_top_z": 1.0951682934205842,
+            "finger_top_clearance": 0.046323245675502056,
+            "fingertip_min_top_clearance": 0.013896973702650616,
+            "object_projection_between_fingers": 0.8145527164624587,
+            "object_to_finger_line_xy": 0.010489561948548618,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910788582592339,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2183593536991497,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36358549212162383,
+              0.08202155008393062,
+              1.2385763900015516
+            ],
+            "held_position": [
+              0.368853709494998,
+              0.08632923731455576,
+              1.2375891852040297
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006876398540098057,
+            "max_held_gripper_dist": 0.006877254134075147,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009872047975219012,
+            "max_held_gripper_z_dist": 0.0009966848939813033,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667438628923298,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.368853709494998,
+              0.06081415589563919,
+              1.2375891852040297
+            ],
+            "held_grasp_finger_b": [
+              0.35952356486962445,
+              0.08632923731455576,
+              1.2375891852040297
+            ],
+            "held_grasp_midpoint": [
+              0.3641886371823112,
+              0.07357169660509748,
+              1.2375891852040297
+            ],
+            "held_grasp_object_position": [
+              0.368853709494998,
+              0.08632923731455576,
+              1.2375891852040297
+            ],
+            "held_grasp_finger_gap": 0.027167461761164382,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02486187813732675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06391523508857447,
+              -0.9977713222421266,
+              0.01916327828870845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038480887107198236,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032172947510006246,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3528530406800554,
+              0.240885088395828,
+              0.7625861010729971
+            ],
+            "target_position": [
+              0.35772331609744085,
+              0.23975885385086304,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004998798544796674,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17059939474463362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861010729971,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569530190463611,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727617110710466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1388514312321387,
+            "release_required_pad_clearance": 0.05363808555355233,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.282819384303255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 141,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f1ca85962ef60f6d78e51548318c120d44e4fd2c21bd9d6569fbcd93cd59a48",
+    "visual_seed": 2838204449961633162,
+    "episode_index": 141,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_143_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_143_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a77f088e3e0e6ea2dcc0666d139d44720653cd0e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_143_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 143,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35835969534628087,
+              0.0905994223134886,
+              1.0501436468899172
+            ],
+            "current_z": 1.0501436468899172,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19355719908599645,
+            "gripper_z": 1.0510833458149313,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3534012410243098,
+              0.08582263210809962,
+              1.0510833458149313
+            ],
+            "object_minus_gripper": [
+              0.004958454321971062,
+              0.004776790205388973,
+              -0.0009396989250141097
+            ],
+            "object_to_gripper_xy": 0.006885055840686663,
+            "object_to_gripper_z": -0.0009396989250141097,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35835969534628087,
+              0.06623786795492868,
+              1.0501436468899172
+            ],
+            "finger_b": [
+              0.34664415242730345,
+              0.0905994223134886,
+              1.0501436468899172
+            ],
+            "finger_midpoint": [
+              0.35250192388679213,
+              0.07841864513420864,
+              1.0501436468899172
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058577714594887365,
+              0.012180777179279956,
+              0.0
+            ],
+            "finger_gap": 0.027032189638493426,
+            "fingertip_max_gap": 0.0931210361249982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013516094819246725,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501436468899172,
+            "object_top_z": 1.0964896910532234,
+            "finger_top_clearance": 0.04634604416330612,
+            "fingertip_min_top_clearance": 0.013903813248991837,
+            "object_projection_between_fingers": 0.8121711118152122,
+            "object_to_finger_line_xy": 0.010558110144887882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0490605180624991,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1019620288212824,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3589634951046216,
+              0.08780381552976776,
+              1.2401163835604545
+            ],
+            "held_position": [
+              0.3642786365768509,
+              0.09214341080776907,
+              1.2390166872870179
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006949255207608459,
+            "max_held_gripper_dist": 0.0069502829662112815,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010996962734366456,
+            "max_held_gripper_z_dist": 0.0011083411225016881,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784186991375365,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3642786365768509,
+              0.06661588103689715,
+              1.2390166872870179
+            ],
+            "held_grasp_finger_b": [
+              0.3548776443210599,
+              0.09214341080776907,
+              1.2390166872870179
+            ],
+            "held_grasp_midpoint": [
+              0.3595781404489554,
+              0.07937964592233311,
+              1.2390166872870179
+            ],
+            "held_grasp_object_position": [
+              0.3642786365768509,
+              0.09214341080776907,
+              1.2390166872870179
+            ],
+            "held_grasp_finger_gap": 0.027203555495489817,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02483296852480168,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06723310739405954,
+              -0.9975515326125588,
+              0.01925224798494773
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038397792595946723,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032151682781465615,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3518759179685011,
+              0.23717856482582522,
+              0.7625846092965303
+            ],
+            "target_position": [
+              0.356530597303094,
+              0.23589343212403663,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00482883068341526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16889786947455832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846092965303,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548718476904308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569189561661571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13770267465051475,
+            "release_required_pad_clearance": 0.052845947808307855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7273697279391179,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 143,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c97e4aab24b773113ad96365d612757465b304a70a88927aaf0a5f14e280453",
+    "visual_seed": 4053018273574820347,
+    "episode_index": 143,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_145_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_145_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..499ebe37625d443201b04e06e333bf1e6b4080f9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_145_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 145,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3700335431633749,
+              0.08413963414348145,
+              1.0186035972940395
+            ],
+            "current_z": 1.0186035972940395,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1620171494901187,
+            "gripper_z": 1.0491106429955972,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36332944339525475,
+              0.07819064732716559,
+              1.0491106429955972
+            ],
+            "object_minus_gripper": [
+              0.006704099768120142,
+              0.0059489868163158655,
+              -0.03050704570155771
+            ],
+            "object_to_gripper_xy": 0.008963001608925913,
+            "object_to_gripper_z": -0.03050704570155771,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3700335431633749,
+              0.058261116051401295,
+              1.0355272977577539
+            ],
+            "finger_b": [
+              0.35678883984174947,
+              0.08413963414348145,
+              1.0356374050344248
+            ],
+            "finger_midpoint": [
+              0.3634111915025622,
+              0.07120037509744137,
+              1.0355823513960893
+            ],
+            "object_minus_finger_midpoint": [
+              0.006622351660812709,
+              0.012939259046040083,
+              -0.016978754102049853
+            ],
+            "finger_gap": 0.02907115388718465,
+            "fingertip_max_gap": 0.0988216722809395,
+            "finger_z_skew": 0.00011010727667093434,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01453547268512445,
+            "object_to_finger_midpoint_z": 0.016978754102049853,
+            "finger_midpoint_minus_object_z": 0.016978754102049853,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0186035972940395,
+            "object_top_z": 1.066375698475721,
+            "finger_top_clearance": 0.03079334707963155,
+            "fingertip_min_top_clearance": 0.01433163035450442,
+            "object_projection_between_fingers": 0.7924292477304434,
+            "object_to_finger_line_xy": 0.011790235582902306,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05191083614046975,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.039415906268555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 200,
+            "max_stable_success_frames": 200,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37286782516666783,
+              0.06841026131185744,
+              1.2126077530290365
+            ],
+            "held_position": [
+              0.37898607039219934,
+              0.07061447113788835,
+              1.1814741762315932
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.03180551948639112,
+            "max_held_gripper_dist": 0.031824332134331924,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03113357679744322,
+            "max_held_gripper_z_dist": 0.031152921456805815,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09090432735471154,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37898607039219934,
+              0.043337146985561376,
+              1.1992168299605508
+            ],
+            "held_grasp_finger_b": [
+              0.37686277149770464,
+              0.08653543155019489,
+              1.1970390053164925
+            ],
+            "held_grasp_midpoint": [
+              0.377924420944952,
+              0.06493628926787813,
+              1.1981279176385216
+            ],
+            "held_grasp_object_position": [
+              0.37898607039219934,
+              0.07061447113788835,
+              1.1814741762315932
+            ],
+            "held_grasp_finger_gap": 0.04330523187448237,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.041162543432250016,
+            "held_grasp_world_z_skew": 0.002177824644058246,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.2619478410702227,
+              -0.961650598866161,
+              0.08131084957742861
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.016137230744628677,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03810757132692448,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3397566770959848,
+              0.23358176085150312,
+              0.7625872710018917
+            ],
+            "target_position": [
+              0.3497931840192498,
+              0.23605748894608364,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010337344959855117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16481639406367563,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625872710018917,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589886585713075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551841640750689,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1319501009097157,
+            "release_required_pad_clearance": 0.05275920820375345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5678604738096338,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 145,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f898af68cf1131ab37960109207c9a27a70b59fa33c34824707d212a14affee1",
+    "visual_seed": 5398156563954613482,
+    "episode_index": 145,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_146_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_146_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc296eafa0d8ad62d49a0b94ba7d772b6acca5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_146_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 146,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36108315401745644,
+              0.0848773924996819,
+              1.0500967635235188
+            ],
+            "current_z": 1.0500967635235188,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19351031571959798,
+            "gripper_z": 1.050957004919111,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3561410585758824,
+              0.08006830498321248,
+              1.050957004919111
+            ],
+            "object_minus_gripper": [
+              0.004942095441574035,
+              0.004809087516469426,
+              -0.000860241395592265
+            ],
+            "object_to_gripper_xy": 0.00689576899951622,
+            "object_to_gripper_z": -0.000860241395592265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36108315401745644,
+              0.06058680427557526,
+              1.0500967635235188
+            ],
+            "finger_b": [
+              0.3492504663071413,
+              0.0848773924996819,
+              1.0500967635235188
+            ],
+            "finger_midpoint": [
+              0.3551668101622989,
+              0.07273209838762858,
+              1.0500967635235188
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059163438551575465,
+              0.012145294112053326,
+              0.0
+            ],
+            "finger_gap": 0.027019348155034227,
+            "fingertip_max_gap": 0.09306963081661782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013509674077517105,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500967635235188,
+            "object_top_z": 1.0962883919658337,
+            "finger_top_clearance": 0.04619162844231495,
+            "fingertip_min_top_clearance": 0.013857488532694483,
+            "object_projection_between_fingers": 0.8082139252506159,
+            "object_to_finger_line_xy": 0.01063767131266487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903481540830891,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.255239857090204,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36169370657892774,
+              0.08222758700684948,
+              1.2433864220501656
+            ],
+            "held_position": [
+              0.3670160670330636,
+              0.08658389913766332,
+              1.242392237733373
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006949343756109751,
+            "max_held_gripper_dist": 0.0069508724048374885,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009941843167926567,
+            "max_held_gripper_z_dist": 0.0010051907288304296,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08782141885291946,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3670160670330636,
+              0.061102258700859106,
+              1.242392237733373
+            ],
+            "held_grasp_finger_b": [
+              0.35746737881466417,
+              0.08658389913766332,
+              1.242392237733373
+            ],
+            "held_grasp_midpoint": [
+              0.3622417229238639,
+              0.07384307891926122,
+              1.242392237733373
+            ],
+            "held_grasp_object_position": [
+              0.3670160670330636,
+              0.08658389913766332,
+              1.242392237733373
+            ],
+            "held_grasp_finger_gap": 0.02721197247615056,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024788272854571112,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0662448699124999,
+              -0.9976133415146079,
+              0.01947403508095791
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039278824218096035,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217353692966233,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3457180640454254,
+              0.2411653463813052,
+              0.7625845443798868
+            ],
+            "target_position": [
+              0.3509987371158029,
+              0.24025720805321138,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005358192167061866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17157937312785856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845443798868,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551179286800465,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864064314879127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14016691090140507,
+            "release_required_pad_clearance": 0.05320321574395635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.419369750935469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 146,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e15814065fb3833285d982fa2815e2782f81cfd0901062eb0d562be9f8e41359",
+    "visual_seed": 9110425188071883959,
+    "episode_index": 146,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_153_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_153_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e7bfbd833cd9ccf797f73a4d62c10ea80f9030a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_153_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 153,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3664297843079911,
+              0.08700053183007642,
+              1.047793170682011
+            ],
+            "current_z": 1.047793170682011,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19120666327344538,
+            "gripper_z": 1.0483799639704805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3615156068372901,
+              0.0822182298496523,
+              1.0483799639704805
+            ],
+            "object_minus_gripper": [
+              0.004914177470700998,
+              0.00478230198042412,
+              -0.0005867932884695559
+            ],
+            "object_to_gripper_xy": 0.006857080460772916,
+            "object_to_gripper_z": -0.0005867932884695559,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3664297843079911,
+              0.06272174311957397,
+              1.047793170682011
+            ],
+            "finger_b": [
+              0.35464108336134537,
+              0.08700053183007642,
+              1.047793170682011
+            ],
+            "finger_midpoint": [
+              0.36053543383466824,
+              0.0748611374748252,
+              1.047793170682011
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058943504733228735,
+              0.012139394355251215,
+              0.0
+            ],
+            "finger_gap": 0.02698949890714289,
+            "fingertip_max_gap": 0.0911498985548517,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01349474945357144,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047793170682011,
+            "object_top_z": 1.093199523028165,
+            "finger_top_clearance": 0.04540635234615409,
+            "fingertip_min_top_clearance": 0.013621905703846193,
+            "object_projection_between_fingers": 0.8092158644238993,
+            "object_to_finger_line_xy": 0.010604694086379056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807494927742585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6972554504422123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36709388943822635,
+              0.08411910744250398,
+              1.2389604638451868
+            ],
+            "held_position": [
+              0.37239145086960423,
+              0.08844822071195474,
+              1.2382256506545242
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006880794230619668,
+            "max_held_gripper_dist": 0.00688185197506905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007348131906625976,
+            "max_held_gripper_z_dist": 0.0007459647498380129,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08779847167881916,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37239145086960423,
+              0.06294351419875302,
+              1.2382256506545242
+            ],
+            "held_grasp_finger_b": [
+              0.3629710191782544,
+              0.08844822071195474,
+              1.2382256506545242
+            ],
+            "held_grasp_midpoint": [
+              0.36768123502392935,
+              0.07569586745535388,
+              1.2382256506545242
+            ],
+            "held_grasp_object_position": [
+              0.37239145086960423,
+              0.08844822071195474,
+              1.2382256506545242
+            ],
+            "held_grasp_finger_gap": 0.02718886881751321,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472404259068479,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07508586731823716,
+              -0.9971251330250843,
+              0.010177505528180308
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003741711996155624,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213086238641117,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34804927352967907,
+              0.2353751632195173,
+              0.762587174360071
+            ],
+            "target_position": [
+              0.3514474686512602,
+              0.2331951885136201,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004037328300087741,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.173368827364031,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762587174360071,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575469314161323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739123206876219,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14150704284288068,
+            "release_required_pad_clearance": 0.0536956160343811,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.397871654255763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 153,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6208eb58dcaf86da26b5f1ab4dd6559ecef1ffb249325ed37a903d0ace878d46",
+    "visual_seed": 5722606719403047094,
+    "episode_index": 153,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_155_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_155_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c051d64afe98c88897647e316c2c842d8ace75b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_155_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 155,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3610441234140528,
+              0.08827127493701117,
+              1.0467783536928403
+            ],
+            "current_z": 1.0467783536928403,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19019196549356432,
+            "gripper_z": 1.0475468328460038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35608220427240667,
+              0.08349561514997646,
+              1.0475468328460038
+            ],
+            "object_minus_gripper": [
+              0.004961919141646121,
+              0.004775659787034717,
+              -0.0007684791531634705
+            ],
+            "object_to_gripper_xy": 0.006886767599515367,
+            "object_to_gripper_z": -0.0007684791531634705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3610441234140528,
+              0.06389978585225972,
+              1.0467783536928403
+            ],
+            "finger_b": [
+              0.34933770758820076,
+              0.08827127493701117,
+              1.0467783536928403
+            ],
+            "finger_midpoint": [
+              0.3551909155011268,
+              0.07608553039463545,
+              1.0467783536928403
+            ],
+            "object_minus_finger_midpoint": [
+              0.005853207912925984,
+              0.012185744542375726,
+              0.0
+            ],
+            "finger_gap": 0.027037190159036828,
+            "fingertip_max_gap": 0.09118765985568097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013518595079518402,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467783536928403,
+            "object_top_z": 1.0922007727300018,
+            "finger_top_clearance": 0.04542241903716149,
+            "fingertip_min_top_clearance": 0.013626725711148412,
+            "object_projection_between_fingers": 0.8125330203646011,
+            "object_to_finger_line_xy": 0.010552235045251362,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809382992784049,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7111307116835778,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3617004727062535,
+              0.08531529857794025,
+              1.2368662448660919
+            ],
+            "held_position": [
+              0.36703492226237544,
+              0.08963761155269215,
+              1.2359360335433198
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006928494398029888,
+            "max_held_gripper_dist": 0.006930752075603323,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009302113227720454,
+            "max_held_gripper_z_dist": 0.0009402668834284089,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661221825158952,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36703492226237544,
+              0.06406542298873444,
+              1.2359360335433198
+            ],
+            "held_grasp_finger_b": [
+              0.3577139694872615,
+              0.08963761155269215,
+              1.2359360335433198
+            ],
+            "held_grasp_midpoint": [
+              0.3623744458748185,
+              0.0768515172707133,
+              1.2359360335433198
+            ],
+            "held_grasp_object_position": [
+              0.36703492226237544,
+              0.08963761155269215,
+              1.2359360335433198
+            ],
+            "held_grasp_finger_gap": 0.027217953423916984,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024812512008863193,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07386415232841222,
+              -0.9972160271190905,
+              0.010211868468729124
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003705674586959935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210548468575222,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3527462811592634,
+              0.23872451944840134,
+              0.7625851872114231
+            ],
+            "target_position": [
+              0.35671407159193785,
+              0.23698774952084398,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004331250477505397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17136122008326088,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851872114231,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575145045853021,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520378859321286,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1393917465847297,
+            "release_required_pad_clearance": 0.05260189429660643,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2593947720060086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 155,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "356e6bbe6982967bd5076de8529e1d7486ae8073c00a757f8cc5a85fbbbfb38c",
+    "visual_seed": 4129535236062291059,
+    "episode_index": 155,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_157_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_157_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc1e2862928f0d293ffdacacd500a5a9aa0c2f7a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_157_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 157,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3633468878131425,
+              0.08756260681350443,
+              1.0494982022380381
+            ],
+            "current_z": 1.0494982022380381,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19291169482947246,
+            "gripper_z": 1.050242603781676,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35837539044920125,
+              0.08276356157352356,
+              1.050242603781676
+            ],
+            "object_minus_gripper": [
+              0.004971497363941257,
+              0.00479904523998087,
+              -0.0007444015436379736
+            ],
+            "object_to_gripper_xy": 0.006909892998813941,
+            "object_to_gripper_z": -0.0007444015436379736,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3633468878131425,
+              0.06322316106930763,
+              1.0494982022380381
+            ],
+            "finger_b": [
+              0.35155941692672643,
+              0.08756260681350443,
+              1.0494982022380381
+            ],
+            "finger_midpoint": [
+              0.35745315236993447,
+              0.07539288394140603,
+              1.0494982022380381
+            ],
+            "object_minus_finger_midpoint": [
+              0.005893735443208037,
+              0.012169722872098401,
+              0.0
+            ],
+            "finger_gap": 0.027043540615696134,
+            "fingertip_max_gap": 0.0911350157715222,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013521770307848067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494982022380381,
+            "object_top_z": 1.0949369131653106,
+            "finger_top_clearance": 0.045438710927272474,
+            "fingertip_min_top_clearance": 0.013631613278181742,
+            "object_projection_between_fingers": 0.8100172516098119,
+            "object_to_finger_line_xy": 0.010608836770977598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480675078857611,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6248147774798032,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36396479108725033,
+              0.08482520030214562,
+              1.242597282668944
+            ],
+            "held_position": [
+              0.36931577863136444,
+              0.08917761117365718,
+              1.2417133171834438
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006953987566229321,
+            "max_held_gripper_dist": 0.006955382615646549,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008839654855001822,
+            "max_held_gripper_z_dist": 0.0008964300373421885,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792737401860619,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36931577863136444,
+              0.06366118157845481,
+              1.2417133171834438
+            ],
+            "held_grasp_finger_b": [
+              0.3598116375799002,
+              0.08917761117365718,
+              1.2417133171834438
+            ],
+            "held_grasp_midpoint": [
+              0.3645637081056323,
+              0.07641939637605599,
+              1.2417133171834438
+            ],
+            "held_grasp_object_position": [
+              0.36931577863136444,
+              0.08917761117365718,
+              1.2417133171834438
+            ],
+            "held_grasp_finger_gap": 0.027228971269826686,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02473750905317445,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0743707378372245,
+              -0.997174739543693,
+              0.010560879201795268
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037925333022679297,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321246404567171,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3512697993998216,
+              0.23849804944559205,
+              0.7625852056345844
+            ],
+            "target_position": [
+              0.35504061071837495,
+              0.2366420484600394,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004202827341029179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1716890602123595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852056345844,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554777825542967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08784017801889586,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14024061381413752,
+            "release_required_pad_clearance": 0.05392008900944793,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8393645393563816,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 157,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfee7b60de7c1ef80afc671c8597a5b906421f1591e21dac0f7f6a4fcc6d8d0e",
+    "visual_seed": 6680630401090414677,
+    "episode_index": 157,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd4bfd0623961ec9092ba5e2d6d8a05fe490762e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3658318732467928,
+              0.08909696619709409,
+              1.05009010411812
+            ],
+            "current_z": 1.05009010411812,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19350353710490975,
+            "gripper_z": 1.0506721439329894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3610650386550658,
+              0.08435431467595024,
+              1.0506721439329894
+            ],
+            "object_minus_gripper": [
+              0.004766834591726998,
+              0.004742651521143851,
+              -0.0005820398148692618
+            ],
+            "object_to_gripper_xy": 0.006724243859044166,
+            "object_to_gripper_z": -0.0005820398148692618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3658318732467928,
+              0.06498049217438985,
+              1.05009010411812
+            ],
+            "finger_b": [
+              0.3540249288631667,
+              0.08909696619709409,
+              1.05009010411812
+            ],
+            "finger_midpoint": [
+              0.35992840105497975,
+              0.07703872918574198,
+              1.05009010411812
+            ],
+            "object_minus_finger_midpoint": [
+              0.005903472191813031,
+              0.012058237011352113,
+              0.0
+            ],
+            "finger_gap": 0.0268515968792511,
+            "fingertip_max_gap": 0.09135040944714803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013425798439625544,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05009010411812,
+            "object_top_z": 1.0954847635764593,
+            "finger_top_clearance": 0.045394659458339204,
+            "fingertip_min_top_clearance": 0.013618397837501727,
+            "object_projection_between_fingers": 0.8066541752914466,
+            "object_to_finger_line_xy": 0.010604280586949321,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817520472357402,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9108649396613154,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36685635410090844,
+              0.08619691132917318,
+              1.242184151943318
+            ],
+            "held_position": [
+              0.3720459053035793,
+              0.09045037154119799,
+              1.2414570571988706
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006749224564927721,
+            "max_held_gripper_dist": 0.0067518705070621745,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007270947444475429,
+            "max_held_gripper_z_dist": 0.0007372482431178273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666556307137153,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3720459053035793,
+              0.06496961050537561,
+              1.2414570571988706
+            ],
+            "held_grasp_finger_b": [
+              0.36281621169436606,
+              0.09045037154119799,
+              1.2414570571988706
+            ],
+            "held_grasp_midpoint": [
+              0.3674310584989727,
+              0.0777099910232868,
+              1.2414570571988706
+            ],
+            "held_grasp_object_position": [
+              0.3720459053035793,
+              0.09045037154119799,
+              1.2414570571988706
+            ],
+            "held_grasp_finger_gap": 0.027100856574740127,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0246500557605329,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08080292399583598,
+              -0.9966673270095825,
+              0.011186006673388647
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035732233675470175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212941085433421,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3496365476440627,
+              0.23561880390382345,
+              0.7625849915383083
+            ],
+            "target_position": [
+              0.3532496181760404,
+              0.23359371101785786,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004141893270695649,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17201519991350375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849915383083,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581387177400047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568817111529119,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14010764108276522,
+            "release_required_pad_clearance": 0.052844085557645595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7241361261012452,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a60705112e8ed647807129d02caa5f461000f1af71058578787e2137d54ad750",
+    "visual_seed": 3435827100741637007,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_161_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_161_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab3884507e95c08ba40f279ed10c7ce1a60525df
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_161_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 161,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35878371030731115,
+              0.08466380167845057,
+              1.0493601611783088
+            ],
+            "current_z": 1.0493601611783088,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19277377297903275,
+            "gripper_z": 1.0503715744580813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3535604900067233,
+              0.07976168299382133,
+              1.0503715744580813
+            ],
+            "object_minus_gripper": [
+              0.005223220300587861,
+              0.004902118684629239,
+              -0.0010114132797724995
+            ],
+            "object_to_gripper_xy": 0.00716329518494556,
+            "object_to_gripper_z": -0.0010114132797724995,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35878371030731115,
+              0.06007917125896396,
+              1.0493601611783088
+            ],
+            "finger_b": [
+              0.346930119075616,
+              0.08466380167845057,
+              1.0493601611783088
+            ],
+            "finger_midpoint": [
+              0.3528569146914636,
+              0.07237148646870727,
+              1.0493601611783088
+            ],
+            "object_minus_finger_midpoint": [
+              0.00592679561584758,
+              0.012292315209743304,
+              0.0
+            ],
+            "finger_gap": 0.027293070145201083,
+            "fingertip_max_gap": 0.09496811088287085,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013646535072600541,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493601611783088,
+            "object_top_z": 1.0962607641184663,
+            "finger_top_clearance": 0.04690060294015752,
+            "fingertip_min_top_clearance": 0.01407018088204729,
+            "object_projection_between_fingers": 0.8113767990929683,
+            "object_to_finger_line_xy": 0.010677294933275643,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04998405544143543,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.013270703138708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3591876623097642,
+              0.08136603667295984,
+              1.2400098286223973
+            ],
+            "held_position": [
+              0.36477601945531885,
+              0.08580729687919565,
+              1.2388274220507667
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007235510562938934,
+            "max_held_gripper_dist": 0.00723753680688916,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001182406571630601,
+            "max_held_gripper_z_dist": 0.0011931581290198778,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879381418829058,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36477601945531885,
+              0.06008757501303618,
+              1.2388274220507667
+            ],
+            "held_grasp_finger_b": [
+              0.3552418433842254,
+              0.08580729687919565,
+              1.2388274220507667
+            ],
+            "held_grasp_midpoint": [
+              0.3600089314197721,
+              0.07294743594611591,
+              1.2388274220507667
+            ],
+            "held_grasp_object_position": [
+              0.36477601945531885,
+              0.08580729687919565,
+              1.2388274220507667
+            ],
+            "held_grasp_finger_gap": 0.027429994645045284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02517179995477582,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0527835258546088,
+              -0.9982630262307978,
+              0.026169254075832482
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004095774862794604,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211107755927191,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3502252077121876,
+              0.2323811136888007,
+              0.7625841119377609
+            ],
+            "target_position": [
+              0.35540752456573804,
+              0.2313312710347134,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005287587121640056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1721062184834537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625841119377609,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577129416276811,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618270136824367,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13997094370880206,
+            "release_required_pad_clearance": 0.05309135068412184,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.200041282674961,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 161,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ce678175a04c847db9cf2b2ff2e647617e06a578e76fe3992a81fa1cd9e3d35",
+    "visual_seed": 8105061386105235607,
+    "episode_index": 161,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_162_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_162_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c58fbbd4850cd41fb5461073aa258ab0e1c610a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_162_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 162,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3628486992112012,
+              0.08739889273108173,
+              1.0488683641259458
+            ],
+            "current_z": 1.0488683641259458,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19228173750809063,
+            "gripper_z": 1.0495760859623335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35800964152316295,
+              0.08262778034222955,
+              1.0495760859623335
+            ],
+            "object_minus_gripper": [
+              0.004839057688038273,
+              0.004771112388852181,
+              -0.0007077218363877869
+            ],
+            "object_to_gripper_xy": 0.006795586268690957,
+            "object_to_gripper_z": -0.0007077218363877869,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3628486992112012,
+              0.06321770094312804,
+              1.0488683641259458
+            ],
+            "finger_b": [
+              0.35102290976086,
+              0.08739889273108173,
+              1.0488683641259458
+            ],
+            "finger_midpoint": [
+              0.3569358044860306,
+              0.07530829683710488,
+              1.0488683641259458
+            ],
+            "object_minus_finger_midpoint": [
+              0.005912894725170648,
+              0.012090595893976847,
+              0.0
+            ],
+            "finger_gap": 0.026918011301164158,
+            "fingertip_max_gap": 0.09152637604361682,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013459005650582091,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488683641259458,
+            "object_top_z": 1.0943139006234848,
+            "finger_top_clearance": 0.04544553649753902,
+            "fingertip_min_top_clearance": 0.01363366094926174,
+            "object_projection_between_fingers": 0.8069924301335909,
+            "object_to_finger_line_xy": 0.010623432747065275,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048263188021808415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9813623744132056,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3635843345841331,
+              0.08457564153792473,
+              1.2395236905153526
+            ],
+            "held_position": [
+              0.3688200342850917,
+              0.0888800161892879,
+              1.2386599724727956
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006832730153822439,
+            "max_held_gripper_dist": 0.00683386607871027,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008637180425570268,
+            "max_held_gripper_z_dist": 0.0008740317363415961,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781960292955046,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3688200342850917,
+              0.06339018995048935,
+              1.2386599724727956
+            ],
+            "held_grasp_finger_b": [
+              0.3594911173809417,
+              0.0888800161892879,
+              1.2386599724727956
+            ],
+            "held_grasp_midpoint": [
+              0.3641555758330167,
+              0.07613510306988863,
+              1.2386599724727956
+            ],
+            "held_grasp_object_position": [
+              0.3688200342850917,
+              0.0888800161892879,
+              1.2386599724727956
+            ],
+            "held_grasp_finger_gap": 0.027143322056975235,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472821638446992,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07402475989254505,
+              -0.9972130441464804,
+              0.009299435841002679
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037101669230771234,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214554593968861,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3487885033815492,
+              0.24091425070704559,
+              0.7625849882740585
+            ],
+            "target_position": [
+              0.3527081652514994,
+              0.2392284736583778,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004266801311586524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17146297965899907,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849882740585,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754139539103741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08862106451716993,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14044337349614214,
+            "release_required_pad_clearance": 0.05431053225858497,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.634073782105767,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 162,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4ce851469089696d76f9d5f03c55c6f936c7a751f4a751673eb8e4fef67602b",
+    "visual_seed": 1782465199083047990,
+    "episode_index": 162,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_163_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_163_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f38d7d4bf842d32bc739fa728f943fceb690f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_163_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 163,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36673013984997244,
+              0.08391152997868687,
+              1.046761250250414
+            ],
+            "current_z": 1.046761250250414,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19017468323720366,
+            "gripper_z": 1.047419392928044,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36179553380680607,
+              0.07919466351897224,
+              1.047419392928044
+            ],
+            "object_minus_gripper": [
+              0.004934606043166367,
+              0.004716866459714628,
+              -0.0006581426776299804
+            ],
+            "object_to_gripper_xy": 0.006826358179881483,
+            "object_to_gripper_z": -0.0006581426776299804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36673013984997244,
+              0.05948905064878525,
+              1.046761250250414
+            ],
+            "finger_b": [
+              0.35519842553626113,
+              0.08391152997868687,
+              1.046761250250414
+            ],
+            "finger_midpoint": [
+              0.36096428269311676,
+              0.07170029031373606,
+              1.046761250250414
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057658571568556805,
+              0.012211239664950801,
+              0.0
+            ],
+            "finger_gap": 0.027008108627457162,
+            "fingertip_max_gap": 0.09258107108573252,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013504054313728586,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046761250250414,
+            "object_top_z": 1.0929415837985816,
+            "finger_top_clearance": 0.04618033354816764,
+            "fingertip_min_top_clearance": 0.013854100064450325,
+            "object_projection_between_fingers": 0.8176946533128103,
+            "object_to_finger_line_xy": 0.010427722220379024,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879053554286626,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9126602976673879,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36738737391012644,
+              0.08081793228306061,
+              1.2370287474360449
+            ],
+            "held_position": [
+              0.37267221553949864,
+              0.08511108704280268,
+              1.2362069370395672
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006858287043161741,
+            "max_held_gripper_dist": 0.006859693209367718,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008218103964776624,
+            "max_held_gripper_z_dist": 0.0008310208731741042,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08818389350399802,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37267221553949864,
+              0.05954885889707168,
+              1.2362069370395672
+            ],
+            "held_grasp_finger_b": [
+              0.36343168899556333,
+              0.08511108704280268,
+              1.2362069370395672
+            ],
+            "held_grasp_midpoint": [
+              0.36805195226753096,
+              0.07232997296993718,
+              1.2362069370395672
+            ],
+            "held_grasp_object_position": [
+              0.37267221553949864,
+              0.08511108704280268,
+              1.2362069370395672
+            ],
+            "held_grasp_finger_gap": 0.027181148588379694,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024860996526279096,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06885312720799572,
+              -0.9974574802523887,
+              0.018379933684190553
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00373685469779696,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213348755307279,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3543332718342445,
+              0.23610436924069483,
+              0.7625855833239413
+            ],
+            "target_position": [
+              0.35922574931623535,
+              0.23497679369242422,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005020733266052403,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16945699865823977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855833239413,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529359925609375,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866836117674749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1386879770797729,
+            "release_required_pad_clearance": 0.05334180588373745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6943771643379815,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 163,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e97c9d3ba8834bc629c96516f706aab1fb47abc2540dab62f9041fd457e33d78",
+    "visual_seed": 7813618988991541002,
+    "episode_index": 163,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_167_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_167_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d87205b170907cb38f1bf3f5e8d5326caff5a4e0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_167_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 167,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3592150975700633,
+              0.09091003793399585,
+              1.0488173979670505
+            ],
+            "current_z": 1.0488173979670505,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19223100976777452,
+            "gripper_z": 1.0497955085197466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35390803276231997,
+              0.08593711412738908,
+              1.0497955085197466
+            ],
+            "object_minus_gripper": [
+              0.005307064807743345,
+              0.004972923806606772,
+              -0.000978110552696032
+            ],
+            "object_to_gripper_xy": 0.0072728885636935406,
+            "object_to_gripper_z": -0.000978110552696032,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3592150975700633,
+              0.06631445503652325,
+              1.0488173979670505
+            ],
+            "finger_b": [
+              0.3472024583435515,
+              0.09091003793399585,
+              1.0488173979670505
+            ],
+            "finger_midpoint": [
+              0.3532087779568074,
+              0.07861224648525955,
+              1.0488173979670505
+            ],
+            "object_minus_finger_midpoint": [
+              0.006006319613255928,
+              0.0122977914487363,
+              0.0
+            ],
+            "finger_gap": 0.027372361959699,
+            "fingertip_max_gap": 0.09457018835819656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013686180979849511,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488173979670505,
+            "object_top_z": 1.0953914715029838,
+            "finger_top_clearance": 0.046574073535933236,
+            "fingertip_min_top_clearance": 0.01397222206077997,
+            "object_projection_between_fingers": 0.8074017574860654,
+            "object_to_finger_line_xy": 0.010794021515136764,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04978509417909828,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0108342390192084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3594496743463699,
+              0.08782112685609117,
+              1.238682040733897
+            ],
+            "held_position": [
+              0.3651207397010453,
+              0.09233850462708644,
+              1.2375338550513704
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007340709403350692,
+            "max_held_gripper_dist": 0.007343719890259287,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011481856825266146,
+            "max_held_gripper_z_dist": 0.001158608402949568,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879033694153202,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3651207397010453,
+              0.06662758200743052,
+              1.2375338550513704
+            ],
+            "held_grasp_finger_b": [
+              0.3553711811281014,
+              0.09233850462708644,
+              1.2375338550513704
+            ],
+            "held_grasp_midpoint": [
+              0.36024596041457335,
+              0.07948304331725847,
+              1.2375338550513704
+            ],
+            "held_grasp_object_position": [
+              0.3651207397010453,
+              0.09233850462708644,
+              1.2375338550513704
+            ],
+            "held_grasp_finger_gap": 0.02749737140748545,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025197563165808224,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048909807243680214,
+              -0.9985799644814718,
+              0.021115996106473297
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004249028435036851,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032124594352393,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3500289719612176,
+              0.23498154820534078,
+              0.7625847185740432
+            ],
+            "target_position": [
+              0.35464681764912515,
+              0.23363403726526147,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004810434962761631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1725932057012561,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847185740432,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569596088987596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663600060253578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1407261413994715,
+            "release_required_pad_clearance": 0.05331800030126789,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.644199282895159,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 167,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e27650c54ae28c8055546ede7d89c8536a774adfebe6349a9f19bd182fde2d3",
+    "visual_seed": 266936953179007891,
+    "episode_index": 167,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_168_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_168_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8ba1925a5c58729ea117080f0eefab6f008936
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_168_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 168,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36619920016114005,
+              0.09071876328003962,
+              1.04721169511435
+            ],
+            "current_z": 1.04721169511435,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.19062530691507384,
+            "gripper_z": 1.0478835423118782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3611420051841096,
+              0.08593486116602395,
+              1.0478835423118782
+            ],
+            "object_minus_gripper": [
+              0.005057194977030444,
+              0.0047839021140156784,
+              -0.0006718471975282192
+            ],
+            "object_to_gripper_xy": 0.006961389263084318,
+            "object_to_gripper_z": -0.0006718471975282192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36619920016114005,
+              0.06622569775296319,
+              1.04721169511435
+            ],
+            "finger_b": [
+              0.3545532441469984,
+              0.09071876328003962,
+              1.04721169511435
+            ],
+            "finger_midpoint": [
+              0.3603762221540692,
+              0.0784722305165014,
+              1.04721169511435
+            ],
+            "object_minus_finger_midpoint": [
+              0.005822978007070823,
+              0.012246532763538223,
+              0.0
+            ],
+            "finger_gap": 0.027120813970030137,
+            "fingertip_max_gap": 0.09490400791245887,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013560406985015075,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04721169511435,
+            "object_top_z": 1.0942913419359772,
+            "finger_top_clearance": 0.04707964682162724,
+            "fingertip_min_top_clearance": 0.014123894046488172,
+            "object_projection_between_fingers": 0.8156068211378978,
+            "object_to_finger_line_xy": 0.010517573849185766,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04995200395622944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.766550609479511,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36666433586057456,
+              0.0880078068243229,
+              1.2372166395343789
+            ],
+            "held_position": [
+              0.37205052506903924,
+              0.09239197453524135,
+              1.236387906381045
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006994194688902792,
+            "max_held_gripper_dist": 0.00699526321766069,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008287331533338715,
+            "max_held_gripper_z_dist": 0.0008398546166537013,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878794261551461,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37205052506903924,
+              0.06685692970770601,
+              1.236387906381045
+            ],
+            "held_grasp_finger_b": [
+              0.36251537728263195,
+              0.09239197453524135,
+              1.236387906381045
+            ],
+            "held_grasp_midpoint": [
+              0.3672829511758356,
+              0.07962445212147368,
+              1.236387906381045
+            ],
+            "held_grasp_object_position": [
+              0.37205052506903924,
+              0.09239197453524135,
+              1.236387906381045
+            ],
+            "held_grasp_finger_gap": 0.027257247800408373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025001065443020744,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05142983534948817,
+              -0.998293000692929,
+              0.027677731182886744
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004120107787266434,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220930116361244,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3468062741990909,
+              0.23888114597328325,
+              0.7625864058141713
+            ],
+            "target_position": [
+              0.35336847790680354,
+              0.23868266815344583,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006565204562424931,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16766046406073534,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864058141713,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582459809272936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08736047813333868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13538019462841425,
+            "release_required_pad_clearance": 0.05368023906666934,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3596931894747826,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 168,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "907cf479ed3ab0da4df0b7939bc70f91de75d8562867af5e67a196aecfb39b08",
+    "visual_seed": 5969863005734850442,
+    "episode_index": 168,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_169_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_169_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0b2832ac49ef433b887574a3a9306ee082ad99
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_169_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 169,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3662277507792615,
+              0.08493369886227775,
+              1.0481819058986532
+            ],
+            "current_z": 1.0481819058986532,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1915953388854429,
+            "gripper_z": 1.0487852086025604,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36134220034098385,
+              0.08020041009069832,
+              1.0487852086025604
+            ],
+            "object_minus_gripper": [
+              0.004885550438277653,
+              0.0047332887715794275,
+              -0.0006033027039071825
+            ],
+            "object_to_gripper_xy": 0.006802398524058617,
+            "object_to_gripper_z": -0.0006033027039071825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3662277507792615,
+              0.060620486383242675,
+              1.0481819058986532
+            ],
+            "finger_b": [
+              0.35457962484535577,
+              0.08493369886227775,
+              1.0481819058986532
+            ],
+            "finger_midpoint": [
+              0.36040368781230864,
+              0.07277709262276022,
+              1.0481819058986532
+            ],
+            "object_minus_finger_midpoint": [
+              0.00582406296695287,
+              0.012156606239517531,
+              0.0
+            ],
+            "finger_gap": 0.026959435061270007,
+            "fingertip_max_gap": 0.09129556641222222,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013479717530634996,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481819058986532,
+            "object_top_z": 1.0936222022526803,
+            "finger_top_clearance": 0.04544029635402702,
+            "fingertip_min_top_clearance": 0.013632088906208073,
+            "object_projection_between_fingers": 0.813323117210508,
+            "object_to_finger_line_xy": 0.010504795822686203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048147783206111114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7613124427117837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36690379057720246,
+              0.08214269613674265,
+              1.240630005505125
+            ],
+            "held_position": [
+              0.3721580413103006,
+              0.08644778935990062,
+              1.2398878095000923
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006833142273963689,
+            "max_held_gripper_dist": 0.00683472911376857,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007421960050326692,
+            "max_held_gripper_z_dist": 0.0007542091346168789,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08778155283646066,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3721580413103006,
+              0.06097080715028312,
+              1.2398878095000923
+            ],
+            "held_grasp_finger_b": [
+              0.362765029902727,
+              0.08644778935990062,
+              1.2398878095000923
+            ],
+            "held_grasp_midpoint": [
+              0.36746153560651384,
+              0.07370929825509187,
+              1.2398878095000923
+            ],
+            "held_grasp_object_position": [
+              0.3721580413103006,
+              0.08644778935990062,
+              1.2398878095000923
+            ],
+            "held_grasp_finger_gap": 0.02715336601255863,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024753631295173866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07018716002937936,
+              -0.9974847052490272,
+              0.00990077579140014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003792996686447191,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216414052340269,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34612258221085945,
+              0.23936247814620248,
+              0.7625851193928472
+            ],
+            "target_position": [
+              0.3502142700139204,
+              0.23778455265765697,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004385402823586386,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16944581356487723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851193928472,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539273851031955,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08785259088120943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13846360556751644,
+            "release_required_pad_clearance": 0.05392629544060472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8591519502306535,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 169,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c466effd439580c409a8414caf1aea10308e9e8c0709320b51f81300017b0152",
+    "visual_seed": 636790819229921841,
+    "episode_index": 169,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37ae4f6bd488a40021042193cf3574e3379dee9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3619933108424342,
+              0.08646625857946974,
+              1.0486102302093705
+            ],
+            "current_z": 1.0486102302093705,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.19202378240544993,
+            "gripper_z": 1.0495017931429325,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3572313451493462,
+              0.08178061312633662,
+              1.0495017931429325
+            ],
+            "object_minus_gripper": [
+              0.0047619656930880105,
+              0.0046856454531331165,
+              -0.0008915629335619624
+            ],
+            "object_to_gripper_xy": 0.006680687881843773,
+            "object_to_gripper_z": -0.0008915629335619624,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3619933108424342,
+              0.062252165501890395,
+              1.0486102302093705
+            ],
+            "finger_b": [
+              0.35040062556195484,
+              0.08646625857946974,
+              1.0486102302093705
+            ],
+            "finger_midpoint": [
+              0.3561969682021945,
+              0.07435921204068006,
+              1.0486102302093705
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057963426402397045,
+              0.012107046538789676,
+              0.0
+            ],
+            "finger_gap": 0.026846091998313622,
+            "fingertip_max_gap": 0.09363707245573646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013423045999156825,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486102302093705,
+            "object_top_z": 1.0952668441949691,
+            "finger_top_clearance": 0.046656613985598616,
+            "fingertip_min_top_clearance": 0.013996984195679617,
+            "object_projection_between_fingers": 0.8135312999273849,
+            "object_to_finger_line_xy": 0.010456134934583574,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049318536227868234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2116504344719117,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36281228100544693,
+              0.08365664376474635,
+              1.2411815719395618
+            ],
+            "held_position": [
+              0.36794972716828367,
+              0.08789564140517718,
+              1.2401514045128985
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00673971060199042,
+            "max_held_gripper_dist": 0.006741075552479782,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010301674266632865,
+            "max_held_gripper_z_dist": 0.0010393712642671193,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877401948032322,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36794972716828367,
+              0.06246733795136117,
+              1.2401514045128985
+            ],
+            "held_grasp_finger_b": [
+              0.3586989548347471,
+              0.08789564140517718,
+              1.2401514045128985
+            ],
+            "held_grasp_midpoint": [
+              0.3633243410015154,
+              0.07518148967826918,
+              1.2401514045128985
+            ],
+            "held_grasp_object_position": [
+              0.36794972716828367,
+              0.08789564140517718,
+              1.2401514045128985
+            ],
+            "held_grasp_finger_gap": 0.02705873990610569,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024687075014320034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07208087815992976,
+              -0.9970731572331495,
+              0.025484625341815618
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003711451275172412,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218988366519186,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3478770942783202,
+              0.2318315092074337,
+              0.7625847470471013
+            ],
+            "target_position": [
+              0.3531129164039128,
+              0.23074079333266878,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005348223485449083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1694411092748512,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847470471013,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584181155143414,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512313486090538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13740102936287424,
+            "release_required_pad_clearance": 0.05256156743045269,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18121569092944653,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6cac896251db0db599510018e8e5fda5be09c777e33267f32341ba1413c249c",
+    "visual_seed": 2890534105139403273,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_171_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_171_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de963afa8acc57a75989def316c1a4ce07292f89
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_171_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 171,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35977980231006024,
+              0.08742840783718235,
+              1.0490708075633326
+            ],
+            "current_z": 1.0490708075633326,
+            "required_z": 0.8565866862224999,
+            "initial_z": 0.7565866862224999,
+            "lift_margin": 0.1924841213408327,
+            "gripper_z": 1.0499930719352308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.354682208995041,
+              0.08259607160317169,
+              1.0499930719352308
+            ],
+            "object_minus_gripper": [
+              0.005097593315019244,
+              0.004832336234010665,
+              -0.0009222643718982404
+            ],
+            "object_to_gripper_xy": 0.007024025276425282,
+            "object_to_gripper_z": -0.0009222643718982404,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35977980231006024,
+              0.06294820701885255,
+              1.0490708075633326
+            ],
+            "finger_b": [
+              0.3480069552385608,
+              0.08742840783718235,
+              1.0490708075633326
+            ],
+            "finger_midpoint": [
+              0.3538933787743105,
+              0.07518830742801745,
+              1.0490708075633326
+            ],
+            "object_minus_finger_midpoint": [
+              0.005886423535749752,
+              0.0122401004091649,
+              0.0
+            ],
+            "finger_gap": 0.027163949644237455,
+            "fingertip_max_gap": 0.09382637384042589,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01358197482211874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490708075633326,
+            "object_top_z": 1.0957011460800767,
+            "finger_top_clearance": 0.04663033851674414,
+            "fingertip_min_top_clearance": 0.013989101555023241,
+            "object_projection_between_fingers": 0.8121647177540039,
+            "object_to_finger_line_xy": 0.01060971119032137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049413186920212945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4270135641680535,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36031492471526394,
+              0.08454709973819939,
+              1.2399604703270148
+            ],
+            "held_position": [
+              0.3657701894887126,
+              0.08893579195345037,
+              1.2388783980712699
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007084589859355825,
+            "max_held_gripper_dist": 0.007085363320608567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010820722557449702,
+            "max_held_gripper_z_dist": 0.0010919637948536565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664012332420867,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3657701894887126,
+              0.06332812590461386,
+              1.2388783980712699
+            ],
+            "held_grasp_finger_b": [
+              0.3562682044845706,
+              0.08893579195345037,
+              1.2388783980712699
+            ],
+            "held_grasp_midpoint": [
+              0.3610191969866416,
+              0.07613195892903211,
+              1.2388783980712699
+            ],
+            "held_grasp_object_position": [
+              0.3657701894887126,
+              0.08893579195345037,
+              1.2388783980712699
+            ],
+            "held_grasp_finger_gap": 0.027313737925953565,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02496031739957231,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06214057646769134,
+              -0.997778406536114,
+              0.02401666518308465
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003958412228811342,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212960744027988,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34587445909765924,
+              0.23713689713389519,
+              0.7625848853547161
+            ],
+            "target_position": [
+              0.3505981393427414,
+              0.23583157112323339,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004900717401757618,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1716908508759941,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848853547161,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572961027278746,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619301693679958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13974002858394088,
+            "release_required_pad_clearance": 0.05309650846839979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2117301896060597,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 171,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3e845dfdc04d94445e0d21d306adffd1633609dd3b967c14facdb8992498cdc",
+    "visual_seed": 6114397551098848772,
+    "episode_index": 171,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_172_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_172_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de0e02f3658c653271334d1efc1eb3d0780f8b8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_172_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 172,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3628398033843542,
+              0.0880621539726557,
+              1.050278996543495
+            ],
+            "current_z": 1.050278996543495,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19369242953028476,
+            "gripper_z": 1.0509999287345404,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35792754169385493,
+              0.08327961494214493,
+              1.0509999287345404
+            ],
+            "object_minus_gripper": [
+              0.004912261690499242,
+              0.004782539030510763,
+              -0.0007209321910452982
+            ],
+            "object_to_gripper_xy": 0.006855872992865701,
+            "object_to_gripper_z": -0.0007209321910452982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3628398033843542,
+              0.0637805869613846,
+              1.050278996543495
+            ],
+            "finger_b": [
+              0.35105851786707654,
+              0.0880621539726557,
+              1.050278996543495
+            ],
+            "finger_midpoint": [
+              0.35694916062571536,
+              0.07592137046702015,
+              1.050278996543495
+            ],
+            "object_minus_finger_midpoint": [
+              0.00589064275863882,
+              0.01214078350563555,
+              0.0
+            ],
+            "finger_gap": 0.026988760345048542,
+            "fingertip_max_gap": 0.0912262816937355,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013494380172524271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050278996543495,
+            "object_top_z": 1.0957425845831543,
+            "finger_top_clearance": 0.04546358803965922,
+            "fingertip_min_top_clearance": 0.013639076411897799,
+            "object_projection_between_fingers": 0.8094453774347595,
+            "object_to_finger_line_xy": 0.010599526251274347,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048113140846867755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6729571811516681,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36356133340110597,
+              0.0852438031814634,
+              1.2440555903389943
+            ],
+            "held_position": [
+              0.3688642477126177,
+              0.089566273557958,
+              1.2431994640836688
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006894751809598888,
+            "max_held_gripper_dist": 0.006896265278646202,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008561262553254956,
+            "max_held_gripper_z_dist": 0.000867620665876645,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785078626939226,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3688642477126177,
+              0.06406859926223996,
+              1.2431994640836688
+            ],
+            "held_grasp_finger_b": [
+              0.35942259422308903,
+              0.089566273557958,
+              1.2431994640836688
+            ],
+            "held_grasp_midpoint": [
+              0.36414342096785335,
+              0.07681743641009897,
+              1.2431994640836688
+            ],
+            "held_grasp_object_position": [
+              0.3688642477126177,
+              0.089566273557958,
+              1.2431994640836688
+            ],
+            "held_grasp_finger_gap": 0.027189634331981186,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024697970030929512,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07658176564762424,
+              -0.9969940093736218,
+              0.011754932726421582
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037337289993863466,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212818145548486,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34842282350414944,
+              0.23839144553358438,
+              0.7625846880764986
+            ],
+            "target_position": [
+              0.3522208362210746,
+              0.23650206764395082,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004242010066909472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17070745509219554,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846880764986,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589795595071788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585907968566851,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1386674095313379,
+            "release_required_pad_clearance": 0.05292953984283426,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8890933545852634,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 172,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50e96f21a4d2459049df4854df7122aeac70ad56780866d6a6a206dca493ba7d",
+    "visual_seed": 83943653321541905,
+    "episode_index": 172,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be6137fe0bddd226cb0c4dc6a7c80f1fe320644
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_19_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3650908384916314,
+              0.09143377702035572,
+              1.0464842879657494
+            ],
+            "current_z": 1.0464842879657494,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1898979593711182,
+            "gripper_z": 1.0480048629254421,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3598148248682691,
+              0.08651968841503666,
+              1.0480048629254421
+            ],
+            "object_minus_gripper": [
+              0.0052760136233622745,
+              0.00491408860531907,
+              -0.001520574959692711
+            ],
+            "object_to_gripper_xy": 0.007210033742974511,
+            "object_to_gripper_z": -0.001520574959692711,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3650908384916314,
+              0.06668739156198353,
+              1.0464842879657494
+            ],
+            "finger_b": [
+              0.353396004598047,
+              0.09143377702035572,
+              1.0464842879657494
+            ],
+            "finger_midpoint": [
+              0.3592434215448392,
+              0.07906058429116963,
+              1.0464842879657494
+            ],
+            "object_minus_finger_midpoint": [
+              0.005847416946792194,
+              0.012373192729186092,
+              0.0
+            ],
+            "finger_gap": 0.027370654596718457,
+            "fingertip_max_gap": 0.09277651072995494,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013685327298359222,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464842879657494,
+            "object_top_z": 1.0919472607263618,
+            "finger_top_clearance": 0.0454629727606124,
+            "fingertip_min_top_clearance": 0.013638891828183718,
+            "object_projection_between_fingers": 0.8174349051078228,
+            "object_to_finger_line_xy": 0.010573545706757503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888825536497747,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.348761040207909,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3651301467476997,
+              0.08884179290976985,
+              1.2387181298021757
+            ],
+            "held_position": [
+              0.37068067427450185,
+              0.09339440272201827,
+              1.237058916059702
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007368012090895476,
+            "max_held_gripper_dist": 0.007370799289674239,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016592137424735753,
+            "max_held_gripper_z_dist": 0.0016719634190021093,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739774295550627,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37068067427450185,
+              0.06780385070627735,
+              1.237058916059702
+            ],
+            "held_grasp_finger_b": [
+              0.36076730653719347,
+              0.09339440272201827,
+              1.237058916059702
+            ],
+            "held_grasp_midpoint": [
+              0.3657239904058477,
+              0.08059912671414782,
+              1.237058916059702
+            ],
+            "held_grasp_object_position": [
+              0.37068067427450185,
+              0.09339440272201827,
+              1.237058916059702
+            ],
+            "held_grasp_finger_gap": 0.02744360057218163,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025351033963881154,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02342782630933265,
+              -0.9997159344446699,
+              0.004380339238068243
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004655898333178269,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032292459326379995,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35441239427795146,
+              0.23838149451140678,
+              0.7625851604983975
+            ],
+            "target_position": [
+              0.3573729288113036,
+              0.2359839259476876,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038096062448637748,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17008370267456338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851604983975,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573412828985716,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591930152808717,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384394575749834,
+            "release_required_pad_clearance": 0.05295965076404359,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9495480551369552,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ceb1dffdcaf9497a36329429c67675681bf044fb7de313f187bab3c5932a88d",
+    "visual_seed": 6437170431335022973,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7cff7cfabd2d614ec710b8d8fbae9d27a3b7bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35827949292529027,
+              0.09213123938130005,
+              1.0483300713481514
+            ],
+            "current_z": 1.0483300713481514,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1917435639395858,
+            "gripper_z": 1.0492168968887727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35327062118239205,
+              0.08727585317306923,
+              1.0492168968887727
+            ],
+            "object_minus_gripper": [
+              0.005008871742898213,
+              0.004855386208230825,
+              -0.000886825540621361
+            ],
+            "object_to_gripper_xy": 0.006975927993312595,
+            "object_to_gripper_z": -0.000886825540621361,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35827949292529027,
+              0.067815786558823,
+              1.0483300713481514
+            ],
+            "finger_b": [
+              0.34634137311377866,
+              0.09213123938130005,
+              1.0483300713481514
+            ],
+            "finger_midpoint": [
+              0.35231043301953446,
+              0.07997351297006153,
+              1.0483300713481514
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059690599057558025,
+              0.012157726411238523,
+              0.0
+            ],
+            "finger_gap": 0.027088003813424733,
+            "fingertip_max_gap": 0.09145966330742769,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013544001906712367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483300713481514,
+            "object_top_z": 1.0938851112215355,
+            "finger_top_clearance": 0.04555503987338416,
+            "fingertip_min_top_clearance": 0.013666511962015248,
+            "object_projection_between_fingers": 0.805769305726999,
+            "object_to_finger_line_xy": 0.010716211909348126,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822983165371385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8025882721521839,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3589523592734041,
+              0.08912041410335797,
+              1.2388275208470139
+            ],
+            "held_position": [
+              0.36436963889048146,
+              0.09348087909001407,
+              1.2377775142540812
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00703299987165206,
+            "max_held_gripper_dist": 0.0070356044697531955,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010500065929326396,
+            "max_held_gripper_z_dist": 0.0010591820692771314,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663921635043009,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36436963889048146,
+              0.06786985685121838,
+              1.2377775142540812
+            ],
+            "held_grasp_finger_b": [
+              0.3549658830522473,
+              0.09348087909001407,
+              1.2377775142540812
+            ],
+            "held_grasp_midpoint": [
+              0.3596677609713644,
+              0.08067536797061622,
+              1.2377775142540812
+            ],
+            "held_grasp_object_position": [
+              0.36436963889048146,
+              0.09348087909001407,
+              1.2377775142540812
+            ],
+            "held_grasp_finger_gap": 0.027282871622708826,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02478187385550196,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07936078882227705,
+              -0.9967647171086417,
+              0.01272650481615434
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036745140188719346,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206299855684544,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35575977184505214,
+              0.24111962196612602,
+              0.762584844517001
+            ],
+            "target_position": [
+              0.3594430566346019,
+              0.2393201453516598,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004099353964582651,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16959780831231125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584844517001,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554169524188013,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499119246008967,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13831603680435364,
+            "release_required_pad_clearance": 0.052495596230044836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05566415662739909,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3af40112021ea449877f962edddd57bec6320326dd2c490006e1db63f847ea24",
+    "visual_seed": 3229832578569530226,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e334a67a495dc5da66ac4d7cc7493636886a9e89
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36561513055928746,
+              0.08847656924368262,
+              1.049221431204273
+            ],
+            "current_z": 1.049221431204273,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19263492379570735,
+            "gripper_z": 1.0498918741255725,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36084780659274684,
+              0.0837170202924734,
+              1.0498918741255725
+            ],
+            "object_minus_gripper": [
+              0.004767323966540615,
+              0.004759548951209225,
+              -0.0006704429212995855
+            ],
+            "object_to_gripper_xy": 0.006736518687045214,
+            "object_to_gripper_z": -0.0006704429212995855,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36561513055928746,
+              0.06437062124635358,
+              1.049221431204273
+            ],
+            "finger_b": [
+              0.3537723396800324,
+              0.08847656924368262,
+              1.049221431204273
+            ],
+            "finger_midpoint": [
+              0.35969373511965996,
+              0.0764235952450181,
+              1.049221431204273
+            ],
+            "object_minus_finger_midpoint": [
+              0.005921395439627497,
+              0.01205297399866452,
+              0.0
+            ],
+            "finger_gap": 0.02685793038675353,
+            "fingertip_max_gap": 0.0928192483516794,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013428965193376753,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049221431204273,
+            "object_top_z": 1.0954654928122678,
+            "finger_top_clearance": 0.04624406160799488,
+            "fingertip_min_top_clearance": 0.013873218482398463,
+            "object_projection_between_fingers": 0.8055701086809314,
+            "object_to_finger_line_xy": 0.010629326123332491,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489096241758397,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1047306047857188,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36664106450754885,
+              0.0853337415514741,
+              1.2426649598100932
+            ],
+            "held_position": [
+              0.37185107239131304,
+              0.08957581685832498,
+              1.2418504863549342
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006767773050792826,
+            "max_held_gripper_dist": 0.006768508347903341,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008144734551589483,
+            "max_held_gripper_z_dist": 0.0008241509981508077,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788717173697545,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37185107239131304,
+              0.06406830051307441,
+              1.2418504863549342
+            ],
+            "held_grasp_finger_b": [
+              0.3626540932367328,
+              0.08957581685832498,
+              1.2418504863549342
+            ],
+            "held_grasp_midpoint": [
+              0.36725258281402295,
+              0.07682205868569969,
+              1.2418504863549342
+            ],
+            "held_grasp_object_position": [
+              0.37185107239131304,
+              0.08957581685832498,
+              1.2418504863549342
+            ],
+            "held_grasp_finger_gap": 0.027114900251946503,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024629384044277426,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08471371582880582,
+              -0.9961179277100797,
+              0.023930324800403573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003515223353903138,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321064226650875,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3493532296491114,
+              0.236495701100159,
+              0.7625842675673562
+            ],
+            "target_position": [
+              0.35385611639175407,
+              0.23515164063971633,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004699200733996401,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17189177513698786,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842675673562,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565161853209808,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086177393823319,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1402138900401935,
+            "release_required_pad_clearance": 0.0530886969116595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1948117647257832,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bdf646679ad85d49900fb7d465b07cc6e971aab88aa0d341aaf66498c04157b7",
+    "visual_seed": 3885891823466549320,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e71dc83d350b162c8809f56e47d61cb1cb49000
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36064325324678626,
+              0.09001415943912255,
+              1.0498080127522278
+            ],
+            "current_z": 1.0498080127522278,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.19322144573901767,
+            "gripper_z": 1.0511466599803179,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3553823335512617,
+              0.08512999819114656,
+              1.0511466599803179
+            ],
+            "object_minus_gripper": [
+              0.005260919695524557,
+              0.004884161247975999,
+              -0.001338647228090073
+            ],
+            "object_to_gripper_xy": 0.007178600639329971,
+            "object_to_gripper_z": -0.001338647228090073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36064325324678626,
+              0.06528728374089181,
+              1.0498080127522278
+            ],
+            "finger_b": [
+              0.3489759545776298,
+              0.09001415943912255,
+              1.0498080127522278
+            ],
+            "finger_midpoint": [
+              0.35480960391220806,
+              0.07765072159000719,
+              1.0498080127522278
+            ],
+            "object_minus_finger_midpoint": [
+              0.005833649334578195,
+              0.012363437849115366,
+              0.0
+            ],
+            "finger_gap": 0.027341255275335367,
+            "fingertip_max_gap": 0.0927276406069533,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013670627637667665,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498080127522278,
+            "object_top_z": 1.0952156527754024,
+            "finger_top_clearance": 0.045407640023174656,
+            "fingertip_min_top_clearance": 0.013622292006952396,
+            "object_projection_between_fingers": 0.8179026056977646,
+            "object_to_finger_line_xy": 0.010551667837526757,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886382030347665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2438344505723844,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36073512969731486,
+              0.08749672448444563,
+              1.2433048422404043
+            ],
+            "held_position": [
+              0.3662724124370602,
+              0.09202253011226812,
+              1.2418323050780231
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007301560272661249,
+            "max_held_gripper_dist": 0.007304733710716419,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00147253716238116,
+            "max_held_gripper_z_dist": 0.0014849509317846898,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08742275029570057,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3662724124370602,
+              0.06646422015143867,
+              1.2418323050780231
+            ],
+            "held_grasp_finger_b": [
+              0.35635377178471994,
+              0.09202253011226812,
+              1.2418323050780231
+            ],
+            "held_grasp_midpoint": [
+              0.3613130921108901,
+              0.0792433751318534,
+              1.2418323050780231
+            ],
+            "held_grasp_object_position": [
+              0.3662724124370602,
+              0.09202253011226812,
+              1.2418323050780231
+            ],
+            "held_grasp_finger_gap": 0.027415445289910773,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025305979218629163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024587637913945963,
+              -0.9996691957623586,
+              0.007546330608439121
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046446225881154905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032303359411537905,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3472642713485974,
+              0.23416516685836514,
+              0.7625848580357566
+            ],
+            "target_position": [
+              0.35033106424729277,
+              0.23193772071763355,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037903476085114486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1721659280648016,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848580357566,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540270089590394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588001871781674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14110982543687595,
+            "release_required_pad_clearance": 0.05294000935890837,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9082496301571314,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd4e272f099c8dd7c7aaccc35cbf4673db59c71048268c2fe118bfaa4347b0fe",
+    "visual_seed": 7789758896621552176,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..977c72a7274702858c8a36a4d5c75652adfdecae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3664169949303121,
+              0.08958624763532613,
+              1.0476853457383957
+            ],
+            "current_z": 1.0476853457383957,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1910988383298301,
+            "gripper_z": 1.0482566481163291,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36163218931799657,
+              0.08485395437066959,
+              1.0482566481163291
+            ],
+            "object_minus_gripper": [
+              0.004784805612315535,
+              0.004732293264656545,
+              -0.0005713023779334581
+            ],
+            "object_to_gripper_xy": 0.006729707593228694,
+            "object_to_gripper_z": -0.0005713023779334581,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3664169949303121,
+              0.06542821786612352,
+              1.0476853457383957
+            ],
+            "finger_b": [
+              0.3546657760913088,
+              0.08958624763532613,
+              1.0476853457383957
+            ],
+            "finger_midpoint": [
+              0.36054138551081044,
+              0.07750723275072482,
+              1.0476853457383957
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058756094195016595,
+              0.012079014884601308,
+              0.0
+            ],
+            "finger_gap": 0.026864503467062747,
+            "fingertip_max_gap": 0.09120518499059313,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013432251733531374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476853457383957,
+            "object_top_z": 1.0930888679593187,
+            "finger_top_clearance": 0.04540352222092303,
+            "fingertip_min_top_clearance": 0.01362105666627691,
+            "object_projection_between_fingers": 0.8086589326768793,
+            "object_to_finger_line_xy": 0.010567338230729494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810259249529657,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7445832336181174,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36726320469138773,
+              0.08679033669108684,
+              1.2409700229998664
+            ],
+            "held_position": [
+              0.37245110661001324,
+              0.0910564609256427,
+              1.2402669755745357
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006753400475627598,
+            "max_held_gripper_dist": 0.006754563316961265,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007030474253306718,
+            "max_held_gripper_z_dist": 0.000715013307649448,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783879651191971,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37245110661001324,
+              0.06562020203741548,
+              1.2402669755745357
+            ],
+            "held_grasp_finger_b": [
+              0.3631153662942797,
+              0.0910564609256427,
+              1.2402669755745357
+            ],
+            "held_grasp_midpoint": [
+              0.3677832364521465,
+              0.07833833148152908,
+              1.2402669755745357
+            ],
+            "held_grasp_object_position": [
+              0.37245110661001324,
+              0.0910564609256427,
+              1.2402669755745357
+            ],
+            "held_grasp_finger_gap": 0.027095374392536644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024619371002640108,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07884281336041671,
+              -0.9968221799185326,
+              0.011373319826656458
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036535539180561185,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032154483433196025,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.349834368001563,
+              0.23728758006408168,
+              0.7625847360347864
+            ],
+            "target_position": [
+              0.3535157826040649,
+              0.23535567021423798,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0041575340219218385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17183109955522824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847360347864,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569851221884638,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716821696202708,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14010457341655486,
+            "release_required_pad_clearance": 0.05358410848101354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.16959767819934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b446136253b9a100fdab6df9c8bd0637d47675f1f8c1d6a2510ffd90ed47089",
+    "visual_seed": 4902555529550685687,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ddecc2911a60ffa0051d5a27fcca26e63a7fca7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35915791480628734,
+              0.08988906648403329,
+              1.031908291434966
+            ],
+            "current_z": 1.031908291434966,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1753218436310452,
+            "gripper_z": 1.048854701294138,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3551364331898752,
+              0.08574997383229646,
+              1.048854701294138
+            ],
+            "object_minus_gripper": [
+              0.004021481616412137,
+              0.004139092651736828,
+              -0.016946409859172062
+            ],
+            "object_to_gripper_xy": 0.005770996653161616,
+            "object_to_gripper_z": -0.016946409859172062,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35915791480628734,
+              0.06588915710967894,
+              1.0352791718307799
+            ],
+            "finger_b": [
+              0.3487601693088702,
+              0.08988906648403329,
+              1.035389420350034
+            ],
+            "finger_midpoint": [
+              0.3539590420575788,
+              0.07788911179685612,
+              1.035334296090407
+            ],
+            "object_minus_finger_midpoint": [
+              0.005198872748708561,
+              0.01199995468717717,
+              -0.003426004655441073
+            ],
+            "finger_gap": 0.02615570523121634,
+            "fingertip_max_gap": 0.10020844554303213,
+            "finger_z_skew": 0.00011024851925411916,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013077736438373799,
+            "object_to_finger_midpoint_z": 0.003426004655441073,
+            "finger_midpoint_minus_object_z": 0.003426004655441073,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.031908291434966,
+            "object_top_z": 1.0802380374913865,
+            "finger_top_clearance": 0.04490374140097941,
+            "fingertip_min_top_clearance": 0.014498923816926128,
+            "object_projection_between_fingers": 0.8419650243817715,
+            "object_to_finger_line_xy": 0.009540831122096019,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052604222771516065,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.470322452006322,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35999279569126863,
+              0.08874584323317046,
+              1.2227140570158912
+            ],
+            "held_position": [
+              0.36390492157392845,
+              0.09253889273114846,
+              1.2056614478244356
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.01790205110182638,
+            "max_held_gripper_dist": 0.017909777267442563,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.01705260919145557,
+            "max_held_gripper_z_dist": 0.017057801305796483,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08711205885268489,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36390492157392845,
+              0.06779754008136568,
+              1.2087976081490361
+            ],
+            "held_grasp_finger_b": [
+              0.3554924406815425,
+              0.09253889273114846,
+              1.209166429505462
+            ],
+            "held_grasp_midpoint": [
+              0.3596986811277355,
+              0.08016821640625707,
+              1.208982018827249
+            ],
+            "held_grasp_object_position": [
+              0.36390492157392845,
+              0.09253889273114846,
+              1.2056614478244356
+            ],
+            "held_grasp_finger_gap": 0.02613504151323712,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024834877439405628,
+            "held_grasp_world_z_skew": 0.00036882135642590796,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.015092178182843956,
+              -0.9992004175075468,
+              0.03702366554572189
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005243075325520279,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032779981637193416,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34036793015025707,
+              0.23452464912548612,
+              0.7625858129978769
+            ],
+            "target_position": [
+              0.3509257045023122,
+              0.23655381700263511,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010751005606108035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16782285332241345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858129978769,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520767933952796,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08789815631915852,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13670615805449618,
+            "release_required_pad_clearance": 0.053949078159579264,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.90774563273353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "101c550282c933b9ce12157e78e9b66510ddb29acda6a2ff0ffa9af098e895fc",
+    "visual_seed": 7402000534322958142,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dae8fd2af19063ad3a2c3303f0f8f7c4ab88515
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_33_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36383316142880345,
+              0.08424194762641861,
+              1.046990600506141
+            ],
+            "current_z": 1.046990600506141,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19040409309757522,
+            "gripper_z": 1.0477808287728596,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3591353537552719,
+              0.07955819044231666,
+              1.0477808287728596
+            ],
+            "object_minus_gripper": [
+              0.004697807673531562,
+              0.004683757184101953,
+              -0.0007902282667187066
+            ],
+            "object_to_gripper_xy": 0.006633775568793286,
+            "object_to_gripper_z": -0.0007902282667187066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36383316142880345,
+              0.06013255839659865,
+              1.046990600506141
+            ],
+            "finger_b": [
+              0.3521692956594007,
+              0.08424194762641861,
+              1.046990600506141
+            ],
+            "finger_midpoint": [
+              0.3580012285441021,
+              0.07218725301150863,
+              1.046990600506141
+            ],
+            "object_minus_finger_midpoint": [
+              0.005831932884701352,
+              0.012054694614909975,
+              0.0
+            ],
+            "finger_gap": 0.02678261401957628,
+            "fingertip_max_gap": 0.09448520170759614,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013391307009788125,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046990600506141,
+            "object_top_z": 1.0938707742921732,
+            "finger_top_clearance": 0.046880173786032264,
+            "fingertip_min_top_clearance": 0.014064052135809678,
+            "object_projection_between_fingers": 0.8103385348837601,
+            "object_to_finger_line_xy": 0.010499672644102643,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04974260085379807,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.588411499591383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36466214179116174,
+              0.0815761167052049,
+              1.2395015041682225
+            ],
+            "held_position": [
+              0.36974596146888655,
+              0.08581093102851584,
+              1.2385798127928451
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006680448327768611,
+            "max_held_gripper_dist": 0.006686655046947743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009216913753773426,
+            "max_held_gripper_z_dist": 0.0009313643315664866,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08777342353778242,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36974596146888655,
+              0.060434076983494206,
+              1.2385798127928451
+            ],
+            "held_grasp_finger_b": [
+              0.360465305342211,
+              0.08581093102851584,
+              1.2385798127928451
+            ],
+            "held_grasp_midpoint": [
+              0.3651056334055488,
+              0.07312250400600502,
+              1.2385798127928451
+            ],
+            "held_grasp_object_position": [
+              0.36974596146888655,
+              0.08581093102851584,
+              1.2385798127928451
+            ],
+            "held_grasp_finger_gap": 0.027020645798424787,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024682314146124713,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0675775823108686,
+              -0.9973449981042528,
+              0.027133468732285504
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00378833281541954,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032231903589449135,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3440404045420958,
+              0.2398923991045785,
+              0.762585549187298
+            ],
+            "target_position": [
+              0.3517651316212521,
+              0.24036522279663172,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00773918411017712,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16969616578530541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585549187298,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521423750959987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516052568878311,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13873715073658643,
+            "release_required_pad_clearance": 0.05258026284439156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22025816671896647,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e2d74f06c11305a428e3a217e0da7b7ddf49d1588d836335422986bd740bed2",
+    "visual_seed": 6889354411367208497,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..502eab15e28a83e55980cc8f8c92d3e6a76d508f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3632551186997487,
+              0.08581844860461474,
+              1.0486819940722847
+            ],
+            "current_z": 1.0486819940722847,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.192095486663719,
+            "gripper_z": 1.049473902338084,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3581527371794757,
+              0.08099433425514575,
+              1.049473902338084
+            ],
+            "object_minus_gripper": [
+              0.0051023815202729805,
+              0.004824114349468986,
+              -0.0007919082657992238
+            ],
+            "object_to_gripper_xy": 0.00702184992969629,
+            "object_to_gripper_z": -0.0007919082657992238,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3632551186997487,
+              0.06129373808707285,
+              1.0486819940722847
+            ],
+            "finger_b": [
+              0.351549555814,
+              0.08581844860461474,
+              1.0486819940722847
+            ],
+            "finger_midpoint": [
+              0.3574023372568743,
+              0.07355609334584379,
+              1.0486819940722847
+            ],
+            "object_minus_finger_midpoint": [
+              0.005852781442874377,
+              0.012262355258770952,
+              0.0
+            ],
+            "finger_gap": 0.027175018462577853,
+            "fingertip_max_gap": 0.0937739239772705,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013587509231288946,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486819940722847,
+            "object_top_z": 1.0950311858979151,
+            "finger_top_clearance": 0.046349191825630465,
+            "fingertip_min_top_clearance": 0.013904757547689139,
+            "object_projection_between_fingers": 0.8144568568870207,
+            "object_to_finger_line_xy": 0.010563950181421007,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04938696198863525,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.631010481971753,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36385173888338945,
+              0.08279293919359428,
+              1.2396412327499609
+            ],
+            "held_position": [
+              0.3693150758103565,
+              0.08717568682596942,
+              1.2386789275313186
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007069834405449521,
+            "max_held_gripper_dist": 0.007072528033816961,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009623052186422676,
+            "max_held_gripper_z_dist": 0.0009741542593195707,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08828680188965544,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3693150758103565,
+              0.06151526720865415,
+              1.2386789275313186
+            ],
+            "held_grasp_finger_b": [
+              0.3599097704089894,
+              0.08717568682596942,
+              1.2386789275313186
+            ],
+            "held_grasp_midpoint": [
+              0.36461242310967296,
+              0.07434547701731178,
+              1.2386789275313186
+            ],
+            "held_grasp_object_position": [
+              0.3693150758103565,
+              0.08717568682596942,
+              1.2386789275313186
+            ],
+            "held_grasp_finger_gap": 0.027329780544850395,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02508834811540674,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05600634190310864,
+              -0.9982340603711003,
+              0.01980026216136377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003984971013361946,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212929415809529,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35122307341283243,
+              0.23868512516174123,
+              0.7625854146893574
+            ],
+            "target_position": [
+              0.35592258514037073,
+              0.23747338503391138,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004853217964882999,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17002258122791045,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854146893574,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529708087181403,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591986646618781,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1392067800992816,
+            "release_required_pad_clearance": 0.052959933233093906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9487191772590958,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6709a364b540ac461e2a90d8a06838a357f0b2a524091cfdf1150e56309e48b1",
+    "visual_seed": 7272837986098249131,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..560139ae2546a54c2ec9a016d6a1b89bd72a36d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3625100537608978,
+              0.08583428994801687,
+              1.0503075242908917
+            ],
+            "current_z": 1.0503075242908917,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19372095727768135,
+            "gripper_z": 1.0511109622122947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35767812068619476,
+              0.08110045604342304,
+              1.0511109622122947
+            ],
+            "object_minus_gripper": [
+              0.004831933074703032,
+              0.004733833904593823,
+              -0.0008034379214030274
+            ],
+            "object_to_gripper_xy": 0.006764374374226422,
+            "object_to_gripper_z": -0.0008034379214030274,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3625100537608978,
+              0.06159513124489107,
+              1.0503075242908917
+            ],
+            "finger_b": [
+              0.35081122877469617,
+              0.08583428994801687,
+              1.0503075242908917
+            ],
+            "finger_midpoint": [
+              0.35666064126779695,
+              0.07371471059645397,
+              1.0503075242908917
+            ],
+            "object_minus_finger_midpoint": [
+              0.005849412493100836,
+              0.012119579351562895,
+              0.0
+            ],
+            "finger_gap": 0.02691466738960551,
+            "fingertip_max_gap": 0.09286756589654657,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013457333694802766,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503075242908917,
+            "object_top_z": 1.0965220684233605,
+            "finger_top_clearance": 0.04621454413246884,
+            "fingertip_min_top_clearance": 0.01386436323974065,
+            "object_projection_between_fingers": 0.81106759469787,
+            "object_to_finger_line_xy": 0.01053587887139,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893378294827329,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.166149482098775,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3633984638805834,
+              0.08298187922158332,
+              1.2426903520876742
+            ],
+            "held_position": [
+              0.36861666927998354,
+              0.08725641259054574,
+              1.2417397103431365
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006812123225482637,
+            "max_held_gripper_dist": 0.006813318029456852,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009506417445377391,
+            "max_held_gripper_z_dist": 0.0009610740531476036,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666448718476384,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36861666927998354,
+              0.06176191011233732,
+              1.2417397103431365
+            ],
+            "held_grasp_finger_b": [
+              0.35934342174896866,
+              0.08725641259054574,
+              1.2417397103431365
+            ],
+            "held_grasp_midpoint": [
+              0.3639800455144761,
+              0.07450916135144153,
+              1.2417397103431365
+            ],
+            "held_grasp_object_position": [
+              0.36861666927998354,
+              0.08725641259054574,
+              1.2417397103431365
+            ],
+            "held_grasp_finger_gap": 0.027128633883460644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024754680088371357,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0720577561372285,
+              -0.9971910422371157,
+              0.02043783409568911
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037154183553458836,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032154675512435074,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.353033718321014,
+              0.23411900596342583,
+              0.7625850613331682
+            ],
+            "target_position": [
+              0.35800256883005777,
+              0.23289098473622852,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005118350468234056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16943419344589078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850613331682,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578810334893482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568701914041592,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13739769423199732,
+            "release_required_pad_clearance": 0.05284350957020796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7230546323585985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "780412adc81231df992cefc52bb64a16539d67734646f84d870399376435f545",
+    "visual_seed": 6081108435753931188,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e4ff029d440145434a569c466fc07a65425807
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3626366438642071,
+              0.08947041651003507,
+              1.0484257043153942
+            ],
+            "current_z": 1.0484257043153942,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19183907769753905,
+            "gripper_z": 1.0491563914113549,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35770153338629374,
+              0.08468569310515572,
+              1.0491563914113549
+            ],
+            "object_minus_gripper": [
+              0.00493511047791334,
+              0.004784723404879343,
+              -0.0007306870959606915
+            ],
+            "object_to_gripper_xy": 0.006873783055233138,
+            "object_to_gripper_z": -0.0007306870959606915,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3626366438642071,
+              0.06516419748512273,
+              1.0484257043153942
+            ],
+            "finger_b": [
+              0.3508602903066531,
+              0.08947041651003507,
+              1.0484257043153942
+            ],
+            "finger_midpoint": [
+              0.35674846708543007,
+              0.0773173069975789,
+              1.0484257043153942
+            ],
+            "object_minus_finger_midpoint": [
+              0.00588817677877701,
+              0.01215310951245617,
+              0.0
+            ],
+            "finger_gap": 0.02700879090961912,
+            "fingertip_max_gap": 0.09133378744464207,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013504395454809573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484257043153942,
+            "object_top_z": 1.0938887623558329,
+            "finger_top_clearance": 0.04546305804043871,
+            "fingertip_min_top_clearance": 0.013638917412131645,
+            "object_projection_between_fingers": 0.8098871877436499,
+            "object_to_finger_line_xy": 0.010597980111089299,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816689372232104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7696905682009578,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36325981144300157,
+              0.08679795460844392,
+              1.2408061822292618
+            ],
+            "held_position": [
+              0.3685755419327024,
+              0.0911359765733085,
+              1.2399310590691808
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006916738086127957,
+            "max_held_gripper_dist": 0.006918010282374373,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008751231600809817,
+            "max_held_gripper_z_dist": 0.0008859008154888937,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08803882934088655,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3685755419327024,
+              0.06563227909055465,
+              1.2399310590691808
+            ],
+            "held_grasp_finger_b": [
+              0.3591182843627445,
+              0.0911359765733085,
+              1.2399310590691808
+            ],
+            "held_grasp_midpoint": [
+              0.36384691314772344,
+              0.07838412783193158,
+              1.2399310590691808
+            ],
+            "held_grasp_object_position": [
+              0.3685755419327024,
+              0.0911359765733085,
+              1.2399310590691808
+            ],
+            "held_grasp_finger_gap": 0.027200704145965624,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0247493741609398,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07251634184049974,
+              -0.9973134248850126,
+              0.010359184823053645
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037938244878204705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213973216252415,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34545017946085843,
+              0.23904657711226995,
+              0.7625872321135403
+            ],
+            "target_position": [
+              0.3498231123974253,
+              0.23763488018326995,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004595152955784981,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1721420820793615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625872321135403,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530634589170446,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08823008010969734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14126629123641005,
+            "release_required_pad_clearance": 0.05411504005484867,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2337727173009156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d929c2d40bcffdc4851d6981a5b15b19da220c8af59f8d6077481d98a75b15ed",
+    "visual_seed": 42353486293092073,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..caabb5d8406e40797c28aef7813b4a1b7c2221dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3577391622395654,
+              0.08506967574645577,
+              1.0487808291080754
+            ],
+            "current_z": 1.0487808291080754,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19219432169950978,
+            "gripper_z": 1.0497749248395711,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35291224677216726,
+              0.08028704882262062,
+              1.0497749248395711
+            ],
+            "object_minus_gripper": [
+              0.004826915467398163,
+              0.004782626923835145,
+              -0.000994095731495781
+            ],
+            "object_to_gripper_xy": 0.0067950447549666995,
+            "object_to_gripper_z": -0.000994095731495781,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3577391622395654,
+              0.060918227588780065,
+              1.0487808291080754
+            ],
+            "finger_b": [
+              0.34586223693238105,
+              0.08506967574645577,
+              1.0487808291080754
+            ],
+            "finger_midpoint": [
+              0.35180069958597326,
+              0.07299395166761792,
+              1.0487808291080754
+            ],
+            "object_minus_finger_midpoint": [
+              0.005938462653592158,
+              0.012075724078837849,
+              0.0
+            ],
+            "finger_gap": 0.026913821781109678,
+            "fingertip_max_gap": 0.09264593432050025,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013456910890554823,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487808291080754,
+            "object_top_z": 1.0949012287891755,
+            "finger_top_clearance": 0.046120399681100155,
+            "fingertip_min_top_clearance": 0.013836119904330046,
+            "object_projection_between_fingers": 0.8052590402722555,
+            "object_to_finger_line_xy": 0.010657904632124068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882296716025013,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0803260051548946,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35860019392977927,
+              0.08190039702382264,
+              1.2423242957889862
+            ],
+            "held_position": [
+              0.36386026722910053,
+              0.08616724287656541,
+              1.241186333914104
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006867991109049716,
+            "max_held_gripper_dist": 0.0068688260504887145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011379618748821319,
+            "max_held_gripper_z_dist": 0.0011473746820498398,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791019195371688,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36386026722910053,
+              0.06063080678838334,
+              1.241186333914104
+            ],
+            "held_grasp_finger_b": [
+              0.354615796785474,
+              0.08616724287656541,
+              1.241186333914104
+            ],
+            "held_grasp_midpoint": [
+              0.35923803200728727,
+              0.07339902483247437,
+              1.241186333914104
+            ],
+            "held_grasp_object_position": [
+              0.36386026722910053,
+              0.08616724287656541,
+              1.241186333914104
+            ],
+            "held_grasp_finger_gap": 0.02715823635416873,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024671910380749684,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08331665988898015,
+              -0.9963069510834885,
+              0.020755563294390766
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003552557429695688,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032094051375630574,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3459366269691925,
+              0.23372962256266802,
+              0.7625869230651487
+            ],
+            "target_position": [
+              0.35035473256376337,
+              0.23230340805603236,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046426010881527036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17272376253527713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625869230651487,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551914478164937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08861320871531973,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14129629982678166,
+            "release_required_pad_clearance": 0.05430660435765987,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.617871535828981,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a876a5fc23005eebd4250da24463537da61443ae95886d4b2e2dc9570e2e91d",
+    "visual_seed": 5773859425697625554,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16d5ece2593de4aa0d2eadcebb20ed38dff3999
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_42_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36477762306997497,
+              0.0850227221320405,
+              1.0478642762390606
+            ],
+            "current_z": 1.0478642762390606,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.19127782843513974,
+            "gripper_z": 1.0486511918877994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3598500715643055,
+              0.08028288675358332,
+              1.0486511918877994
+            ],
+            "object_minus_gripper": [
+              0.004927551505669481,
+              0.00473983537845718,
+              -0.0007869156487387841
+            ],
+            "object_to_gripper_xy": 0.006837163392511538,
+            "object_to_gripper_z": -0.0007869156487387841,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36477762306997497,
+              0.06063577709512174,
+              1.0478642762390606
+            ],
+            "finger_b": [
+              0.35317807462608564,
+              0.0850227221320405,
+              1.0478642762390606
+            ],
+            "finger_midpoint": [
+              0.3589778488480303,
+              0.07282924961358112,
+              1.0478642762390606
+            ],
+            "object_minus_finger_midpoint": [
+              0.005799774221944665,
+              0.012193472518459383,
+              0.0
+            ],
+            "finger_gap": 0.027005047904712774,
+            "fingertip_max_gap": 0.09467845274736444,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01350252395235639,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478642762390606,
+            "object_top_z": 1.0948492213328023,
+            "finger_top_clearance": 0.046984945093741626,
+            "fingertip_min_top_clearance": 0.014095483528122487,
+            "object_projection_between_fingers": 0.8155017454019308,
+            "object_to_finger_line_xy": 0.010474987911605924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049839226373682224,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.624812712302592,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3653473288334107,
+              0.08234367083605017,
+              1.238728443473736
+            ],
+            "held_position": [
+              0.37061199479951235,
+              0.08667759566974494,
+              1.237788874277303
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006883487667863636,
+            "max_held_gripper_dist": 0.006884621630316176,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009395691964328989,
+            "max_held_gripper_z_dist": 0.0009491121181703921,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783695609375557,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37061199479951235,
+              0.06118234809588689,
+              1.237788874277303
+            ],
+            "held_grasp_finger_b": [
+              0.3612073567167622,
+              0.08667759566974494,
+              1.237788874277303
+            ],
+            "held_grasp_midpoint": [
+              0.36590967575813726,
+              0.07392997188281591,
+              1.237788874277303
+            ],
+            "held_grasp_object_position": [
+              0.37061199479951235,
+              0.08667759566974494,
+              1.237788874277303
+            ],
+            "held_grasp_finger_gap": 0.027174526055109574,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02491452126614532,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05652574837830677,
+              -0.9980732839829916,
+              0.025584361818878132
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003987869954754925,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221136012688354,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35188499887125624,
+              0.240867191924985,
+              0.7625847475848866
+            ],
+            "target_position": [
+              0.3577378688795081,
+              0.24033634121751668,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005876894571720143,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17030883850034567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847475848866,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753467950877308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553547351294304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1392983153087973,
+            "release_required_pad_clearance": 0.05276773675647152,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5760419505521769,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6526e25e99fdc704fa2fd4f4fc1c2d22984ff905caca9ea68e0f4beb3cb57e4e",
+    "visual_seed": 7732381050227377922,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4f02d7f9f1b846d40e83a77d1b237bab7d38d0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3658425445215771,
+              0.08656599690838268,
+              1.0503222211688066
+            ],
+            "current_z": 1.0503222211688066,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.193735713760241,
+            "gripper_z": 1.0509544019877939,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3609792503482371,
+              0.08178679438411104,
+              1.0509544019877939
+            ],
+            "object_minus_gripper": [
+              0.004863294173340027,
+              0.004779202524271636,
+              -0.0006321808189873046
+            ],
+            "object_to_gripper_xy": 0.006818534078850632,
+            "object_to_gripper_z": -0.0006321808189873046,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3658425445215771,
+              0.06235646265324707,
+              1.0503222211688066
+            ],
+            "finger_b": [
+              0.35401390891212775,
+              0.08656599690838268,
+              1.0503222211688066
+            ],
+            "finger_midpoint": [
+              0.35992822671685243,
+              0.07446122978081487,
+              1.0503222211688066
+            ],
+            "object_minus_finger_midpoint": [
+              0.005914317804724678,
+              0.012104767127567806,
+              0.0
+            ],
+            "finger_gap": 0.026944724330223123,
+            "fingertip_max_gap": 0.09132805346219555,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013472362165111561,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503222211688066,
+            "object_top_z": 1.0957189968773742,
+            "finger_top_clearance": 0.045396775708567594,
+            "fingertip_min_top_clearance": 0.013619032712570244,
+            "object_projection_between_fingers": 0.8072822054450854,
+            "object_to_finger_line_xy": 0.010627897152292363,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816402673109778,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8878953115507525,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36674114849045536,
+              0.08348715657915512,
+              1.2427910894637813
+            ],
+            "held_position": [
+              0.3720226540219654,
+              0.08777513741109338,
+              1.2420115491024204
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006847537036733102,
+            "max_held_gripper_dist": 0.006850395071519189,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007795403613608531,
+            "max_held_gripper_z_dist": 0.0007898869388163199,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787219470788567,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3720226540219654,
+              0.062239480960282305,
+              1.2420115491024204
+            ],
+            "held_grasp_finger_b": [
+              0.3627309623265039,
+              0.08777513741109338,
+              1.2420115491024204
+            ],
+            "held_grasp_midpoint": [
+              0.3673768081742347,
+              0.07500730918568785,
+              1.2420115491024204
+            ],
+            "held_grasp_object_position": [
+              0.3720226540219654,
+              0.08777513741109338,
+              1.2420115491024204
+            ],
+            "held_grasp_finger_gap": 0.02717361376293843,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024712841002101762,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0796468459945845,
+              -0.9967589824302673,
+              0.011309768684333308
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003617136784085726,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210375052726232,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35018191972332613,
+              0.23797537751742032,
+              0.7625870796742205
+            ],
+            "target_position": [
+              0.35434113999362,
+              0.2364157541018971,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044420196369525005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16911984409742792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870796742205,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529325558813894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08860366687584774,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384531135731648,
+            "release_required_pad_clearance": 0.05430183343792387,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6237229027208557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "42f10dbadb3ffc0933d64f3c2d7781f2eb0dae60febc531c99d9b1bca618811b",
+    "visual_seed": 4171329560993793986,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6be76ca1f3e896e35eea3f945035eb8742f2790
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3643034386305232,
+              0.09116589514701767,
+              1.0480815558022056
+            ],
+            "current_z": 1.0480815558022056,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1914949887889953,
+            "gripper_z": 1.048712052535826,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.359431277006211,
+              0.08636297728466075,
+              1.048712052535826
+            ],
+            "object_minus_gripper": [
+              0.004872161624312199,
+              0.004802917862356926,
+              -0.0006304967336203671
+            ],
+            "object_to_gripper_xy": 0.006841489522462759,
+            "object_to_gripper_z": -0.0006304967336203671,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3643034386305232,
+              0.06698699881129128,
+              1.0480815558022056
+            ],
+            "finger_b": [
+              0.35239747261728976,
+              0.09116589514701767,
+              1.0480815558022056
+            ],
+            "finger_midpoint": [
+              0.3583504556239065,
+              0.07907644697915447,
+              1.0480815558022056
+            ],
+            "object_minus_finger_midpoint": [
+              0.00595298300661673,
+              0.012089448167863198,
+              0.0
+            ],
+            "finger_gap": 0.02695127185722547,
+            "fingertip_max_gap": 0.09145874782506172,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013475635928612735,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480815558022056,
+            "object_top_z": 1.09351912996698,
+            "finger_top_clearance": 0.04543757416477434,
+            "fingertip_min_top_clearance": 0.013631272249432336,
+            "object_projection_between_fingers": 0.8048490151324823,
+            "object_to_finger_line_xy": 0.010681244266900047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822937391253086,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9323896607046752,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36510952257325324,
+              0.08813859020020473,
+              1.2417910521104847
+            ],
+            "held_position": [
+              0.3704112417367997,
+              0.09243780810137736,
+              1.241021771355107
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006869009647065078,
+            "max_held_gripper_dist": 0.006872150109484329,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007692807553776326,
+            "max_held_gripper_z_dist": 0.0007809003840375528,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08774542111176456,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3704112417367997,
+              0.06692079897353892,
+              1.241021771355107
+            ],
+            "held_grasp_finger_b": [
+              0.3610441922159983,
+              0.09243780810137736,
+              1.241021771355107
+            ],
+            "held_grasp_midpoint": [
+              0.365727716976399,
+              0.07967930353745814,
+              1.241021771355107
+            ],
+            "held_grasp_object_position": [
+              0.3704112417367997,
+              0.09243780810137736,
+              1.241021771355107
+            ],
+            "held_grasp_finger_gap": 0.027181967764592307,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02467626918181908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0806639389964682,
+              -0.9966627423116121,
+              0.012518267990078935
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036427187138617164,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210650726377842,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34636233122313603,
+              0.2404487770202542,
+              0.7625844591316002
+            ],
+            "target_position": [
+              0.35021818296939944,
+              0.23865293624020478,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004253544027802113,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17035499829288664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844591316002,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07592262268348283,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08681256349814724,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13820718356309125,
+            "release_required_pad_clearance": 0.05340628174907362,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8165371423055736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51ec95e7f4a4145d224760f8dfdd020dab7e667c05327fdb98a3acfad873d05a",
+    "visual_seed": 7404747631069778369,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ce5c8cacef4154b5ba2158a640eb14b8518cba5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36704583884741654,
+              0.09229752528357917,
+              1.0478227108479465
+            ],
+            "current_z": 1.0478227108479465,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19123608423009142,
+            "gripper_z": 1.0483959144757031,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.362191791764774,
+              0.0875325936515081,
+              1.0483959144757031
+            ],
+            "object_minus_gripper": [
+              0.004854047082642532,
+              0.004764931632071062,
+              -0.0005732036277565911
+            ],
+            "object_to_gripper_xy": 0.006801936969630186,
+            "object_to_gripper_z": -0.0005732036277565911,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36704583884741654,
+              0.06807483924426465,
+              1.0478227108479465
+            ],
+            "finger_b": [
+              0.3552644077444901,
+              0.09229752528357917,
+              1.0478227108479465
+            ],
+            "finger_midpoint": [
+              0.36115512329595334,
+              0.0801861822639219,
+              1.0478227108479465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005890715551463199,
+              0.012111343019657259,
+              0.0
+            ],
+            "finger_gap": 0.026935861556523586,
+            "fingertip_max_gap": 0.09130948977874145,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013467930778261781,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478227108479465,
+            "object_top_z": 1.0932151878732994,
+            "finger_top_clearance": 0.04539247702535287,
+            "fingertip_min_top_clearance": 0.013617743107605829,
+            "object_projection_between_fingers": 0.8086914617830742,
+            "object_to_finger_line_xy": 0.010594719834787918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815474488937073,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8771418957395267,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36795464347502127,
+              0.08940938330218233,
+              1.2405539776098768
+            ],
+            "held_position": [
+              0.37322078502977485,
+              0.09369212708378163,
+              1.2398383430007522
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006825413838538061,
+            "max_held_gripper_dist": 0.006827789477820249,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007156346091246046,
+            "max_held_gripper_z_dist": 0.0007269475221054478,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664796843215009,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37322078502977485,
+              0.06817964898534037,
+              1.2398383430007522
+            ],
+            "held_grasp_finger_b": [
+              0.3639162338819831,
+              0.09369212708378163,
+              1.2398383430007522
+            ],
+            "held_grasp_midpoint": [
+              0.36856850945587893,
+              0.080935888034561,
+              1.2398383430007522
+            ],
+            "held_grasp_object_position": [
+              0.37322078502977485,
+              0.09369212708378163,
+              1.2398383430007522
+            ],
+            "held_grasp_finger_gap": 0.0271562370512801,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024704991482887986,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07819643527398724,
+              -0.9968680469351837,
+              0.011807392179202677
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036437411867223375,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032120146492784975,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3483044409803649,
+              0.237957900595004,
+              0.7625848767192411
+            ],
+            "target_position": [
+              0.3523869333003611,
+              0.23635227484771296,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004386887003695418,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17110658047802677,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848767192411,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755704770984323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531733831747106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13975579969072413,
+            "release_required_pad_clearance": 0.05265866915873553,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3690095866785973,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70aff2cf9dfd8bb64f8e2aa92bb0f6cfaacf72ffaba55f1bf4346e08ac90c224",
+    "visual_seed": 8901130179803725437,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..646b82a48cce756207905a1b86142e3001ab8232
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3651074038380737,
+              0.08894784991503953,
+              1.0480754905365475
+            ],
+            "current_z": 1.0480754905365475,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1914889831279819,
+            "gripper_z": 1.0486942646967883,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3602838703807389,
+              0.08419401425072912,
+              1.0486942646967883
+            ],
+            "object_minus_gripper": [
+              0.004823533457334828,
+              0.00475383566431041,
+              -0.0006187741602408092
+            ],
+            "object_to_gripper_xy": 0.00677240197694275,
+            "object_to_gripper_z": -0.0006187741602408092,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3651074038380737,
+              0.06475555378782265,
+              1.0480754905365475
+            ],
+            "finger_b": [
+              0.35333145515806613,
+              0.08894784991503953,
+              1.0480754905365475
+            ],
+            "finger_midpoint": [
+              0.35921942949806995,
+              0.07685170185143109,
+              1.0480754905365475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005887974340003765,
+              0.012096148063608439,
+              0.0
+            ],
+            "finger_gap": 0.026906136088653183,
+            "fingertip_max_gap": 0.09132810732411598,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01345306804432658,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480754905365475,
+            "object_top_z": 1.093505333597951,
+            "finger_top_clearance": 0.04542984306140352,
+            "fingertip_min_top_clearance": 0.013628952918421089,
+            "object_projection_between_fingers": 0.8084469198899419,
+            "object_to_finger_line_xy": 0.010588188385986588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816405366205799,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8252126608521201,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36597877401374895,
+              0.0859606968761758,
+              1.2388282583249228
+            ],
+            "held_position": [
+              0.3712116150112465,
+              0.09023341196690544,
+              1.2380516879808419
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068001309289561435,
+            "max_held_gripper_dist": 0.006802579440095231,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007765703440809624,
+            "max_held_gripper_z_dist": 0.0007868699962945147,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08782004769002333,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3712116150112465,
+              0.06470863642061382,
+              1.2380516879808419
+            ],
+            "held_grasp_finger_b": [
+              0.3619966968366677,
+              0.09023341196690544,
+              1.2380516879808419
+            ],
+            "held_grasp_midpoint": [
+              0.3666041559239571,
+              0.07747102419375963,
+              1.2380516879808419
+            ],
+            "held_grasp_object_position": [
+              0.3712116150112465,
+              0.09023341196690544,
+              1.2380516879808419
+            ],
+            "held_grasp_finger_gap": 0.027137223211904895,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024707775308658676,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07969688071464562,
+              -0.9967639283280467,
+              0.010491824836323604
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003578259500215258,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211193707692681,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.347608848522252,
+              0.23814066091600783,
+              0.7625846584332763
+            ],
+            "target_position": [
+              0.3512356405887991,
+              0.23622804589016344,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004100209376489772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17057065810978747,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846584332763,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567800293912116,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715874550791573,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1390715270092077,
+            "release_required_pad_clearance": 0.05357937275395787,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1601971774454563,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc19a144afc823382f2180e5c51c1560a00050a2317bd6727afffa7375d3cee9",
+    "visual_seed": 4846936345945248905,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9e47060be0a2957d152a5495fce09e1fd32a8ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.360389104992343,
+              0.09186589396310096,
+              1.0484669042808412
+            ],
+            "current_z": 1.0484669042808412,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.19188033726763076,
+            "gripper_z": 1.05024827990714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35502887699311203,
+              0.08692096035996551,
+              1.05024827990714
+            ],
+            "object_minus_gripper": [
+              0.005360227999230971,
+              0.004944933603135457,
+              -0.0017813756262987646
+            ],
+            "object_to_gripper_xy": 0.007292764396520559,
+            "object_to_gripper_z": -0.0017813756262987646,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.360389104992343,
+              0.0671244525632662,
+              1.0484669042808412
+            ],
+            "finger_b": [
+              0.34856655931200237,
+              0.09186589396310096,
+              1.0484669042808412
+            ],
+            "finger_midpoint": [
+              0.35447783215217266,
+              0.07949517326318359,
+              1.0484669042808412
+            ],
+            "object_minus_finger_midpoint": [
+              0.005911272840170345,
+              0.012370720699917376,
+              0.0
+            ],
+            "finger_gap": 0.027421004885036557,
+            "fingertip_max_gap": 0.09383464924830862,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013710502442518284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484669042808412,
+            "object_top_z": 1.094243613546116,
+            "finger_top_clearance": 0.04577670926527477,
+            "fingertip_min_top_clearance": 0.013733012779582431,
+            "object_projection_between_fingers": 0.8141103245417093,
+            "object_to_finger_line_xy": 0.010667253894354417,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04941732462415431,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.527356211585622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36021125274090304,
+              0.08971987201494619,
+              1.240917838420425
+            ],
+            "held_position": [
+              0.36583258691020193,
+              0.09432517315863384,
+              1.2390104357413563
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007513080689510542,
+            "max_held_gripper_dist": 0.007515058666961614,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019074026790686371,
+            "max_held_gripper_z_dist": 0.0019273176999712316,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747140958723332,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36583258691020193,
+              0.06877954119519956,
+              1.2390104357413563
+            ],
+            "held_grasp_finger_b": [
+              0.35568425544915516,
+              0.09432517315863384,
+              1.2390104357413563
+            ],
+            "held_grasp_midpoint": [
+              0.36075842117967855,
+              0.0815523571769167,
+              1.2390104357413563
+            ],
+            "held_grasp_object_position": [
+              0.36583258691020193,
+              0.09432517315863384,
+              1.2390104357413563
+            ],
+            "held_grasp_finger_gap": 0.027487596181814563,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025369244970472066,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.016908565275052318,
+              -0.9998123644767491,
+              0.009451786061463796
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00485898041988058,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032344008755632765,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.346437977029161,
+              0.23210198157216655,
+              0.7625854601058537
+            ],
+            "target_position": [
+              0.35573446107839224,
+              0.23326923165180205,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00936947642219242,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16630241813114993,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854601058537,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579339889895423,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08877046052873698,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1338209684473937,
+            "release_required_pad_clearance": 0.05438523026436849,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.791575412318185,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52e8fd16e9effa00740e56e8fb99c2b74dc454820d7cc9118a5db2643f40336f",
+    "visual_seed": 2707572019320708767,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..446688d84f07f6a69a9faa26a215f2cfad985545
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.359421141678327,
+              0.08397017285932495,
+              1.049278230774112
+            ],
+            "current_z": 1.049278230774112,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1926917233655463,
+            "gripper_z": 1.0502287566941422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35451360277542754,
+              0.079198123059864,
+              1.0502287566941422
+            ],
+            "object_minus_gripper": [
+              0.0049075389028994665,
+              0.004772049799460956,
+              -0.0009505259200301985
+            ],
+            "object_to_gripper_xy": 0.00684517329013715,
+            "object_to_gripper_z": -0.0009505259200301985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.359421141678327,
+              0.05967794921994267,
+              1.049278230774112
+            ],
+            "finger_b": [
+              0.34766790149020044,
+              0.08397017285932495,
+              1.049278230774112
+            ],
+            "finger_midpoint": [
+              0.35354452158426375,
+              0.07182406103963382,
+              1.049278230774112
+            ],
+            "object_minus_finger_midpoint": [
+              0.005876620094063256,
+              0.012146111819691136,
+              0.0
+            ],
+            "finger_gap": 0.02698612206793627,
+            "fingertip_max_gap": 0.09267459752093146,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013493061033968117,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049278230774112,
+            "object_top_z": 1.0953701680168426,
+            "finger_top_clearance": 0.04609193724273064,
+            "fingertip_min_top_clearance": 0.013827581172819191,
+            "object_projection_between_fingers": 0.8103144440014484,
+            "object_to_finger_line_xy": 0.010579969156686634,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883729876046573,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0671009942259502,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36018385900642164,
+              0.08098103047186833,
+              1.2413342100193867
+            ],
+            "held_position": [
+              0.36547664389783036,
+              0.08528783461574999,
+              1.2402369832036113
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006911298034793263,
+            "max_held_gripper_dist": 0.006912335838820759,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010972268157753984,
+            "max_held_gripper_z_dist": 0.0011064710146952983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667504642403913,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36547664389783036,
+              0.059760298163161064,
+              1.2402369832036113
+            ],
+            "held_grasp_finger_b": [
+              0.35612598196428574,
+              0.08528783461574999,
+              1.2402369832036113
+            ],
+            "held_grasp_midpoint": [
+              0.36080131293105805,
+              0.07252406638945552,
+              1.2402369832036113
+            ],
+            "held_grasp_object_position": [
+              0.36547664389783036,
+              0.08528783461574999,
+              1.2402369832036113
+            ],
+            "held_grasp_finger_gap": 0.0271862096647123,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024778676365164225,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07244965906603594,
+              -0.9972027140797448,
+              0.018379171178425243
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037458625541450263,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321334345141016,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3477835837022605,
+              0.23943781905891834,
+              0.7625851423235973
+            ],
+            "target_position": [
+              0.3524845496074317,
+              0.23822417085078162,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004855102719273373,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1696531277428819,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851423235973,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549496923204359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615355300809456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384340017351951,
+            "release_required_pad_clearance": 0.05307677650404728,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1790040090364196,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1fab3bceaef7d9fd6cc76449337a6431ef1c3a1d78f3ab6486f56e58f596984",
+    "visual_seed": 4911700044707536104,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee08219d82533d2548513fc2a7d43a9d664f6ffe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3584213366869431,
+              0.09059448514737783,
+              1.0487343901933437
+            ],
+            "current_z": 1.0487343901933437,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19214788278477812,
+            "gripper_z": 1.0496652817542644,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.353590070553918,
+              0.08579129469388015,
+              1.0496652817542644
+            ],
+            "object_minus_gripper": [
+              0.004831266133025092,
+              0.004803190453497683,
+              -0.0009308915609207435
+            ],
+            "object_to_gripper_xy": 0.006812618511313142,
+            "object_to_gripper_z": -0.0009308915609207435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3584213366869431,
+              0.06646081327942102,
+              1.0487343901933437
+            ],
+            "finger_b": [
+              0.34649132043739767,
+              0.09059448514737783,
+              1.0487343901933437
+            ],
+            "finger_midpoint": [
+              0.35245632856217035,
+              0.07852764921339943,
+              1.0487343901933437
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059650081247727416,
+              0.012066835933978406,
+              0.0
+            ],
+            "finger_gap": 0.02692135593807689,
+            "fingertip_max_gap": 0.09237975583796157,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01346067796903846,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487343901933437,
+            "object_top_z": 1.0946938068765546,
+            "finger_top_clearance": 0.04595941668321091,
+            "fingertip_min_top_clearance": 0.013787825004963271,
+            "object_projection_between_fingers": 0.8036240901110264,
+            "object_to_finger_line_xy": 0.010694672965513666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868987791898079,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.062059849614678,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3592438678962803,
+              0.08754448529658414,
+              1.2424186103705708
+            ],
+            "held_position": [
+              0.3645104901844501,
+              0.09183440898452667,
+              1.2413503668662702
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006876183516973451,
+            "max_held_gripper_dist": 0.0068768776922950295,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00106824350430057,
+            "max_held_gripper_z_dist": 0.0010792617937347426,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08772912313819,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3645104901844501,
+              0.06632594433801482,
+              1.2413503668662702
+            ],
+            "held_grasp_finger_b": [
+              0.35517373325550494,
+              0.09183440898452667,
+              1.2413503668662702
+            ],
+            "held_grasp_midpoint": [
+              0.3598421117199775,
+              0.07908017666127075,
+              1.2413503668662702
+            ],
+            "held_grasp_object_position": [
+              0.3645104901844501,
+              0.09183440898452667,
+              1.2413503668662702
+            ],
+            "held_grasp_finger_gap": 0.027163519627849225,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024649889414581197,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08220379848124823,
+              -0.9964302693973507,
+              0.019215976269181367
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036127066163864413,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210776337346477,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34945870060581774,
+              0.23828223908584284,
+              0.7625864897655907
+            ],
+            "target_position": [
+              0.3537551676747972,
+              0.23677012476881384,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0045547907726468636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1701088355740441,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864897655907,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570903008286455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384863295834962,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1804eaf401b4d1fb020e7a19632d6111722da504ef04c30446ce3a2ef82ec477",
+    "visual_seed": 5239384155391662551,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..effc89f559af1c9d2561cad839f601703cff8d8b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_52_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3585995179712964,
+              0.08569156221180788,
+              1.0481899395163177
+            ],
+            "current_z": 1.0481899395163177,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1916034321077521,
+            "gripper_z": 1.0491815073899544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35348124382601953,
+              0.08081277802874512,
+              1.0491815073899544
+            ],
+            "object_minus_gripper": [
+              0.00511827414527688,
+              0.0048787841830627565,
+              -0.000991567873636745
+            ],
+            "object_to_gripper_xy": 0.007071015862739462,
+            "object_to_gripper_z": -0.000991567873636745,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3585995179712964,
+              0.061261984664826546,
+              1.0481899395163177
+            ],
+            "finger_b": [
+              0.3466808772979069,
+              0.08569156221180788,
+              1.0481899395163177
+            ],
+            "finger_midpoint": [
+              0.35264019763460164,
+              0.07347677343831721,
+              1.0481899395163177
+            ],
+            "object_minus_finger_midpoint": [
+              0.005959320336694773,
+              0.012214788773490665,
+              0.0
+            ],
+            "finger_gap": 0.02718194721916273,
+            "fingertip_max_gap": 0.09389865439705028,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013590973609581378,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481899395163177,
+            "object_top_z": 1.0946104569562727,
+            "finger_top_clearance": 0.04642051743995501,
+            "fingertip_min_top_clearance": 0.013926155231986469,
+            "object_projection_between_fingers": 0.8077385011101955,
+            "object_to_finger_line_xy": 0.01071179169901071,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944932719852514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.651495482484542,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35898951149936603,
+              0.08271371182460438,
+              1.239367202198196
+            ],
+            "held_position": [
+              0.36447812814738206,
+              0.08713052495211548,
+              1.2382173012042827
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007138306746563642,
+            "max_held_gripper_dist": 0.007142394813255836,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001149900993913322,
+            "max_held_gripper_z_dist": 0.0011593304652885994,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787098870019851,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36447812814738206,
+              0.061521048902569604,
+              1.2382173012042827
+            ],
+            "held_grasp_finger_b": [
+              0.3548982461200483,
+              0.08713052495211548,
+              1.2382173012042827
+            ],
+            "held_grasp_midpoint": [
+              0.3596881871337152,
+              0.07432578692734254,
+              1.2382173012042827
+            ],
+            "held_grasp_object_position": [
+              0.36447812814738206,
+              0.08713052495211548,
+              1.2382173012042827
+            ],
+            "held_grasp_finger_gap": 0.027342629778240004,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024998380104144256,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05863921074087772,
+              -0.9980733996965578,
+              0.02027145238610417
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004039371261289204,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213927819266507,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3520526006689073,
+              0.23595465677620564,
+              0.7625846256263227
+            ],
+            "target_position": [
+              0.3570441183434414,
+              0.23488839633792866,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005104131661450447,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17111606913927696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846256263227,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517954962113133,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749642617811203,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14046529226569562,
+            "release_required_pad_clearance": 0.053748213089056016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.495754321673364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c46d4ad0350619191fade26c7a9433cf079a8ebcb31a9e98ef86f73362dbf556",
+    "visual_seed": 8550557209233657460,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c24fa081ca79d0a3ce0740ff01c8ce124dfe2228
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3617241527810151,
+              0.08714074590805666,
+              1.046947278123992
+            ],
+            "current_z": 1.046947278123992,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19036071111078157,
+            "gripper_z": 1.0476656119456758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35686543129442855,
+              0.08238002275335972,
+              1.0476656119456758
+            ],
+            "object_minus_gripper": [
+              0.004858721486586559,
+              0.004760723154696944,
+              -0.0007183338216838475
+            ],
+            "object_to_gripper_xy": 0.006802327501663348,
+            "object_to_gripper_z": -0.0007183338216838475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3617241527810151,
+              0.06290765319295796,
+              1.046947278123992
+            ],
+            "finger_b": [
+              0.34995556961214774,
+              0.08714074590805666,
+              1.046947278123992
+            ],
+            "finger_midpoint": [
+              0.3558398611965814,
+              0.07502419955050732,
+              1.046947278123992
+            ],
+            "object_minus_finger_midpoint": [
+              0.00588429158443371,
+              0.012116546357549343,
+              0.0
+            ],
+            "finger_gap": 0.026939605274411832,
+            "fingertip_max_gap": 0.0913733860190721,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013469802637205923,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046947278123992,
+            "object_top_z": 1.0923841915411927,
+            "finger_top_clearance": 0.0454369134172008,
+            "fingertip_min_top_clearance": 0.013631074025160271,
+            "object_projection_between_fingers": 0.8091615389779279,
+            "object_to_finger_line_xy": 0.01058624148912066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048186693009536055,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.859695928688072,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3625109669565283,
+              0.0842878125950764,
+              1.2387748315903073
+            ],
+            "held_position": [
+              0.3677718066569293,
+              0.08857489772646353,
+              1.2379107527551267
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006841210821958587,
+            "max_held_gripper_dist": 0.0068426462151717935,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008640788351805817,
+            "max_held_gripper_z_dist": 0.0008746700295689802,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667187344915472,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3677718066569293,
+              0.06306040652735172,
+              1.2379107527551267
+            ],
+            "held_grasp_finger_b": [
+              0.35846846672023025,
+              0.08857489772646353,
+              1.2379107527551267
+            ],
+            "held_grasp_midpoint": [
+              0.3631201366885798,
+              0.07581765212690762,
+              1.2379107527551267
+            ],
+            "held_grasp_object_position": [
+              0.3677718066569293,
+              0.08857489772646353,
+              1.2379107527551267
+            ],
+            "held_grasp_finger_gap": 0.027157713363376784,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472122631358378,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07696185650464375,
+              -0.9969718160670762,
+              0.011138698814250446
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003658890081872212,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212360949579673,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35502460557989424,
+              0.238111306902311,
+              0.7625852911457908
+            ],
+            "target_position": [
+              0.3587831714477547,
+              0.23626243518008222,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004188692400774104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17244172461691282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852911457908,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545485424968466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861226498961563,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14131158610084454,
+            "release_required_pad_clearance": 0.05306132494807815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1418897027676624,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ccb7365f3c0c1ff7e95db5f11c40657310a8676380525c024c575109ed054713",
+    "visual_seed": 4533673146454679806,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b3017956ebb3a8069dc5245bfc3a8a7cc782136
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36689644822436585,
+              0.08603025048291743,
+              1.0480632901101268
+            ],
+            "current_z": 1.0480632901101268,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.1914768423062062,
+            "gripper_z": 1.0486550278321214,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36210145622016876,
+              0.08131419819689341,
+              1.0486550278321214
+            ],
+            "object_minus_gripper": [
+              0.004794992004197085,
+              0.004716052286024022,
+              -0.0005917377219946118
+            ],
+            "object_to_gripper_xy": 0.006725555552132953,
+            "object_to_gripper_z": -0.0005917377219946118,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36689644822436585,
+              0.06182467362205818,
+              1.0480632901101268
+            ],
+            "finger_b": [
+              0.35521526935036973,
+              0.08603025048291743,
+              1.0480632901101268
+            ],
+            "finger_midpoint": [
+              0.3610558587873678,
+              0.0739274620524878,
+              1.0480632901101268
+            ],
+            "object_minus_finger_midpoint": [
+              0.005840589436998056,
+              0.012102788430429626,
+              0.0
+            ],
+            "finger_gap": 0.02687675372981748,
+            "fingertip_max_gap": 0.09124719777730114,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01343837686490874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480632901101268,
+            "object_top_z": 1.093437203636355,
+            "finger_top_clearance": 0.04537391352622833,
+            "fingertip_min_top_clearance": 0.01361217405786853,
+            "object_projection_between_fingers": 0.8111053208016045,
+            "object_to_finger_line_xy": 0.010520231568973724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812359888865057,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.834776716675921,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3678352044520482,
+              0.08313289981295022,
+              1.2416701141139983
+            ],
+            "held_position": [
+              0.3730310222197215,
+              0.08738442803075364,
+              1.2409440051416896
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006752721577357945,
+            "max_held_gripper_dist": 0.006754279068696946,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007261089723087366,
+            "max_held_gripper_z_dist": 0.0007378095017451791,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675702286415012,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3730310222197215,
+              0.061911699193237836,
+              1.2409440051416896
+            ],
+            "held_grasp_finger_b": [
+              0.36376961837025973,
+              0.08738442803075364,
+              1.2409440051416896
+            ],
+            "held_grasp_midpoint": [
+              0.3684003202949906,
+              0.07464806361199573,
+              1.2409440051416896
+            ],
+            "held_grasp_object_position": [
+              0.3730310222197215,
+              0.08738442803075364,
+              1.2409440051416896
+            ],
+            "held_grasp_finger_gap": 0.02710412359203733,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024682700208338664,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07697046640344593,
+              -0.9969703263507547,
+              0.011212300286105535
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036395218295334065,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321460202877977,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3504550498668638,
+              0.2418670610521311,
+              0.7625861429590466
+            ],
+            "target_position": [
+              0.35427988073951844,
+              0.2401567641677119,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004189802696698964,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17282732994355957,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861429590466,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536927493298977,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776491687674103,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14192118896830042,
+            "release_required_pad_clearance": 0.053882458438370515,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7724196881765706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28b445134ab7b1feac39c1df19c3ea8342bb673e60d16872d5724f15bda216af",
+    "visual_seed": 1771268529853617557,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e3f628031e75d9053dbad044690a1af198825fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36308781529218626,
+              0.0895697630049744,
+              1.0485270287056154
+            ],
+            "current_z": 1.0485270287056154,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19194052129704986,
+            "gripper_z": 1.0499163138399634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3577729437838968,
+              0.08465417256738103,
+              1.0499163138399634
+            ],
+            "object_minus_gripper": [
+              0.005314871508289465,
+              0.004915590437593376,
+              -0.001389285134347995
+            ],
+            "object_to_gripper_xy": 0.007239536483766525,
+            "object_to_gripper_z": -0.001389285134347995,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36308781529218626,
+              0.06483392887754809,
+              1.0485270287056154
+            ],
+            "finger_b": [
+              0.3513474300795586,
+              0.0895697630049744,
+              1.0485270287056154
+            ],
+            "finger_midpoint": [
+              0.3572176226858724,
+              0.07720184594126125,
+              1.0485270287056154
+            ],
+            "object_minus_finger_midpoint": [
+              0.005870192606313829,
+              0.012367917063713152,
+              0.0
+            ],
+            "finger_gap": 0.027380616043479276,
+            "fingertip_max_gap": 0.09389472643244975,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013690308021739631,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485270287056154,
+            "object_top_z": 1.0941320471973217,
+            "finger_top_clearance": 0.045605018491706284,
+            "fingertip_min_top_clearance": 0.013681505547511852,
+            "object_projection_between_fingers": 0.8161438070597378,
+            "object_to_finger_line_xy": 0.010606343580819721,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944736321622488,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.819708709519421,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36284374732353175,
+              0.08767520341921929,
+              1.2420893491205631
+            ],
+            "held_position": [
+              0.3683962527620841,
+              0.09228489926273149,
+              1.2405804762874084
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073726731679547115,
+            "max_held_gripper_dist": 0.007373732671541363,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015088728331547063,
+            "max_held_gripper_z_dist": 0.0015248651764285803,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08760832884630436,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3683962527620841,
+              0.0668253212517769,
+              1.2405804762874084
+            ],
+            "held_grasp_finger_b": [
+              0.3581617921264009,
+              0.09228489926273149,
+              1.2405804762874084
+            ],
+            "held_grasp_midpoint": [
+              0.3632790224442425,
+              0.0795551102572542,
+              1.2405804762874084
+            ],
+            "held_grasp_object_position": [
+              0.3683962527620841,
+              0.09228489926273149,
+              1.2405804762874084
+            ],
+            "held_grasp_finger_gap": 0.02743964826668212,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025403067994982282,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.005411973025667476,
+              -0.999955954058655,
+              0.007668147795565683
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005049207804826657,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03244330234342706,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35457115952201856,
+              0.2327630573691698,
+              0.7625855875809748
+            ],
+            "target_position": [
+              0.3585834621710745,
+              0.2309730373611232,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004393488838819153,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17234222948464145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855875809748,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516414517865562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521557374334525,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14196969022547842,
+            "release_required_pad_clearance": 0.05260778687167263,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27409873397050694,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "620f464a0164b6ff778b141b942cf3ad8ab4b6fcb9b0c76a3789886f441c22a7",
+    "visual_seed": 8214593924715603603,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec746eb07ece59d1adfda059aae6ab0de076b1dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36546021822101427,
+              0.09157751614079329,
+              1.0488331893669425
+            ],
+            "current_z": 1.0488331893669425,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19224656274908736,
+            "gripper_z": 1.0503683598590234,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3601313558407765,
+              0.08662735281975406,
+              1.0503683598590234
+            ],
+            "object_minus_gripper": [
+              0.0053288623802377755,
+              0.00495016332103923,
+              -0.0015351704920809617
+            ],
+            "object_to_gripper_xy": 0.007273299881929492,
+            "object_to_gripper_z": -0.0015351704920809617,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36546021822101427,
+              0.06682338365710647,
+              1.0488331893669425
+            ],
+            "finger_b": [
+              0.3536681944823182,
+              0.09157751614079329,
+              1.0488331893669425
+            ],
+            "finger_midpoint": [
+              0.3595642063516662,
+              0.07920044989894988,
+              1.0488331893669425
+            ],
+            "object_minus_finger_midpoint": [
+              0.005896011869348072,
+              0.012377066241843412,
+              0.0
+            ],
+            "finger_gap": 0.027419316163498523,
+            "fingertip_max_gap": 0.09311160865683779,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013709658081749274,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488331893669425,
+            "object_top_z": 1.094399379347148,
+            "finger_top_clearance": 0.04556618998020556,
+            "fingertip_min_top_clearance": 0.013669856994061634,
+            "object_projection_between_fingers": 0.8150461180714528,
+            "object_to_finger_line_xy": 0.010645827785707199,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0490558043284189,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4004411432786563,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3657532488115437,
+              0.08852772714175232,
+              1.242178299760913
+            ],
+            "held_position": [
+              0.37141025721987253,
+              0.09304503046337136,
+              1.2404929297889415
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007432916343793769,
+            "max_held_gripper_dist": 0.007435163658275033,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00168536997197144,
+            "max_held_gripper_z_dist": 0.001695706170502298,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781099991436496,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37141025721987253,
+              0.06732930107095855,
+              1.2404929297889415
+            ],
+            "held_grasp_finger_b": [
+              0.3616536847045878,
+              0.09304503046337136,
+              1.2404929297889415
+            ],
+            "held_grasp_midpoint": [
+              0.36653197096223017,
+              0.08018716576716495,
+              1.2404929297889415
+            ],
+            "held_grasp_object_position": [
+              0.37141025721987253,
+              0.09304503046337136,
+              1.2404929297889415
+            ],
+            "held_grasp_finger_gap": 0.027504353208716126,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025371806736499827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03368924120860653,
+              -0.9994077114887987,
+              0.007018635445045772
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004443273694732006,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032185630072724174,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35187089236775787,
+              0.2345705519180889,
+              0.7625859926914611
+            ],
+            "target_position": [
+              0.35486841343504827,
+              0.23228694583883788,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003768287313096225,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1718576399794153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859926914611,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546738181578813,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546024192814948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14087557898882588,
+            "release_required_pad_clearance": 0.05273012096407474,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5097521762899678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb88c1342be198706198935f9fb4c56290de6a54a789c46151c5dfdee45c4447",
+    "visual_seed": 1476298057618522583,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e000155bddef9f0c5e42800b5d17f234ddd033c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36147650469637305,
+              0.08724688599046021,
+              1.0471387258954812
+            ],
+            "current_z": 1.0471387258954812,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19055221848691584,
+            "gripper_z": 1.0479615615061628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3564834951564479,
+              0.08244354667838553,
+              1.0479615615061628
+            ],
+            "object_minus_gripper": [
+              0.004993009539925153,
+              0.004803339312074675,
+              -0.0008228356106816381
+            ],
+            "object_to_gripper_xy": 0.0069283629244364505,
+            "object_to_gripper_z": -0.0008228356106816381,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36147650469637305,
+              0.06284878102336545,
+              1.0471387258954812
+            ],
+            "finger_b": [
+              0.34973542847510664,
+              0.08724688599046021,
+              1.0471387258954812
+            ],
+            "finger_midpoint": [
+              0.35560596658573984,
+              0.07504783350691283,
+              1.0471387258954812
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058705381106332055,
+              0.012199052483547385,
+              0.0
+            ],
+            "finger_gap": 0.027076196129053307,
+            "fingertip_max_gap": 0.09180223749859948,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01353809806452666,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471387258954812,
+            "object_top_z": 1.0927477215147159,
+            "finger_top_clearance": 0.045608995619234705,
+            "fingertip_min_top_clearance": 0.013682698685770411,
+            "object_projection_between_fingers": 0.811964212929095,
+            "object_to_finger_line_xy": 0.010579773048908458,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840111874929974,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9408625869774149,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36224551721763265,
+              0.08408431156849763,
+              1.239894229534636
+            ],
+            "held_position": [
+              0.3676404023238179,
+              0.08840213971882221,
+              1.23891959082423
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006978420011757425,
+            "max_held_gripper_dist": 0.006979108008998818,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009746387104059284,
+            "max_held_gripper_z_dist": 0.0009880011832552604,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08798718102057751,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3676404023238179,
+              0.06277342658004842,
+              1.23891959082423
+            ],
+            "held_grasp_finger_b": [
+              0.35833992842405105,
+              0.08840213971882221,
+              1.23891959082423
+            ],
+            "held_grasp_midpoint": [
+              0.36299016537393447,
+              0.07558778314943532,
+              1.23891959082423
+            ],
+            "held_grasp_object_position": [
+              0.3676404023238179,
+              0.08840213971882221,
+              1.23891959082423
+            ],
+            "held_grasp_finger_gap": 0.027264074382047174,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024855474797509002,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07509464566620071,
+              -0.9970805186811798,
+              0.013828718622388655
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003679203771128836,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207407177502553,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34798341857694204,
+              0.24145076669996363,
+              0.7625849656617341
+            ],
+            "target_position": [
+              0.35184084527088516,
+              0.23982474686279834,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004186129621738915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17247625975079284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849656617341,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535692244253901,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772715034057109,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14156715392367758,
+            "release_required_pad_clearance": 0.053863575170285546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7283015731805835,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bb495048a515a3f9854295491db94a861c30f3b8dcd1b357395bd1b210fcbec",
+    "visual_seed": 1106247497506469925,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..394635f5a87421274706f09550103093863f7b86
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3660483236903161,
+              0.08534212721653192,
+              1.048523280448852
+            ],
+            "current_z": 1.048523280448852,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19193671343564167,
+            "gripper_z": 1.0491849735530234,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36110536661857107,
+              0.08056967929723322,
+              1.0491849735530234
+            ],
+            "object_minus_gripper": [
+              0.004942957071745024,
+              0.004772447919298706,
+              -0.0006616931041714125
+            ],
+            "object_to_gripper_xy": 0.006870886678990761,
+            "object_to_gripper_z": -0.0006616931041714125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3660483236903161,
+              0.0610038035658114,
+              1.048523280448852
+            ],
+            "finger_b": [
+              0.3543244927211582,
+              0.08534212721653192,
+              1.048523280448852
+            ],
+            "finger_midpoint": [
+              0.3601864082057371,
+              0.07317296539117166,
+              1.048523280448852
+            ],
+            "object_minus_finger_midpoint": [
+              0.005861915484578983,
+              0.012169161825360264,
+              0.0
+            ],
+            "finger_gap": 0.0270148516694171,
+            "fingertip_max_gap": 0.09102130486484714,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013507425834708566,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048523280448852,
+            "object_top_z": 1.0939335174084286,
+            "finger_top_clearance": 0.04541023695957658,
+            "fingertip_min_top_clearance": 0.013623071087872973,
+            "object_projection_between_fingers": 0.8116637486509263,
+            "object_to_finger_line_xy": 0.010562278706743014,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801065243242357,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.547636143776545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3666441426669494,
+              0.08259235378755853,
+              1.2391527848107124
+            ],
+            "held_position": [
+              0.3719479824622989,
+              0.0869359378790593,
+              1.2383369101520916
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006903846087019266,
+            "max_held_gripper_dist": 0.006908542401772184,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008158746586208743,
+            "max_held_gripper_z_dist": 0.0008238692439153095,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878357820788731,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3719479824622989,
+              0.061430152398031006,
+              1.2383369101520916
+            ],
+            "held_grasp_finger_b": [
+              0.3625062520432808,
+              0.0869359378790593,
+              1.2383369101520916
+            ],
+            "held_grasp_midpoint": [
+              0.36722711725278984,
+              0.07418304513854515,
+              1.2383369101520916
+            ],
+            "held_grasp_object_position": [
+              0.3719479824622989,
+              0.0869359378790593,
+              1.2383369101520916
+            ],
+            "held_grasp_finger_gap": 0.027197267625804714,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024748748229327953,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07288955073308817,
+              -0.9973012490297002,
+              0.008793865914865862
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037804639849799387,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213764736276164,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34998759832098314,
+              0.2399696720151953,
+              0.7625849957645718
+            ],
+            "target_position": [
+              0.3539389605848085,
+              0.23832649507250808,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004279403487048406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17147490961899173,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849957645718,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754707345854757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08881425498237404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.140111316423593,
+            "release_required_pad_clearance": 0.05440712749118702,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8324393031747364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69d61e130470b8b8052ec2cfe710712a65f20b24f95456de5a7c24bf08fc2d6e",
+    "visual_seed": 7991025182409904050,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d3af39c0d202c8291d58378d6158653a16499f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36712773558895834,
+              0.0819946058100467,
+              1.050470380089554
+            ],
+            "current_z": 1.050470380089554,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19388393228563328,
+            "gripper_z": 1.0510962248212308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36224152368696727,
+              0.07724071607938092,
+              1.0510962248212308
+            ],
+            "object_minus_gripper": [
+              0.004886211901991067,
+              0.004753889730665775,
+              -0.0006258447316767057
+            ],
+            "object_to_gripper_xy": 0.006817223358706144,
+            "object_to_gripper_z": -0.0006258447316767057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36712773558895834,
+              0.05771682749788838,
+              1.050470380089554
+            ],
+            "finger_b": [
+              0.3554042980831143,
+              0.0819946058100467,
+              1.050470380089554
+            ],
+            "finger_midpoint": [
+              0.3612660168360363,
+              0.06985571665396753,
+              1.050470380089554
+            ],
+            "object_minus_finger_midpoint": [
+              0.005861718752922018,
+              0.012138889156079163,
+              0.0
+            ],
+            "finger_gap": 0.026960146637726865,
+            "fingertip_max_gap": 0.09157990934567975,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013480073318863438,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050470380089554,
+            "object_top_z": 1.0959059342734552,
+            "finger_top_clearance": 0.045435554183901106,
+            "fingertip_min_top_clearance": 0.013630666255170298,
+            "object_projection_between_fingers": 0.8109113569159883,
+            "object_to_finger_line_xy": 0.01055702777317393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828995467283988,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0406697889117893,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3678766835757419,
+              0.07904918997120505,
+              1.2437865278103266
+            ],
+            "held_position": [
+              0.3731477690868753,
+              0.08335785613018835,
+              1.2430259986287167
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006850354090945148,
+            "max_held_gripper_dist": 0.006851306369812106,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007605291816099591,
+            "max_held_gripper_z_dist": 0.0007724271552218553,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08778210735399855,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3731477690868753,
+              0.05787521433790009,
+              1.2430259986287167
+            ],
+            "held_grasp_finger_b": [
+              0.3637305869266012,
+              0.08335785613018835,
+              1.2430259986287167
+            ],
+            "held_grasp_midpoint": [
+              0.36843917800673825,
+              0.07061653523404422,
+              1.2430259986287167
+            ],
+            "held_grasp_object_position": [
+              0.3731477690868753,
+              0.08335785613018835,
+              1.2430259986287167
+            ],
+            "held_grasp_finger_gap": 0.027167045340887937,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477666582231442,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06847276024999449,
+              -0.9976001109232963,
+              0.010271309048691113
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003827401395077252,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216707159836259,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34739679175277416,
+              0.23797228976986945,
+              0.7625839029676611
+            ],
+            "target_position": [
+              0.35177253874263004,
+              0.2365457083820141,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004602422859256638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17194956552937024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625839029676611,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753225459679806,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523719743638657,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1411034761069438,
+            "release_required_pad_clearance": 0.052618598718193285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2879439815254611,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "285d28927cc851e30d9d6f00c11b791a90d2977c5f2d632a12b40a69bf996009",
+    "visual_seed": 6687987999233421062,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fc72620107f20dff90511e2d608ad9d34b88bf7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3635219069595394,
+              0.09023487415593895,
+              1.0205058876516158
+            ],
+            "current_z": 1.0205058876516158,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.16391943984769486,
+            "gripper_z": 1.0487439454490315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3594921812555366,
+              0.08571297832356377,
+              1.0487439454490315
+            ],
+            "object_minus_gripper": [
+              0.0040297257040027845,
+              0.004521895832375181,
+              -0.028238057797415728
+            ],
+            "object_to_gripper_xy": 0.006056915978313779,
+            "object_to_gripper_z": -0.028238057797415728,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3635219069595394,
+              0.06598077660486013,
+              1.0351671445666264
+            ],
+            "finger_b": [
+              0.35292536143852404,
+              0.09023487415593895,
+              1.0352791618773995
+            ],
+            "finger_midpoint": [
+              0.3582236341990317,
+              0.07810782538039954,
+              1.035223153222013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005298272760507705,
+              0.012127048775539412,
+              -0.01471726557039732
+            ],
+            "finger_gap": 0.026468104822108273,
+            "fingertip_max_gap": 0.10620723001442342,
+            "finger_z_skew": 0.00011201731077314925,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013233933891668413,
+            "object_to_finger_midpoint_z": 0.01471726557039732,
+            "finger_midpoint_minus_object_z": 0.01471726557039732,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0205058876516158,
+            "object_top_z": 1.0705920899699675,
+            "finger_top_clearance": 0.03536893674795438,
+            "fingertip_min_top_clearance": 0.015025860695505494,
+            "object_projection_between_fingers": 0.8397158039528269,
+            "object_to_finger_line_xy": 0.009710251346085315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05560361500721171,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 6.727705464647162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 194,
+            "max_stable_success_frames": 194,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36448089444403736,
+              0.08803308587625193,
+              1.2133487600255806
+            ],
+            "held_position": [
+              0.3680914644440454,
+              0.09085275233474965,
+              1.1829071572719485
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.030784377740537064,
+            "max_held_gripper_dist": 0.0308207609076762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.030441602753632058,
+            "max_held_gripper_z_dist": 0.030447899338777562,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08769264744576656,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3680914644440454,
+              0.0666069884664352,
+              1.199710251087023
+            ],
+            "held_grasp_finger_b": [
+              0.3607707896594987,
+              0.09267902001428542,
+              1.1995757567223846
+            ],
+            "held_grasp_midpoint": [
+              0.36443112705177205,
+              0.0796430042403603,
+              1.1996430039047037
+            ],
+            "held_grasp_object_position": [
+              0.3680914644440454,
+              0.09085275233474965,
+              1.1829071572719485
+            ],
+            "held_grasp_finger_gap": 0.027080642478850354,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02615674588839833,
+            "held_grasp_world_z_skew": 0.00013449436463841558,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.025233114839651682,
+              -0.9957045862670394,
+              0.08908235965820033
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.016167524780504244,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03264012038217662,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3365966774203138,
+              0.23058345609817965,
+              0.7625857829343785
+            ],
+            "target_position": [
+              0.3538684338497137,
+              0.23669478774897623,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.018321079245026642,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16113732156048693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857829343785,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576164001861228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08890484701789879,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1280061593627781,
+            "release_required_pad_clearance": 0.054452423508949396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9294646647729876,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 126,
+            "max_placed_release_frames": 126
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3e82da1fb1f93306abf0e92f1b5d4e69bf18c8e7e31c64a86b2205f6fbbb16c",
+    "visual_seed": 8716354959980036942,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..005beb884b4d8afb2ffd9b743d3c5f0e3e7f8cc2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3638796428201378,
+              0.08702920594996072,
+              1.049259249803383
+            ],
+            "current_z": 1.049259249803383,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1926726827901727,
+            "gripper_z": 1.0500046633115574,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3587731537174078,
+              0.08217223630947569,
+              1.0500046633115574
+            ],
+            "object_minus_gripper": [
+              0.005106489102729983,
+              0.004856969640485029,
+              -0.000745413508174364
+            ],
+            "object_to_gripper_xy": 0.007047438190214465,
+            "object_to_gripper_z": -0.000745413508174364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3638796428201378,
+              0.06251528743489848,
+              1.049259249803383
+            ],
+            "finger_b": [
+              0.35212043417693467,
+              0.08702920594996072,
+              1.049259249803383
+            ],
+            "finger_midpoint": [
+              0.35800003849853623,
+              0.0747722466924296,
+              1.049259249803383
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058796043216015614,
+              0.01225695925753112,
+              0.0
+            ],
+            "finger_gap": 0.027188438514881546,
+            "fingertip_max_gap": 0.09292420353072364,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013594219257440773,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049259249803383,
+            "object_top_z": 1.0952604789326985,
+            "finger_top_clearance": 0.04600122912931548,
+            "fingertip_min_top_clearance": 0.013800368738794644,
+            "object_projection_between_fingers": 0.8129371010680152,
+            "object_to_finger_line_xy": 0.01060245818542745,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896210176536182,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2722586571906935,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36427272499836616,
+              0.08427796833612534,
+              1.2395848749807254
+            ],
+            "held_position": [
+              0.3697535260241313,
+              0.0887149205864022,
+              1.2386757854166903
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007110004851665198,
+            "max_held_gripper_dist": 0.007111762578012211,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000909089564035126,
+            "max_held_gripper_z_dist": 0.0009191621830222374,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787892855903157,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3697535260241313,
+              0.06311387456946592,
+              1.2386757854166903
+            ],
+            "held_grasp_finger_b": [
+              0.360146370612175,
+              0.0887149205864022,
+              1.2386757854166903
+            ],
+            "held_grasp_midpoint": [
+              0.3649499483181532,
+              0.07591439757793406,
+              1.2386757854166903
+            ],
+            "held_grasp_object_position": [
+              0.3697535260241313,
+              0.0887149205864022,
+              1.2386757854166903
+            ],
+            "held_grasp_finger_gap": 0.027344304567327535,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025010874745283792,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05690798579464832,
+              -0.9983029049706347,
+              0.012360868901028832
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00407048340224476,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214806372945829,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3506503060331397,
+              0.2390162553890542,
+              0.7625865997416472
+            ],
+            "target_position": [
+              0.35462064424406897,
+              0.23731187379404717,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004320706207388311,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1698155388206635,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625865997416472,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755836951137706,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525338065848746,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13843959562974428,
+            "release_required_pad_clearance": 0.05262669032924373,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3140349572369365,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "226753c9283919cebf0651f4c5c201304355e05fd76095c8311c90be1dd7edef",
+    "visual_seed": 36973419868702490,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0413e767afb06f22218d6a7e8c64b58968c9d53
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3593441378980246,
+              0.08403956424457788,
+              1.0501147315454522
+            ],
+            "current_z": 1.0501147315454522,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1935283433461762,
+            "gripper_z": 1.0510000111509046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3544172226592206,
+              0.07924063877918013,
+              1.0510000111509046
+            ],
+            "object_minus_gripper": [
+              0.004926915238804008,
+              0.0047989254653977576,
+              -0.0008852796054523715
+            ],
+            "object_to_gripper_xy": 0.0068778033842791875,
+            "object_to_gripper_z": -0.0008852796054523715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3593441378980246,
+              0.05976817793361064,
+              1.0501147315454522
+            ],
+            "finger_b": [
+              0.3475119743000767,
+              0.08403956424457788,
+              1.0501147315454522
+            ],
+            "finger_midpoint": [
+              0.35342805609905065,
+              0.07190387108909427,
+              1.0501147315454522
+            ],
+            "object_minus_finger_midpoint": [
+              0.00591608179897396,
+              0.012135693155483615,
+              0.0
+            ],
+            "finger_gap": 0.02700185713733061,
+            "fingertip_max_gap": 0.09151047250578173,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013500928568665298,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501147315454522,
+            "object_top_z": 1.0955608684824762,
+            "finger_top_clearance": 0.04544613693702404,
+            "fingertip_min_top_clearance": 0.013633841081107212,
+            "object_projection_between_fingers": 0.80798238932729,
+            "object_to_finger_line_xy": 0.01063567635810213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825523625289087,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9703319825519575,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35998291971884,
+              0.08107225788266885,
+              1.2414422571169683
+            ],
+            "held_position": [
+              0.3652941698989133,
+              0.08540419978987096,
+              1.240405221115308
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006931849885235674,
+            "max_held_gripper_dist": 0.006936464686549131,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010370360016602742,
+            "max_held_gripper_z_dist": 0.0010463457807057264,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08782839038313137,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3652941698989133,
+              0.05987857102317537,
+              1.240405221115308
+            ],
+            "held_grasp_finger_b": [
+              0.3558871717574617,
+              0.08540419978987096,
+              1.240405221115308
+            ],
+            "held_grasp_midpoint": [
+              0.3605906708281875,
+              0.07264138540652317,
+              1.240405221115308
+            ],
+            "held_grasp_object_position": [
+              0.3652941698989133,
+              0.08540419978987096,
+              1.240405221115308
+            ],
+            "held_grasp_finger_gap": 0.027203847852251172,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477883526677484,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07216302062292189,
+              -0.9973377306525723,
+              0.01048567934628264
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003772670784923655,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032131969931542,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34896530712180013,
+              0.23596015231125017,
+              0.7625850028305333
+            ],
+            "target_position": [
+              0.35294867114780915,
+              0.23434176403617213,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042995778365570786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17235065558646573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850028305333,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519474935299236,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08915018707313775,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1417807300818232,
+            "release_required_pad_clearance": 0.05457509353656888,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.177441131555824,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b753a66d3114c868025b48de0768753981e8b761c7b85edca92d9b69bb81bae",
+    "visual_seed": 4109269218507392594,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f86004df4fd90cfeec3d9df2c2c44c2b526d5808
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3630045333514985,
+              0.08595836210619169,
+              1.0474472374007013
+            ],
+            "current_z": 1.0474472374007013,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.190860670387491,
+            "gripper_z": 1.0481843163677256,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3581590568057354,
+              0.08120854979756098,
+              1.0481843163677256
+            ],
+            "object_minus_gripper": [
+              0.004845476545763117,
+              0.00474981230863071,
+              -0.0007370789670242406
+            ],
+            "object_to_gripper_xy": 0.006785231014693624,
+            "object_to_gripper_z": -0.0007370789670242406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3630045333514985,
+              0.06173778520147464,
+              1.0474472374007013
+            ],
+            "finger_b": [
+              0.351250986357091,
+              0.08595836210619169,
+              1.0474472374007013
+            ],
+            "finger_midpoint": [
+              0.3571277598542948,
+              0.07384807365383317,
+              1.0474472374007013
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058767734972037244,
+              0.012110288452358522,
+              0.0
+            ],
+            "finger_gap": 0.0269217795204377,
+            "fingertip_max_gap": 0.09133069409783043,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013460889760218834,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474472374007013,
+            "object_top_z": 1.092855841342493,
+            "finger_top_clearance": 0.04540860394179158,
+            "fingertip_min_top_clearance": 0.013622581182537475,
+            "object_projection_between_fingers": 0.8093967200653726,
+            "object_to_finger_line_xy": 0.01057425229506613,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048165347048915216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8467320528455562,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36365315098259443,
+              0.083257743325267,
+              1.2372120987223556
+            ],
+            "held_position": [
+              0.3688762288536913,
+              0.08756178352558146,
+              1.236321831087777
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068262640554437185,
+            "max_held_gripper_dist": 0.006830876766219936,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008902676345785565,
+            "max_held_gripper_z_dist": 0.0009003015867004027,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785963361548063,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3688762288536913,
+              0.062090256100288746,
+              1.236321831087777
+            ],
+            "held_grasp_finger_b": [
+              0.3595263262404218,
+              0.08756178352558146,
+              1.236321831087777
+            ],
+            "held_grasp_midpoint": [
+              0.36420127754705656,
+              0.0748260198129351,
+              1.236321831087777
+            ],
+            "held_grasp_object_position": [
+              0.3688762288536913,
+              0.08756178352558146,
+              1.236321831087777
+            ],
+            "held_grasp_finger_gap": 0.027133363010416953,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024726885052533135,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07239214421053958,
+              -0.9973388767271977,
+              0.008633795522951737
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037423749372498794,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321599229412099,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35248176910101975,
+              0.23573072552686736,
+              0.762585360405132
+            ],
+            "target_position": [
+              0.35619765369322437,
+              0.23389561742637574,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004144323834242886,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1703756148456898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585360405132,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530430592433224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08883667789383108,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13978302254767871,
+            "release_required_pad_clearance": 0.05441833894691554,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8613386872806945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e412eeb6bf91adf7b23d89723dbedbd0f911f6c9b16228db803c9e6c6f93bec1",
+    "visual_seed": 3612313361755979229,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9528b9038164343b59368c9d083a04f177b8969e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35907706290812513,
+              0.0900308025322536,
+              1.045754111308003
+            ],
+            "current_z": 1.045754111308003,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1891677231087271,
+            "gripper_z": 1.0476733065032495,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3538478397042789,
+              0.08521594774421735,
+              1.0476733065032495
+            ],
+            "object_minus_gripper": [
+              0.005229223203846223,
+              0.004814854788036241,
+              -0.0019191951952464148
+            ],
+            "object_to_gripper_xy": 0.007108277002587847,
+            "object_to_gripper_z": -0.0019191951952464148,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35907706290812513,
+              0.06531024639886959,
+              1.045754111308003
+            ],
+            "finger_b": [
+              0.34753503747018505,
+              0.0900308025322536,
+              1.045754111308003
+            ],
+            "finger_midpoint": [
+              0.35330605018915506,
+              0.0776705244655616,
+              1.045754111308003
+            ],
+            "object_minus_finger_midpoint": [
+              0.00577101271897007,
+              0.012360278066692001,
+              0.0
+            ],
+            "finger_gap": 0.02728230647789599,
+            "fingertip_max_gap": 0.09468284378140587,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013641153238948007,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045754111308003,
+            "object_top_z": 1.0920776996004027,
+            "finger_top_clearance": 0.046323588292399576,
+            "fingertip_min_top_clearance": 0.01389707648771984,
+            "object_projection_between_fingers": 0.8210210781241519,
+            "object_to_finger_line_xy": 0.010458253885635111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04984142189070294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4806902507348583,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3588856349880306,
+              0.08821421030855398,
+              1.2372826996541835
+            ],
+            "held_position": [
+              0.3643276386516527,
+              0.09273873192305934,
+              1.2352344848161754
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007367624022548849,
+            "max_held_gripper_dist": 0.007369741594053022,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020482148380081,
+            "max_held_gripper_z_dist": 0.0020665387114042755,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739111493193903,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3643276386516527,
+              0.06730925255108997,
+              1.2352344848161754
+            ],
+            "held_grasp_finger_b": [
+              0.3543125092220365,
+              0.09273873192305934,
+              1.2352344848161754
+            ],
+            "held_grasp_midpoint": [
+              0.3593200739368446,
+              0.08002399223707465,
+              1.2352344848161754
+            ],
+            "held_grasp_object_position": [
+              0.3643276386516527,
+              0.09273873192305934,
+              1.2352344848161754
+            ],
+            "held_grasp_finger_gap": 0.027330591625893873,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025320620727480026,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01045376158196682,
+              -0.9998362975050055,
+              0.014768109569932016
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004878004502497738,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03243521882680101,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34778408635324215,
+              0.23629645727572013,
+              0.7625907464917829
+            ],
+            "target_position": [
+              0.352808118584078,
+              0.23510635893312484,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005163064392541082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17262247886354137,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625907464917829,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541520561077153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08662856267535972,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1414321866731014,
+            "release_required_pad_clearance": 0.05331428133767986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6274177965076126,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e46084159538f2afc3dcaa35bd3c9260197c0837a60be942b58336091d51779f",
+    "visual_seed": 708880912412586316,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..743fe7c666b37128f4ee1fa54bfc5880af46b057
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35825644275780233,
+              0.08644601247239743,
+              1.0501636404779704
+            ],
+            "current_z": 1.0501636404779704,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19357707346476005,
+            "gripper_z": 1.0510871132998887,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3534489203470612,
+              0.08166855013636706,
+              1.0510871132998887
+            ],
+            "object_minus_gripper": [
+              0.004807522410741116,
+              0.004777462336030366,
+              -0.0009234728219182919
+            ],
+            "object_to_gripper_xy": 0.006777641042572762,
+            "object_to_gripper_z": -0.0009234728219182919,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35825644275780233,
+              0.062308187088400774,
+              1.0501636404779704
+            ],
+            "finger_b": [
+              0.34639324202333943,
+              0.08644601247239743,
+              1.0501636404779704
+            ],
+            "finger_midpoint": [
+              0.3523248423905709,
+              0.07437709978039911,
+              1.0501636404779704
+            ],
+            "object_minus_finger_midpoint": [
+              0.005931600367231449,
+              0.01206891269199832,
+              0.0
+            ],
+            "finger_gap": 0.02689554137648979,
+            "fingertip_max_gap": 0.09237940040900586,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01344777068824489,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501636404779704,
+            "object_top_z": 1.0961615763581105,
+            "finger_top_clearance": 0.04599793588014012,
+            "fingertip_min_top_clearance": 0.013799380764042002,
+            "object_projection_between_fingers": 0.8054446503534451,
+            "object_to_finger_line_xy": 0.010646815537763256,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868970020450293,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.993742502493996,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35917181903217965,
+              0.08355894855001995,
+              1.2433799965585455
+            ],
+            "held_position": [
+              0.36440314491041637,
+              0.08784158420231952,
+              1.2423184754531822
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068435784230027035,
+            "max_held_gripper_dist": 0.006846448712133128,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010615211053632834,
+            "max_held_gripper_z_dist": 0.0010724855676071954,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665398833021903,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36440314491041637,
+              0.06234715996436886,
+              1.2423184754531822
+            ],
+            "held_grasp_finger_b": [
+              0.35509601088001463,
+              0.08784158420231952,
+              1.2423184754531822
+            ],
+            "held_grasp_midpoint": [
+              0.3597495778952155,
+              0.07509437208334419,
+              1.2423184754531822
+            ],
+            "held_grasp_object_position": [
+              0.36440314491041637,
+              0.08784158420231952,
+              1.2423184754531822
+            ],
+            "held_grasp_finger_gap": 0.02714016232605229,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464688997162691,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08148592031754895,
+              -0.9965037890832221,
+              0.018445680599627808
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003607273838246742,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032118379598011254,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3528393697356005,
+              0.23542349441996485,
+              0.7625849827378323
+            ],
+            "target_position": [
+              0.35748754522746673,
+              0.2341634756947451,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00481593008577683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1714136068603276,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849827378323,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522721870759717,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733499018855694,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14072339597812072,
+            "release_required_pad_clearance": 0.05366749509427847,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3373676854658147,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58337a3286f7d0a1ddec651399221a5071cbf186f52c9857371aa6f21c85bcde",
+    "visual_seed": 4423786307423318107,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..242053165eda2843f517322d487325f53b6e26a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3593931578294988,
+              0.08894547739111255,
+              1.046873729170836
+            ],
+            "current_z": 1.046873729170836,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19028722176227075,
+            "gripper_z": 1.0478044350673388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3545078944159302,
+              0.08420862020836502,
+              1.0478044350673388
+            ],
+            "object_minus_gripper": [
+              0.004885263413568597,
+              0.004736857182747536,
+              -0.0009307058965026815
+            ],
+            "object_to_gripper_xy": 0.006804675935685609,
+            "object_to_gripper_z": -0.0009307058965026815,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3593931578294988,
+              0.06463340168691092,
+              1.046873729170836
+            ],
+            "finger_b": [
+              0.34773792810604653,
+              0.08894547739111255,
+              1.046873729170836
+            ],
+            "finger_midpoint": [
+              0.35356554296777265,
+              0.07678943953901174,
+              1.046873729170836
+            ],
+            "object_minus_finger_midpoint": [
+              0.005827614861726171,
+              0.012156037852100815,
+              0.0
+            ],
+            "finger_gap": 0.026961480021565523,
+            "fingertip_max_gap": 0.09419756578248581,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013480740010782774,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046873729170836,
+            "object_top_z": 1.0936253025041835,
+            "finger_top_clearance": 0.04675157333334745,
+            "fingertip_min_top_clearance": 0.014025472000004235,
+            "object_projection_between_fingers": 0.8131237036345393,
+            "object_to_finger_line_xy": 0.010509913667935938,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04959878289124291,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.518052306597699,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36002333008832316,
+              0.08617178962020701,
+              1.2384857212900529
+            ],
+            "held_position": [
+              0.36527055210877535,
+              0.09047047352621036,
+              1.2374076636497031
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006868349913302835,
+            "max_held_gripper_dist": 0.006869352808511983,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010780576403497388,
+            "max_held_gripper_z_dist": 0.001087799695064895,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08782334844647988,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36527055210877535,
+              0.06498517262128245,
+              1.2374076636497031
+            ],
+            "held_grasp_finger_b": [
+              0.355919146612926,
+              0.09047047352621036,
+              1.2374076636497031
+            ],
+            "held_grasp_midpoint": [
+              0.3605948493608507,
+              0.0777278230737464,
+              1.2374076636497031
+            ],
+            "held_grasp_object_position": [
+              0.36527055210877535,
+              0.09047047352621036,
+              1.2374076636497031
+            ],
+            "held_grasp_finger_gap": 0.027146810990658198,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024839527274311508,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0628266940478375,
+              -0.9977141435830508,
+              0.02488562254313098
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003879170524968435,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219294343665003,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35198861514203933,
+              0.2349686498483497,
+              0.762584983729037
+            ],
+            "target_position": [
+              0.35749842815620836,
+              0.2341182832558344,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005575048232327008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16979841970603496,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584983729037,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546421458425952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08673421836239996,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384578598857548,
+            "release_required_pad_clearance": 0.05336710918119998,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7422031389369577,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5aa12d0835da4c7c386ff3142539f119150f7922dd5c6e3515b435d19ddad7bb",
+    "visual_seed": 8033338499517245109,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b070a93809b812da96e95b5e019709984368267e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3595459722510201,
+              0.0933271096866225,
+              1.047670220703056
+            ],
+            "current_z": 1.047670220703056,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.19108377289913503,
+            "gripper_z": 1.048658550961814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3543791919574685,
+              0.0884459901117278,
+              1.048658550961814
+            ],
+            "object_minus_gripper": [
+              0.005166780293551609,
+              0.0048811195748947045,
+              -0.0009883302587581078
+            ],
+            "object_to_gripper_xy": 0.007107808868157157,
+            "object_to_gripper_z": -0.0009883302587581078,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3595459722510201,
+              0.06879532950308888,
+              1.047670220703056
+            ],
+            "finger_b": [
+              0.34770903828095545,
+              0.0933271096866225,
+              1.047670220703056
+            ],
+            "finger_midpoint": [
+              0.35362750526598774,
+              0.08106121959485568,
+              1.047670220703056
+            ],
+            "object_minus_finger_midpoint": [
+              0.005918466985032345,
+              0.012265890091766818,
+              0.0
+            ],
+            "finger_gap": 0.027238231307940737,
+            "fingertip_max_gap": 0.09550060708794397,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013619115653970388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047670220703056,
+            "object_top_z": 1.0947534414782376,
+            "finger_top_clearance": 0.04708322077518168,
+            "fingertip_min_top_clearance": 0.014124966232554503,
+            "object_projection_between_fingers": 0.8111484112410134,
+            "object_to_finger_line_xy": 0.010660789935944652,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05025030354397199,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.18554631326426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35992035101795755,
+              0.09031958541864284,
+              1.2376398092630676
+            ],
+            "held_position": [
+              0.36544560906016554,
+              0.094753011255831,
+              1.2364841023847704
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007177701545437451,
+            "max_held_gripper_dist": 0.007179062869914708,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011557068782972468,
+            "max_held_gripper_z_dist": 0.001165190557986806,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784721356761142,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36544560906016554,
+              0.06910083441800101,
+              1.2364841023847704
+            ],
+            "held_grasp_finger_b": [
+              0.3558885847766434,
+              0.094753011255831,
+              1.2364841023847704
+            ],
+            "held_grasp_midpoint": [
+              0.3606670969184045,
+              0.081926922836916,
+              1.2364841023847704
+            ],
+            "held_grasp_object_position": [
+              0.36544560906016554,
+              0.094753011255831,
+              1.2364841023847704
+            ],
+            "held_grasp_finger_gap": 0.027374639535072104,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025146499111470693,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04871372422433804,
+              -0.9984360204102707,
+              0.0274314822694045
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004163197514539286,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216141716472263,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34437668165545005,
+              0.232423229265031,
+              0.7625854093027963
+            ],
+            "target_position": [
+              0.35015243764093557,
+              0.23171105532619335,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005819497308447814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17095611556047374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854093027963,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539175696916664,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555811089911784,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13970285699961602,
+            "release_required_pad_clearance": 0.05277905544955892,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6000131232984713,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f15dea6af1ac804dd9aa52331f913e42029ef0269d526b69046858d02cb007f7",
+    "visual_seed": 2400349714621664896,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e715cc4f81c047941bc2764253c671b80aef5231
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36270867247801974,
+              0.08964756722568352,
+              1.0468418924457
+            ],
+            "current_z": 1.0468418924457,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19025538503713435,
+            "gripper_z": 1.0476219800481115,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35766866522787144,
+              0.08484060714305779,
+              1.0476219800481115
+            ],
+            "object_minus_gripper": [
+              0.005040007250148304,
+              0.004806960082625739,
+              -0.00078008760241155
+            ],
+            "object_to_gripper_xy": 0.006964807127085768,
+            "object_to_gripper_z": -0.00078008760241155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36270867247801974,
+              0.06520729180016036,
+              1.0468418924457
+            ],
+            "finger_b": [
+              0.35097825699202917,
+              0.08964756722568352,
+              1.0468418924457
+            ],
+            "finger_midpoint": [
+              0.3568434647350245,
+              0.07742742951292195,
+              1.0468418924457
+            ],
+            "object_minus_finger_midpoint": [
+              0.00586520774299526,
+              0.012220137712761578,
+              0.0
+            ],
+            "finger_gap": 0.02710958705604715,
+            "fingertip_max_gap": 0.09473733202432119,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013554793528023558,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468418924457,
+            "object_top_z": 1.0937741906110912,
+            "finger_top_clearance": 0.04693229816539124,
+            "fingertip_min_top_clearance": 0.01407968944961737,
+            "object_projection_between_fingers": 0.812767608199499,
+            "object_to_finger_line_xy": 0.010575394776051425,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0498686660121606,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7486750391158792,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36312360617711537,
+              0.08711949692283616,
+              1.237177100312276
+            ],
+            "held_position": [
+              0.368506502985556,
+              0.09151120794795872,
+              1.2362448517697986
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007009407330399236,
+            "max_held_gripper_dist": 0.00701068933703569,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009322485424774207,
+            "max_held_gripper_z_dist": 0.000943246474290671,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792343460281207,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.368506502985556,
+              0.06598145436227448,
+              1.2362448517697986
+            ],
+            "held_grasp_finger_b": [
+              0.3589467104287895,
+              0.09151120794795872,
+              1.2362448517697986
+            ],
+            "held_grasp_midpoint": [
+              0.3637266067071727,
+              0.0787463311551166,
+              1.2362448517697986
+            ],
+            "held_grasp_object_position": [
+              0.368506502985556,
+              0.09151120794795872,
+              1.2362448517697986
+            ],
+            "held_grasp_finger_gap": 0.027260923533038366,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024974531543872688,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05338665727998655,
+              -0.9982429649089584,
+              0.025706960813008155
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004105005809424667,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220259382497857,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3515492065407996,
+              0.24102673772514405,
+              0.7625844823128871
+            ],
+            "target_position": [
+              0.3571676663497093,
+              0.2403691908974532,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005656806383016863,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16877549177045806,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844823128871,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549755892948713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853648677567621,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13736030924748507,
+            "release_required_pad_clearance": 0.05268243387838105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4111156548091524,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88f0933c95870ac9f2d938826824c8e563cc34881d1c876b7f0f95b013e279ae",
+    "visual_seed": 4696364150316565412,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed00950fd07efa5d07a4666f3121105bab03a727
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35878161756221183,
+              0.08372674269942816,
+              1.046465063022459
+            ],
+            "current_z": 1.046465063022459,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18987855561389344,
+            "gripper_z": 1.0483224969496137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35348833821730824,
+              0.07877576584850829,
+              1.0483224969496137
+            ],
+            "object_minus_gripper": [
+              0.00529327934490359,
+              0.004950976850919872,
+              -0.0018574339271546503
+            ],
+            "object_to_gripper_xy": 0.007247825743043732,
+            "object_to_gripper_z": -0.0018574339271546503,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35878161756221183,
+              0.05900963649437064,
+              1.046465063022459
+            ],
+            "finger_b": [
+              0.34698044002616835,
+              0.08372674269942816,
+              1.046465063022459
+            ],
+            "finger_midpoint": [
+              0.3528810287941901,
+              0.0713681895968994,
+              1.046465063022459
+            ],
+            "object_minus_finger_midpoint": [
+              0.005900588768021742,
+              0.012358553102528758,
+              0.0
+            ],
+            "finger_gap": 0.027389836260724713,
+            "fingertip_max_gap": 0.09265537435907409,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694918130362355,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046465063022459,
+            "object_top_z": 1.0918651218346218,
+            "finger_top_clearance": 0.0454000588121628,
+            "fingertip_min_top_clearance": 0.013620017643648874,
+            "object_projection_between_fingers": 0.8143598905473165,
+            "object_to_finger_line_xy": 0.01064960577808902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048827687179537047,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5538531927186767,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35875151319605614,
+              0.08118976794470614,
+              1.23966837716467
+            ],
+            "held_position": [
+              0.3643431227217091,
+              0.08574091607907189,
+              1.2376715173776904
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007481075820840849,
+            "max_held_gripper_dist": 0.007482111154253839,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001996859786979499,
+            "max_held_gripper_z_dist": 0.0020108549328241576,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08807726786131428,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3643431227217091,
+              0.060115208252507435,
+              1.2376715173776904
+            ],
+            "held_grasp_finger_b": [
+              0.3544401493270079,
+              0.08574091607907189,
+              1.2376715173776904
+            ],
+            "held_grasp_midpoint": [
+              0.35939163602435853,
+              0.07292806216578966,
+              1.2376715173776904
+            ],
+            "held_grasp_object_position": [
+              0.3643431227217091,
+              0.08574091607907189,
+              1.2376715173776904
+            ],
+            "held_grasp_finger_gap": 0.027472636998814047,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025370247936215815,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0249766473431471,
+              -0.9996832549455589,
+              0.0030914185980990263
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004630090940643942,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03226775792357484,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35070180108016336,
+              0.23678975984948916,
+              0.7625850673773269
+            ],
+            "target_position": [
+              0.35360380872363817,
+              0.2342830965197028,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038347111249326022,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17282135197197798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850673773269,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07592381729507798,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656379118715117,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14070262576743964,
+            "release_required_pad_clearance": 0.05328189559357559,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5671597864461626,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 136,
+            "max_placed_release_frames": 136
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e22f22590cb61eb8453140bf96bea027ba5419e638a25fcb22bd5ff04dae3ae",
+    "visual_seed": 7899854862730258344,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b195b2c69a41b54c9524ba14ed2d9012129d8e2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.35852090733645103,
+              0.09244193434526285,
+              1.0499288144364025
+            ],
+            "current_z": 1.0499288144364025,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19334224742319217,
+            "gripper_z": 1.050853641264389,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35340893829366626,
+              0.08759384474154511,
+              1.050853641264389
+            ],
+            "object_minus_gripper": [
+              0.00511196904278477,
+              0.004848089603717742,
+              -0.0009248268279864469
+            ],
+            "object_to_gripper_xy": 0.0070452963245037385,
+            "object_to_gripper_z": -0.0009248268279864469,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35852090733645103,
+              0.06796602781365911,
+              1.0499288144364025
+            ],
+            "finger_b": [
+              0.3467088528033018,
+              0.09244193434526285,
+              1.0499288144364025
+            ],
+            "finger_midpoint": [
+              0.3526148800698764,
+              0.08020398107946097,
+              1.0499288144364025
+            ],
+            "object_minus_finger_midpoint": [
+              0.005906027266574632,
+              0.012237953265801876,
+              0.0
+            ],
+            "finger_gap": 0.02717709757935702,
+            "fingertip_max_gap": 0.09362248553425226,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01358854878967853,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499288144364025,
+            "object_top_z": 1.0964982645926677,
+            "finger_top_clearance": 0.046569450156265235,
+            "fingertip_min_top_clearance": 0.013970835046879538,
+            "object_projection_between_fingers": 0.8110944405891539,
+            "object_to_finger_line_xy": 0.01063802865097585,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931124276712613,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2959179009919888,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.358986833237708,
+              0.08956630154754633,
+              1.2406590326645168
+            ],
+            "held_position": [
+              0.36445598361375386,
+              0.09397172920598494,
+              1.2395754822182525
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007105876459602841,
+            "max_held_gripper_dist": 0.007106793150180303,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001083550446264292,
+            "max_held_gripper_z_dist": 0.0010935524582060818,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784338675827583,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36445598361375386,
+              0.06837582089828383,
+              1.2395754822182525
+            ],
+            "held_grasp_finger_b": [
+              0.35489901508111527,
+              0.09397172920598494,
+              1.2395754822182525
+            ],
+            "held_grasp_midpoint": [
+              0.35967749934743454,
+              0.08117377505213438,
+              1.2395754822182525
+            ],
+            "held_grasp_object_position": [
+              0.36445598361375386,
+              0.09397172920598494,
+              1.2395754822182525
+            ],
+            "held_grasp_finger_gap": 0.0273218990853507,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02492681708049973,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06383490989280113,
+              -0.9976940454168487,
+              0.023058534618253246
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003963047775716619,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212674820043159,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35217297535844516,
+              0.2374592108915386,
+              0.7625851489273635
+            ],
+            "target_position": [
+              0.357285176854793,
+              0.23645911360845692,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00520910728579172,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17002650307801234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851489273635,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532730934205677,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699648755392424,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13903083104104455,
+            "release_required_pad_clearance": 0.05349824377696212,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.000677234374641,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59b497eaf05efabd02fefe6be597d6d0afb360f3ed1ece611c4e35cbeef3ec2c",
+    "visual_seed": 6159416940305771371,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..518aa920a303e6c5c5f6c4ea7d5664c99356dd93
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3578183311813195,
+              0.08401219701756502,
+              1.0487143135498764
+            ],
+            "current_z": 1.0487143135498764,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19212792535060041,
+            "gripper_z": 1.0497994425065196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3527783786123865,
+              0.0792188112242336,
+              1.0497994425065196
+            ],
+            "object_minus_gripper": [
+              0.005039952568933026,
+              0.004793385793331412,
+              -0.0010851289566431443
+            ],
+            "object_to_gripper_xy": 0.006955405758171555,
+            "object_to_gripper_z": -0.0010851289566431443,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3578183311813195,
+              0.05955645597462839,
+              1.0487143135498764
+            ],
+            "finger_b": [
+              0.3461221711601114,
+              0.08401219701756502,
+              1.0487143135498764
+            ],
+            "finger_midpoint": [
+              0.35197025117071545,
+              0.0717843264960967,
+              1.0487143135498764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005848080010604051,
+              0.012227870521468315,
+              0.0
+            ],
+            "finger_gap": 0.027108733448851525,
+            "fingertip_max_gap": 0.09433916277077006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013554366724425766,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487143135498764,
+            "object_top_z": 1.0955090054612986,
+            "finger_top_clearance": 0.04679469191142216,
+            "fingertip_min_top_clearance": 0.014038407573426647,
+            "object_projection_between_fingers": 0.8138478106786755,
+            "object_to_finger_line_xy": 0.010551516957260572,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049669581385385034,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6845095566627442,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35829315243761795,
+              0.0809790485863824,
+              1.2403012578301522
+            ],
+            "held_position": [
+              0.363676985273424,
+              0.08534108702825968,
+              1.2390616619507808
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007039150042190701,
+            "max_held_gripper_dist": 0.0070403357106405655,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012395958793713913,
+            "max_held_gripper_z_dist": 0.00124934597596571,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08677705092993855,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.363676985273424,
+              0.05977174806183698,
+              1.2390616619507808
+            ],
+            "held_grasp_finger_b": [
+              0.3542164262340339,
+              0.08534108702825968,
+              1.2390616619507808
+            ],
+            "held_grasp_midpoint": [
+              0.35894670575372895,
+              0.07255641754504832,
+              1.2390616619507808
+            ],
+            "held_grasp_object_position": [
+              0.363676985273424,
+              0.08534108702825968,
+              1.2390616619507808
+            ],
+            "held_grasp_finger_gap": 0.027263405372726437,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024986285541097004,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05642872747664626,
+              -0.9980755811646188,
+              0.025708617198811234
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00401507753695233,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321732348874518,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3510964287054866,
+              0.23579069396672392,
+              0.7625872974511634
+            ],
+            "target_position": [
+              0.356389601413251,
+              0.23477337294696457,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005390048178955943,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17160598422785342,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625872974511634,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588942249413225,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675172962528259,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13924508686196832,
+            "release_required_pad_clearance": 0.0533758648126413,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7663045201228447,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "acfc3c002f68994f47be927476814d804dba799143cbb8b4af5f0b37851090fa",
+    "visual_seed": 2347027605262139808,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e2f7027b17337605a1abf3ed88904d3667f93b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_80_success.json
@@ -0,0 +1,693 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3658304419823883,
+              0.08282489384428686,
+              1.0500516694671655
+            ],
+            "current_z": 1.0500516694671655,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1934651024539552,
+            "gripper_z": 1.0508122234331834,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36091863794833945,
+              0.07810684341482531,
+              1.0508122234331834
+            ],
+            "object_minus_gripper": [
+              0.004911804034048839,
+              0.004718050429461551,
+              -0.0007605539660178184
+            ],
+            "object_to_gripper_xy": 0.0068107135253100155,
+            "object_to_gripper_z": -0.0007605539660178184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3658304419823883,
+              0.058434129247704567,
+              1.0500516694671655
+            ],
+            "finger_b": [
+              0.35428219774792674,
+              0.08282489384428686,
+              1.0500516694671655
+            ],
+            "finger_midpoint": [
+              0.3600563198651575,
+              0.07062951154599571,
+              1.0500516694671655
+            ],
+            "object_minus_finger_midpoint": [
+              0.005774122117230773,
+              0.012195382298291146,
+              0.0
+            ],
+            "finger_gap": 0.02698650296916343,
+            "fingertip_max_gap": 0.09248963957439796,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013493251484581715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500516694671655,
+            "object_top_z": 1.0960429559217404,
+            "finger_top_clearance": 0.04599128645457484,
+            "fingertip_min_top_clearance": 0.013797385936372452,
+            "object_projection_between_fingers": 0.8168787687840129,
+            "object_to_finger_line_xy": 0.010437458567656767,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874481978719898,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0118956751587938,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/beaker_2/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_a"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3665233336922732,
+              0.07992330488484807,
+              1.2436771828913227
+            ],
+            "held_position": [
+              0.3717793357535136,
+              0.08422475317945854,
+              1.242779785437232
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006850790997365117,
+            "max_held_gripper_dist": 0.006854924961811873,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000897397454090676,
+            "max_held_gripper_z_dist": 0.000908471484542428,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08776817717044566,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3717793357535136,
+              0.05874471922957929,
+              1.242779785437232
+            ],
+            "held_grasp_finger_b": [
+              0.3623854091764922,
+              0.08422475317945854,
+              1.242779785437232
+            ],
+            "held_grasp_midpoint": [
+              0.36708237246500286,
+              0.07148473620451892,
+              1.242779785437232
+            ],
+            "held_grasp_object_position": [
+              0.3717793357535136,
+              0.08422475317945854,
+              1.242779785437232
+            ],
+            "held_grasp_finger_gap": 0.027156545925825473,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024827072510064063,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06360120703281456,
+              -0.9978219663738218,
+              0.017498853843863738
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00388372774527528,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218922364170255,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34857810877882506,
+              0.23869428654924285,
+              0.7625859449329121
+            ],
+            "target_position": [
+              0.353052486537134,
+              0.23723427211518702,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004706559090429136,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16846344240576333,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859449329121,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758765415231935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546454879915581,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1363594496276671,
+            "release_required_pad_clearance": 0.05273227439957791,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5128109546887509,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dcca768bea7b38901642bba6156f9dbff079058146cf4c7aaa37adfe4c187851",
+    "visual_seed": 3261749333569503349,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee4e18fab085ff805ea155c26689c26bd3316f6d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36282444975539724,
+              0.08833358971645312,
+              1.0477862513148526
+            ],
+            "current_z": 1.0477862513148526,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19119974390628702,
+            "gripper_z": 1.0484803315441098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35793232889461457,
+              0.08356909599012055,
+              1.0484803315441098
+            ],
+            "object_minus_gripper": [
+              0.004892120860782667,
+              0.004764493726332572,
+              -0.0006940802292572101
+            ],
+            "object_to_gripper_xy": 0.00682885400230283,
+            "object_to_gripper_z": -0.0006940802292572101,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36282444975539724,
+              0.06405327898294555,
+              1.0477862513148526
+            ],
+            "finger_b": [
+              0.35108158119101307,
+              0.08833358971645312,
+              1.0477862513148526
+            ],
+            "finger_midpoint": [
+              0.3569530154732051,
+              0.07619343434969933,
+              1.0477862513148526
+            ],
+            "object_minus_finger_midpoint": [
+              0.005871434282192112,
+              0.012140155366753794,
+              0.0
+            ],
+            "finger_gap": 0.02697088154725546,
+            "fingertip_max_gap": 0.09133747831742886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013485440773627748,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477862513148526,
+            "object_top_z": 1.0932199814395984,
+            "finger_top_clearance": 0.04543373012474583,
+            "fingertip_min_top_clearance": 0.013630119037423782,
+            "object_projection_between_fingers": 0.810435016875996,
+            "object_to_finger_line_xy": 0.01057141929700845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816873915871443,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8307399292968248,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36359694106639145,
+              0.0853111568926923,
+              1.238896415813782
+            ],
+            "held_position": [
+              0.3688831516961084,
+              0.08960488057273458,
+              1.238042277229633
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006863646158072311,
+            "max_held_gripper_dist": 0.006865690239709568,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008541385841491778,
+            "max_held_gripper_z_dist": 0.0008644527258978574,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784877268862226,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3688831516961084,
+              0.06405159276450093,
+              1.238042277229633
+            ],
+            "held_grasp_finger_b": [
+              0.3596256676981817,
+              0.08960488057273458,
+              1.238042277229633
+            ],
+            "held_grasp_midpoint": [
+              0.36425440969714507,
+              0.07682823666861775,
+              1.238042277229633
+            ],
+            "held_grasp_object_position": [
+              0.3688831516961084,
+              0.08960488057273458,
+              1.238042277229633
+            ],
+            "held_grasp_finger_gap": 0.027178512243724667,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477057181621025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07634159721437084,
+              -0.9970264148392397,
+              0.01050184019927447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003642385512693709,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032108207943117445,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34717669270869,
+              0.23267197499748027,
+              0.7625861498653268
+            ],
+            "target_position": [
+              0.3510142537252268,
+              0.2308110826283213,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042649495853101385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17034550471099477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861498653268,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571493196608607,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858803805998508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13864816150710127,
+            "release_required_pad_clearance": 0.0529401902999254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9142781782855045,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78ca32f772513c7c9221c46173f7634279559c49781e915c2e9d36df98d4ceff",
+    "visual_seed": 8687365976971455885,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eefccc1e24e3f39cb6cbc059ec070c6628ed24db
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3607948113053132,
+              0.08551765329982555,
+              1.0475692277656066
+            ],
+            "current_z": 1.0475692277656066,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19098260114775145,
+            "gripper_z": 1.048378470586788,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35599355965110013,
+              0.08076909739995686,
+              1.048378470586788
+            ],
+            "object_minus_gripper": [
+              0.004801251654213079,
+              0.004748555899868695,
+              -0.000809242821181444
+            ],
+            "object_to_gripper_xy": 0.00675283648411996,
+            "object_to_gripper_z": -0.000809242821181444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3607948113053132,
+              0.06136314751872017,
+              1.0475692277656066
+            ],
+            "finger_b": [
+              0.34899764174038994,
+              0.08551765329982555,
+              1.0475692277656066
+            ],
+            "finger_midpoint": [
+              0.3548962265228516,
+              0.07344040040927285,
+              1.0475692277656066
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058985847824616355,
+              0.012077252890552698,
+              0.0
+            ],
+            "finger_gap": 0.02688146869635298,
+            "fingertip_max_gap": 0.09132368135806421,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013440734348176496,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475692277656066,
+            "object_top_z": 1.0929511832826013,
+            "finger_top_clearance": 0.045381955516994754,
+            "fingertip_min_top_clearance": 0.013614586655098427,
+            "object_projection_between_fingers": 0.8074029382966723,
+            "object_to_finger_line_xy": 0.01060041784455324,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048161840679032106,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8916954431124762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36155015777331356,
+              0.08250706796597664,
+              1.2380530644373775
+            ],
+            "held_position": [
+              0.3667513216271547,
+              0.08678071414842588,
+              1.237090028465767
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068002643632348566,
+            "max_held_gripper_dist": 0.006801309455772037,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009630359716104042,
+            "max_held_gripper_z_dist": 0.0009730364164219907,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671953596604509,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3667513216271547,
+              0.061291797030902026,
+              1.237090028465767
+            ],
+            "held_grasp_finger_b": [
+              0.35749667736990465,
+              0.08678071414842588,
+              1.237090028465767
+            ],
+            "held_grasp_midpoint": [
+              0.3621239994985297,
+              0.07403625558966395,
+              1.237090028465767
+            ],
+            "held_grasp_object_position": [
+              0.3667513216271547,
+              0.08678071414842588,
+              1.237090028465767
+            ],
+            "held_grasp_finger_gap": 0.02711703037119388,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024692525678281646,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07762678890006791,
+              -0.9969405085834024,
+              0.009148988497715727
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036259759573677272,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213555381056718,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35565512553952505,
+              0.23586845356797054,
+              0.7625842200397485
+            ],
+            "target_position": [
+              0.3590380759266515,
+              0.2337177829318966,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004008707710301361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1706071025541135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842200397485,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582598622944822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602929858616647,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13875211275211366,
+            "release_required_pad_clearance": 0.053014649293083235,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0474925598553328,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "914704db65e391fa8805034f3ac3768ed2f0206ff92962ac96edcbfd4443ca38",
+    "visual_seed": 3212624123617582747,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d4f10ea497a89bf01031730c2e10159c4c0781
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3595109248650005,
+              0.089768273532597,
+              1.0467923146882316
+            ],
+            "current_z": 1.0467923146882316,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19020586688431085,
+            "gripper_z": 1.0476565443504116,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3545490755001287,
+              0.08495748605385112,
+              1.0476565443504116
+            ],
+            "object_minus_gripper": [
+              0.004961849364871818,
+              0.004810787478745887,
+              -0.0008642296621799161
+            ],
+            "object_to_gripper_xy": 0.006911123301268547,
+            "object_to_gripper_z": -0.0008642296621799161,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3595109248650005,
+              0.06545758711331459,
+              1.0467923146882316
+            ],
+            "finger_b": [
+              0.34767981234568135,
+              0.089768273532597,
+              1.0467923146882316
+            ],
+            "finger_midpoint": [
+              0.3535953686053409,
+              0.0776129303229558,
+              1.0467923146882316
+            ],
+            "object_minus_finger_midpoint": [
+              0.005915556259659616,
+              0.012155343209641206,
+              0.0
+            ],
+            "finger_gap": 0.027036728678253092,
+            "fingertip_max_gap": 0.09175681813960632,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013518364339126558,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467923146882316,
+            "object_top_z": 1.0925928805575342,
+            "finger_top_clearance": 0.04580056586930259,
+            "fingertip_min_top_clearance": 0.013740169760790776,
+            "object_projection_between_fingers": 0.8085114176804908,
+            "object_to_finger_line_xy": 0.010638212554160201,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837840906980316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7361093209434593,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3601010753459649,
+              0.08671657413529528,
+              1.2378063032648439
+            ],
+            "held_position": [
+              0.3654529394656041,
+              0.09105582351100559,
+              1.2367898684600804
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006964529733730626,
+            "max_held_gripper_dist": 0.006966339060287786,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001016434804763433,
+            "max_held_gripper_z_dist": 0.001027527942208506,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08781667807317689,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3654529394656041,
+              0.06550449869958774,
+              1.2367898684600804
+            ],
+            "held_grasp_finger_b": [
+              0.35604232553466286,
+              0.09105582351100559,
+              1.2367898684600804
+            ],
+            "held_grasp_midpoint": [
+              0.3607476325001335,
+              0.07828016110529668,
+              1.2367898684600804
+            ],
+            "held_grasp_object_position": [
+              0.3654529394656041,
+              0.09105582351100559,
+              1.2367898684600804
+            ],
+            "held_grasp_finger_gap": 0.02722920957677256,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024737844900479544,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0778702520497881,
+              -0.9968427064824201,
+              0.015519097219436673
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003701641815999238,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209849563682536,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.352783903217602,
+              0.2400000991411428,
+              0.7625843001431005
+            ],
+            "target_position": [
+              0.3569537632249131,
+              0.23841495657403522,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004460987495905931,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17130752815536882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843001431005,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583138929482729,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608673743379035,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13926728625939075,
+            "release_required_pad_clearance": 0.053043368716895176,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1049552405279168,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb8366ce8ac512db20e543a893c57f5f17fcb697aaf6ea6a8bca8e0345d1a8f5",
+    "visual_seed": 1455670192383649351,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..964ae49d56f70ead04e9457020dbad615e2efaa9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.362199896675801,
+              0.08958652032843863,
+              1.0480789306585065
+            ],
+            "current_z": 1.0480789306585065,
+            "required_z": 0.8565866266178552,
+            "initial_z": 0.7565866266178553,
+            "lift_margin": 0.19149230404065132,
+            "gripper_z": 1.0488931989436423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35692672784279356,
+              0.08466484835848749,
+              1.0488931989436423
+            ],
+            "object_minus_gripper": [
+              0.0052731688330074356,
+              0.004921671969951136,
+              -0.0008142682851357552
+            ],
+            "object_to_gripper_xy": 0.007213124463171538,
+            "object_to_gripper_z": -0.0008142682851357552,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.362199896675801,
+              0.0649604897575121,
+              1.0480789306585065
+            ],
+            "finger_b": [
+              0.35032787345985883,
+              0.08958652032843863,
+              1.0480789306585065
+            ],
+            "finger_midpoint": [
+              0.3562638850678299,
+              0.07727350504297537,
+              1.0480789306585065
+            ],
+            "object_minus_finger_midpoint": [
+              0.005936011607971081,
+              0.01231301528546326,
+              0.0
+            ],
+            "finger_gap": 0.027338367122417485,
+            "fingertip_max_gap": 0.09510382761579769,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013669183561208742,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480789306585065,
+            "object_top_z": 1.0950407878961,
+            "finger_top_clearance": 0.046961857237593385,
+            "fingertip_min_top_clearance": 0.014088557171278014,
+            "object_projection_between_fingers": 0.811416222040707,
+            "object_to_finger_line_xy": 0.01069415760441688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05005191380789885,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.027048497263694,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36250971690822176,
+              0.0863253484652307,
+              1.239079851528085
+            ],
+            "held_position": [
+              0.36814060111917857,
+              0.09080163958262467,
+              1.2380965236214472
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007260232292209086,
+            "max_held_gripper_dist": 0.007261776505270738,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009833279066377987,
+            "max_held_gripper_z_dist": 0.0009963007496038845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669996917133153,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36814060111917857,
+              0.06509077325555851,
+              1.2380965236214472
+            ],
+            "held_grasp_finger_b": [
+              0.35849611338256,
+              0.09080163958262467,
+              1.2380965236214472
+            ],
+            "held_grasp_midpoint": [
+              0.36331835725086925,
+              0.07794620641909158,
+              1.2380965236214472
+            ],
+            "held_grasp_object_position": [
+              0.36814060111917857,
+              0.09080163958262467,
+              1.2380965236214472
+            ],
+            "held_grasp_finger_gap": 0.027460240184493123,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025192418570054345,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04955071995869516,
+              -0.9984225951193691,
+              0.026401661059094365
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004193338926552279,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212612436980135,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.351310024045128,
+              0.23365746331171017,
+              0.7625849219983052
+            ],
+            "target_position": [
+              0.35725688374645925,
+              0.23310172469645765,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005972770355186971,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17125244804627568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849219983052,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530257330645597,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577505789569555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14025830830012878,
+            "release_required_pad_clearance": 0.052887528947847776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8079193437279738,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cde2e5fc2f0cff2c56e72fa417e032fdf845bb769a6354eaac2c2b302d94b5ab",
+    "visual_seed": 3486430727634467396,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..097d5692fec372d20b1860350bb284b4853a30f6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3611718671258058,
+              0.08504758889800056,
+              1.0492476241181785
+            ],
+            "current_z": 1.0492476241181785,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19266111670961295,
+            "gripper_z": 1.0500592701932365,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3562209756478078,
+              0.08023093087335621,
+              1.0500592701932365
+            ],
+            "object_minus_gripper": [
+              0.004950891477997987,
+              0.0048166580246443436,
+              -0.0008116460750580146
+            ],
+            "object_to_gripper_xy": 0.006907352673295598,
+            "object_to_gripper_z": -0.0008116460750580146,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3611718671258058,
+              0.06074156064959997,
+              1.0492476241181785
+            ],
+            "finger_b": [
+              0.34933396057226,
+              0.08504758889800056,
+              1.0492476241181785
+            ],
+            "finger_midpoint": [
+              0.3552529138490329,
+              0.07289457477380026,
+              1.0492476241181785
+            ],
+            "object_minus_finger_midpoint": [
+              0.005918953276772887,
+              0.012153014124200293,
+              0.0
+            ],
+            "finger_gap": 0.027035514435322462,
+            "fingertip_max_gap": 0.09103739150373072,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013517757217661231,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492476241181785,
+            "object_top_z": 1.0947220338440542,
+            "finger_top_clearance": 0.045474409725875686,
+            "fingertip_min_top_clearance": 0.013642322917762672,
+            "object_projection_between_fingers": 0.8082742085628924,
+            "object_to_finger_line_xy": 0.010642759980793344,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801869575186536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5417954089790858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3619368597962152,
+              0.08175244916080442,
+              1.242144391456516
+            ],
+            "held_position": [
+              0.3673044561400424,
+              0.08606900049637466,
+              1.2411857711789995
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006954326622998542,
+            "max_held_gripper_dist": 0.006955479667159056,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009586202775164754,
+            "max_held_gripper_z_dist": 0.0009700841818081063,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08795728067020017,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3673044561400424,
+              0.06046987248051882,
+              1.2411857711789995
+            ],
+            "held_grasp_finger_b": [
+              0.3579776898904831,
+              0.08606900049637466,
+              1.2411857711789995
+            ],
+            "held_grasp_midpoint": [
+              0.36264107301526277,
+              0.07326943648844673,
+              1.2411857711789995
+            ],
+            "held_grasp_object_position": [
+              0.3673044561400424,
+              0.08606900049637466,
+              1.2411857711789995
+            ],
+            "held_grasp_finger_gap": 0.027245255070307083,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024707089309182906,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08537462720303324,
+              -0.9962588758864109,
+              0.013394970977500642
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003557861263867701,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032050411119653364,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35349653090203376,
+              0.23569150306705672,
+              0.7625853621994301
+            ],
+            "target_position": [
+              0.35755655994798446,
+              0.2341248768468617,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004351798888708661,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17054466870893595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853621994301,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529788111432015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509354340646684,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13994090728250555,
+            "release_required_pad_clearance": 0.05254677170323342,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15824164454155193,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ba21c0839158998860f2b176faba34e9d8851c436be02c55e2658ca56d40054",
+    "visual_seed": 5996179872086378132,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c2aa10582dc4e08eaf1bc0c65f0aa214e56de5b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36570776131493593,
+              0.08742924400156545,
+              1.0473797567063363
+            ],
+            "current_z": 1.0473797567063363,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19079318969312598,
+            "gripper_z": 1.0480434545857231,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36089763468776365,
+              0.08267271902687615,
+              1.0480434545857231
+            ],
+            "object_minus_gripper": [
+              0.004810126627172284,
+              0.0047565249746893,
+              -0.0006636978793868042
+            ],
+            "object_to_gripper_xy": 0.0067647504022155065,
+            "object_to_gripper_z": -0.0006636978793868042,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36570776131493593,
+              0.06324624555633884,
+              1.0473797567063363
+            ],
+            "finger_b": [
+              0.35393019304868156,
+              0.08742924400156545,
+              1.0473797567063363
+            ],
+            "finger_midpoint": [
+              0.3598189771818088,
+              0.07533774477895214,
+              1.0473797567063363
+            ],
+            "object_minus_finger_midpoint": [
+              0.005888784133127156,
+              0.012091499222613308,
+              0.0
+            ],
+            "finger_gap": 0.02689848560919581,
+            "fingertip_max_gap": 0.09259300027870307,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0134492428045979,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473797567063363,
+            "object_top_z": 1.0935520268885661,
+            "finger_top_clearance": 0.0461722701822298,
+            "fingertip_min_top_clearance": 0.01385168105466894,
+            "object_projection_between_fingers": 0.8082852176725457,
+            "object_to_finger_line_xy": 0.01058858551404875,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879650013935154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9660985683123471,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3665213141380046,
+              0.08447880369006518,
+              1.2405061143158302
+            ],
+            "held_position": [
+              0.37173885705487525,
+              0.0887595639231786,
+              1.239703209428247
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006796493104631061,
+            "max_held_gripper_dist": 0.006797568740636935,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008029048875832778,
+            "max_held_gripper_z_dist": 0.0008141148704152723,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877315075495171,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37173885705487525,
+              0.06327817937658335,
+              1.239703209428247
+            ],
+            "held_grasp_finger_b": [
+              0.36242873482394,
+              0.0887595639231786,
+              1.239703209428247
+            ],
+            "held_grasp_midpoint": [
+              0.36708379593940765,
+              0.07601887164988097,
+              1.239703209428247
+            ],
+            "held_grasp_object_position": [
+              0.37173885705487525,
+              0.0887595639231786,
+              1.239703209428247
+            ],
+            "held_grasp_finger_gap": 0.027128939057147406,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024657853354468018,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07926169527416024,
+              -0.9966408763724303,
+              0.020604543330547398
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036403202474939883,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213336221734319,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34978771372963274,
+              0.23861904378922705,
+              0.7625877424141501
+            ],
+            "target_position": [
+              0.354399427690338,
+              0.2372980919247879,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004797167860678736,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16954864779001308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625877424141501,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573923734610172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640323922161296,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13773899457444064,
+            "release_required_pad_clearance": 0.05320161961080648,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4127251767047986,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84b0fb8f1e37874bb1324ea23b6ba6f35f1588d8d2c06e15f0b0ff4730b8f2b2",
+    "visual_seed": 3247112974792844451,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21fdc6649571b0d5ef5259a54e4b8319e8c87a7e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3654391785088655,
+              0.08590911322650625,
+              1.0505887529252618
+            ],
+            "current_z": 1.0505887529252618,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1940022455166962,
+            "gripper_z": 1.051257398304399,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3607117025913111,
+              0.08118445224966517,
+              1.051257398304399
+            ],
+            "object_minus_gripper": [
+              0.004727475917554402,
+              0.004724660976841086,
+              -0.0006686453791371338
+            ],
+            "object_to_gripper_xy": 0.006683670391120571,
+            "object_to_gripper_z": -0.0006686453791371338,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3654391785088655,
+              0.061824208034500776,
+              1.0505887529252618
+            ],
+            "finger_b": [
+              0.3536514055547264,
+              0.08590911322650625,
+              1.0505887529252618
+            ],
+            "finger_midpoint": [
+              0.35954529203179597,
+              0.07386666063050351,
+              1.0505887529252618
+            ],
+            "object_minus_finger_midpoint": [
+              0.00589388647706951,
+              0.012042452596002742,
+              0.0
+            ],
+            "finger_gap": 0.02681481399014778,
+            "fingertip_max_gap": 0.09233467395785874,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013407406995073881,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505887529252618,
+            "object_top_z": 1.0965519178333412,
+            "finger_top_clearance": 0.04596316490807939,
+            "fingertip_min_top_clearance": 0.013788949472423784,
+            "object_projection_between_fingers": 0.80675247201571,
+            "object_to_finger_line_xy": 0.010587707008880912,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048667336978929374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0125583562613385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3665370088964475,
+              0.08291811036717518,
+              1.2414771499610817
+            ],
+            "held_position": [
+              0.37169026119967624,
+              0.08714695516877848,
+              1.2406515190410554
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00671720210153623,
+            "max_held_gripper_dist": 0.00671802439435038,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000825630920026299,
+            "max_held_gripper_z_dist": 0.0008353246705692374,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879408408476794,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37169026119967624,
+              0.06164866146637028,
+              1.2406515190410554
+            ],
+            "held_grasp_finger_b": [
+              0.36257808171939987,
+              0.08714695516877848,
+              1.2406515190410554
+            ],
+            "held_grasp_midpoint": [
+              0.3671341714595381,
+              0.07439780831757438,
+              1.2406515190410554
+            ],
+            "held_grasp_object_position": [
+              0.37169026119967624,
+              0.08714695516877848,
+              1.2406515190410554
+            ],
+            "held_grasp_finger_gap": 0.027077569990954488,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024653915927465898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08265900263534041,
+              -0.9964243055503034,
+              0.017495502048433087
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034940049871219413,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212006333440397,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35380123222708443,
+              0.23537396762156204,
+              0.7625840042609362
+            ],
+            "target_position": [
+              0.35798247757866003,
+              0.23370897161496124,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004500558231160798,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17214452498575478,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625840042609362,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758807594597206,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713174899936875,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14002492834542543,
+            "release_required_pad_clearance": 0.05356587449968438,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.127321762653556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 135,
+            "max_placed_release_frames": 135
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00b8d317dcdecdec97f68bb9232f6922f3a7b916b07ecb44d042f0c9380feb92",
+    "visual_seed": 8295006521007156381,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26890a1d2520c0bbae7a5c2a50a164561d095e8b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3597504103985226,
+              0.09393755442541955,
+              1.047945972876277
+            ],
+            "current_z": 1.047945972876277,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1913595250723562,
+            "gripper_z": 1.0488496857057237,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35481700190924514,
+              0.08913521818166166,
+              1.0488496857057237
+            ],
+            "object_minus_gripper": [
+              0.00493340848927748,
+              0.004802336243757893,
+              -0.000903712829446679
+            ],
+            "object_to_gripper_xy": 0.006884834981332942,
+            "object_to_gripper_z": -0.000903712829446679,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3597504103985226,
+              0.06966138525368722,
+              1.047945972876277
+            ],
+            "finger_b": [
+              0.3479106535318423,
+              0.09393755442541955,
+              1.047945972876277
+            ],
+            "finger_midpoint": [
+              0.35383053196518244,
+              0.08179946983955338,
+              1.047945972876277
+            ],
+            "object_minus_finger_midpoint": [
+              0.005919878433340187,
+              0.012138084585866168,
+              0.0
+            ],
+            "finger_gap": 0.02700948411792923,
+            "fingertip_max_gap": 0.09139534026028676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013504742058964627,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047945972876277,
+            "object_top_z": 1.0934713185894998,
+            "finger_top_clearance": 0.045525345713222753,
+            "fingertip_min_top_clearance": 0.013657603713966859,
+            "object_projection_between_fingers": 0.8078444247371392,
+            "object_to_finger_line_xy": 0.010641593130500247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819767013014338,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7516904828607288,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3603790095262621,
+              0.09130239617933528,
+              1.2401352430330752
+            ],
+            "held_position": [
+              0.36569989180060913,
+              0.09564070976792359,
+              1.239089768350361
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006944477682488919,
+            "max_held_gripper_dist": 0.006945684540775918,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010454746827142092,
+            "max_held_gripper_z_dist": 0.0010564664419807634,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783462733867145,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36569989180060913,
+              0.07014199098071236,
+              1.239089768350361
+            ],
+            "held_grasp_finger_b": [
+              0.35622639658190364,
+              0.09564070976792359,
+              1.239089768350361
+            ],
+            "held_grasp_midpoint": [
+              0.3609631441912564,
+              0.08289135037431797,
+              1.239089768350361
+            ],
+            "held_grasp_object_position": [
+              0.36569989180060913,
+              0.09564070976792359,
+              1.239089768350361
+            ],
+            "held_grasp_finger_gap": 0.02720168692283835,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024708170151649816,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07555151157765162,
+              -0.997066058397331,
+              0.012298141743458443
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037633358617629904,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032130403006289006,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35445313997721684,
+              0.2359563632083294,
+              0.7625857653734853
+            ],
+            "target_position": [
+              0.35833427414532804,
+              0.23420116110296552,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004259570032474412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17067401583516248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857653734853,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754293063972873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526167145877427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1397555540875028,
+            "release_required_pad_clearance": 0.052630835729387135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.32142460404220174,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5114e5560244fdca07791c36a10f683c358c5363f8f59b8492343d2e6290b44",
+    "visual_seed": 7419304902801481020,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cda20e9f7669a9b8c541c04034c6fed72e9e167d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3659657772971173,
+              0.0917848168426071,
+              1.0468743763024675
+            ],
+            "current_z": 1.0468743763024675,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19028786889390192,
+            "gripper_z": 1.0475211998592258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3611084745140573,
+              0.08703601380468692,
+              1.0475211998592258
+            ],
+            "object_minus_gripper": [
+              0.0048573027830600135,
+              0.004748803037920177,
+              -0.0006468235567582692
+            ],
+            "object_to_gripper_xy": 0.006792975829434582,
+            "object_to_gripper_z": -0.0006468235567582692,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3659657772971173,
+              0.06753305742731418,
+              1.0468743763024675
+            ],
+            "finger_b": [
+              0.35424275137117167,
+              0.0917848168426071,
+              1.0468743763024675
+            ],
+            "finger_midpoint": [
+              0.3601042643341445,
+              0.07965893713496064,
+              1.0468743763024675
+            ],
+            "object_minus_finger_midpoint": [
+              0.005861512962972826,
+              0.012125879707646461,
+              0.0
+            ],
+            "finger_gap": 0.026936539710913924,
+            "fingertip_max_gap": 0.0922974347268394,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013468269855456962,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468743763024675,
+            "object_top_z": 1.0927943902993054,
+            "finger_top_clearance": 0.04592001399683787,
+            "fingertip_min_top_clearance": 0.013776004199051327,
+            "object_projection_between_fingers": 0.8105930805984576,
+            "object_to_finger_line_xy": 0.010554585237244993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048648717363419705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9465776790817335,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3667466936936523,
+              0.08878897646034102,
+              1.239356867756334
+            ],
+            "held_position": [
+              0.37200025669102377,
+              0.09307031928565754,
+              1.238564885429448
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006823273155996289,
+            "max_held_gripper_dist": 0.006824533539665175,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0007919823268860426,
+            "max_held_gripper_z_dist": 0.0008025507483193639,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877134935827896,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37200025669102377,
+              0.06756480151005839,
+              1.238564885429448
+            ],
+            "held_grasp_finger_b": [
+              0.3627026925638076,
+              0.09307031928565754,
+              1.238564885429448
+            ],
+            "held_grasp_midpoint": [
+              0.3673514746274157,
+              0.08031756039785796,
+              1.238564885429448
+            ],
+            "held_grasp_object_position": [
+              0.37200025669102377,
+              0.09307031928565754,
+              1.238564885429448
+            ],
+            "held_grasp_finger_gap": 0.027147304391064334,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024729095574557967,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07532524818612078,
+              -0.9970170817035898,
+              0.016823964365057953
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003681400059548549,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032135335853122865,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3507552713496367,
+              0.2324709146169081,
+              0.762586954601679
+            ],
+            "target_position": [
+              0.3553893476899527,
+              0.23104033270038143,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00484986887944092,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17016149965758448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762586954601679,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756494761019952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614393655516932,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13844358101751575,
+            "release_required_pad_clearance": 0.05307196827758466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.167660599293779,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6175f015a6d194c10aac2262c80e44ca9c3ffbb79bf5ed25d82a038bf9ec6871",
+    "visual_seed": 8450896041879402689,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0443f99ca7c518489a7003813b926830ea3199ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36651873445412325,
+              0.08651155737991975,
+              1.0489673121887628
+            ],
+            "current_z": 1.0489673121887628,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1923806855709077,
+            "gripper_z": 1.0496761610987102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3617756993474903,
+              0.08181529723142657,
+              1.0496761610987102
+            ],
+            "object_minus_gripper": [
+              0.004743035106632931,
+              0.004696260148493184,
+              -0.0007088489099473794
+            ],
+            "object_to_gripper_xy": 0.006674671632753006,
+            "object_to_gripper_z": -0.0007088489099473794,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36651873445412325,
+              0.062331580001853765,
+              1.0489673121887628
+            ],
+            "finger_b": [
+              0.354880820513817,
+              0.08651155737991975,
+              1.0489673121887628
+            ],
+            "finger_midpoint": [
+              0.3606997774839701,
+              0.07442156869088676,
+              1.0489673121887628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005818956970153166,
+              0.012089988689032993,
+              0.0
+            ],
+            "finger_gap": 0.026834909108952802,
+            "fingertip_max_gap": 0.09247527290497978,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013417454554476413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489673121887628,
+            "object_top_z": 1.0950696470419383,
+            "finger_top_clearance": 0.0461023348531755,
+            "fingertip_min_top_clearance": 0.013830700455952681,
+            "object_projection_between_fingers": 0.8119167912233254,
+            "object_to_finger_line_xy": 0.0104865082516937,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048737636452489894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9988442010022356,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3675683064515101,
+              0.08318515812564446,
+              1.241637925655873
+            ],
+            "held_position": [
+              0.37271953394599444,
+              0.08738772291686503,
+              1.2407795399419033
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006703247090648325,
+            "max_held_gripper_dist": 0.006712048226104218,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0008583857139696782,
+            "max_held_gripper_z_dist": 0.0008683612277968766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792698284541481,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37271953394599444,
+              0.06187749431001828,
+              1.2407795399419033
+            ],
+            "held_grasp_finger_b": [
+              0.3636571869530326,
+              0.08741097788695278,
+              1.2407795399419033
+            ],
+            "held_grasp_midpoint": [
+              0.36818836044951353,
+              0.07464423609848553,
+              1.2407795399419033
+            ],
+            "held_grasp_object_position": [
+              0.37271953394599444,
+              0.08738772291686503,
+              1.2407795399419033
+            ],
+            "held_grasp_finger_gap": 0.027094001487311316,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024704025671883335,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08147096139717566,
+              -0.9964305778040373,
+              0.02210398303773564
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034896053290981825,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032133065971119056,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3518611717715875,
+              0.23405767229530866,
+              0.7625849306681495
+            ],
+            "target_position": [
+              0.35650197797739713,
+              0.232778354869013,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004813910605433495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16901182748429208,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849306681495,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532564801964314,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08909583680341686,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13813162418601924,
+            "release_required_pad_clearance": 0.05454791840170843,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.119315813965469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "943384a0e25019226579ba13fb3283c32fc1c6bb4c29039953a7040bd267a20b",
+    "visual_seed": 1486843994047879118,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10235039296b1ea7521cdbd335f41fe84a571f30
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.36218840403017666,
+              0.08286240127929224,
+              1.047426472256555
+            ],
+            "current_z": 1.047426472256555,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1908399052433446,
+            "gripper_z": 1.0481983626681355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3572554600151465,
+              0.0781057237641338,
+              1.0481983626681355
+            ],
+            "object_minus_gripper": [
+              0.0049329440150301385,
+              0.0047566775151584445,
+              -0.0007718904115805447
+            ],
+            "object_to_gripper_xy": 0.006852730670224504,
+            "object_to_gripper_z": -0.0007718904115805447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36218840403017666,
+              0.058503523204503284,
+              1.047426472256555
+            ],
+            "finger_b": [
+              0.35052075187437043,
+              0.08286240127929224,
+              1.047426472256555
+            ],
+            "finger_midpoint": [
+              0.35635457795227354,
+              0.07068296224189777,
+              1.047426472256555
+            ],
+            "object_minus_finger_midpoint": [
+              0.005833826077903115,
+              0.012179439037394477,
+              0.0
+            ],
+            "finger_gap": 0.027009054924068042,
+            "fingertip_max_gap": 0.09126920309251105,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013504527462034017,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047426472256555,
+            "object_top_z": 1.0928574304863956,
+            "finger_top_clearance": 0.04543095822984067,
+            "fingertip_min_top_clearance": 0.0136292874689522,
+            "object_projection_between_fingers": 0.8133843034074304,
+            "object_to_finger_line_xy": 0.010522801226527505,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048134601546255526,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7637835208454089,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3628479685631766,
+              0.07978272660975765,
+              1.2375202004640058
+            ],
+            "held_position": [
+              0.36815203588900697,
+              0.08408926046025929,
+              1.236586906009771
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006895679991180241,
+            "max_held_gripper_dist": 0.006897790020979023,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009332944542348454,
+            "max_held_gripper_z_dist": 0.0009433505083071836,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788592098995195,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36815203588900697,
+              0.05852003861769287,
+              1.236586906009771
+            ],
+            "held_grasp_finger_b": [
+              0.35887816516548066,
+              0.08408926046025929,
+              1.236586906009771
+            ],
+            "held_grasp_midpoint": [
+              0.3635151005272438,
+              0.07130464953897608,
+              1.236586906009771
+            ],
+            "held_grasp_object_position": [
+              0.36815203588900697,
+              0.08408926046025929,
+              1.236586906009771
+            ],
+            "held_grasp_finger_gap": 0.02719907689299499,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024823225171243746,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07296367568097684,
+              -0.997288107711258,
+              0.009629758502676777
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003693870510974601,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211195668441022,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3472837030703326,
+              0.23905460226176511,
+              0.7625850319030212
+            ],
+            "target_position": [
+              0.35090049551165414,
+              0.23707779711121055,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0041217649334793355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17170108224032862,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850319030212,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589261027207894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648784562261273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13938975247980157,
+            "release_required_pad_clearance": 0.05324392281130637,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4992860129629624,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
+    "step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "workflow_spec_digest": "fb571e68e50185d1b8b257ac3579e749cc318d476c76bf0271a149efc3ed3bc1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7eca47bc1580e743e6641e78cd68a4a674460e039a3ddf591d79fe60e1d4b7d",
+    "visual_seed": 7027983701381754555,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3028738977928516977,
+      5597848014300184368,
+      589239366799290088
+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d92da38eeb871005cd1a728e9c61d943928ff76
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_2beaker_dual_target_s03_psl_gqr_00020",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..93a5d20e0593871b51f67f294a9a2e0e597909de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f28b11071926191d12fb10f483a77857048c86515ad941c9498ae94e20cea7c
+size 5350268
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b62dc02340420b0449c398251f152d808494441
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f54fcd9914afe5fcceab696a2b657f9ab28576ea286d980c136c2bfcbe2afb6e
+size 7063779
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ea217c333c9870e2613f754b0b0e58b411c90673
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b788381693073548ce8ada3415937506a0b48d34ba8acb2eac5f4cb5c84f497
+size 4363144
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..412ecf5c7960360f3413e7dff072798e236410d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea25d7bf1c9cc9f0329ac471027ce23716c4faf1c4a0ca15b8d5f603410ae2e6
+size 4461257
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ce1ad93ad99afbecccd7817f2acd5d0583c391fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d76c015c7174c5cc3e43a2168b87b0e2a4e4103010e7d88584c63afe4c25b5c7
+size 5224537
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f8fe1d2a08bd8fe2161644d018b82f1080df91e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ade17cf2c79829d424a63f90f2682aa736aaa6d525fa30ab03e68a8a2f609bf
+size 4233133
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fba87bafd10b37d79dfe7a7f0a40717f24b88f72
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85bdd907f2642ddd678d7efd9013aef36cf7b0dea11d7964aca89b7d5203dec5
+size 4875289
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3140353ea1c268d37655e18beea7d3794726b95f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fffec4e8aac18d412ce601ad44f8c50c71262d52bb0d99213505ebb14519672
+size 4644142
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..627373d15a3548fdbaaab39d0c55b39f6fe970a1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf51e6c4860b55d7270e5c93524adb0c1c8926abd88dac630fcb2c29159a5ce
+size 4790214
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c297d08c9b0d1af250cdd6ebf068bfeaff3681fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b683b427ae0708de10d2e182ada8146759f396aba38af00d11c18a4944c5f3
+size 4245188
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9f57de96cad9bed8e752da746563ec9c0ae78cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1900edae442351e12593e8b20e292329e45f844fd34db3c71e53d055a814ee2
+size 5634556
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5bc771c45cb6a75462217bf7f05c7e2b5918e9b8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81141eda5294fb5ff45ae4a8c57a7ed15f28733c2d13dac9640f9a01fed85797
+size 4093533
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ba0536776a26e1d26654bc4c3929b1b2241e9f7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153c6c5f963c05871f2d28659b118be44cb2b6b37149226dad4980d3d9dd015c
+size 4487259
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..67000341e24a4f19394eecaa87b71f439063c690
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a65b21273b22f4c9957694f27ece659acb1cabb120e52304c5215fec0320d9e
+size 4255900
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03b949c3845215e7ff70f521bc9d1866ecd92544
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea13ddab7872fd995b23479fb92f51a5ca51f9518b553405a68c52a32b09bf9d
+size 4971915
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f215fe110285a6e043a9e8f29bf6b58cda8afbb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea55225991cf4e4e2dc1a8979c37de1ab1ed6c279764dd7bd1433ea7478bab3
+size 4282764
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..125a32911b8ec283ab9695764b854514097c531e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3075aaa2baf5cc422e8ddc2bd09ece3740c6c59a9dde019f71cde5ca631ce72
+size 4742622
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..713767897032b972b888245070a087b805b08990
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a27430f90e6b632c61491e33b601a65eeb4dd901a3426981dca46fa232099ad
+size 3771620
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5681bfbed522978809345b8ccbc4df33058bf425
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:269dae3405c29b5b812e60f02d23ac2f9fcaaeeb41610c681619b5913697b406
+size 4203783
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f13377a1b42233a920a61a472f87720e182273d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bd60fa5b935b7c7966c55fb5498c890396c5bcb0140bc5c4605f89eb47c5af7
+size 4378129
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..69ce0a8eca48aeed283baa4725f8397120099065
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01186e15ed1724da39a9c0f3da692da7d5a91f269a637a45083c9e8d9eb92ffc
+size 4251418
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b43e00f946456662f127586c03c5c2a207d54e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f4a0f12a50910ae8b950093eea45fa6707cb775e096970b636aa25eadb1308
+size 4104703
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ab4d3be17a4aab4e84b3a7ee4eac9e666c58f77
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e1dd5c4a85b23e0953d7929aafad9f2970f6e107ab1cb7e890edf2f2b3e7e48
+size 4808415
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d51506da80d0dffa222b07ba5293c305ace6b4b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fff6e50606ea8c616547647cbd250169c1626f6e487d5efe202529b20b8a700
+size 4514794
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..51e31df635c46205c2d83c377d679c283a988ef6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16d1cdb770a7fe2091012ad38785c47b624a4460772eaf0a103978a5a555fc8d
+size 5195740
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8b2800c8a13d0e4e4da092e4b49bb88e4b06811
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6290285d2eb0acefa32c34e48efc860a5a33aafa6fb3fa99eb9c47cde3ba1a7
+size 5299555
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e2b24175001bb363121d654d3047fd26b56dd10
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cba16d1085a831519040708ab1ce4c2868f862c885a476fce692a32ccb6daae
+size 3836102
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3f94e7be1d4775b7c938cbe44c8d54cdd23484c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f769aaaa60dd62967f65092dc423e2c5880e81396cadea13bd0391025df13e91
+size 4461096
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9cca4904303d54c2e2ab65caa7456b4b93af8be3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab95813712fc827292f0e88994c62fc44dc151ce04dd7b52e835c556f0c61539
+size 4268287
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d59fb6df5c7e0248fc03437fe15ebcb5e25b2c5b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6a7af7a73f952450828139f2e431100538ed31e810785a001462e8f8a79ad10
+size 5929368
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21548ac00e3fd83348cf1815dd4254cadbdc6bf1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3a261e3347c798a9f2fb2da05cce5bdce8149e2969bbd1724be07671e034ce
+size 4065220
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6aa37faf8c02370fdbfad9cf176d4e0a0629df86
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2bad20e7adc8d95ebdfc00db374c249b1fe21536f299bbcd70dfca63db73736
+size 4004680
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0f15016668d6b7f49c6e712e10a9b99d14fb6cf2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8a7d7f427a5cfa9b98086622cca934b9832c657ea539c58e7173d075d1d5792
+size 4389147
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dfcae961ece7e2c7b338915de230fcccaed5fc7c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04d262a75b0b630f8a68d2f164f3e3de441f35a2dd92f4d96af1c7467afc0fca
+size 4865447
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ffbdc9dfbf52ee190730d6adab31a29ee2bb3cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5c95cb35acc01acfedd7470470fa52de3d0606d5d63ee2d2ff8cce11afc1e85
+size 4013542
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d244c0ca718ec5444428c1c1f5b6bb572b9ecc01
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213b934fd1cc6d86afd7efb424b898a58962949c1215a3fe4a9b390711ee73b7
+size 3962006
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11210db3a435ab1f01d387c06413d3f3aebdd87a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6137445b1adb1674293a421febabe92e88bf1dc76144f3880ba20083dc10873e
+size 4566668
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d66a7a3c701e11783f11cb72ae54ad322f3b9803
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b16ec1cd42f65dc6a355681a262490215e98b8f95eea9136dc9b021c54b4eb90
+size 4264790
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..56ff8b1c3cbde3e2c92e01e21c8e13f8761ae6d0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b8b4aacd564bc2a01fffb98fa713d13c1868b9192c84cbffbbdb32575f24710
+size 4971515
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..028ac7686f776780777eaad5a90eecc3d4a81eef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2935c06bfec8036201f736aeeb89059f637a08821f113240f5005b6ec728d978
+size 5293240
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..628096670cc64f1e18cec77cbc120e659a0b4f3a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e473fc0eb7cce44860c9417980a63788561c9c17dea29e847c41856e5d128ed
+size 4304011
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..933317ee03472cc1d6219c3ec02414af6a183f45
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:794a7ebe4875b050334060cfe5533498d878ac949dd3b06b76f73b2595c77c38
+size 4705173
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..88750a79d5fa6f374e9c25bce8d9462cf66de2e2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:062b0169961100829998f88cc3f6f008dd80262154add35530bc7ab7236464f5
+size 4334393
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d2a24b4cf34801b8030d90889ab95dd5a703694
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6416813f3f39f3d86f0396a7eb1b8a83d6883f174939e86774c68fd16a19c100
+size 4456355
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..471d7a3ad7505c5661a43fd6a7cc37a9e8a8a261
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18f538bd7ba90e7bf055a1d7a355b53ba2c9cdc5b6dc2c1ce9f3a891b06ff426
+size 4201359
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..98791f5badb9fb7ebc302a9bcd8b028037023190
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c39e74a05bfa2d351202221773d4dfe7bbe6e0fecf36188b3633ecd26210b0
+size 4487759
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a143ebf4d39349aa953378a31d83ba44edde3b48
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c23ae770a18026b32e44031a17c2c2cd7ef1dcc863d0118cdfe069eded8fb418
+size 6415828
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d0913f6ee40e682a2110d4fdea5afd30f315dbc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35560793c2d956e6732f587c64b3dbb63fb2ecdd3e90185e379aa4c9e6636199
+size 4809060
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11edbb647499b97e5e1c8dd63704baf98d868c25
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e068a04141a91580b2be0766dbf5c290e2d4915743d5046a9fc14963b6756dd1
+size 6034734
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f78c51ef030550010d11bfcd7125750ad0214ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e82e5381638cc242d88790fcfadc5aa52868c33336ccafb35126827d28e461
+size 5475552
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a06ea14a718700c335f48076b5d10f1aa7f99980
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d6da759681da6892dc4a0aa6ba67d65e13c4736a2255df630c799ea941efb51
+size 4691130
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e50db80b72a8618ef07adeffe0b111abb176179
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:561c1a40c499c8b0dba16d054ada08002cc07879afe4cdfa5f78a0af005773f4
+size 4797299
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..171f1eb16346e93b02b1272f23d970b109b9dc1e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ecd3ec05519f90642291ef67153d5194b1384f49a15b6c20b5da7f8f424283
+size 4181258
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7827d821efd5d66814dc5909c213b0aadf318e2f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d1bb9a54d9e77ab5f2f1ca2008b685fb667db79081547cdf4e4d820eb8909de
+size 4663669
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..12bab5ed70ca4616282b4283d56192b12ca2ee96
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a74b119926d9f544233fde23698da8b68d6df9e2229c9eb40694f52ea97ba0
+size 4547996
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22853c865528ec624b288a8649ffe5faaa082be5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e7a8ac406f0b4f8355ab45bedc7631c7bdab1b9d4970758d2323112f5a0863
+size 4178678
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d3c25dcf1f94c3ec957e2ba510b5b94c04c50c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a968dfc88b0213322a9690d1ae0207e868301ac6b5b6c4bd01e7a17ac0b4c1a
+size 3871287
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22477ef05e1ee616c5ac76d49cf8aba2d9553b0e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de079e6dab5eea30d73cb2b53b00ff6eb33b7d8820e5a143725a125ea2a49452
+size 4117264
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b82be7d7684c19d492ef2b22921bc8734ca2df91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c10eb63ac34335a2f865279f4c5fbaff151573b7ed1bfeb2135955a38a0990
+size 4488455
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57ef5da89ef132b7f390cc2179e55f19a5a76e09
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8891121b8b2583a4055aa713a4ad0668e4d7863e611d352988096ada2ab176
+size 4182336
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3d98b562f973ddf76c6ffd0234960e325b5ddee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34b29ff8942ac3542c73c03ae8110d5168f809a9ae000cf1324aa6303ed836e
+size 4643401
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be1383ec978d7331f394f16abf8bbe6d8b6cd089
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23dd46f10a2d38192ab88dbc95fe38982291d9984d27d1b7ed8414367df5bb17
+size 4419831
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd91fe2c07570d804c62d727c88c7988c7cad724
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea555cc215555e2a348d01ae97ea5c6d8287d2fb67689a43574affdad32f2116
+size 4055980
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d8ceeb2e8faefca38d7537e14e171e1e34e8539
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3956e1287247c3a4a56496156aa1be126b2798110406cf3ec2209e060af7eada
+size 4339381
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0059ee020891f4186a65f911d2cb28e1e150690a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4c5e8623cf9def8bc24e63f4264e46ad815dc767b83591b599e2541cab1e914
+size 5203000
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..036acc73a491dbdf4dafffd751c17fe3841d8706
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6913bf404794842fe279b4beec4a5d17bc695c737afab3da4afcbbf7eba8573f
+size 5010128
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25a21e087f180822ce03ba7c81939bb332ab5bb4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad1082bcf5b2441fdaafd56be0d6501ebee978a38002404130c4e142f70cb6ca
+size 3959209
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25da2d6ec930053bd85c664f90fd93e81096b151
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29fdf304a79e1b01ca3f6b1c53cbda6977a3a58df80ae31bf89dd5764e53d19
+size 3641498
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d49ff3360e15d306f2629e9d278ea164c7efe21
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5358244ad9796e2b4ba3e0214b5972a5f274a5488b25731ccf8418ceab3e9292
+size 6210912
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..feeffc79ffb6c2e3bb208d19d207ebe89d443350
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c630ce529f2f18ddbc93dd644a2d3579406b6d5f70a0e4b8dd0b532a9101dddc
+size 5610287
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..59eb7158a83e031f97d184fe658a73446dba5c2e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c6e95caff992805b5ad97fed0782b522ceae3c5ba7dfa1d9c6502d34bd1a7ef
+size 4849045
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df4b34d7ed5796703f05dfae728f3b24cae08db1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2f8ff29a409fb7351c806725cf27b3acb52302c6d5ef1798e02aaccd20ce806
+size 4289544
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aa54c1d4ddf3f8af2cc5c69f0cceb75225cdde9b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e201c4a5d26fd88d3e4670c804fadb796be7b6cb21b100a275e2262973456be2
+size 4913902
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ed62f8aa2209330b1e4eaccbc4eaf9db085ebed5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15821c7587dfd0eeecf060eaca1b5a4d7baf040a6e4a4d0d0ac462d3c8e9fe2e
+size 4717055
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11650ff25ae792d9b4a0c9792f32306c40c334c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:626899c528ae88c716a2901e932c6939461511d4239d657d3bb915d46ec97ed9
+size 4803637
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..690e816183b0f33fc8b7c744e40836eefc6df593
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b271cc17757f650bff17da054ebeff2c31df742415eee311625efde3d32f954
+size 4578354
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1dce0bc0e3efea69613ce3cc860530e157944a24
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d9a3328f554a966c8df873025372c01d3f94c7632c78f8cfac8c54553cd9516
+size 4655468
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..775d7c44b9ea36ef9f8bed871d534bd223ae3779
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34b71858020e586426638ff1e968cb00b1a58df5d379c2dbc6df01d20027aee
+size 4263862
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c8d2149eda535db83d94a4eb25e0ea392c0c9a54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d7aa613a6d4247e7d9f914bb1745ea5577bd00843e769b11ffdc1020bbe8c9
+size 3659843
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e2bfc77177a15118e7d7caa8a7dbcde28a244143
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30f3404d1a3fb2707e21fbfca57b971f10207e445c598691ce3b5038e314c61e
+size 4470902
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2c76a11ff7c7903f69eff715428c5e5056a05f49
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:854fcbaf4199be9c232fe768a2b42a7ab01a066e1bf40da6bec37dc57989c1d0
+size 4645430
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..08c64e26fe9051556b7e59a3cab6466eed6d278b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e49614f389caa301f82189559a67bc636788ed52c22d8e991b763c7135ff093
+size 3930783
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33e588a156f93c782001d40c2da2117fdcb66026
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96cf1d7d37fd12f9d7878b1f21f2c18263b5d078c43e0e4a758cfceccc8a7667
+size 4209975
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..14f713851269eb06417aa8e224d895ee2533c111
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c63d9bc4c3b086b488dfc83154f9bba7c786b469631d64b185d1c88578758ef
+size 4207328
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d4bd92287fd581bd9f1605022b684c5d1f85920
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa708abe4327b3ab0d4618f507c3a8234a3f1677e5cb2e8780e2045bd33ab173
+size 4919279
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..154ef8beaad89065a2314e7fb57956e76ee311ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a75f2647f92ba74600f0f98fcaa1bcf96044374247c9d13010d5d70319a4b24
+size 5731098
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ed1f2d6f8ef949786a4a9d0a6ee5065ffdec01e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9b698b6f6b9de05b6d20f0362a3aabdd238a888534d7fad28a06ad5896638d
+size 4453783
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0102.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e1bee9d1da83c49157e6854263d5cbd481535af
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0928d8202f0f45c1cd8e0e3c06d37edd5b082c774b57b51c39e5c4ef7bcd0928
+size 4912894
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..077e7f9272e3db6991bce5ed3ed9606fab1d354d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ec8741fe675eb55a76cf7548b71b1d27496334f4e61fd1058c4fad3396af65
+size 4888395
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0105.h5
new file mode 100644
index 0000000000000000000000000000000000000000..db91a6e58b7ad014bf662eca4aa9c67a159050d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0105.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400435f891dd3b5fa1c9fdd6be993b42d77a63b56ebe873d76db3ef4261792bc
+size 4085749
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0106.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0106.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7fcc53d744f72949fb4d36a7d8e9bd99532faf92
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0106.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:128b6c1b76abbdc8e15fa981489e177623fa1bf14ecbf1bab40dff9ab86834f9
+size 4378330
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0108.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7131cb8f014a778bd11fc0f6b3557578e419c81b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7f2b0407bb60905db1630d0445184596eb2345be04d63969d7ce238d3f7fb2d
+size 6108159
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0110.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0110.h5
new file mode 100644
index 0000000000000000000000000000000000000000..270f0d60b159e6a497bde0751083deb321f2f8c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0110.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:652a69dfacfecec75a0373b504034b235b45182703cae0dda674fcfe625e7897
+size 4500989
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0111.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29c6f37a4e9e5b556fdeb413bb3c3403b0d5557b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d1c473fe17add02dafda9779d1d149f7284a78e9706910ba0810555814fe1cc
+size 4317603
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0113.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be539906f16082381c9b1ba3fc7623b3ad15c0e7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:070bf9a51cbaaafa8da52c0267dd34509bfe9022045090d2ee82e044177ac32a
+size 4473960
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0114.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8be7e3b919284afbe01f1d6c65d91c6ff57b1fb7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18ca9b5900a795e472df39609ff36a5c640383f4dd515bdf244a8ae8b5d94f1b
+size 3952449
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0115.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..666141fcd3e94e4150e3a1bb16e58f701e6ebc94
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef85a5f57c2e554992283d4b5460501e8bb50ebb2568f8409cc2244f5a4938f
+size 5394102
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0116.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0116.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d38673d28b20a051864ed326438b8d6bd723cd0a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0116.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ae7014e3f2231d0239be03f2e688a36d7a45470a2130c36dd620d826fcf08e
+size 4816439
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0117.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0117.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d054881329875044a2a31114e0981d526cc19723
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0117.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8058c1b13c69334539a5fdf5f3552b3e1f332413542528d730996bdee203c5e
+size 4234862
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0119.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0119.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a3482a84ff045e800c33ef89c998b9bed946385c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0119.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e58a88bddde8b9615718fa4481f9a7068ab22f4288fac5b1a891bc82c528f405
+size 3929151
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..da27761ead6c8cacfd77591cd38613f1f38869fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":916,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":852,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":854,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":853,"success":true,"robot_type":"ur5e"}
+{"episode_index":117,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":119,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..040dcc4d67304033f4bcdb53d00c23968321f940
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-02T02:18:33","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.6680555911819994,-0.06924475556269716,0.71338606911949],"aabb_xy":[[0.6315597705547206,-0.10572869798945471],[0.704551411809278,-0.03276081313593958]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.5184817475490169,0.34839376693438906,0.71338606911949],"aabb_xy":[[-0.5361573781376151,0.33071355065498625],[-0.5008061169604184,0.36607398321379175]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.4209726990161982,0.9570030857015657,0.71338606911949],"aabb_xy":[[-0.4269392379569339,0.9510419410422015],[-0.4150061600754623,0.9629642303609296]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.10160088636487574,0.9818816718634356,0.71338606911949],"aabb_xy":[[0.03660088780780292,0.9521291384495529],[0.16660088492194858,1.0116342052773182]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.25642615165453275,-1.4049341816479124,0.71338606911949],"aabb_xy":[[0.1924261484358949,-1.4516572935469207],[0.3204261548731706,-1.358211069748904]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.20554512331113406,-0.7187639528697831,0.71338606911949],"aabb_xy":[[0.15055287267562312,-0.773763954613096],[0.260537373946645,-0.6637639511264704]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.36173579643266685,1.4088862053926499,0.71338606911949],"aabb_xy":[[-0.3792357966920036,1.3947946632038772],[-0.3442357961733303,1.4229777475814225]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.1276520820902619,-0.9428273813638652,0.71338606911949],"aabb_xy":[[-0.1320827114451021,-0.948275753098548],[-0.12322145273542176,-0.9373790096291827]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.48163611920810157,-2.2103657871424796,0.71338606911949],"aabb_xy":[[-0.494787365179391,-2.235365786899166],[-0.46848487323681226,-2.185365787385793]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.6450936290483467,-2.030632483253508,0.71338606911949],"aabb_xy":[[0.5998150141671974,-2.0946324826016918],[0.6903722439294959,-1.9666324839053244]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.08810341807949396,0.9405246464458998,0.71338606911949],"aabb_xy":[[-0.17182564357957641,0.850524642911204],[-0.004381192579411497,1.0305246499805958]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.6545903731292362,0.8817703659154255,0.71338606911949],"aabb_xy":[[0.6363845494679885,0.8707449653334339],[0.6727961967904839,0.8927957664974172]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.4167363747336066,-2.323065188939205,0.71338606911949],"aabb_xy":[[-0.480736372035953,-2.367431615907061],[-0.3527363774312602,-2.2786987619713477]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.6382176746549701,-1.9150662630420734,0.71338606911949],"aabb_xy":[[-0.6585019773783689,-1.935348888184782],[-0.6179333719315714,-1.8947836378993643]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.29034232824767314,0.948833101598062,0.71338606911949],"aabb_xy":[[0.2843053152470084,0.9428064005291138],[0.29637934124833787,0.9548598026670102]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.01452453412084087,1.337595338846035,0.71338606911949],"aabb_xy":[[-0.020475465855654962,1.3281307227984185],[0.0495245340973367,1.3470599548936517]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.549674745032096,-1.751847121744208,0.71338606911949],"aabb_xy":[[0.4696747478725207,-1.7633947227020248],[0.6296747421916713,-1.7402995207863907]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.1408726245617018,1.2554586066337445,0.71338606911949],"aabb_xy":[[0.07087262192511543,1.235353741637879],[0.21087262719828812,1.27556347162961]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.3751087671448128,-0.7447987600345944,0.71338606911949],"aabb_xy":[[0.32513135027955914,-0.7947987615238429],[0.4250861840100663,-0.6947987585453458]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.6129757351154268,1.587876974512842,0.71338606911949],"aabb_xy":[[-0.6504757357800054,1.5721899165126196],[-0.575475734450848,1.603564032513064]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.5077708688019924,-0.924833119940885,0.71338606911949],"aabb_xy":[[-0.5654013376892632,-0.9848331188675954],[-0.45014039991472143,-0.8648331210141742]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.18562152803964826,-1.8341937162420656,0.71338606911949],"aabb_xy":[[0.17684030089241207,-1.8429734635305963],[0.19440275518688455,-1.8254139689535358]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[0.59273612854265,1.2907197575347205,0.71338606911949],"aabb_xy":[[0.5554048520174074,1.2560667027398682],[0.6300674050678926,1.3253728123295727]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.1547714506689225,0.6521220207508707,0.71338606911949],"aabb_xy":[[0.13227145114521507,0.6296260733002497],[0.17727145019262988,0.6746179682014912]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.394293991970659,-0.43242274623238064,0.71338606911949],"aabb_xy":[[-0.4292939902407789,-0.43949687392736875],[-0.3592939937005391,-0.4253486185373924]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6975165403668381,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1249.png","name":"1249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8068.png","name":"8068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/19.png","name":"19"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2020.png","name":"2020"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":745.8493024410479,"rotation_z_degrees":262.23993027853817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011471812029298836,-1.968196473160766e-05,-0.00932940426089755]},{"name":"camera_2","offset_m":[-0.00024359023055036191,-0.010080888614053122,-0.011347553945607932]},{"name":"camera_3","offset_m":[-0.01628833305603066,0.01969418717745611,-0.01192030293776746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013855930484301237,0.0009861654392361707,0.001339256840222184],"end_effector_yaw_offset_degrees":0.2887235406615589},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008647689179996326,-0.0019074622087689491,0.0012849701256777242],"end_effector_yaw_offset_degrees":0.9698062740945042},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016804798733236997,0.001195196353303808,-0.0014058144462628696],"end_effector_yaw_offset_degrees":-0.45936691917491657}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004918009656259559,0.0024281890639406938],"position_m":[0.28481800965625953,0.15942818906394068,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003128604626198391,-0.0030040320386260566],"position_m":[0.3561286046261984,0.307395967961374,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003683739665424216,-0.004966974088837332],"position_m":[0.2913316260334576,-0.048166974088837335,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014739924440441356,0.002321773527476205],"position_m":[0.24852600755595586,-0.3341782264725238,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9d593e8268d2d45357b19eeeaf59f3cbee69b60a46481a3e02b619b14193b5fc","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1594/tex_ceiling_textures_2020/tex_floor_textures_19/tex_table_textures_1249/tex_wall_textures_8068","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3736032182674392049,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3736032182674392049,"visual_seed":3736032182674392049,"scene_id":"lab_003","finished_at":"2026-09-02T02:21:05"}
+{"episode_id":"ep_000001","started_at":"2026-09-02T02:21:09","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.5027957063278703,-2.0482679546981073,0.71338606911949],"aabb_xy":[[-0.5377957055206883,-2.0592350006957694],[-0.4677957071350518,-2.0373009087004443]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.37127538289588174,-0.25769504780800334,0.71338606911949],"aabb_xy":[[-0.38414728639682183,-0.33769504822183943],[-0.35840347939494155,-0.17769504739416717]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.03687391736814716,-0.8229158980573872,0.71338606911949],"aabb_xy":[[0.028760262694770056,-0.8310217145114163],[0.04498757204152426,-0.8148100816033581]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[-0.1257203029328997,-1.8470332797718911,0.71338606911949],"aabb_xy":[[-0.16031138578694493,-1.912033280056922],[-0.0911292200788545,-1.7820332794868599]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.37984926185074375,1.2609946464951642,0.71338606911949],"aabb_xy":[[-0.4168833712788035,1.2266174391614546],[-0.342815152422684,1.2953718538288734]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.6025279221033691,-0.5479709407089781,0.71338606911949],"aabb_xy":[[-0.6725279237056486,-0.5614037339106357],[-0.5325279205010897,-0.5345381475073205]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.2910872465317029,-2.5263501757173255,0.71338606911949],"aabb_xy":[[0.2864521313794695,-2.5302175107944738],[0.29572236168393623,-2.5224828406401762]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.022473435704680744,0.7851243035918638,0.71338606911949],"aabb_xy":[[-0.10247343597828773,0.7121747557661471],[0.05752656456892623,0.8580738514175805]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.3981793910312428,-0.6086200423036234,0.71338606911949],"aabb_xy":[[0.3482063254987274,-0.6586200421161563],[0.44815245656375835,-0.5586200424910905]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.05348467454399619,-0.9472620531378875,0.71338606911949],"aabb_xy":[[0.003489663584544161,-0.9972620521734794],[0.10347968550344824,-0.897262054102296]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.06294992472084959,-0.6457392486525622,0.71338606911949],"aabb_xy":[[-0.08794992399281186,-0.6620846122487245],[-0.037949925448887305,-0.6293938850563998]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.4564635341449056,-0.2257292815516565,0.71338606911949],"aabb_xy":[[-0.46833561715640676,-0.31072928124530685],[-0.44459145113340454,-0.14072928185800615]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.05340468273061483,-0.20091449344075363,0.71338606911949],"aabb_xy":[[-0.07108031331921316,-0.21859470972015638],[-0.03572905214201649,-0.18323427716135088]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.21964004160328743,1.6236162105617242,0.71338606911949],"aabb_xy":[[0.18464004247333177,1.61787098948606],[0.2546400407332431,1.6293614316373881]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.27491533346381736,-1.6309132779814388,0.71338606911949],"aabb_xy":[[-0.35491533042685647,-1.707988919625212],[-0.19491533650077814,-1.5538376363376651]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.2841978541560301,-0.6460974270241784,0.71338606911949],"aabb_xy":[[-0.2901643930967659,-0.6520585716835423],[-0.2782313152152943,-0.6401362823648142]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.6144786967868814,-1.6099542759929006,0.71338606911949],"aabb_xy":[[0.6056766414779087,-1.6177656021478295],[0.6232807520958541,-1.6021429498379713]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.4375801430054014,-2.226268642667269,0.71338606911949],"aabb_xy":[[0.3575801408426389,-2.3062238262934125],[0.5175801451681639,-2.1463134590411252]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.39022015761221973,-2.542002162848516,0.71338606911949],"aabb_xy":[[0.36570653351521387,-2.5662667561505526],[0.4147337817092256,-2.5177375695464796]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.6600571026906537,1.2068715078191357,0.71338606911949],"aabb_xy":[[0.6225571021932954,1.2029028242710171],[0.6975571031880119,1.2108401913672542]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.05810035038138783,1.5227789096072741,0.71338606911949],"aabb_xy":[[-0.005899651530954508,1.4668677603492637],[0.12210035229373017,1.5786900588652846]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.22998532264630206,-0.8699701074274269,0.71338606911949],"aabb_xy":[[-0.2851105282758928,-0.929970108868714],[-0.17486011701671128,-0.8099701059861397]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.04568809191592371,-0.7316180316515175,0.71338606911949],"aabb_xy":[[0.03776481167717538,-0.7541180318895209],[0.05361137215467204,-0.7091180314135141]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.4105946587324612,1.5743713368847305,0.71338606911949],"aabb_xy":[[-0.47459465601810985,1.5328646179318866],[-0.34659466144681256,1.6158780558375745]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[0.6109526540241907,-1.1261686282460466,0.71338606911949],"aabb_xy":[[0.6054947083871707,-1.2061686315537057],[0.6164105996612108,-1.0461686249383875]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.2839907825584177,1.009474249653099,0.71338606911949],"aabb_xy":[[0.257701958237977,0.9832028159984477],[0.3102796068788583,1.03574568330775]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.4351913544906325,0.7460722281713319,0.71338606911949],"aabb_xy":[[0.38519135354009965,0.7145230811678104],[0.48519135544116526,0.7776213751748532]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_27","position":[0.13518505995735253,-0.6998985407144231,0.71338606911949],"aabb_xy":[[0.09388051689361657,-0.7638985402825401],[0.17648960302108854,-0.635898541146306]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[0.2440395966812181,-1.0563768759805703,0.71338606911949],"aabb_xy":[[0.23772749714487965,-1.0621438152337892],[0.2503516962175565,-1.0506099367273514]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.3114119669459854,-2.1204989398465437,0.71338606911949],"aabb_xy":[[-0.3754119672064562,-2.1655077391994717],[-0.2474119666855146,-2.0754901404936157]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_30","position":[0.03145269338504453,-1.6204336498340552,0.71338606911949],"aabb_xy":[[0.025358065496926208,-1.629003044385724],[0.03754732127316285,-1.6118642552823865]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_31","position":[0.6471736025847825,-0.7520412577644708,0.71338606911949],"aabb_xy":[[0.6112600981597928,-0.7879547659812254],[0.683087107009772,-0.7161277495477161]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_32","position":[-0.49496984414867684,0.773895518035844,0.71338606911949],"aabb_xy":[[-0.5119799414387275,0.7577610295375701],[-0.4779597468586262,0.7900300065341179]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_33","position":[-0.6676749632971661,-2.1117731899663506,0.71338606911949],"aabb_xy":[[-0.6796076976589942,-2.12415534277421],[-0.6557422289353381,-2.099391037158491]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995770886970953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3123.png","name":"3123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5013.png","name":"5013"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/668.png","name":"668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4237.png","name":"4237"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":607.3237955233338,"rotation_z_degrees":0.561956374701551,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015001026182213786,0.013647402836627905,0.019122481620633427]},{"name":"camera_2","offset_m":[0.0025915941070889306,-0.011062310800055002,0.019060608929160002]},{"name":"camera_3","offset_m":[0.004871987644777961,-0.0027029381889980483,-0.00973795151970374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017578929147589392,0.0015268980220122371,0.0013212640740239432],"end_effector_yaw_offset_degrees":0.0695370369777959},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015237062842071772,0.0005117243572262875,-0.000385925641629703],"end_effector_yaw_offset_degrees":-0.7591407943165795},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005076940748450331,-0.0004421818814692377,-0.00015745375303653645],"end_effector_yaw_offset_degrees":0.14515315781227223}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0032727214234434957,-0.0025587274323441754],"position_m":[0.28317272142344346,0.15444127256765583,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003498769724994007,0.0008995038861566839],"position_m":[0.356498769724994,0.3112995038861567,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004028424956898332,-0.001403739519533439],"position_m":[0.2876715750431017,-0.04460373951953344,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010076775920712482,-0.001888659789809598],"position_m":[0.25100767759207127,-0.33838865978980964,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5382ff7ac5844cecf893c5d726bd8d3106d7d816653d596175fab4498114b693","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8637/tex_ceiling_textures_4237/tex_floor_textures_668/tex_table_textures_3123/tex_wall_textures_5013","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2445528267985117331,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2445528267985117331,"visual_seed":2445528267985117331,"scene_id":"lab_003","finished_at":"2026-09-02T02:23:58"}
+{"episode_id":"ep_000002","started_at":"2026-09-02T02:24:01","dimensions":{"distractor":{"count":22,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.5711514060317944,-1.1533373099343753,0.71338606911949],"aabb_xy":[[0.48115140630862013,-1.176410662469555],[0.6611514057549684,-1.1302639573991953]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.6145923840437872,-0.1887283057829099,0.71338606911949],"aabb_xy":[[0.6084977561556689,-0.1972977003345786],[0.6206870119319056,-0.18015891123124117]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.1605219309584509,0.801879032712673,0.71338606911949],"aabb_xy":[[-0.22452193300818288,0.7617845496233652],[-0.09652192890871888,0.8419735158019811]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.4848334379345731,-1.8528359897565938,0.71338606911949],"aabb_xy":[[0.4659490541660629,-1.8717219145369464],[0.5037178217030833,-1.8339500649762408]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.13427148375676512,-2.251434041249893,0.71338606911949],"aabb_xy":[[0.07027148732944324,-2.29860366507199],[0.19827148018408705,-2.204264417427797]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.3340608523508409,0.3846460929097706,0.71338606911949],"aabb_xy":[[-0.3690608506209607,0.3775719652147824],[-0.2990608540807209,0.39172022060475875]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.6245474293668459,-0.7275472792532975,0.71338606911949],"aabb_xy":[[-0.6326610840402229,-0.7356530957073265],[-0.6164337746934687,-0.7194414627992683]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.4383620306992855,1.2887759796413678,0.71338606911949],"aabb_xy":[[0.37436202999581614,1.2427575971684468],[0.5023620314027548,1.3347943621142888]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[-0.5644675878915408,-2.336219258424341,0.71338606911949],"aabb_xy":[[-0.5823366956459962,-2.350052166401552],[-0.5465984801370852,-2.32238635044713]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[0.6154800305488517,-2.2682584293297374,0.71338606911949],"aabb_xy":[[0.5254800282148328,-2.34574078391485],[0.7054800328828709,-2.1907760747446248]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.027668353364324272,1.556811511504669,0.71338606911949],"aabb_xy":[[-0.05233164364992371,1.5366769598312575],[0.10766835037857225,1.57694606317808]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.22634405854782835,1.618592370659933,0.71338606911949],"aabb_xy":[[0.16234405620502676,1.5736515194158005],[0.29034406089062986,1.6635332219040655]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.33173123411731914,0.599267887917279,0.71338606911949],"aabb_xy":[[-0.36287815296090226,0.5292678892304717],[-0.300584315273736,0.6692678866040861]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[-0.6325306011093501,0.3487807049763516,0.71338606911949],"aabb_xy":[[-0.6524216409896902,0.3361248936916548],[-0.6126395612290098,0.3614365162610485]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[-0.6253124804997353,-0.35247454458541805,0.71338606911949],"aabb_xy":[[-0.6503124804322532,-0.35935721280634136],[-0.6003124805672174,-0.34559187636449473]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.6425141127538185,1.7403818560942024,0.71338606911949],"aabb_xy":[[0.5925191017943665,1.6903818570586109],[0.6925091237132706,1.7903818551297943]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.4233678005431804,-2.1863252251863843,0.71338606911949],"aabb_xy":[[-0.4619134933683814,-2.224870996242573],[-0.3848221077179793,-2.1477794541301956]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.17713164904310819,-0.8831610638858038,0.71338606911949],"aabb_xy":[[0.1131316504565357,-0.9301680272853127],[0.24113164762968062,-0.8361541004862952]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.575447388946589,0.9340117309038334,0.71338606911949],"aabb_xy":[[-0.6119432095738677,0.8975277884770757],[-0.5389515683193102,0.9704956733305908]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.5870371086479933,0.41687689663054295,0.71338606911949],"aabb_xy":[[0.5769554015694197,0.33687689873842835],[0.5971188157265667,0.49687689452265765]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.189596148144609,1.1323016086666837,0.71338606911949],"aabb_xy":[[-0.19402677749944922,1.1268532369320015],[-0.18516551878976886,1.1377499804013664]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.584279854079218,-0.36413291844848317,0.71338606911949],"aabb_xy":[[0.5202798549094481,-0.4108996055674457],[0.648279853248988,-0.31736623132952074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950081535404199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8630.png","name":"8630"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8630.png","name":"8630"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4481.png","name":"4481"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9040.png","name":"9040"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3725.png","name":"3725"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":627.5641297213303,"rotation_z_degrees":80.29567178161511,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019511293325366236,0.01895625873447725,0.01309925529923402]},{"name":"camera_2","offset_m":[0.0012330610002841656,-0.009066823428298716,0.013072350046704737]},{"name":"camera_3","offset_m":[-0.01436188233592977,0.018801437773355637,0.013099242653371122]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001994326032679768,0.000507333791669248,-3.900175503944361e-05],"end_effector_yaw_offset_degrees":0.6037146685599601},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004189658374017507,0.0018763327013683329,-0.0019509489874975894],"end_effector_yaw_offset_degrees":-0.2946790752797519},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-2.3847539682968905e-06,-0.0018266555056157055,0.001659614187544618],"end_effector_yaw_offset_degrees":0.22300880541551127}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004241857110791207,0.0023410524345501534],"position_m":[0.2841418571107912,0.15934105243455016,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005024077544380987,-0.0013157594137275155],"position_m":[0.3524975922455619,0.3090842405862725,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003859990428107425,-0.000881415886901756],"position_m":[0.2913140009571893,-0.04408141588690176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011705912783777986,-0.00354542797016285],"position_m":[0.2511705912783778,-0.34004542797016285,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"49f9d379422dff09a5f243dd40f428325541c4c186faa13b37d17939cb3242cc","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8630/tex_ceiling_textures_3725/tex_floor_textures_3034/tex_table_textures_4481/tex_wall_textures_9040","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":835429932132483509,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":835429932132483509,"visual_seed":835429932132483509,"scene_id":"lab_003","finished_at":"2026-09-02T02:26:52"}
+{"episode_id":"ep_000003","started_at":"2026-09-02T02:26:54","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.061425109333750005,-2.335821557127236,0.71338606911949],"aabb_xy":[[-0.10641769605220042,-2.380821556401685],[-0.0164325226152996,-2.2908215578527873]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.4494481221963531,-0.5004185270690056,0.71338606911949],"aabb_xy":[[0.4433534943082348,-0.5089879216206743],[0.4555427500844714,-0.49184913251733686]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.3835185062738063,-0.8847294931539604,0.71338606911949],"aabb_xy":[[-0.43351333920174795,-0.934729492049204],[-0.33352367334586475,-0.8347294942587169]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.21040644511922407,0.6598310649261507,0.71338606911949],"aabb_xy":[[-0.22081800379970776,0.6544853315902522],[-0.19999488643874033,0.6651767982620492]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.4882295485753564,0.4175819178790361,0.71338606911949],"aabb_xy":[[-0.5382295472212777,0.36766237421957376],[-0.43822954992943525,0.46750146153849853]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.19237128340838505,1.6149643939035472,0.71338606911949],"aabb_xy":[[-0.2563712850863824,1.566447002424233],[-0.12837128173038773,1.6634817853828614]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.12722765733011798,-2.3801588961711486,0.71338606911949],"aabb_xy":[[0.037227653653199765,-2.441591302748253],[0.21722766100703608,-2.3187264895940443]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.43617352798830966,1.2745868697258338,0.71338606911949],"aabb_xy":[[0.3661735245967477,1.2392710960224027],[0.5061735313798716,1.3099026434292644]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.5584817376957734,-0.795706798099227,0.71338606911949],"aabb_xy":[[-0.5677753559329239,-0.8332067965873607],[-0.5491881194586228,-0.7582067996110929]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.26317260799140024,-1.9188347332319384,0.71338606911949],"aabb_xy":[[-0.3481726066834749,-1.950820596626817],[-0.1781726092993256,-1.8868488698370594]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.4497088451962312,-1.896694327573055,0.71338606911949],"aabb_xy":[[0.3997088435347364,-1.9466927698287575],[0.49970884685772593,-1.846695885317352]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.2073192194245696,0.8703055247994445,0.71338606911949],"aabb_xy":[[-0.2573142303840217,0.8203055257638528],[-0.15732420846511758,0.9203055238350363]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.14366541643635855,1.0514648674102816,0.71338606911949],"aabb_xy":[[0.07966541932425286,1.0024324976158707],[0.20766541354846424,1.100497237204692]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.5901029139162692,0.34569267592830366,0.71338606911949],"aabb_xy":[[0.5601112511823989,0.31569267659150313],[0.6200945766501396,0.3756926752651042]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.17630042546422608,-0.07674475351745702,0.71338606911949],"aabb_xy":[[-0.20130042501596457,-0.08688723738259174],[-0.1513004259124876,-0.0666022696523223]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.5035984864179224,1.540406960742731,0.71338606911949],"aabb_xy":[[0.4907265829169822,1.460406960328895],[0.5164703899188624,1.6204069611565672]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.6369481758757902,-0.4177796829002407,0.71338606911949],"aabb_xy":[[0.5956993648458755,-0.4727796824124581],[0.678196986905705,-0.3627796833880232]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.6428452718425558,0.1418458052719056,0.71338606911949],"aabb_xy":[[-0.6492590854857407,0.13543598502423723],[-0.6364314581993709,0.1482556255195739]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.052170961708101316,-0.9318514202287471,0.71338606911949],"aabb_xy":[[-0.027829035306146672,-0.9519859719021584],[0.1321709587223493,-0.9117168685553358]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.39793742596837184,-1.5245834586208777,0.71338606911949],"aabb_xy":[[-0.4059737606696566,-1.5326215779252943],[-0.38990109126708694,-1.5165453393164607]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.42036821361186827,1.0169733934091352,0.71338606911949],"aabb_xy":[[0.3835735804869619,0.9800675183125529],[0.45716284673677443,1.0538792685057174]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[-0.3564315903215566,-1.1217158812424721,0.71338606911949],"aabb_xy":[[-0.36454524499493374,-1.1298216976965012],[-0.34831793564817953,-1.113610064788443]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.6417209367868382,-0.7502859580617958,0.71338606911949],"aabb_xy":[[-0.6548721827581276,-0.7752859578184825],[-0.6285696908155489,-0.7252859583051093]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.3939627157316871,0.7068437891513017,0.71338606911949],"aabb_xy":[[-0.4739627137124722,0.6992422481894497],[-0.31396271775090207,0.7144453301131536]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.27464560423558976,-0.25704211500731633,0.71338606911949],"aabb_xy":[[-0.2872483033726662,-0.2696375112321818],[-0.2620429050985133,-0.24444671878245083]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.4730385653928477,-0.30792572661952944,0.71338606911949],"aabb_xy":[[0.4380385670821524,-0.31564074154307503],[0.5080385637035433,-0.30021071169598373]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.2785177803936575,0.7331321032425251,0.71338606911949],"aabb_xy":[[0.19851778180633803,0.6538165013043642],[0.35851777898097686,0.812447705180686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6996897617948168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6192.png","name":"6192"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6192.png","name":"6192"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5268.png","name":"5268"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2227.png","name":"2227"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5085.png","name":"5085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":611.8218515326123,"rotation_z_degrees":38.56993734468746,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003720568187641559,-0.015549976570150812,0.0039792965827162435]},{"name":"camera_2","offset_m":[0.018577991833026285,-0.006833099612275184,-0.017663885627977202]},{"name":"camera_3","offset_m":[0.015910458689444042,-0.010365241823707167,-0.012302601840126551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017528015666096568,-0.00155530058394588,-0.00018048137607169995],"end_effector_yaw_offset_degrees":0.16933837880049385},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00047519759480644857,0.001584107004380786,0.0014458268179330098],"end_effector_yaw_offset_degrees":-0.2977210576595788},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005302198504637846,-0.0010630882217481843,-0.00175126258249159],"end_effector_yaw_offset_degrees":0.49479683621841963}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009069135015737396,0.003449049431153188],"position_m":[0.27899308649842625,0.16044904943115318,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036805836784606595,0.0007867531785453038],"position_m":[0.3566805836784606,0.31118675317854533,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033058175091136253,0.004136208278321253],"position_m":[0.2883941824908864,-0.03906379172167875,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011749110839257716,-0.0029537550479953635],"position_m":[0.25117491108392576,-0.3394537550479954,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4a3a9e5ca5fb81cbbf0799b6d7a365791492b6f899651f5fe9010d4ab5a75ede","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6192/tex_ceiling_textures_5612/tex_floor_textures_5085/tex_table_textures_5268/tex_wall_textures_2227","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2876927236574984906,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2876927236574984906,"visual_seed":2876927236574984906,"scene_id":"lab_003","finished_at":"2026-09-02T02:29:27"}
+{"episode_id":"ep_000004","started_at":"2026-09-02T02:29:29","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.28124974054126317,1.2685211817276496,0.71338606911949],"aabb_xy":[[-0.3312497418251031,1.2185423273370275],[-0.23124973925742318,1.3185000361182717]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.39898850892066134,0.44908774289072717,0.71338606911949],"aabb_xy":[[-0.44846893013462014,0.38508774497787535],[-0.34950808770670255,0.513087740803579]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.3866053732053929,0.8745312341378018,0.71338606911949],"aabb_xy":[[0.32160537504947384,0.8482349895878896],[0.45160537136131196,0.900827478687714]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.416023966276283,-1.5668317552871196,0.71338606911949],"aabb_xy":[[0.41159333692144284,-1.572280127021802],[0.4204545956311232,-1.561383383552437]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.2211167793264357,0.8366814925021822,0.71338606911949],"aabb_xy":[[0.1611167784656229,0.7852550624956957],[0.2811167801872485,0.8881079225086684]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.4805878743601163,-2.09066965234778,0.71338606911949],"aabb_xy":[[-0.530404653824951,-2.1406696508320833],[-0.4307710948952815,-2.0406696538634765]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.12564602982988393,-1.395474681261216,0.71338606911949],"aabb_xy":[[-0.13375968450326103,-1.403580497715245],[-0.11753237515650683,-1.387368864807187]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.6619694773082916,1.1836042515845335,0.71338606911949],"aabb_xy":[[-0.669230724878699,1.170817241321024],[-0.654708229737884,1.196391261848043]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.33613746217041807,0.6200927678936559,0.71338606911949],"aabb_xy":[[0.2711374621361153,0.5733920912133286],[0.40113746220472074,0.6667934445739832]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.34683231493897126,-0.35744878961078275,0.71338606911949],"aabb_xy":[[-0.36433231407333844,-0.3673284166483705],[-0.3293323158046041,-0.34756916257319487]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.6510284005972857,-1.4313355416488198,0.71338606911949],"aabb_xy":[[0.6285147087738285,-1.5013355422498271],[0.6735420924207429,-1.361335541047812]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.3512295473774465,-2.0406961240172286,0.71338606911949],"aabb_xy":[[0.33799860184276515,-2.0539235430392275],[0.36446049291212773,-2.0274687049952287]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[0.5978749537672206,0.36267841879922935,0.71338606911949],"aabb_xy":[[0.5775906510438216,0.34239579365652045],[0.6181592564906191,0.38296104394193814]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.1096386154421769,1.321919694482951,0.71338606911949],"aabb_xy":[[0.10022114087231414,1.312503517345232],[0.11905609001203964,1.33133587162067]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.6206226507031762,-0.5353588540188285,0.71338606911949],"aabb_xy":[[0.6159875355509428,-0.5392261890959771],[0.6252577658554095,-0.5314915189416798]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.12350348346721862,-1.758239077548968,0.71338606911949],"aabb_xy":[[0.11804553783019855,-1.838239080856627],[0.1289614291042387,-1.6782390742413087]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.5724598119995177,-1.3533020008270562,0.71338606911949],"aabb_xy":[[-0.589959812244567,-1.370801788666623],[-0.5549598117544682,-1.3358022129874894]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[0.1596746580741467,-0.7891445375402932,0.71338606911949],"aabb_xy":[[0.14457235661312853,-0.8042460591713549],[0.17477695953516473,-0.7740430159092313]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.48480390925323524,-2.0289368571660953,0.71338606911949],"aabb_xy":[[0.4806879591411625,-2.0330524121989404],[0.48891985936530785,-2.0248213021332493]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.22999587277218642,-1.9707734217228778,0.71338606911949],"aabb_xy":[[-0.30999587603002937,-2.0507699295148623],[-0.14999586951434346,-1.890776913930894]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.13322148816295476,-1.6305000830529892,0.71338606911949],"aabb_xy":[[-0.18821373879846576,-1.6855000847963022],[-0.07822923752744383,-1.5755000813096767]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.31585314114579216,1.0134303257130588,0.71338606911949],"aabb_xy":[[-0.3284558402828686,1.0008349294881933],[-0.3032504420087157,1.0260257219379243]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.0649149722602973,1.1477520271125248,0.71338606911949],"aabb_xy":[[-0.15491497198347143,1.124678674577345],[0.025085027462876896,1.1708253796477046]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.08126814837580942,-1.0213683530613868,0.71338606911949],"aabb_xy":[[0.07730766460607505,-1.0290362176469074],[0.0852286321455438,-1.0137004884758662]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.497566105616427,-1.8279227697917164,0.71338606911949],"aabb_xy":[[-0.5067259845603036,-1.8344539878352535],[-0.48840622667255035,-1.8213915517481793]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.20692600705190767,1.594715203280877,0.71338606911949],"aabb_xy":[[-0.21100416495895744,1.5906342230326136],[-0.20284784914485796,1.5987961835291402]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.3852443116810993,1.77081579283348,0.71338606911949],"aabb_xy":[[0.3352443113205332,1.7208358056238766],[0.4352443120416653,1.8207957800430825]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.11407887864987509,-2.3184024921641755,0.71338606911949],"aabb_xy":[[-0.12416058572844857,-2.3984024900562897],[-0.10399717157130162,-2.2384024942720604]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[-0.5946401087933413,-0.9362278645912925,0.71338606911949],"aabb_xy":[[-0.6396401102595702,-0.9812277214527734],[-0.5496401073271125,-0.891228007729812]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[-0.46986762281022554,1.781502386045085,0.71338606911949],"aabb_xy":[[-0.5066622559351318,1.7445965109485024],[-0.43307298968531927,1.818408261141667]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_30","position":[-0.5512125078352759,1.545117684378043,0.71338606911949],"aabb_xy":[[-0.576212507000909,1.5381654386726864],[-0.5262125086696428,1.5520699300833996]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[-0.036893506642599716,0.9692886956937992,0.71338606911949],"aabb_xy":[[-0.0868723151529156,0.9192886956880804],[0.01308530186771617,1.019288695699518]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_32","position":[0.14390160767966276,-2.1118151118702153,0.71338606911949],"aabb_xy":[[0.07890160657371947,-2.136780484938344],[0.20890160878560604,-2.0868497388020875]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_33","position":[0.30710976092490516,-2.435308539524029,0.71338606911949],"aabb_xy":[[0.24310976065092688,-2.4853746397213174],[0.37110976119888334,-2.3852424393267415]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_34","position":[0.3201570476167428,-1.6687758918270441,0.71338606911949],"aabb_xy":[[0.28282577109150026,-1.7034289466218961],[0.35748832414198545,-1.6341228370321916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6990608446419713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2701.png","name":"2701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2701.png","name":"2701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3545.png","name":"3545"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.9855254873933,"rotation_z_degrees":165.8115826606166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006047319090325987,-0.009373627667691098,-0.005948033096107745]},{"name":"camera_2","offset_m":[-0.018767006281441578,0.006939897352913258,-0.01556253101131588]},{"name":"camera_3","offset_m":[0.009924581435026662,0.013392186832477327,-0.010417910129202417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005518774772031135,-0.0019902100583809195,0.0013831953034730564],"end_effector_yaw_offset_degrees":0.398075775174106},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013397242502393093,0.0019087580967442836,0.0006483917436233833],"end_effector_yaw_offset_degrees":-0.08196471812135742},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016438099946706713,0.0014455773025325164,-0.0008155100386579455],"end_effector_yaw_offset_degrees":0.06792162219525699}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019938533201602584,3.921357982229409e-06],"position_m":[0.2779061466798397,0.15700392135798222,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002240040466416734,0.002267463758069941],"position_m":[0.3552400404664167,0.31266746375807,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011750769448677935,0.004931364887616126],"position_m":[0.2905249230551322,-0.038268635112383875,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029672389040421767,0.003797346705344827],"position_m":[0.24703276109595781,-0.3327026532946552,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"555983e5f6170a7bb6b9f70a134a3b2ef2a445f2afe9ab3b9a5e59aa10265aac","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2701/tex_ceiling_textures_9558/tex_floor_textures_6691/tex_table_textures_662/tex_wall_textures_3545","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":691411705718610201,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":691411705718610201,"visual_seed":691411705718610201,"scene_id":"lab_003","finished_at":"2026-09-02T02:32:21"}
+{"episode_id":"ep_000005","started_at":"2026-09-02T02:32:23","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.5730075030626278,-2.5337094623650898,0.71338606911949],"aabb_xy":[[0.5446777931140876,-2.538170204558807],[0.601337213011168,-2.5292487201713727]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.5201066656515791,-1.8950804618381507,0.71338606911949],"aabb_xy":[[0.508234582640078,-1.980080461531801],[0.5319787486630803,-1.8100804621445004]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.45038251030614984,-2.2294351590559724,0.71338606911949],"aabb_xy":[[0.4192355914625668,-2.299435157742779],[0.481529429149733,-2.159435160369165]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.30529388042934225,0.7790479151334053,0.71338606911949],"aabb_xy":[[-0.36029387863108703,0.7385259485069677],[-0.25029388222759735,0.8195698817598429]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.48880565480784266,-1.727294750426739,0.71338606911949],"aabb_xy":[[-0.5528056550818209,-1.777360850624027],[-0.42480565453386443,-1.6772286502294511]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.6273937656305925,-0.1664649281340589,0.71338606911949],"aabb_xy":[[-0.6356083107462762,-0.17514151843170012],[-0.6191792205149083,-0.15778833783641755]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.26133152146442473,0.7909366939824505,0.71338606911949],"aabb_xy":[[0.21352535385065602,0.7259366912753915],[0.30913768907819333,0.8559366966895093]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.2945360720881349,-1.6764322332510493,0.71338606911949],"aabb_xy":[[0.24925745720698567,-1.7404322325992327],[0.3398146869692842,-1.6124322339028654]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.18433906623286733,-2.12815378809145,0.71338606911949],"aabb_xy":[[-0.1936326844700179,-2.1656537865795835],[-0.17504544799571675,-2.0906537896033157]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[0.44970270413045,-0.8238418496189588,0.71338606911949],"aabb_xy":[[0.4284246959869777,-0.8888418519450317],[0.4709807122739222,-0.7588418472928856]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.06385232594286039,-1.1858333551646323,0.71338606911949],"aabb_xy":[[-0.10135232604845335,-1.1926555170176132],[-0.026352325837267442,-1.179011193311651]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.46139373616858803,-2.3529258988809016,0.71338606911949],"aabb_xy":[[-0.47263879173920587,-2.364167696604997],[-0.4501486805979702,-2.3416841011568064]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.08807701643045729,-1.4657537362974709,0.71338606911949],"aabb_xy":[[0.08323342166922733,-1.4706053887764552],[0.09292061119168728,-1.460902083818487]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.5293823104464437,1.5884629392003977,0.71338606911949],"aabb_xy":[[-0.5662328583834313,1.550962938377364],[-0.4925317625094561,1.6259629400234314]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.12031704716499692,0.2077436682744871,0.71338606911949],"aabb_xy":[[-0.1702958556753128,0.15774366826876832],[-0.07033823865468102,0.2577436682802059]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.045230637637875715,1.4227117551489044,0.71338606911949],"aabb_xy":[[-0.03976936077954752,1.3378374596866194],[0.13023063605529894,1.5075860506111893]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[-0.32143875844483716,1.1803470312621527,0.71338606911949],"aabb_xy":[[-0.4014387571017232,1.1658421723378898],[-0.2414387597879512,1.1948518901864156]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.4880460067025656,1.0520745251405041,0.71338606911949],"aabb_xy":[[0.4080460052724384,0.9725573701278947],[0.5680460081326928,1.1315916801531136]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.18889292347127729,-1.8860245605019748,0.71338606911949],"aabb_xy":[[0.12489292018156915,-1.9293594795058924],[0.25289292676098535,-1.8426896414980571]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.5021172833196399,-1.4882299000712584,0.71338606911949],"aabb_xy":[[0.43711728328533717,-1.534930576751586],[0.5671172833539426,-1.4415292233909314]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.313714245672265,-1.0049432344465947,0.71338606911949],"aabb_xy":[[0.3045543667283884,-1.0114744524901318],[0.3228741246161416,-0.9984120164030577]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.2675565873842817,0.24297343315267117,0.71338606911949],"aabb_xy":[[-0.27547986762303006,0.22047343291466778],[-0.2596333071455334,0.26547343339067453]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.28951589451736326,-0.9176878199680272,0.71338606911949],"aabb_xy":[[-0.339515895467896,-0.9492369669715484],[-0.2395158935668304,-0.8861386729645055]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.5668659077331717,-1.4828763753620282,0.71338606911949],"aabb_xy":[[-0.6468659048927469,-1.4944239763198452],[-0.4868659105735963,-1.4713287744042112]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[0.09944811916398621,-2.0609645297395485,0.71338606911949],"aabb_xy":[[0.09003064459412345,-2.0703807068772675],[0.10886559373384895,-2.0515483526018294]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[0.6187656434434929,-1.693604880300254,0.71338606911949],"aabb_xy":[[0.6100676811527777,-1.7057298546077289],[0.6274636057342082,-1.6814799059927794]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[0.525678154181636,0.4729010958296853,0.71338606911949],"aabb_xy":[[0.4912156761685481,0.4662374186467625],[0.5601406321947237,0.47956477301260814]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.12795026637142692,-1.6834132258462025,0.71338606911949],"aabb_xy":[[-0.19295026492849976,-1.713165759260085],[-0.06295026781435409,-1.6536606924323198]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[0.033895992118236906,1.792677259595847,0.71338606911949],"aabb_xy":[[-0.002017512306752782,1.7567637513790924],[0.06980949654322657,1.8285907678126014]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[0.2827586409558389,-1.4267181939331117,0.71338606911949],"aabb_xy":[[0.2718528648682762,-1.5067181903319407],[0.2936644170434016,-1.3467181975342823]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[-0.14166275601519862,1.7802484349781058,0.71338606911949],"aabb_xy":[[-0.14661877620007982,1.7577484347759844],[-0.13670673583031742,1.8027484351802276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001438984527028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6754.png","name":"6754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6754.png","name":"6754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7818.png","name":"7818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7449.png","name":"7449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/543.png","name":"543"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4469.png","name":"4469"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":751.4302726450792,"rotation_z_degrees":103.3339012247056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019584830845390325,-0.004883505089981628,-0.015562577383349967]},{"name":"camera_2","offset_m":[-0.008685937692881805,-0.0006626604413762262,0.0021610372378878424]},{"name":"camera_3","offset_m":[-0.017914849012442082,0.012941183996387998,0.00988787478411424]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013944924208211542,0.0006161249974033617,0.0001901005554792944],"end_effector_yaw_offset_degrees":0.39143393391293824},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-1.5464826594036463e-05,-0.00032823290228461977,0.0016287596642047637],"end_effector_yaw_offset_degrees":-0.541184359639024},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010274747762740138,0.0014262708434208504,0.0015165840341011877],"end_effector_yaw_offset_degrees":-0.9686748064855928}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004394945525992273,0.0009308042810970809],"position_m":[0.2755050544740077,0.15793080428109707,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00279629446125777,0.003575258501327433],"position_m":[0.35579629446125777,0.31397525850132746,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002261798853176974,-0.0010005932502280095],"position_m":[0.28943820114682306,-0.044200593250228015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00019581974606941964,-0.0005087716626254483],"position_m":[0.24980418025393059,-0.3370087716626255,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50adeafae887e8a2361f1d42117157da619bc4482b00eada57ebacd97a8e0007","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6754/tex_ceiling_textures_4469/tex_floor_textures_543/tex_table_textures_7818/tex_wall_textures_7449","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":269218448882548654,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":269218448882548654,"visual_seed":269218448882548654,"scene_id":"lab_003","finished_at":"2026-09-02T02:35:16"}
+{"episode_id":"ep_000006","started_at":"2026-09-02T02:35:18","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[-0.35053312087475136,-0.3145282248496093,0.71338606911949],"aabb_xy":[[-0.4005173565829286,-0.3645282236631049],[-0.30054888516657413,-0.2645282260361137]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.2366722155032031,-1.005615204737324,0.71338606911949],"aabb_xy":[[-0.30067221479737133,-1.069601345106178],[-0.1726722162090349,-0.9416290643684697]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.1761914709542206,-2.200248688114402,0.71338606911949],"aabb_xy":[[0.09619147297343557,-2.207850229076254],[0.25619146893500566,-2.19264714715255]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.5982767890812715,0.8218470080775404,0.71338606911949],"aabb_xy":[[0.5560923749204408,0.7578470078003293],[0.6404612032421023,0.8858470083547517]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.41778579691953266,-1.710162265778325,0.71338606911949],"aabb_xy":[[0.39772738530629237,-1.7302273526874827],[0.43784420853277295,-1.6900971788691679]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.30762802169236025,-0.2177389429459491,0.71338606911949],"aabb_xy":[[-0.31174397180443286,-0.22185449797879456],[-0.30351207158028753,-0.21362338791310356]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[-0.10411237664542339,-2.049252617880617,0.71338606911949],"aabb_xy":[[-0.154112376085619,-2.099220542364933],[-0.05411237720522777,-1.9992846933963002]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.5177511642999559,0.08399034490160195,0.71338606911949],"aabb_xy":[[-0.581751160695529,0.0200270564828684],[-0.45375116790438286,0.1479536333203355]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.5957700814700271,1.573335352233261,0.71338606911949],"aabb_xy":[[0.5781917792810802,1.555760862659156],[0.6133483836589739,1.590909841807366]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.6373598439451151,1.401359015367455,0.71338606911949],"aabb_xy":[[0.5874771470674189,1.3513590161211804],[0.6872425408228113,1.4513590146137298]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.4488192000949456,1.2365071295543664,0.71338606911949],"aabb_xy":[[-0.5128192033846536,1.1931722105504485],[-0.3848191968052374,1.2798420485582838]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.5734885162340985,-0.8482560581569834,0.71338606911949],"aabb_xy":[[-0.6534885194981115,-0.8618160904658965],[-0.4934885129700852,-0.8346960258480698]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.03656424301673389,-1.812883706436519,0.71338606911949],"aabb_xy":[[-0.0019814498084671436,-1.8514294774927076],[0.07510993584193493,-1.7743379353803301]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.37744350511803826,-0.8454026611422856,0.71338606911949],"aabb_xy":[[0.3399435065424174,-0.8581389568058435],[0.414943503693659,-0.8326663654787276]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.28296398535791,-2.3820612868675872,0.71338606911949],"aabb_xy":[[-0.33296326052634617,-2.4320612881435344],[-0.23296471018947384,-2.33206128559164]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.5750645106426102,-0.30635802866671824,0.71338606911949],"aabb_xy":[[0.5654328744221806,-0.31599534144642716],[0.5846961468630398,-0.2967207158870093]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.6825185052415327,-1.0058079456172788,0.71338606911949],"aabb_xy":[[-0.6890201417495373,-1.0155757676435886],[-0.6760168687335281,-0.996040123590969]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.23602817673457638,1.292848150344903,0.71338606911949],"aabb_xy":[[-0.29602817724242925,1.2360014166589817],[-0.17602817622672343,1.3496948840308243]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.2743933048887336,-1.9316504960180936,0.71338606911949],"aabb_xy":[[0.21039330462826275,-1.9766592953710218],[0.33839330514920435,-1.8866416966651658]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.4844543271582231,-1.4314321596295168,0.71338606911949],"aabb_xy":[[0.4683923996997055,-1.5164321614421084],[0.5005162546167408,-1.3464321578169247]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.3321180207157739,1.0571041161301515,0.71338606911949],"aabb_xy":[[0.2821180193548867,1.007126211554736],[0.3821180220766611,1.1070820207055672]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970294295854428,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1940.png","name":"1940"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1940.png","name":"1940"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7472.png","name":"7472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/415.png","name":"415"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/184.png","name":"184"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":757.0237571887094,"rotation_z_degrees":148.3032392886913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035216322974320133,-0.006620596634465951,0.005687627577872223]},{"name":"camera_2","offset_m":[-0.0038883360671273133,-0.0026135570061000153,-0.0014631325374193753]},{"name":"camera_3","offset_m":[0.0025839491166844697,0.010190460903317513,0.012937430411881615]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000160240665740277,0.0012757672506344478,0.0009338441968319896],"end_effector_yaw_offset_degrees":0.8569929044128226},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00117361403415069,-0.0015775785221395053,-0.0008003324208861319],"end_effector_yaw_offset_degrees":-0.03519896453404758},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018947102405905475,-0.0005539981962848603,0.0014605655300925827],"end_effector_yaw_offset_degrees":-0.4455134009528319}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004312426764775963,-0.0019099123871109693],"position_m":[0.2842124267647759,0.15509008761288903,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017047213583656178,-0.0012171683031780667],"position_m":[0.3547047213583656,0.3091828316968219,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001230378535209179,-0.0004945387131086547],"position_m":[0.29046962146479083,-0.04369453871310866,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018529473038749675,0.004960053426193827],"position_m":[0.251852947303875,-0.3315399465738062,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"02788174a03ed880566fb9d6d902172f853b3d214be94998fa2b8d4435ae5bed","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0006.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1940/tex_ceiling_textures_5049/tex_floor_textures_184/tex_table_textures_7472/tex_wall_textures_415","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1653070495612566351,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1653070495612566351,"visual_seed":1653070495612566351,"scene_id":"lab_003","finished_at":"2026-09-02T02:38:15"}
+{"episode_id":"ep_000007","started_at":"2026-09-02T02:38:18","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.3248049440265772,0.5291003302566644,0.71338606911949],"aabb_xy":[[0.313443209373291,0.5177318638503762],[0.33616667867986333,0.5404687966629523]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.07177675118348537,-0.3249868811158181,0.71338606911949],"aabb_xy":[[-0.10623909858162714,-0.3594807635136407],[-0.03731440378534354,-0.29049299871799533]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.350059047352017,-0.26337727813152023,0.71338606911949],"aabb_xy":[[-0.43005904533280204,-0.2709788190933722],[-0.27005904937123193,-0.2557757371696683]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.16675887603366735,0.8242951061593584,0.71338606911949],"aabb_xy":[[0.15951510998742202,0.744295107955756],[0.17400264207991267,0.9042951043629608]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.5069336670987779,-2.4621966425723163,0.71338606911949],"aabb_xy":[[0.5019776469138968,-2.484696642774438],[0.5118896872836591,-2.4396966423701953]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.36828774558098365,-0.464783494553096,0.71338606911949],"aabb_xy":[[0.35541584208004345,-0.5447834949669321],[0.38115964908192373,-0.38478349413925983]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.14047302955086793,-0.8849199516035562,0.71338606911949],"aabb_xy":[[-0.16547302910260642,-0.8950624354686909],[-0.11547302999912945,-0.8747774677384215]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.5045359899713442,-2.0827540697616147,0.71338606911949],"aabb_xy":[[-0.549535991437573,-2.1277539266230954],[-0.45953598850511534,-2.037754212900134]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[0.3703934551952188,-2.244082547879172,0.71338606911949],"aabb_xy":[[0.346808331731324,-2.3090825501246037],[0.39397857865911373,-2.17908254563374]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.12050278536748282,1.0656897376865166,0.71338606911949],"aabb_xy":[[0.07050278592728719,1.0157218132022001],[0.17050278480767844,1.1156576621708327]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.10877283568585061,-2.3970160967995597,0.71338606911949],"aabb_xy":[[0.09119453349690376,-2.4145905863736647],[0.12635113787479746,-2.3794416072254547]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.07200852030121796,-1.605923626214051,0.71338606911949],"aabb_xy":[[-0.08955521521733689,-1.6434236277783025],[-0.05446182538509903,-1.5684236246498]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.1837955696224831,1.5260787079024634,0.71338606911949],"aabb_xy":[[0.17967961951041042,1.5219631528696178],[0.18791151973455575,1.530194262935309]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.06731335394092663,-0.6544843180418172,0.71338606911949],"aabb_xy":[[-0.12231335356267248,-0.70946801082929],[-0.012313354319180791,-0.5995006252543446]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.4266129743516889,-1.2342886917532263,0.71338606911949],"aabb_xy":[[0.36261297409121807,-1.2792974911061543],[0.4906129746121597,-1.1892798924002983]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.6516965473643035,-1.447638323838428,0.71338606911949],"aabb_xy":[[-0.6749783895624347,-1.532638325135656],[-0.628414705166172,-1.3626383225411998]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.34208627086479315,-1.7685571615713758,0.71338606911949],"aabb_xy":[[0.2869610652352023,-1.8285571630126627],[0.3972114764943839,-1.7085571601300884]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.6603327606126197,-1.703589025557804,0.71338606911949],"aabb_xy":[[0.6559021312577795,-1.7090373972924868],[0.6647633899674599,-1.6981406538231218]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.1940213731334478,-1.1586834287841181,0.71338606911949],"aabb_xy":[[0.13904765109711492,-1.2136834283483513],[0.2489950951697807,-1.103683429219885]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.20710412929494004,-1.5995086332257733,0.71338606911949],"aabb_xy":[[-0.24460412787056085,-1.6122449288893312],[-0.16960413071931923,-1.5867723375622154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931521024395544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6800.png","name":"6800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6800.png","name":"6800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7920.png","name":"7920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9474.png","name":"9474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6176.png","name":"6176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1894.png","name":"1894"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":741.8650734135705,"rotation_z_degrees":135.64458406441548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007237168867311983,0.013585262763321743,-0.010710985390353032]},{"name":"camera_2","offset_m":[-0.0062588412923574276,-0.007356726522406487,-0.0008417404341137802]},{"name":"camera_3","offset_m":[-0.016248407896386232,0.011143715117332156,-0.015687983151311858]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006694453286308977,0.0010592957299674147,0.0018570931460292705],"end_effector_yaw_offset_degrees":-0.2774558396332476},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00010195678356662201,-0.0019718849187863917,-0.0016268608713423292],"end_effector_yaw_offset_degrees":-0.5846363295953616},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00013325367960241499,0.0019527223710332185,0.0017266273266499568],"end_effector_yaw_offset_degrees":-0.4719779248871634}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002773182833433676,-0.0009525491091874824],"position_m":[0.2826731828334337,0.1560474508908125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004583142543939981,0.0026821206341227453],"position_m":[0.34841685745606,0.3130821206341228,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016991283750933074,-0.004937190610588533],"position_m":[0.29000087162490673,-0.048137190610588534,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037146804868368145,-0.003972774032461275],"position_m":[0.24628531951316318,-0.3404727740324613,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0aa21f85dab7f5a48a02985a5b14f7c66b7074738d574ba22a68b22ebf7edbf3","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6800/tex_ceiling_textures_1894/tex_floor_textures_6176/tex_table_textures_7920/tex_wall_textures_9474","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8981042637915821032,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8981042637915821032,"visual_seed":8981042637915821032,"scene_id":"lab_003","finished_at":"2026-09-02T02:40:53"}
+{"episode_id":"ep_000008","started_at":"2026-09-02T02:40:56","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.6151837788313477,-1.6467242767967663,0.71338606911949],"aabb_xy":[[0.5601837796547581,-1.701713951571724],[0.670183778007937,-1.5917346020218086]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.26418781742098474,-1.3801587260806025,0.71338606911949],"aabb_xy":[[-0.329187818526928,-1.4051240991487308],[-0.19918781631504145,-1.3551933530124742]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.24695494699585052,-2.0375216856703817,0.71338606911949],"aabb_xy":[[0.20945494682397856,-2.070222421053289],[0.28445494716772246,-2.0048209502874745]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_3","position":[0.2296817910272949,-0.8522389426318917,0.71338606911949],"aabb_xy":[[0.2118126832728394,-0.8660718506091026],[0.24755089878175038,-0.8384060346546808]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[0.5460300584800457,-0.315326989850623,0.71338606911949],"aabb_xy":[[0.4660362349014875,-0.39532699244346464],[0.6260238820586039,-0.2353269872577815]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.38112186635063805,1.021366346661316,0.71338606911949],"aabb_xy":[[-0.40140616907403676,1.001083721518607],[-0.36083756362723923,1.0416489718040247]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.6063455743517103,1.3853372172887455,0.71338606911949],"aabb_xy":[[-0.6613192963880432,1.3303372177245123],[-0.5513718523153774,1.4403372168529787]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.09227346267645886,-1.0075899785247,0.71338606911949],"aabb_xy":[[0.012273459418615892,-1.087586486316684],[0.17227346593430182,-0.927593470732716]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.6261948464787208,1.213672864890174,0.71338606911949],"aabb_xy":[[-0.6861948467301219,1.1593915398537091],[-0.5661948462273195,1.2679541899266384]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.6038833139932771,0.717791588662176,0.71338606911949],"aabb_xy":[[0.5838249023800368,0.6977265017530185],[0.6239417256065174,0.7378566755713336]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.5298637767254197,-2.161730861306993,0.71338606911949],"aabb_xy":[[0.5237691488373014,-2.1703002558586615],[0.535958404613538,-2.153161466755324]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.5029723676024946,-1.0228169901727648,0.71338606911949],"aabb_xy":[[-0.5105966356926729,-1.0304502137093088],[-0.4953480995123164,-1.0151837666362213]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.6207630799951305,0.3431031527055981,0.71338606911949],"aabb_xy":[[0.5357630815777074,0.2582288572433132],[0.7057630784125538,0.42797744816788313]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.2629693726515672,0.47835297268163046,0.71338606911949],"aabb_xy":[[-0.2858850855366171,0.45544867554520696],[-0.24005365976651732,0.501257269818054]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.27949357197902974,-1.1380760265751793,0.71338606911949],"aabb_xy":[[-0.28653502292977734,-1.1451027783129737],[-0.27245212102828215,-1.1310492748373848]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.13417063244874872,-1.1949664386268317,0.71338606911949],"aabb_xy":[[-0.15127271040711687,-1.2120732441581015],[-0.11706855449038056,-1.177859633095562]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.5289313784712509,-2.4576647042544004,0.71338606911949],"aabb_xy":[[-0.5600782973148339,-2.527664702941207],[-0.4977844596276677,-2.387664705567593]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.05937137956961369,1.0523304557550035,0.71338606911949],"aabb_xy":[[0.055293221662563945,1.0482494755067402],[0.06344953747666343,1.0564114360032668]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.47146639897913123,-1.9834589493865895,0.71338606911949],"aabb_xy":[[0.442817066618715,-2.0121045086636653],[0.5001157313395475,-1.9548133901095137]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.07122881560556271,0.11948273366804063,0.71338606911949],"aabb_xy":[[-0.07726582860622744,0.11345603259909244],[-0.06519180260489799,0.12550943473698883]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.30177785778861516,-1.2803097865200892,0.71338606911949],"aabb_xy":[[-0.3236865399279662,-1.30221045334018],[-0.2798691756492641,-1.2584091196999985]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.14146066826540238,-0.26770153184073875,0.71338606911949],"aabb_xy":[[-0.15075428650255296,-0.3052015303288726],[-0.1321670500282518,-0.2302015333526048]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.38760785284345406,0.5667161184894236,0.71338606911949],"aabb_xy":[[-0.3963890799906904,0.5579363712008936],[-0.37882662569621794,0.5754958657779539]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.36774606996637127,-0.7578932676596657,0.71338606911949],"aabb_xy":[[-0.3785865481928862,-0.7750795489503145],[-0.35690559173985636,-0.7407069863690169]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.33956991044705953,-2.254276209578964,0.71338606911949],"aabb_xy":[[-0.3645699103795774,-2.261158877799887],[-0.31456991051454164,-2.247393541358041]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.32990606369232367,-2.4358616659270367,0.71338606911949],"aabb_xy":[[0.2599060615608941,-2.4586236315527317],[0.39990606582375315,-2.413099700301341]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.6454880242864731,-1.5018451128152939,0.71338606911949],"aabb_xy":[[-0.6904806110049235,-1.5468451120897426],[-0.6004954375680227,-1.4568451135408451]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[0.6111325548802897,1.3686596091765368,0.71338606911949],"aabb_xy":[[0.5211325551571154,1.3455862566413568],[0.7011325546034638,1.3917329617117165]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.16754688730138545,1.6763370081302296,0.71338606911949],"aabb_xy":[[-0.24754688528217053,1.6687354671683774],[-0.08754688932060044,1.6839385490920813]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.15665244395147326,-2.330220350891508,0.71338606911949],"aabb_xy":[[0.11985781082656699,-2.3671262259880903],[0.19344707707637954,-2.2933144757949258]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[0.3385659999016033,-0.9998294650248527,0.71338606911949],"aabb_xy":[[0.2835737492660924,-1.0548294667681657],[0.39355825053711435,-0.94482946328154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7013280923062712,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2825.png","name":"2825"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2825.png","name":"2825"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7615.png","name":"7615"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6174.png","name":"6174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1765.png","name":"1765"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1319.png","name":"1319"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":781.0200012336788,"rotation_z_degrees":332.1797196726873,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012088844319046999,-0.003003046305571546,-0.012900417484434303]},{"name":"camera_2","offset_m":[0.009404517036406705,0.007941341466160767,0.0018599189407838418]},{"name":"camera_3","offset_m":[0.00029007527319959564,0.006429752796570463,0.011556293992988142]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001791339168344507,-0.0014749743821429813,-0.0008415628071180446],"end_effector_yaw_offset_degrees":0.2986762114623369},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006536381994137518,0.0005038510323786115,-0.0008112838124898238],"end_effector_yaw_offset_degrees":-0.6603081367007493},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006608675623647636,-0.001684080006915967,0.001117158844125738],"end_effector_yaw_offset_degrees":0.4340517745835144}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035173269751439863,-0.0025969532318305634],"position_m":[0.276382673024856,0.15440304676816943,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034567834128012903,0.004898236804039199],"position_m":[0.3564567834128013,0.31529823680403923,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023539593875830057,-0.0020908348274953294],"position_m":[0.28934604061241703,-0.04529083482749533,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017523477308720539,-0.004439004683700316],"position_m":[0.24824765226912796,-0.34093900468370036,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e8f816c74c1aa9c03790f9edc2e57e0126f483f44b4eaa9598413ae93fd6455","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2825/tex_ceiling_textures_1319/tex_floor_textures_1765/tex_table_textures_7615/tex_wall_textures_6174","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6988463102729211060,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6988463102729211060,"visual_seed":6988463102729211060,"scene_id":"lab_003","finished_at":"2026-09-02T02:43:49"}
+{"episode_id":"ep_000009","started_at":"2026-09-02T02:43:54","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.03873033210575183,1.0620951989312828,0.71338606911949],"aabb_xy":[[0.026962145311094317,0.9770951990260615],[0.050498518900409364,1.1470951988365046]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.3857097394659239,0.6986466541466565,0.71338606911949],"aabb_xy":[[0.34053842161775494,0.6346466570021181],[0.43088105731409293,0.762646651291195]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.07771476800839239,-1.951729024413471,0.71338606911949],"aabb_xy":[[0.04525306712646492,-1.9818618565283734],[0.11017646889031983,-1.9215961922985683]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.43656911318850633,-1.0000438022492761,0.71338606911949],"aabb_xy":[[0.3990691128963315,-1.0040852776498796],[0.47406911348068115,-0.9960023268486725]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.647817968352844,1.4978563773980365,0.71338606911949],"aabb_xy":[[-0.660689871853784,1.4178563769842],[-0.6349460648519037,1.5778563778118724]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[-0.32847875185441644,-1.98838960045365,0.71338606911949],"aabb_xy":[[-0.4134787505464911,-2.020375463848529],[-0.2434787531623418,-1.9564037370587712]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.36743232663872827,-2.2090870595085943,0.71338606911949],"aabb_xy":[[-0.3747146430153918,-2.2990870631181024],[-0.3601500102620645,-2.1190870558990844]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[0.03153596777491918,1.4621364448134515,0.71338606911949],"aabb_xy":[[0.02063019168735647,1.3821364484146224],[0.042441743862481895,1.5421364412122807]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.4706259960395258,-2.2524057832984026,0.71338606911949],"aabb_xy":[[-0.5207234600205994,-2.3164057838082144],[-0.4205285320584522,-2.1884057827885908]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.14111030880902442,1.5048359640597515,0.71338606911949],"aabb_xy":[[-0.19611030798561388,1.4498462892847936],[-0.0861103096324349,1.559825638834709]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.2140081651632837,-0.6577577327423678,0.71338606911949],"aabb_xy":[[0.19890586370226554,-0.6728592543734295],[0.22911046662430173,-0.6426562111113059]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.5737345839700165,-0.5858455785390841,0.71338606911949],"aabb_xy":[[0.5657410941747345,-0.5938437104795599],[0.5817280737652986,-0.5778474465986086]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.0026047040893628637,-2.4341842152606175,0.71338606911949],"aabb_xy":[[-0.011729721036800589,-2.446244430815156],[0.016939129215526316,-2.422123999706079]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.6667316440577313,-0.057883299289357204,0.71338606911949],"aabb_xy":[[0.6442352226238672,-0.08038329909610464],[0.6892280654915954,-0.035383299482609765]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.3755117202508559,-1.234927198698493,0.71338606911949],"aabb_xy":[[-0.46519879655897134,-1.3249271989529436],[-0.28582464394274043,-1.1449271984440426]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.5050781819495485,-0.8801893958717293,0.71338606911949],"aabb_xy":[[-0.5550624176577256,-0.930189394685225],[-0.4550939462413711,-0.8301893970582338]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.10762869990238866,-0.7980663158606924,0.71338606911949],"aabb_xy":[[-0.13627803226280488,-0.8267118751377681],[-0.07897936754197243,-0.7694207565836165]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[0.645716889273898,1.7214629523988791,0.71338606911949],"aabb_xy":[[0.5907168910721532,1.6809409857724413],[0.7007168874756429,1.7619849190253165]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.6585770956537446,-2.530911972275783,0.71338606911949],"aabb_xy":[[-0.6666134303550294,-2.5389500915802006],[-0.6505407609524597,-2.5228738529713666]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.16304078631609786,0.3497524606767177,0.71338606911949],"aabb_xy":[[-0.18054078656114725,0.3322526728371509],[-0.14554078607104848,0.3672522485162846]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.02165514240709765,-1.8232758438161738,0.71338606911949],"aabb_xy":[[-0.08665514244140038,-1.8699765204965009],[0.04334485762720508,-1.7765751671358463]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.15360209809522285,1.7303523297373142,0.71338606911949],"aabb_xy":[[0.0896020957524213,1.685411478493182],[0.21760210043802442,1.775293180981447]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[-0.5858975255615554,0.06341056758793417,0.71338606911949],"aabb_xy":[[-0.5946114946114897,0.04091056692874593],[-0.5771835565116207,0.08591056824712237]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.6099533156118987,-1.1883123847186423,0.71338606911949],"aabb_xy":[[-0.689953316685019,-1.1980904310560268],[-0.5299533145387784,-1.1785343383812579]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[-0.36403501991893805,-1.565638275963883,0.71338606911949],"aabb_xy":[[-0.39032384423937866,-1.591909709618534],[-0.33774619559849733,-1.5393668423092315]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[0.12446770871006718,-1.2265413916970906,0.71338606911949],"aabb_xy":[[0.11913013304406263,-1.2515413926262304],[0.12980528437607175,-1.2015413907679509]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.5521968707467326,1.7200659404976961,0.71338606911949],"aabb_xy":[[-0.5896968691701329,1.7069017265298652],[-0.5146968723233322,1.7332301544655266]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.016204806575424335,-2.5274351437650684,0.71338606911949],"aabb_xy":[[0.0010419335984872549,-2.542600601060187],[0.03136767955236142,-2.5122696864699496]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.03437980469306112,-1.2797596412410732,0.71338606911949],"aabb_xy":[[-0.11437980267384616,-1.2873611822029252],[0.045620193287723924,-1.2721581002792213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961642439844761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8153.png","name":"8153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8153.png","name":"8153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9001.png","name":"9001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3368.png","name":"3368"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3249.png","name":"3249"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":741.7656875438155,"rotation_z_degrees":100.4528770435681,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011961309437846571,-0.00993839027774289,-0.010520626196715264]},{"name":"camera_2","offset_m":[0.00907814893541321,0.011765632205591712,0.019975698254002073]},{"name":"camera_3","offset_m":[-0.003570322673841629,-0.009269820289729211,0.017891689566082367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014526135792191966,0.0019629330064705455,-0.0004748976551976437],"end_effector_yaw_offset_degrees":0.5310015249070172},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00044341766883678694,-0.0015235511346293653,0.0019903537059669796],"end_effector_yaw_offset_degrees":-0.9850883692216794},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017717643129559729,0.0012901200797252794,-0.0003701944893408245],"end_effector_yaw_offset_degrees":0.6222564262228878}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001718413692763634,0.0015787444354875722],"position_m":[0.27818158630723633,0.15857874443548758,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003234939325929406,-0.0003798988144952196],"position_m":[0.35332349393259294,0.31002010118550477,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0006475132666102943,0.0022017753892421043],"position_m":[0.29105248673338974,-0.040998224610757895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035427893065977222,0.0037716986543144216],"position_m":[0.2464572106934023,-0.3327283013456856,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"72be238d474398bb8f42ece3a18d0d91faa9aad66d500d22937cbfb03c43eec8","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8153/tex_ceiling_textures_3249/tex_floor_textures_3368/tex_table_textures_8871/tex_wall_textures_9001","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5160559728191965946,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5160559728191965946,"visual_seed":5160559728191965946,"scene_id":"lab_003","finished_at":"2026-09-02T02:46:29"}
+{"episode_id":"ep_000010","started_at":"2026-09-02T02:46:32","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.026949989600961732,-2.3574128488098394,0.71338606911949],"aabb_xy":[[-0.054795026381568857,-2.388197347548151],[0.0008950471796453918,-2.3266283500715277]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.6917810037393797,0.899974425366401,0.71338606911949],"aabb_xy":[[0.685743990738715,0.893947724297453],[0.6978180167400444,0.9060011264353494]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.3775659189762274,1.745873637577096,0.71338606911949],"aabb_xy":[[-0.3883388928975951,1.7108736393580573],[-0.36679294505485954,1.7808736357961352]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.5928830949648112,-2.287574097288745,0.71338606911949],"aabb_xy":[[0.5467980037100797,-2.3515740945412995],[0.6389681862195427,-2.2235741000361893]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.6395669496214518,-0.9266156068060414,0.71338606911949],"aabb_xy":[[-0.6895669505719845,-0.9581647538095628],[-0.5895669486709189,-0.89506645980252]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.38455065139131794,1.3600040884113156,0.71338606911949],"aabb_xy":[[0.304550650921102,1.3516933807969673],[0.46455065186153394,1.3683147960256639]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.31351900569471236,-1.698365299033121,0.71338606911949],"aabb_xy":[[0.2485190075387933,-1.7246615435830333],[0.3785190038506314,-1.6720690544832089]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.07783594649262393,-1.400893855689235,0.71338606911949],"aabb_xy":[[0.04033594806922357,-1.4140580696570653],[0.11533594491602427,-1.3877296417214038]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.14116007942860875,-2.0677973407554613,0.71338606911949],"aabb_xy":[[0.0911771292411294,-2.1177973403980213],[0.19114302961608806,-2.0177973411129004]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.2663093897345479,0.8275273418634499,0.71338606911949],"aabb_xy":[[-0.33130939084049116,0.8025619687953216],[-0.2013093886286046,0.8524927149315782]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.3640574202966469,0.9498787605457397,0.71338606911949],"aabb_xy":[[0.2840574232823989,0.9297442088723283],[0.4440574173108949,0.9700133122191509]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.23423984670398995,1.6652417629591425,0.71338606911949],"aabb_xy":[[-0.24353346494114048,1.6277417644710084],[-0.22494622846683932,1.7027417614472762]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.34059911456186004,-1.9382442613082738,0.71338606911949],"aabb_xy":[[-0.3459366902278646,-1.9632442622374136],[-0.33526153889585547,-1.913244260379134]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.11619449843411223,-2.4238596681018407,0.71338606911949],"aabb_xy":[[0.061194499257522725,-2.478849342876798],[0.1711944976107017,-2.3688699933268826]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[0.5679288419728605,-1.6695796405616927,0.71338606911949],"aabb_xy":[[0.48792884338554104,-1.7488952424998536],[0.6479288405601799,-1.5902640386235318]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.1118664489006197,1.351404279096179,0.71338606911949],"aabb_xy":[[-0.17586644819478792,1.2874181387273247],[-0.04786644960645148,1.415390419465033]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.49232969812190575,-0.21258146207836814,0.71338606911949],"aabb_xy":[[-0.49959094569231316,-0.22536847234187765],[-0.48506845055149833,-0.1997944518148587]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.5157348994597676,-1.766920956350949,0.71338606911949],"aabb_xy":[[-0.5198508495718401,-1.7710365113837943],[-0.5116189493476948,-1.7628054013181031]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[0.3716721669165852,-0.9481903727381131,0.71338606911949],"aabb_xy":[[0.3607663908290225,-1.0281903691369423],[0.38257794300414794,-0.868190376339284]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.18008828807503752,-0.11536153689622752,0.71338606911949],"aabb_xy":[[-0.24408828666160995,-0.16236850029573624],[-0.11608828948846503,-0.06835457349671879]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.3859757852001526,0.48486894841214534,0.71338606911949],"aabb_xy":[[-0.40725379334362477,0.4198689460860723],[-0.3646977770566803,0.5498689507382184]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[0.5372807733766323,-0.5794565450436799,0.71338606911949],"aabb_xy":[[0.4732850759815356,-0.6434565433443886],[0.6012764707717287,-0.5154565467429713]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.13061669862931635,0.46861961472015956,0.71338606911949],"aabb_xy":[[-0.13765814958006398,0.46159286298236507],[-0.12357524767856878,0.47564636645795416]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.6106618833615394,-1.0468080440073786,0.71338606911949],"aabb_xy":[[0.5606687712523476,-1.0968080446815744],[0.6606549954707314,-0.9968080433331832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6991124936277939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5058.png","name":"5058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5058.png","name":"5058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6741.png","name":"6741"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/937.png","name":"937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8241.png","name":"8241"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6964.png","name":"6964"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":792.8006943173974,"rotation_z_degrees":108.91116617921642,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014639680038483621,-0.002266302163674107,0.002565036091880187]},{"name":"camera_2","offset_m":[0.016527046391530142,0.015539511027262826,0.006477375429973526]},{"name":"camera_3","offset_m":[-0.009643840271447157,0.0013159735737420068,0.007193354931527462]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015363087841222364,0.00036831105343430306,-0.0003308455265657595],"end_effector_yaw_offset_degrees":0.3743827645480564},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-1.0308246271157218e-05,0.001688882192135918,0.0015269508959642741],"end_effector_yaw_offset_degrees":0.4100124984194047},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009574420863626637,0.0008219926531986767,0.0017828216454786874],"end_effector_yaw_offset_degrees":-0.7554624214318431}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009580469047536034,-0.0007640703656063251],"position_m":[0.2808580469047536,0.15623592963439367,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003932420368652539,-0.001023198050233807],"position_m":[0.3569324203686525,0.3093768019497662,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0042722630849213105,-0.0008557252559709874],"position_m":[0.2959722630849213,-0.04405572525597099,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.266382980374836e-05,-0.0031533598788044195],"position_m":[0.2500426638298037,-0.33965335987880446,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0e763373dc44cba2f8d830fc6435e82967d3ed4429f9cf9174609e3f8be9cd91","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5058/tex_ceiling_textures_6964/tex_floor_textures_8241/tex_table_textures_6741/tex_wall_textures_937","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8956450824714163023,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8956450824714163023,"visual_seed":8956450824714163023,"scene_id":"lab_003","finished_at":"2026-09-02T02:49:25"}
+{"episode_id":"ep_000011","started_at":"2026-09-02T02:49:27","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.5532246464768216,0.5458457241823305,0.71338606911949],"aabb_xy":[[-0.6027050676907804,0.48184572626947875],[-0.5037442252628628,0.6098457220951824]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.21117031593111163,1.381845354344296,0.71338606911949],"aabb_xy":[[-0.2961703143485348,1.2969710588820111],[-0.12617031751368837,1.466719649806581]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.13949755307297074,-1.1552048842067488,0.71338606911949],"aabb_xy":[[-0.16449755223860385,-1.1621571299121054],[-0.11449755390733762,-1.1482526385013923]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.2146194590543617,1.0145539518152429,0.71338606911949],"aabb_xy":[[-0.24961945736505714,1.0068389368916972],[-0.17961946074366625,1.0222689667387885]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.10367260245298782,0.6811043385131774,0.71338606911949],"aabb_xy":[[-0.15366761341243984,0.6311043394775857],[-0.05367759149353578,0.7311043375487691]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.31462784686755474,1.5874464256535998,0.71338606911949],"aabb_xy":[[0.2796278468910589,1.5779818096059832],[0.34962784684405057,1.5969110417012164]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[0.3824094848143602,-1.2759464730467671,0.71338606911949],"aabb_xy":[[0.37756589005313024,-1.2807981255257515],[0.3872530795755902,-1.2710948205677832]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.32975835812106746,0.5508260429179153,0.71338606911949],"aabb_xy":[[0.3217149981951123,0.4658260418225487],[0.33780171804702264,0.6358260440132816]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.044142183698871795,-0.8360669008623631,0.71338606911949],"aabb_xy":[[-0.0816421822744926,-0.8488031965259211],[-0.006642185123250994,-0.8233306051988052]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.23339390436332852,1.7126287026336064,0.71338606911949],"aabb_xy":[[0.1693939011446907,1.665905590734598],[0.2973939075819664,1.7593518145326148]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.16334228000824336,-0.15750920256288037,0.71338606911949],"aabb_xy":[[-0.2433422832722565,-0.1710692348717937],[-0.08334227674423023,-0.14394917025396703]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[-0.06969204521126926,-1.517465291557009,0.71338606911949],"aabb_xy":[[-0.09215681518267436,-1.5399652924358695],[-0.04722727523986413,-1.4949652906781485]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.4271852335502107,1.3438391177170992,0.71338606911949],"aabb_xy":[[-0.4771852348340506,1.293860263326477],[-0.3771852322663707,1.3938179721077213]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.591455961215704,-2.1600047985942794,0.71338606911949],"aabb_xy":[[-0.6714559644735469,-2.2400013063862634],[-0.511455957957861,-2.0800082908022954]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.3201099825503133,0.49465092546806266,0.71338606911949],"aabb_xy":[[-0.3551099824463322,0.4862766899561227],[-0.28510998265429444,0.5030251609800025]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.15434713994739413,-1.94607129852385,0.71338606911949],"aabb_xy":[[0.10434714130147293,-1.9959908421833121],[0.20434713859331533,-1.8961517548643874]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.000871405715764717,1.111991433684798,0.71338606911949],"aabb_xy":[[-0.007051874522983614,1.0894914334467949],[0.008794685954513048,1.1344914339228016]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.005457404004766686,-1.6413092454872331,0.71338606911949],"aabb_xy":[[-0.0645425975975128,-1.654742038688891],[0.07545740560704617,-1.6278764522855758]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.16720007796245917,0.19785489844946458,0.71338606911949],"aabb_xy":[[-0.18847808610593142,0.13285489612339146],[-0.14592206981898692,0.2628549007755376]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.08261769946979192,-0.5712436782280479,0.71338606911949],"aabb_xy":[[-0.12011769957538487,-0.5780658400810289],[-0.04511769936419897,-0.5644215163750667]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.01894522799422038,-2.049622270088438,0.71338606911949],"aabb_xy":[[0.010164000846984158,-2.058402017376969],[0.027726455141456614,-2.0408425227999083]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.36919330727359384,-2.1137098564766457,0.71338606911949],"aabb_xy":[[-0.43319330765112746,-2.1634551233274575],[-0.3051933068960602,-2.063964589625833]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.42264342763031837,-2.2168909356652216,0.71338606911949],"aabb_xy":[[0.41187045370895065,-2.2518909338842605],[0.4334164015516862,-2.1818909374461826]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.47160699774466075,0.26181894603745715,0.71338606911949],"aabb_xy":[[-0.4825127738322234,0.181818949638628],[-0.460701221657098,0.3418189424362863]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[0.472297742018158,1.6068294015594637,0.71338606911949],"aabb_xy":[[0.44364840965774177,1.5781838422823877],[0.5009470743785742,1.6354749608365393]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6997497971248047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/625.png","name":"625"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5236.png","name":"5236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1023.png","name":"1023"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":599.9076268475144,"rotation_z_degrees":5.530251782527245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012539572161022573,0.01819596639163223,-0.015718570925101427]},{"name":"camera_2","offset_m":[-0.008869480602105111,-0.002680408946962403,0.011373990948101393]},{"name":"camera_3","offset_m":[0.012779399981892346,-0.013971802383010212,0.018679402172160745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017697235051912768,0.0013047156056775846,-0.0002890761269876152],"end_effector_yaw_offset_degrees":0.9056733299709687},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019424935972152252,-0.000549615590342044,-0.0005889771545184521],"end_effector_yaw_offset_degrees":0.7152752641332976},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007602673394488287,0.0017305046559581649,0.001706176755215332],"end_effector_yaw_offset_degrees":0.47894665680233217}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0011351953131793625,-0.004746660012597376],"position_m":[0.27876480468682063,0.15225333998740262,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004791421212411151,-0.0013244484638689712],"position_m":[0.35779142121241114,0.30907555153613103,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003335175013655914,0.001930487572589853],"position_m":[0.2883648249863441,-0.04126951242741015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008323935070874873,0.00010054227212166755],"position_m":[0.2491676064929125,-0.3363994577278784,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e74e0c3658ed74969a452598d427fd1558ddb878cbd851267c66d7914ba3fc3b","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5612/tex_ceiling_textures_1023/tex_floor_textures_5236/tex_table_textures_9478/tex_wall_textures_625","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8696217759854555234,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8696217759854555234,"visual_seed":8696217759854555234,"scene_id":"lab_003","finished_at":"2026-09-02T02:52:00"}
+{"episode_id":"ep_000012","started_at":"2026-09-02T02:52:03","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.5412705799025377,-1.3646395041590151,0.71338606911949],"aabb_xy":[[0.5283986764015975,-1.444639504572851],[0.5541424834034778,-1.2846395037451788]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.08370798207224572,-1.424373056014627,0.71338606911949],"aabb_xy":[[-0.17370798066671567,-1.4406236423280483],[0.006292016522224206,-1.4081224697012062]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.39871031104148363,-0.19024591359511245,0.71338606911949],"aabb_xy":[[-0.4687103131729131,-0.21300787922080808],[-0.32871030891005404,-0.16748394796941676]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.3235082742392273,-1.7856672105679063,0.71338606911949],"aabb_xy":[[-0.34600740996545426,-1.808167211346169],[-0.3010091385130003,-1.7631672097896431]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.5601335301570632,-1.850116520946814,0.71338606911949],"aabb_xy":[[-0.5976335306544215,-1.8540852044949323],[-0.522633529659705,-1.8461478373986953]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.6311981283585135,0.42778399778870746,0.71338606911949],"aabb_xy":[[0.6012064656246432,0.39778399845190693],[0.6611897910923838,0.457783997125508]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.15802815036489137,1.6844392837985027,0.71338606911949],"aabb_xy":[[0.13474630816676,1.5994392825012747],[0.1813099925630227,1.7694392850957308]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.43281041869862835,-2.2201363867475825,0.71338606911949],"aabb_xy":[[0.36281041709634887,-2.2335691799492405],[0.5028104203009078,-2.2067035935459254]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[-0.2971755107960604,-0.7437887553169553,0.71338606911949],"aabb_xy":[[-0.3384243218259751,-0.7987887548291726],[-0.2559266997661456,-0.6887887558047376]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.6106033414082926,-0.5636493434279006,0.71338606911949],"aabb_xy":[[-0.6584095090220613,-0.6286493461349596],[-0.562797173794524,-0.49864934072084166]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.1255110414944618,-0.17934717540426437,0.71338606911949],"aabb_xy":[[-0.1625451509225215,-0.21372438273797378],[-0.08847693206640209,-0.1449699680705549]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.5958633933205317,1.765722107302555,0.71338606911949],"aabb_xy":[[-0.6598633940240011,1.7197037248296345],[-0.5318633926170624,1.8117404897754765]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.6094046066341245,-0.1001055640931412,0.71338606911949],"aabb_xy":[[-0.654397193352575,-0.14510556336758995],[-0.5644120199156741,-0.05510556481869243]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.5031505044047105,-0.8481704568277657,0.71338606911949],"aabb_xy":[[-0.5406505045765824,-0.8808711922106729],[-0.4656505042328385,-0.8154697214448585]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.5965848067909026,-2.236133171349368,0.71338606911949],"aabb_xy":[[-0.666584809427489,-2.2562380363452337],[-0.5265848041543163,-2.2160283063535027]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.24944510445146117,-2.433337985716229,0.71338606911949],"aabb_xy":[[-0.311035863675454,-2.497337983825276],[-0.18785434522746838,-2.369337987607182]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.12232984140496828,-2.2774021803017104,0.71338606911949],"aabb_xy":[[0.08482984146120187,-2.2856952703365465],[0.15982984134873468,-2.2691090902668734]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.04950346532927197,-0.7380656101767782,0.71338606911949],"aabb_xy":[[-0.014496533964896252,-0.8020517505456324],[0.11350346462344019,-0.674079469807924]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.48835536214859376,1.1076251841358493,0.71338606911949],"aabb_xy":[[-0.5523553643690007,1.0632521000105608],[-0.4243553599281867,1.1519982682611374]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.07554463886004903,-2.1020751419771524,0.71338606911949],"aabb_xy":[[0.02841525985821336,-2.166075143021554],[0.1226740178618847,-2.03807514093275]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.10136121232475115,0.7050798007915069,0.71338606911949],"aabb_xy":[[0.07614037546491147,0.6798560499386199],[0.1265820491845908,0.7303035516443934]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.4400228639795405,0.7367716493030043,0.71338606911949],"aabb_xy":[[-0.5040228671981783,0.690048537403996],[-0.37602286076090263,0.7834947612020127]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.3917194396648629,-0.8083973394700807,0.71338606911949],"aabb_xy":[[0.34171943871433,-0.839946486473602],[0.44171944061539564,-0.7768481924665592]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[-0.4873652326153668,-0.5745430282606012,0.71338606911949],"aabb_xy":[[-0.5223652309260622,-0.5822580431841469],[-0.4523652343046714,-0.5668280133370556]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[0.6311726827149002,1.685513723604576,0.71338606911949],"aabb_xy":[[0.5671726823373666,1.6357684567537636],[0.6951726830924339,1.7352589904553881]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[0.5066848813317597,0.4331016651228854,0.71338606911949],"aabb_xy":[[0.49151271205012625,0.41793280819468204],[0.5218570506133929,0.44827052205108875]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[-0.40366243447990247,1.7419154471441263,0.71338606911949],"aabb_xy":[[-0.4636624350759187,1.6871029745989028],[-0.34366243388388634,1.7967279196893498]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_27","position":[0.2614127595490673,0.9247965197871575,0.71338606911949],"aabb_xy":[[0.24373712896046892,0.9071163035077547],[0.27908839013766557,0.9424767360665602]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_28","position":[-0.5300846971314046,1.2356267421234142,0.71338606911949],"aabb_xy":[[-0.5447281026854376,1.2209680224666297],[-0.5154412915773716,1.2502854617801982]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989113893360899,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2155.png","name":"2155"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2155.png","name":"2155"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6822.png","name":"6822"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1843.png","name":"1843"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9198.png","name":"9198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4316.png","name":"4316"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":593.534980842542,"rotation_z_degrees":130.83409475460886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008868917144729975,0.01647601580043385,0.010167474276623893]},{"name":"camera_2","offset_m":[0.006149667753092957,0.00044643655551650924,-0.0057022807409447835]},{"name":"camera_3","offset_m":[0.002368206689214586,0.006771225576703954,-0.016369754659259227]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009759147088502676,-0.0015763174741533202,-0.0014454444438599516],"end_effector_yaw_offset_degrees":0.9684957568277013},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001955422667029286,-0.00144701991161332,0.0001437413066348748],"end_effector_yaw_offset_degrees":0.25425171756487},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007112067478461737,0.00028017239528121225,0.0013342434316494073],"end_effector_yaw_offset_degrees":-0.07741271004354289}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028397346268435363,-0.0018182336387066456],"position_m":[0.28273973462684354,0.15518176636129336,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004996591135286545,-0.0036470078535203333],"position_m":[0.35799659113528653,0.30675299214647966,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003417095116076372,0.002778051592436116],"position_m":[0.28828290488392366,-0.040421948407563885,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038160566954803686,-0.0017383660131059298],"position_m":[0.25381605669548035,-0.338238366013106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e450cdf402345ac5cee87d602ee56dd66046a1c0ef4e4d69ff1660c6f14ad558","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2155/tex_ceiling_textures_4316/tex_floor_textures_9198/tex_table_textures_6822/tex_wall_textures_1843","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7112423022061621209,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7112423022061621209,"visual_seed":7112423022061621209,"scene_id":"lab_003","finished_at":"2026-09-02T02:54:39"}
+{"episode_id":"ep_000013","started_at":"2026-09-02T02:55:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.3482520471216144,1.0015121031431682,0.71338606911949],"aabb_xy":[[0.2832520492399666,0.9503884394366275],[0.41325204500326224,1.0526357668497093]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.5508781992975107,-2.2318469555285696,0.71338606911949],"aabb_xy":[[0.5407251837433611,-2.2679164971013095],[0.5610312148516599,-2.195777413955829]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.5125645411033768,1.1375140709120863,0.71338606911949],"aabb_xy":[[0.5009955603564403,1.1125140707951549],[0.5241335218503135,1.1625140710290183]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.23465462998993347,0.6495445957796595,0.71338606911949],"aabb_xy":[[-0.24264811978521558,0.6415464638391839],[-0.22666114019465153,0.6575427277201351]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.1884134374696409,-2.0266166144645315,0.71338606911949],"aabb_xy":[[0.18237642446897617,-2.0326433155334795],[0.19445045047030565,-2.0205899133955834]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.6104740365019443,-1.318329189053468,0.71338606911949],"aabb_xy":[[0.5841852121815035,-1.344600622708119],[0.6367628608223849,-1.2920577553988166]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.2406496434240991,-0.3506055366602929,0.71338606911949],"aabb_xy":[[-0.29064891859253533,-0.40060553793624015],[-0.190650368255663,-0.3006055353843458]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.4278641229497069,1.4499969381603992,0.71338606911949],"aabb_xy":[[0.38931843012450584,1.4114511671042105],[0.4664098157749079,1.488542709216588]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[0.7077813330330254,-1.346016263922701,0.71338606911949],"aabb_xy":[[0.6965362774624075,-1.3572580616467964],[0.7190263886036432,-1.3347744661986058]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.07948379442221831,-0.9504967596319245,0.71338606911949],"aabb_xy":[[-0.1394837942687851,-1.007315381824963],[-0.01948379457565154,-0.8936781374388857]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.49184136862491146,1.3017372612511404,0.71338606911949],"aabb_xy":[[0.47483127133486075,1.2856027727528665],[0.5088514659149621,1.3178717497494143]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.3649707845215762,-1.6139265751151974,0.71338606911949],"aabb_xy":[[-0.4289707877402141,-1.660649687014206],[-0.30097078130293836,-1.5672034632161893]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.3259140354365182,-2.0615785407518272,0.71338606911949],"aabb_xy":[[0.29247386024049854,-2.095022166582757],[0.35935421063253775,-2.0281349149208965]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.48912021094802804,1.104374295404214,0.71338606911949],"aabb_xy":[[-0.5491202111994291,1.050092970367749],[-0.42912021069662676,1.1586556204406784]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.46701900506817107,-2.4036769920580046,0.71338606911949],"aabb_xy":[[0.40301900177846295,-2.4470119110619217],[0.5310190083578792,-2.3603420730540865]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.40998056838393104,-2.129110156467271,0.71338606911949],"aabb_xy":[[-0.45498056985016,-2.1741100133287516],[-0.36498056691770225,-2.0841102996057903]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.4274302419670395,-0.535961674623203,0.71338606911949],"aabb_xy":[[0.35743024555707753,-0.5563996102748845],[0.4974302383770011,-0.515523738971521]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.46045893959731954,-2.5148248044264143,0.71338606911949],"aabb_xy":[[0.4385502574579685,-2.5367254712465046],[0.4823676217366706,-2.492924137606323]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.2105955634365222,-0.6527232418269628,0.71338606911949],"aabb_xy":[[0.20689230210738327,-0.6564252601356806],[0.214298824765661,-0.6490212235182449]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.2630673796729148,-1.0618643707293638,0.71338606911949],"aabb_xy":[[0.17306738025454393,-1.0952398675735535],[0.3530673790912857,-1.028488873885174]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.4343871965185302,-0.15936622540628198,0.71338606911949],"aabb_xy":[[-0.4983871936306358,-0.20839859520069257],[-0.37038719940642445,-0.11033385561187134]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.13272405723023717,-0.32354217271925645,0.71338606911949],"aabb_xy":[[-0.14357566347911277,-0.3344014634469074],[-0.12187245098136157,-0.3126828819916054]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.2983810429034989,0.7960955816883395,0.71338606911949],"aabb_xy":[[-0.31827208278383917,0.7834397704036428],[-0.2784900030231587,0.8087513929730364]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[0.6837756784968096,0.12905025268980186,0.71338606911949],"aabb_xy":[[0.6755611333811254,0.12037366239216053],[0.6919902236124934,0.1377268429874431]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_24","position":[-0.5748195555876102,0.9335729174881786,0.71338606911949],"aabb_xy":[[-0.5919216335459784,0.916466111956909],[-0.5577174776292421,0.9506797230194485]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.1421241621445697,-1.4513295697450859,0.71338606911949],"aabb_xy":[[-0.17712416045526513,-1.4590445846686315],[-0.10712416383387424,-1.4436145548215402]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.6418335212306907,-2.4765456672582427,0.71338606911949],"aabb_xy":[[-0.6505474902806251,-2.49904566791743],[-0.6331195521807561,-2.4540456665990535]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[-0.015554138261064887,-1.6908947495062232,0.71338606911949],"aabb_xy":[[-0.05657208164743577,-1.7408947501371805],[0.025463805125305997,-1.6408947488752659]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[-0.31239015883097254,0.9034434311832924,0.71338606911949],"aabb_xy":[[-0.32108812112168783,0.8913184568758177],[-0.30369219654025725,0.9155684054907671]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[-0.13038299888164784,0.11634998345135017,0.71338606911949],"aabb_xy":[[-0.18038299983218065,0.08480083644782876],[-0.08038299793111503,0.14789913045487157]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[-0.5914976772515425,1.4179373233147454,0.71338606911949],"aabb_xy":[[-0.5979993137595471,1.4081695012884359],[-0.5849960407435378,1.4277051453410554]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_31","position":[-0.5711904994681158,-2.138715393537595,0.71338606911949],"aabb_xy":[[-0.601674749595146,-2.188715393319091],[-0.5407062493410857,-2.088715393756099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699066382840032,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1909.png","name":"1909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1909.png","name":"1909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6889.png","name":"6889"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6158.png","name":"6158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6698.png","name":"6698"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":629.1440221330851,"rotation_z_degrees":138.19847348667153,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008345035269219508,0.0034015122767077494,0.0016127973214248442]},{"name":"camera_2","offset_m":[0.010986946524134473,-0.01982799532511399,-0.013803270164123914]},{"name":"camera_3","offset_m":[-0.014455439377597261,-0.012191818584782722,-0.006198164420825405]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001303570318845911,0.0006921447275848075,0.0007701897316499534],"end_effector_yaw_offset_degrees":0.4410899434179685},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002572591836616923,-0.0010460993186461529,0.001563405915728738],"end_effector_yaw_offset_degrees":-0.2672137118598701},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013263250749196995,-0.0010715022153422113,-0.001649679424094148],"end_effector_yaw_offset_degrees":-0.029070747828112697}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031205112687935034,-0.0048677040585651445],"position_m":[0.28302051126879346,0.15213229594143485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031092475176270626,0.0005356916713001921],"position_m":[0.35610924751762707,0.3109356916713002,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010861255409909867,0.0046318310303499486],"position_m":[0.29061387445900905,-0.038568168969650055,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004426466979193472,0.002236562946018864],"position_m":[0.25442646697919347,-0.33426343705398115,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"00dc1f2a5bd1c1934140a7dc50727bfca0260df87be8840b653ab9ab11a53aeb","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1909/tex_ceiling_textures_6698/tex_floor_textures_6158/tex_table_textures_8417/tex_wall_textures_6889","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3750593090819569572,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3750593090819569572,"visual_seed":3750593090819569572,"scene_id":"lab_003","finished_at":"2026-09-02T02:58:55"}
+{"episode_id":"ep_000014","started_at":"2026-09-02T02:58:57","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.1173450430607349,1.5901415385910789,0.71338606911949],"aabb_xy":[[-0.13513854999565134,1.5723417929952812],[-0.09955153612581848,1.6079412841868765]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.4693507337989282,-0.23324952488897432,0.71338606911949],"aabb_xy":[[-0.519350734749461,-0.2647986718924957],[-0.41935073284839536,-0.20170037788545286]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.43844657551375127,0.599094825158005,0.71338606911949],"aabb_xy":[[-0.4759465760111095,0.5951261416098866],[-0.400946575016393,0.6030635087061235]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.5745051260497119,0.9846998978062094,0.71338606911949],"aabb_xy":[[-0.5852780999710797,0.9496998995871704],[-0.5637321521283442,1.0196998960252484]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.1285835564296054,-1.8414791816204528,0.71338606911949],"aabb_xy":[[-0.19358355646390812,-1.8881798583007798],[-0.06358355639530267,-1.7947785049401253]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.18234547183975058,0.4047639034915562,0.71338606911949],"aabb_xy":[[-0.24634546895185627,0.3557315336971456],[-0.1183454747276449,0.45379627328596683]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.3399510194687337,-2.3769800823224436,0.71338606911949],"aabb_xy":[[-0.38096896285510456,-2.426980082953401],[-0.2989330760823628,-2.3269800816914863]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.22585688748250338,1.2971948589260873,0.71338606911949],"aabb_xy":[[-0.2708568889487323,1.2521950020646067],[-0.18085688601627453,1.342194715787568]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.41451470190039774,-1.599573807655803,0.71338606911949],"aabb_xy":[[-0.4695147010769872,-1.6545634824307605],[-0.3595147027238082,-1.5445841328808452]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.5235638716681592,-1.5675609862200635,0.71338606911949],"aabb_xy":[[0.45356386827659717,-1.602876759923494],[0.5935638750597211,-1.5322452125166324]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.5248301060062519,0.23862556233482435,0.71338606911949],"aabb_xy":[[-0.5719594850080874,0.17462556129042237],[-0.477700727004416,0.3026255633792263]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.0070212069947171996,1.1198429579464628,0.71338606911949],"aabb_xy":[[-0.015134861668094302,1.1117371414924337],[0.0010924476786599024,1.127948774400492]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.3010949834261949,-1.363180273658623,0.71338606911949],"aabb_xy":[[-0.3560949830479408,-1.4181639664460957],[-0.2460949838044491,-1.3081965808711502]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.49953999413452577,0.5582008415191786,0.71338606911949],"aabb_xy":[[0.4919157260443476,0.5505676179826349],[0.5071642622247041,0.5658340650557223]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.35973297636070917,1.5669707876000687,0.71338606911949],"aabb_xy":[[-0.41472522699622016,1.5119707858567564],[-0.3047407257251982,1.621970789343382]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.4463866363500617,0.83314773647112,0.71338606911949],"aabb_xy":[[0.42871100576146337,0.8154675201917171],[0.46406226693866004,0.8508279527505226]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.029576661324477782,-0.49952006345084987,0.71338606911949],"aabb_xy":[[-0.05174918830112861,-0.5216957306069729],[-0.007404134347826942,-0.47734439629472664]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.3851811585314723,-0.890090507381397,0.71338606911949],"aabb_xy":[[-0.4401766363521316,-0.9450905088153038],[-0.33018568071081283,-0.8350905059474899]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.11796747629642024,-1.0893798107548183,0.71338606911949],"aabb_xy":[[0.08046747787301989,-1.1025440247226486],[0.1554674747198206,-1.0762155967869875]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.478178911930055,1.2339035548520072,0.71338606911949],"aabb_xy":[[-0.5156789118738214,1.2256104648171706],[-0.4406789119862886,1.2421966448868438]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.009903956638484646,-2.105629294413593,0.71338606911949],"aabb_xy":[[-0.05208837079931539,-2.1696292946908042],[0.032280457522346095,-2.041629294136382]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.000794965464256947,0.8641358839614242,0.71338606911949],"aabb_xy":[[-0.08079496689438415,0.7846187289488145],[0.07920503596587025,0.9436530389740334]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[-0.6424023577075246,-0.668660804479964,0.71338606911949],"aabb_xy":[[-0.6707320676560649,-0.6731215466736811],[-0.6140726477589844,-0.664200062286247]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.4892009908784687,-1.3882213712328493,0.71338606911949],"aabb_xy":[[0.45420099098244976,-1.3965956067447889],[0.5242009907744875,-1.3798471357209092]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[0.363912824316871,-1.6031996281258671,0.71338606911949],"aabb_xy":[[0.35449534974700825,-1.612615805263586],[0.37333029888673375,-1.5937834509881479]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.6747156729713168,0.5578501905311777,0.71338606911949],"aabb_xy":[[-0.6819979893479803,0.4678501869216685],[-0.667433356594653,0.6478501941406865]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.23940303892004544,0.7629237492889711,0.71338606911949],"aabb_xy":[[0.21749435678069434,0.7410230824688803],[0.26131172105939643,0.7848244161090617]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[0.6356274595061284,1.0472203146646484,0.71338606911949],"aabb_xy":[[0.5981274596890948,1.0425821033535065],[0.6731274593231619,1.0518585259757902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691799637127879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9632.png","name":"9632"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9632.png","name":"9632"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8361.png","name":"8361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1076.png","name":"1076"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2349.png","name":"2349"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4344.png","name":"4344"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":731.7788530776305,"rotation_z_degrees":307.01087954863453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007541235658421498,0.004521168291384686,-0.0037331498184325664]},{"name":"camera_2","offset_m":[0.006927275322378187,0.009145981691325532,0.00991793598525054]},{"name":"camera_3","offset_m":[0.018216905475801824,0.016044039581317743,0.0060420210831177365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003442336371616535,0.0015134707577648255,0.00160151169266652],"end_effector_yaw_offset_degrees":-0.8026582101693878},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001972776151401656,0.0006644524279798866,-0.0015706268832876053],"end_effector_yaw_offset_degrees":0.41725234011712},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-9.454525226068188e-05,-0.001455460095158441,0.0013750130958198816],"end_effector_yaw_offset_degrees":-0.8430879402789753}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001079548470032948,0.0012349120950777758],"position_m":[0.2809795484700329,0.15823491209507778,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028932950819805727,-0.0037171032810357375],"position_m":[0.35010670491801943,0.30668289671896426,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013798514670327767,0.0017849361969609397],"position_m":[0.2930798514670328,-0.04141506380303906,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008357682238473215,-0.003078144588191123],"position_m":[0.24916423177615268,-0.33957814458819113,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"afbb6fcedfe0c5fe77f3e365c59e9d020c3dca4e6d4dc7b1cec55f40a1d47929","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9632/tex_ceiling_textures_4344/tex_floor_textures_2349/tex_table_textures_8361/tex_wall_textures_1076","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8028435736292744858,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8028435736292744858,"visual_seed":8028435736292744858,"scene_id":"lab_003","finished_at":"2026-09-02T03:01:32"}
+{"episode_id":"ep_000015","started_at":"2026-09-02T03:03:00","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.03889526582110192,-0.8601612070098057,0.71338606911949],"aabb_xy":[[-0.011104735840392841,-0.9101596492655083],[0.08889526748259667,-0.8101627647541029]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.502650406156703,-2.4496297190964644,0.71338606911949],"aabb_xy":[[0.45265040671650736,-2.4995976435807803],[0.5526504055968986,-2.3996617946121477]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.48377242009682214,-1.3722633836565392,0.71338606911949],"aabb_xy":[[-0.5337724211159574,-1.4087295993943674],[-0.43377241907768693,-1.3357971679187115]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.35652390574390513,-1.2223572636626883,0.71338606911949],"aabb_xy":[[-0.36736438397042004,-1.2395435449533367],[-0.34568342751739023,-1.2051709823720393]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.04344247326753237,-2.068321962770546,0.71338606911949],"aabb_xy":[[0.02594247300819575,-2.082413504959319],[0.060942473526869004,-2.054230420581774]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.5006086863289401,-0.7763009196230222,0.71338606911949],"aabb_xy":[[0.48936363075832223,-0.7875427173471172],[0.5118537418995579,-0.7650591218989267]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.01731645825474948,0.8034470973098413,0.71338606911949],"aabb_xy":[[-0.02981292074708619,0.7394470962654393],[0.06444583725658515,0.8674470983542432]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.510457945732663,-2.169258901569917,0.71338606911949],"aabb_xy":[[0.4996063394837874,-2.1801181922975683],[0.5213095519815386,-2.158399610842266]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[-0.021775561841150592,1.5131450901252026,0.71338606911949],"aabb_xy":[[-0.036109986967314045,1.5010848745706638],[-0.0074411367149871364,1.5252053056797414]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.3581707223155547,-0.34449943291754215,0.71338606911949],"aabb_xy":[[-0.4231707233160552,-0.3952857980722171],[-0.2931707213150542,-0.2937130677628672]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.18741615139811119,0.850485265341709,0.71338606911949],"aabb_xy":[[0.1274161515515444,0.7936666431486703],[0.24741615124467797,0.9073038875347477]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.20706450035912688,0.8417443258298767,0.71338606911949],"aabb_xy":[[-0.22695554023946718,0.8290885145451798],[-0.18717346047878666,0.8544001371145735]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.58282115153597,0.5262452577511731,0.71338606911949],"aabb_xy":[[0.4978211531185468,0.44137096228888817],[0.6678211499533933,0.6111195532134581]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.43858913624882967,1.0462925414969404,0.71338606911949],"aabb_xy":[[0.4281775775683459,1.0409468081610418],[0.4490006949293133,1.0516382748328386]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.6648494978907344,1.5016290801734367,0.71338606911949],"aabb_xy":[[0.647349497645685,1.4841292923338696],[0.6823494981357837,1.5191288680130033]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.25484942935660626,0.08816772052811972,0.71338606911949],"aabb_xy":[[-0.2873111302385336,0.0580348884132171],[-0.22238772847467872,0.11830055264302232]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.39819297607071213,1.644551454432651,0.71338606911949],"aabb_xy":[[-0.46219297936042025,1.6012165354287333],[-0.334192972781004,1.6878863734365686]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.14984295920325197,1.0610107451954272,0.71338606911949],"aabb_xy":[[-0.1561550587395904,1.0552438059422082],[-0.14353085966691354,1.066777684448646]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.4273264318209644,0.7682261046458154,0.71338606911949],"aabb_xy":[[0.34732643039083727,0.6887089496332058],[0.5073264332510916,0.8477432596584248]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.3844800127547112,1.3050980052039662,0.71338606911949],"aabb_xy":[[0.30448000949686826,1.225101497411982],[0.4644800160125542,1.38509451299595]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[0.22013656070590204,1.5114106301013526,0.71338606911949],"aabb_xy":[[0.17015914384064842,1.4614106286121038],[0.2701139775711556,1.561410631590601]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.37561052117973603,0.31279021507341165,0.71338606911949],"aabb_xy":[[-0.380454115940966,0.3079385625944276],[-0.37076692641850606,0.3176418675523958]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.6527995023956079,0.0732841259138719,0.71338606911949],"aabb_xy":[[0.6152995025785744,0.06864591460273003],[0.6902995022126415,0.07792233722501377]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[0.37343159965017114,-1.289913571179247,0.71338606911949],"aabb_xy":[[0.3094316023478247,-1.3342799981471036],[0.4374315969525175,-1.2455471442113901]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.2599789106312428,-1.2370244107161978,0.71338606911949],"aabb_xy":[[-0.26493493081612396,-1.2595244109183197],[-0.2550228904463616,-1.2145244105140764]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.06724811714196133,0.5376961588014333,0.71338606911949],"aabb_xy":[[-0.08425821443201197,0.5215616703031594],[-0.05023801985191066,0.5538306472997072]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[0.5678713780178248,-0.13735644877969522,0.71338606911949],"aabb_xy":[[0.5227000601696559,-0.20135644592423368],[0.6130426958659938,-0.07335645163515682]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[-0.015413101374375016,-2.2807416495665027,0.71338606911949],"aabb_xy":[[-0.024111063665090308,-2.2928666238739774],[-0.006715139083659725,-2.268616675259028]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_28","position":[-0.11478776792706502,-2.0655136655206423,0.71338606911949],"aabb_xy":[[-0.1797877658087128,-2.1166373292271836],[-0.049787770045417234,-2.014390001814102]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[-0.3641478361970612,-2.1608908121742303,0.71338606911949],"aabb_xy":[[-0.44414783360065463,-2.2408833833724127],[-0.2841478387934678,-2.080898240976047]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.5581256935914584,-1.5646476820843844,0.71338606911949],"aabb_xy":[[-0.5924226046091988,-1.5989445682943253],[-0.5238287825737177,-1.5303507958744427]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_31","position":[0.24505197468609952,-2.0640367422630272,0.71338606911949],"aabb_xy":[[0.22794989672773136,-2.081143547794297],[0.26215405264446767,-2.0469299367317575]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_32","position":[0.3096753745866814,-0.820850302710852,0.71338606911949],"aabb_xy":[[0.27217537441480943,-0.8535510380937592],[0.3471753747585533,-0.7881495673279448]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964523285334268,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5657.png","name":"5657"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5657.png","name":"5657"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7777.png","name":"7777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1145.png","name":"1145"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9951.png","name":"9951"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":534.4747432593373,"rotation_z_degrees":322.53992859472413,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007364780502223171,-0.006089593092910555,0.017312281856453834]},{"name":"camera_2","offset_m":[0.004574135550443909,-0.016013021685306147,0.006982410601139563]},{"name":"camera_3","offset_m":[-0.006230988276471399,0.004433520992085535,-0.007092961020047625]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004671989875613021,-0.0012608372703400757,-0.0009704855887383702],"end_effector_yaw_offset_degrees":0.3181927815908119},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012362076429758154,-0.0016318213476109213,0.0010606552727332407],"end_effector_yaw_offset_degrees":-0.9226441391468114},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013908647608225945,-0.0010692636858821505,0.001818618003045593],"end_effector_yaw_offset_degrees":0.7431959505033157}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0042891656745622335,0.004846694973459668],"position_m":[0.27561083432543776,0.16184669497345966,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011461173333756837,0.0031978016321855393],"position_m":[0.3518538826666243,0.31359780163218554,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012780864737741925,-0.004962679395369763],"position_m":[0.2904219135262258,-0.048162679395369765,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020617242408736466,-0.0028362564300913173],"position_m":[0.25206172424087364,-0.33933625643009135,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1c7a0c671ccbc094e833d3b8c61d574e2c2fefa388d66a10c013947c8efa046b","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5657/tex_ceiling_textures_9951/tex_floor_textures_1145/tex_table_textures_3393/tex_wall_textures_7777","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6821041248182861614,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6821041248182861614,"visual_seed":6821041248182861614,"scene_id":"lab_003","finished_at":"2026-09-02T03:05:41"}
+{"episode_id":"ep_000016","started_at":"2026-09-02T03:05:44","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.6909078224757239,-2.5288415770282633,0.71338606911949],"aabb_xy":[[0.682871487774439,-2.53687969633268],[0.6989441571770086,-2.520803457723846]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.5655050387783578,-1.5695272312913564,0.71338606911949],"aabb_xy":[[0.5433325118017068,-1.5917028984474795],[0.5876775657550085,-1.547351564135233]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.5239292006320285,0.9421837243879243,0.71338606911949],"aabb_xy":[[-0.588929203269822,0.8907041256884773],[-0.45892919799423504,0.9936633230873713]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.13447525167124386,-0.2412474591365914,0.71338606911949],"aabb_xy":[[-0.21947525008866706,-0.3261217545988764],[-0.0494752532538206,-0.15637316367430645]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.5573217063225886,0.9720828212323314,0.71338606911949],"aabb_xy":[[0.5485404791753524,0.9633030739438014],[0.566102933469825,0.9808625685208617]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.6346160113279475,-2.152499502604152,0.71338606911949],"aabb_xy":[[-0.6399535869939521,-2.1774995035332916],[-0.629278435661943,-2.127499501675012]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.6113893624672515,-0.6955792319378469,0.71338606911949],"aabb_xy":[[0.5686226555878313,-0.7595792353596493],[0.6541560693466717,-0.6315792285160444]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.5728829560184812,0.8373231591648529,0.71338606911949],"aabb_xy":[[-0.5805072241086594,0.8296899356283093],[-0.5652586879283029,0.8449563827013967]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.5883927520326657,1.2434952936657124,0.71338606911949],"aabb_xy":[[0.4983927523094915,1.2204219411305324],[0.6783927517558398,1.266568646200892]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.08902938499127622,-0.9443490285655267,0.71338606911949],"aabb_xy":[[0.08459875563643605,-0.9497974003002094],[0.09346001434611641,-0.9389006568308442]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.2608968455001499,0.7615380597480357,0.71338606911949],"aabb_xy":[[0.21091260979197268,0.7115380609345401],[0.31088108120832714,0.8115380585615313]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.5065569473354345,-1.343498680688548,0.71338606911949],"aabb_xy":[[0.4852789391919623,-1.408498683014621],[0.5278349554789068,-1.2784986783624748]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.1963561994913492,-1.8014209750746306,0.71338606911949],"aabb_xy":[[0.11635619623350624,-1.8814174828666146],[0.27635620274919215,-1.7214244672826466]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[0.18817802824588858,1.0538138017932677,0.71338606911949],"aabb_xy":[[0.15067802982248824,1.040649587825437],[0.22567802666928893,1.0669780157610984]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.28861105349089317,0.22154759417276226,0.71338606911949],"aabb_xy":[[-0.31900916459003675,0.19114069217109275],[-0.2582129423917496,0.2519544961744318]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.2906253319541785,1.7894283083700508,0.71338606911949],"aabb_xy":[[0.2266253299044465,1.7493338252807429],[0.3546253340039105,1.8295227914593588]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.17286624287883912,-1.2284863693610757,0.71338606911949],"aabb_xy":[[-0.22283953688209954,-1.2784863699156228],[-0.12289294887557864,-1.1784863688065281]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.10020933294388679,-2.3987336708394302,0.71338606911949],"aabb_xy":[[-0.16020933319528796,-2.4530149958758947],[-0.04020933269248561,-2.344452345802965]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.5739783393802181,0.5810119282313844,0.71338606911949],"aabb_xy":[[-0.5836099756006478,0.5713746154516753],[-0.5643467031597885,0.5906492410110932]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.5434051439461332,0.009224383073281661,0.71338606911949],"aabb_xy":[[-0.5983983552832699,-0.04577561726551194],[-0.4884119326089964,0.06422438341207527]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.25589391638198083,0.07871191838447578,0.71338606911949],"aabb_xy":[[-0.2674628971289174,0.05371191826754408],[-0.24432493563504426,0.1037119185014075]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.31137790484280614,-0.8012328307123942,0.71338606911949],"aabb_xy":[[-0.3201799601517788,-0.8090441568673231],[-0.3025758495338334,-0.793421504557465]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.0786625840249291,-1.941436790348876,0.71338606911949],"aabb_xy":[[-0.13866258387149588,-1.9982554125419147],[-0.018662584178362307,-1.8846181681558374]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.32611693631233385,-1.2407769525803556,0.71338606911949],"aabb_xy":[[-0.3506631519350845,-1.2710258491293926],[-0.30157072068958307,-1.2105280560313185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697916125480721,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6110.png","name":"6110"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6110.png","name":"6110"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4168.png","name":"4168"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1125.png","name":"1125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4452.png","name":"4452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2052.png","name":"2052"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":634.2249872657131,"rotation_z_degrees":5.902514394667677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013058597657777938,-0.010347936488325207,-0.008032825945857795]},{"name":"camera_2","offset_m":[-0.002503281468886856,-0.0018392722460234476,0.0016680421130769035]},{"name":"camera_3","offset_m":[-0.0034650802383932033,-0.005198762862622233,-0.01737993999217559]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017547941604748106,-0.0006483302808355936,-0.0003655166192287878],"end_effector_yaw_offset_degrees":0.2592944851950323},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000874271622135929,0.0017142147563295835,0.00025333390681511357],"end_effector_yaw_offset_degrees":-0.11313828661178515},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007860996186825802,0.0014040373699547681,0.0006947360290262233],"end_effector_yaw_offset_degrees":-0.06618010161664989}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022305347728875016,-0.0046120685013672615],"position_m":[0.2776694652271125,0.15238793149863275,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004107308159488181,-0.004094060124980544],"position_m":[0.35710730815948816,0.3063059398750195,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004539007268151284,-1.9052074915716297e-05],"position_m":[0.28716099273184875,-0.04321905207491572,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041282928595772405,-0.0014545489335216545],"position_m":[0.24587170714042275,-0.33795454893352167,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa86016ba3c5ebda51e075293bdd91d6dd03777d8aee5aaef208439fbecef27e","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6110/tex_ceiling_textures_2052/tex_floor_textures_4452/tex_table_textures_4168/tex_wall_textures_1125","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7780438097947798735,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7780438097947798735,"visual_seed":7780438097947798735,"scene_id":"lab_003","finished_at":"2026-09-02T03:08:23"}
+{"episode_id":"ep_000017","started_at":"2026-09-02T03:09:58","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.3363926300288744,-0.8680750234730883,0.71338606911949],"aabb_xy":[[-0.3738926299726407,-0.876368113507925],[-0.2988926300851079,-0.8597819334382518]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.14578324923924446,-0.6587155679883445,0.71338606911949],"aabb_xy":[[0.10828324942221093,-0.6633537792994864],[0.18328324905627805,-0.6540773566772027]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.3009104297785191,1.7194984696933768,0.71338606911949],"aabb_xy":[[0.2949438908377834,1.7135373250340125],[0.30687696871925496,1.7254596143527408]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.4865027915416993,-0.770760021200245,0.71338606911949],"aabb_xy":[[-0.5505027888273479,-0.812266740153089],[-0.4225027942560507,-0.729253302247401]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.12166701579731365,-1.3065237565424928,0.71338606911949],"aabb_xy":[[0.08416701513273492,-1.3222108145427145],[0.1591670164618923,-1.2908366985422701]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.5096581035057344,1.3295265527955582,0.71338606911949],"aabb_xy":[[-0.5136185872754688,1.3218586882100378],[-0.5056976197360001,1.337194417381079]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.3847284356257443,0.09886188825126574,0.71338606911949],"aabb_xy":[[-0.4497284365828715,0.04691367631756015],[-0.31972843466861706,0.1508101001849713]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.02616685146800224,-1.7547758075009887,0.71338606911949],"aabb_xy":[[-0.07616685312949699,-1.8047742497566912],[0.02383315019349252,-1.7047773652452858]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.3006918045865594,1.1134020052954483,0.71338606911949],"aabb_xy":[[0.26319180429438455,1.1093605298948448],[0.3381918048787342,1.1174434806960518]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.3626225191243546,-1.5452590673420592,0.71338606911949],"aabb_xy":[[0.3126225181052194,-1.5817252830798876],[0.41262252014349,-1.5087928516042317]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.22691482141726688,-1.1083450400796693,0.71338606911949],"aabb_xy":[[-0.2719148228834958,-1.1533448969411502],[-0.18191481995103803,-1.0633451832181888]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.28880244437828495,-1.8206754459726526,0.71338606911949],"aabb_xy":[[0.28077617374765895,-1.8294269409500052],[0.29682871500891095,-1.8119239509953]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.4757282061985115,-0.3124841394069202,0.71338606911949],"aabb_xy":[[0.42574525601103214,-0.36248413904948057],[0.5257111563859908,-0.26248413976435975]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.1930109466948463,-2.3066237796300033,0.71338606911949],"aabb_xy":[[-0.20179217384208262,-2.315403526918534],[-0.18422971954761014,-2.2978440323414735]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.20082839439198552,-0.8513569677678188,0.71338606911949],"aabb_xy":[[0.17724327092809067,-0.9163569700132507],[0.22441351785588037,-0.7863569655223871]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.43024334400870545,-1.3132249676161942,0.71338606911949],"aabb_xy":[[0.3916976511835044,-1.351770738672383],[0.4687890368339065,-1.2746791965600055]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.606789031923558,1.7702561629049902,0.71338606911949],"aabb_xy":[[0.5985744868078738,1.7615795726073484],[0.6150035770392418,1.7789327532026311]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.41392464505199844,-0.5546223821238767,0.71338606911949],"aabb_xy":[[0.4063003769618202,-0.5622556056604204],[0.4215489131421767,-0.546989158587333]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.005204699598874152,-1.1622178611115181,0.71338606911949],"aabb_xy":[[-0.08520470285671711,-1.2422143689035021],[0.0747953036589688,-1.0822213533195342]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.5560960817304477,1.6302075552012458,0.71338606911949],"aabb_xy":[[0.5322598640898426,1.5402075543927596],[0.5799322993710527,1.7202075560097325]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.26722875773735455,0.6189388442038588,0.71338606911949],"aabb_xy":[[0.2559837021667367,0.6076970464797635],[0.2784738133079724,0.6301806419279541]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.48935944516363167,-0.12968309299772418,0.71338606911949],"aabb_xy":[[-0.5391762246284664,-0.17968309148202755],[-0.43954266569879696,-0.07968309451342082]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969512443471144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/858.png","name":"858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/858.png","name":"858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5069.png","name":"5069"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7983.png","name":"7983"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1959.png","name":"1959"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":631.6361831676871,"rotation_z_degrees":236.93767160783196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015266522541023838,0.01921970631171165,0.01308753212953882]},{"name":"camera_2","offset_m":[0.011115412881009017,-0.0017417604742272323,-0.016432373292643153]},{"name":"camera_3","offset_m":[-0.00014656819080760206,-0.014818335250348298,0.01461811401143916]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000505894215211972,0.001445799258491161,0.0017471528528365085],"end_effector_yaw_offset_degrees":0.9068927293113771},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007596394898280177,0.0007252280664583792,-0.0004959911103925023],"end_effector_yaw_offset_degrees":-0.47810892675738215},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011710590663998612,0.0007979701008223499,1.12753773271238e-05],"end_effector_yaw_offset_degrees":-0.00019778033328399225}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0024553574677063884,0.002831956167141817],"position_m":[0.28235535746770635,0.15983195616714183,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007599441234286235,0.00354002055789139],"position_m":[0.35224005587657137,0.3139400205578914,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003496080964039479,-0.004351718817957538],"position_m":[0.28820391903596054,-0.04755171881795754,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00221993822226496,-0.0012008309756871426],"position_m":[0.25221993822226496,-0.33770083097568715,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4fc37249a2c8d5f0339052c5d19fc51209d8ad79cf6edb4076d32c95f542e5c0","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_858/tex_ceiling_textures_1959/tex_floor_textures_7983/tex_table_textures_5069/tex_wall_textures_1419","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1643902412429131948,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1643902412429131948,"visual_seed":1643902412429131948,"scene_id":"lab_003","finished_at":"2026-09-02T03:12:27"}
+{"episode_id":"ep_000018","started_at":"2026-09-02T03:12:30","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.1829017166826522,-0.0640006686786374,0.71338606911949],"aabb_xy":[[-0.1937421949091671,-0.08118694996928622],[-0.1720612384561373,-0.0468143873879886]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.6577544874905044,0.4116566559748991,0.71338606911949],"aabb_xy":[[0.642582318208871,0.3964877990466958],[0.6729266567721377,0.4268255129031025]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.028326240645215273,-2.3028062620570138,0.71338606911949],"aabb_xy":[[-0.03957129621583311,-2.314048059781109],[-0.017081185074597438,-2.2915644643329185]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.07942653526751409,1.1464765759851807,0.71338606911949],"aabb_xy":[[-0.08500820690164283,1.133976576167405],[-0.07384486363338531,1.158976575802956]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.2060127050373356,-0.4127006764580088,0.71338606911949],"aabb_xy":[[-0.24101270638881733,-0.4330604124148296],[-0.17101270368585386,-0.39234094050118795]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.6078911713447664,-0.6582168386174116,0.71338606911949],"aabb_xy":[[-0.6578911717053324,-0.7081968258270145],[-0.5578911709842003,-0.6082368514078086]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.16431676443066,-1.1031197641618775,0.71338606911949],"aabb_xy":[[-0.21429971461813935,-1.153119763804438],[-0.11433381424318069,-1.053119764519317]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.6881825006279265,1.655553738167542,0.71338606911949],"aabb_xy":[[0.6707517855489199,1.638281623503691],[0.7056132157069329,1.6728258528313926]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[-0.272662937456202,0.31170634128951313,0.71338606911949],"aabb_xy":[[-0.2835145437050776,0.3008470505618621],[-0.2618113312073264,0.32256563201716415]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[0.33485719529760183,-1.0845999152488601,0.71338606911949],"aabb_xy":[[0.26485719348885645,-1.1059536840130477],[0.4048571971063473,-1.063246146484673]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.5675437996063739,-1.923735985472363,0.71338606911949],"aabb_xy":[[0.5125505882692372,-1.9787359858111568],[0.6225370109435107,-1.8687359851335696]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.1005493976846179,-1.6771214130596475,0.71338606911949],"aabb_xy":[[-0.1645450950797145,-1.741121411360356],[-0.036553700289521304,-1.6131214147589386]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.004776591802104324,-0.7341004883438402,0.71338606911949],"aabb_xy":[[-0.04608113486584031,-0.7981004879119572],[0.036527951261631664,-0.670100488775723]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[-0.40238220777497613,-1.0820354085016395,0.71338606911949],"aabb_xy":[[-0.41279376645545973,-1.0873811418375376],[-0.3919706490944923,-1.0766896751657409]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.20523368640038564,-2.3862992330237915,0.71338606911949],"aabb_xy":[[-0.20919417017012001,-2.393967097609312],[-0.20127320263065127,-2.378631368438271]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.6251065939570173,-1.5337086473802837,0.71338606911949],"aabb_xy":[[0.6092221006916921,-1.5480615876791075],[0.6409910872223424,-1.5193557070814594]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.2908838471710232,-1.8739294862846494,0.71338606911949],"aabb_xy":[[0.2308838465750071,-1.9287419588298729],[0.35088384776703946,-1.819117013739426]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.5322804897108497,-0.9048372960134934,0.71338606911949],"aabb_xy":[[0.4722804888500369,-0.9562637260199796],[0.5922804905716624,-0.8534108660070068]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.1222802315518785,0.7851982296846054,0.71338606911949],"aabb_xy":[[0.03259315524376305,0.695198229430155],[0.21196730785999396,0.875198229939056]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.21802407214082042,-0.9554917931774825,0.71338606911949],"aabb_xy":[[0.17193898088608894,-1.0194917904300376],[0.2641091633955519,-0.8914917959249274]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[-0.38962480164423363,-1.8170013353415693,0.71338606911949],"aabb_xy":[[-0.4024967051451737,-1.8970013357554054],[-0.37675289814329344,-1.7370013349277331]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.17078450971863135,-0.8613526816232191,0.71338606911949],"aabb_xy":[[-0.17709660925496978,-0.8671196208764379],[-0.16447241018229292,-0.8555857423700003]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[-0.56487177407485,-0.5356102301603536,0.71338606911949],"aabb_xy":[[-0.5932014840233902,-0.5400709723540706],[-0.5365420641263098,-0.5311494879666365]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.6305152028845131,-0.8641547786038319,0.71338606911949],"aabb_xy":[[-0.6358477175391262,-0.8694791068490675],[-0.6251826882299001,-0.8588304503585964]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.32514426241010047,1.4994376543366568,0.71338606911949],"aabb_xy":[[-0.3357117420681995,1.488892624223648],[-0.31457678275200146,1.509982684449665]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.24735647125183435,-2.479961224397227,0.71338606911949],"aabb_xy":[[0.21086065062455558,-2.5164451668239844],[0.2838522918791131,-2.4434772819704693]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[0.5023750562727904,0.3057477619182625,0.71338606911949],"aabb_xy":[[0.48416923261154277,0.29472236133627083],[0.5205808799340381,0.3167731625002541]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979570241475437,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9242.png","name":"9242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9242.png","name":"9242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8431.png","name":"8431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7506.png","name":"7506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3928.png","name":"3928"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9743.png","name":"9743"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":692.3883774851073,"rotation_z_degrees":196.7078696167406,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010090034471957686,-0.01050198238382032,0.014847130236617944]},{"name":"camera_2","offset_m":[-0.01991364915916631,-0.003810112448641361,0.012508617963157314]},{"name":"camera_3","offset_m":[0.008191378540557393,-0.009250261000714768,0.007002294560613603]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007052847109416129,0.00016679993835860482,6.534794034240583e-06],"end_effector_yaw_offset_degrees":-0.44759341255215346},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003930043045938078,-0.0012256180755681229,0.00016790560739138273],"end_effector_yaw_offset_degrees":0.5596537757861066},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010555059397209451,-0.0005933923590072578,0.0013716484654154627],"end_effector_yaw_offset_degrees":0.2450278150870553}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004721767034650304,0.003683476873788093],"position_m":[0.2846217670346503,0.1606834768737881,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038420894331455376,-0.0034586554056113606],"position_m":[0.3568420894331455,0.30694134459438865,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003507553697338332,-0.0022140574065277986],"position_m":[0.29520755369733837,-0.0454140574065278,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003992830065987892,0.002590706293696076],"position_m":[0.2539928300659879,-0.33390929370630396,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"63f66dcfa732f0b2db9cd579269100ee91e6d4687132b1a5c3be1f9843d47b0c","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9242/tex_ceiling_textures_9743/tex_floor_textures_3928/tex_table_textures_8431/tex_wall_textures_7506","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5903520164798161428,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5903520164798161428,"visual_seed":5903520164798161428,"scene_id":"lab_003","finished_at":"2026-09-02T03:15:03"}
+{"episode_id":"ep_000019","started_at":"2026-09-02T03:15:06","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.2974317584420493,0.7881513574721093,0.71338606911949],"aabb_xy":[[-0.35743175894990215,0.7313046237861879],[-0.23743175793419632,0.8449980911580305]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.2887115102664962,-0.598511142718329,0.71338606911949],"aabb_xy":[[-0.3231738576646379,-0.6330050251161514],[-0.2542491628683543,-0.564017260320506]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.5623794848556727,-2.3638446163406646,0.71338606911949],"aabb_xy":[[0.5248794845634979,-2.3678860917412683],[0.5998794851478475,-2.359803140940061]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.6117714812512867,-0.6517531337191727,0.71338606911949],"aabb_xy":[[0.5892714814373843,-0.6562277500896534],[0.634271481065189,-0.6472785173486919]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.25341831808939796,1.530407327270542,0.71338606911949],"aabb_xy":[[-0.258876263726418,1.4504073239628832],[-0.24796037245237784,1.6104073305782014]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.25038208657792377,-1.5561849358939763,0.71338606911949],"aabb_xy":[[-0.3303820870481397,-1.5644956435083253],[-0.1703820861077078,-1.5478742282796283]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[0.25143729940733417,0.6113024451342182,0.71338606911949],"aabb_xy":[[0.2014372999671385,0.5613345206499017],[0.30143729884752973,0.6612703696185344]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.0030072899743356363,-2.150265927691547,0.71338606911949],"aabb_xy":[[-0.02747696015269452,-2.2002659274730427],[0.03349154010136579,-2.100265927910051]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.5034069876836093,-1.694114078602008,0.71338606911949],"aabb_xy":[[-0.56103745657088,-1.7541140775287183],[-0.4457765187963383,-1.634114079675297]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.06451593962245128,-1.837879428834301,0.71338606911949],"aabb_xy":[[-0.11060103087718276,-1.9018794260868563],[-0.01843084836771981,-1.773879431581746]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.5865722573472834,-2.2656314122536862,0.71338606911949],"aabb_xy":[[0.5365791452380915,-2.315631412927882],[0.6365653694564752,-2.2156314115794906]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.23548399212272564,-2.5265485064135147,0.71338606911949],"aabb_xy":[[-0.2954839923741268,-2.5808298314499796],[-0.17548399187132444,-2.47226718137705]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.22977070299824826,0.9566337187745884,0.71338606911949],"aabb_xy":[[-0.2797481198635018,0.9066337172853398],[-0.17979328613299464,1.006633720263837]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.5059188018970306,-0.12954299725856755,0.71338606911949],"aabb_xy":[[0.42591880324014464,-0.14404785618283034],[0.5859188005539167,-0.11503813833430476]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.46324581446989144,0.5688253154129548,0.71338606911949],"aabb_xy":[[0.37324581773428117,0.5156418520956603],[0.5532458112055016,0.6220087787302493]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.03292842440873256,1.3906837958526643,0.71338606911949],"aabb_xy":[[-0.031071575851738243,1.345674996499736],[0.09692842466920337,1.4356925952055921]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.18464124431184292,-0.9308745806167078,0.71338606911949],"aabb_xy":[[-0.23461453831510334,-0.9808745811712549],[-0.13466795030858245,-0.8808745800621602]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.6219591113485892,-0.961496300023011,0.71338606911949],"aabb_xy":[[0.6178431612365163,-0.9656118550558563],[0.6260750614606616,-0.9573807449901652]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.4385008322129005,0.8524169198197828,0.71338606911949],"aabb_xy":[[0.4305073424176185,0.8444187878793074],[0.44649432200818256,0.8604150517602586]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.40548001421977437,-1.0761170929056587,0.71338606911949],"aabb_xy":[[-0.41625298814114214,-1.1111170911246977],[-0.3947070402984066,-1.0411170946866197]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.25312566172109285,-1.02509191111425,0.71338606911949],"aabb_xy":[[0.18312566011881337,-1.0385247043159076],[0.32312566332337234,-1.0116591179125924]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.7174242549915757,1.2274188887026893,0.71338606911949],"aabb_xy":[[0.7103839450580387,1.1474188893030182],[0.7244645649251127,1.307418888102361]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.5236701407527187,-2.0562908541314355,0.71338606911949],"aabb_xy":[[0.4436701385899562,-2.136246037757579],[0.6036701429154812,-1.976335670505292]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.5186443263221907,0.9373469105839964,0.71338606911949],"aabb_xy":[[0.4841818483091028,0.9306832334010735],[0.5531068043352784,0.9440105877669192]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[-0.033575621365325437,1.198959593901633,0.71338606911949],"aabb_xy":[[-0.05115392355427228,1.181385104327528],[-0.01599731917637858,1.216534083475738]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.17132410401643816,-2.463795635357931,0.71338606911949],"aabb_xy":[[0.11632410581469331,-2.5043176019843685],[0.22632410221818297,-2.4232736687314933]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[0.5878367897199126,-1.3310832082275845,0.71338606911949],"aabb_xy":[[0.5532457068658673,-1.3960832085126154],[0.6224278725739577,-1.2660832079425532]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[-0.36960889785019196,-0.3090752602515998,0.71338606911949],"aabb_xy":[[-0.4336088971443602,-0.37306140062045406],[-0.30560889855602374,-0.24508911988274568]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009774082371912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3940.png","name":"3940"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3940.png","name":"3940"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/252.png","name":"252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1978.png","name":"1978"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3767.png","name":"3767"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":833.9225759254357,"rotation_z_degrees":248.89373095213998,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019265020264000985,-0.0028296785265539276,-0.013581562331102717]},{"name":"camera_2","offset_m":[0.006559890188305672,0.0061972755159042,0.006770205476322105]},{"name":"camera_3","offset_m":[-0.016781494271712924,0.0014562395047688186,0.002896286456097949]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005400476801257024,-0.00041927794116392286,0.0008719201198893393],"end_effector_yaw_offset_degrees":0.39778996815763734},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011560648731955962,0.0019427739368299262,-0.0004204704449919344],"end_effector_yaw_offset_degrees":0.9396169529913074},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017310818424698142,0.0008209979547333462,-0.0015371863748457866],"end_effector_yaw_offset_degrees":-0.21956551090875576}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008909061525877058,0.0024888122399752462],"position_m":[0.28079090615258767,0.15948881223997524,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004370860714027653,0.002290128600107454],"position_m":[0.3573708607140276,0.3126901286001075,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032103827832158658,0.0004924641094418633],"position_m":[0.2949103827832159,-0.04270753589055814,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012735459558898543,0.0030812614926232678],"position_m":[0.25127354595588985,-0.33341873850737674,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fb2d7e32e0a80d37bc38f25e8027189f1ec9d61cba8dd656fb2c390828eace09","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3940/tex_ceiling_textures_3767/tex_floor_textures_5357/tex_table_textures_252/tex_wall_textures_1978","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6841735508172024196,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6841735508172024196,"visual_seed":6841735508172024196,"scene_id":"lab_003","finished_at":"2026-09-02T03:17:37"}
+{"episode_id":"ep_000020","started_at":"2026-09-02T03:17:42","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.2589032792346915,-2.243313426160556,0.71338606911949],"aabb_xy":[[-0.2888949419685618,-2.2733134254973564],[-0.22891161650082115,-2.2133134268237553]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[0.6360440612024727,-0.3856273236438632,0.71338606911949],"aabb_xy":[[0.6185440609574233,-0.40312711148343],[0.6535440614475221,-0.3681275358042963]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.019547935191061683,1.731732593263216,0.71338606911949],"aabb_xy":[[0.009916298970632065,1.7220952804835068],[0.0291795714114913,1.7413699060429246]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.3652428932827454,1.0807126598729329,0.71338606911949],"aabb_xy":[[0.3012428930222746,1.0357038605200046],[0.4292428935432162,1.1257214592258606]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.11947104487097104,-1.9327762681337863,0.71338606911949],"aabb_xy":[[-0.12556567275908936,-1.941345662685455],[-0.11337641698285274,-1.9242068735821176]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.5062463250219875,0.5597072112725123,0.71338606911949],"aabb_xy":[[0.5021104686892874,0.5222072118281554],[0.5103821813546878,0.5972072107168694]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.15108362235539075,1.3542485119957157,0.71338606911949],"aabb_xy":[[0.061083625619780535,1.301065048678421],[0.24108361909100096,1.40743197531301]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.17270669870902866,-0.009129751518576423,0.71338606911949],"aabb_xy":[[-0.21547340558844882,-0.07312975494037888],[-0.12993999182960844,0.05487025190322603]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.4314400690335835,-2.2959214402180215,0.71338606911949],"aabb_xy":[[-0.4513311089139238,-2.308577251502719],[-0.4115490291532433,-2.2832656289333255]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[0.16831786845798313,1.0447283984651365,0.71338606911949],"aabb_xy":[[0.11831786709709592,0.994750493889721],[0.21831786981887036,1.0947063030405522]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.2621731739938653,0.8191806244157034,0.71338606911949],"aabb_xy":[[0.2575380588416319,0.8153132893385545],[0.2668082891460986,0.8230479594928518]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.1989188330574953,0.9823900996512465,0.71338606911949],"aabb_xy":[[-0.25293442933939525,0.9183900967589891],[-0.14490323677559527,1.0463901025435034]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.5160724098684488,-0.39690573406149676,0.71338606911949],"aabb_xy":[[0.5101058709277131,-0.4028668787208608],[0.5220389488091846,-0.3909445894021327]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.3693107588482496,-1.4515745918703615,0.71338606911949],"aabb_xy":[[0.27931076025377966,-1.4678251781837823],[0.45931075744271954,-1.4353240055569403]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.2527731742139814,-0.9607019653899205,0.71338606911949],"aabb_xy":[[0.24474690358335538,-0.9694534603672731],[0.2607994448446074,-0.9519504704125679]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.4902523145103377,-1.956185624955883,0.71338606911949],"aabb_xy":[[0.4351271088807469,-2.01618562639717],[0.5453775201399285,-1.896185623514596]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.6290931739821962,0.7832147807619876,0.71338606911949],"aabb_xy":[[-0.6840931736039421,0.7282310879745149],[-0.5740931743604504,0.8381984735494603]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.3691767129469496,0.04330663159709047,0.71338606911949],"aabb_xy":[[-0.4104812560106855,-0.020693367971026617],[-0.32787216988321355,0.10730663116520756]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.3102932013157384,0.7411888253984995,0.71338606911949],"aabb_xy":[[-0.34077745144276855,0.6911888256170036],[-0.27980895118870824,0.7911888251799954]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.2519595511079982,-1.5830745570900264,0.71338606911949],"aabb_xy":[[-0.33195954969531766,-1.6623901590281873],[-0.17195955252067882,-1.5037589551518655]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.08957470525655387,-2.4534566101393542,0.71338606911949],"aabb_xy":[[-0.15457470621368108,-2.50540482207306],[-0.024574704299426663,-2.4015083982056487]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[-0.5144980675886486,-2.3407892571964886,0.71338606911949],"aabb_xy":[[-0.5311752035817441,-2.357489181170419],[-0.4978209315955531,-2.3240893332225583]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.05220450513466379,0.9652489749818387,0.71338606911949],"aabb_xy":[[-0.10218331364497968,0.9152489749761199],[-0.002225696624347906,1.0152489749875575]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972409154427421,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1349.png","name":"1349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1349.png","name":"1349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1638.png","name":"1638"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9686.png","name":"9686"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6681.png","name":"6681"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4793.png","name":"4793"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":521.7050497135267,"rotation_z_degrees":44.1488490497496,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013680766596158137,-0.018524541732211772,-0.0036324942086928894]},{"name":"camera_2","offset_m":[0.014069942015757609,-0.009096392578156611,0.014945824170384068]},{"name":"camera_3","offset_m":[0.01295607335312202,-0.01758183161779983,0.014551066591159349]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005747803095924216,0.001630328613461734,0.0011943683637827126],"end_effector_yaw_offset_degrees":-0.7902352186800035},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00034864382737107187,0.0015549678944392748,-0.000310578228425309],"end_effector_yaw_offset_degrees":-0.0327714060165889},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013336215195183174,0.0005903425922478187,0.0013536540252228313],"end_effector_yaw_offset_degrees":-0.9230069034274762}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002523511983334923,-0.0016583623280941638],"position_m":[0.28242351198333493,0.15534163767190584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003122815826744876,-0.00361815530660384],"position_m":[0.3561228158267449,0.30678184469339614,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023324406616610296,0.004499299887897798],"position_m":[0.29403244066166107,-0.03870070011210221,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004214243247345651,2.182551897955253e-05],"position_m":[0.25421424324734565,-0.33647817448102046,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"742f4ff62795b8af735bca903f3671e7ec19d871e6bbeb501481faf32254d4ea","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1349/tex_ceiling_textures_4793/tex_floor_textures_6681/tex_table_textures_1638/tex_wall_textures_9686","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4329743217596759955,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4329743217596759955,"visual_seed":4329743217596759955,"scene_id":"lab_003","finished_at":"2026-09-02T03:20:33"}
+{"episode_id":"ep_000021","started_at":"2026-09-02T03:20:36","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.5301666491937704,1.7207465542531568,0.71338606911949],"aabb_xy":[[0.4501666522307314,1.6436709126093831],[0.6101666461568097,1.79782219589693]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.5203797148794832,0.7496606847295588,0.71338606911949],"aabb_xy":[[-0.5336106604141644,0.7364332657075593],[-0.5071487693448018,0.7628881037515581]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.24249507583115643,1.6970314392131782,0.71338606911949],"aabb_xy":[[-0.2877736907123057,1.6330314398649945],[-0.19721646095000717,1.761031438561362]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.27733748820960796,-1.3978211271253063,0.71338606911949],"aabb_xy":[[-0.357337486866494,-1.4123259860495692],[-0.197337489552722,-1.3833162682010434]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.15641753268596925,-1.648701903845272,0.71338606911949],"aabb_xy":[[-0.2063963411962851,-1.6987019038509905],[-0.10643872417565334,-1.598701903839553]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.5941182901968045,0.5190635800744894,0.71338606911949],"aabb_xy":[[0.5341182899454032,0.4647822550380247],[0.6541182904482056,0.573344905110954]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.6059818505941157,-1.014053551448161,0.71338606911949],"aabb_xy":[[0.5684818503019409,-1.0180950268487647],[0.6434818508862905,-1.0100120760475577]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.4057681572720431,0.8681178443792272,0.71338606911949],"aabb_xy":[[0.3417681570115722,0.8231090450262991],[0.46976815753251383,0.9131266437321551]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.19319845636601718,-1.1738032758795882,0.71338606911949],"aabb_xy":[[0.15043174948659702,-1.2378032793013904],[0.2359651632454374,-1.1098032724577855]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.439708471190618,0.07767914879115034,0.71338606911949],"aabb_xy":[[-0.4477518311165732,-0.007320852304216086],[-0.43166511126466284,0.16267914988651677]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.054569304574659805,-2.2119041030166198,0.71338606911949],"aabb_xy":[[0.0320693040626192,-2.234395961382018],[0.0770693050867004,-2.1894122446512214]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.07289256429106794,1.0896282179625572,0.71338606911949],"aabb_xy":[[0.06585111334032033,1.0826014662247627],[0.07993401524181552,1.0966549697003516]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.3042693824192898,-2.4076933959696305,0.71338606911949],"aabb_xy":[[0.25445260295445504,-2.457693394453934],[0.35408616188412456,-2.357693397485327]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.6671751569263715,-2.1279030094159608,0.71338606911949],"aabb_xy":[[-0.6711356406961059,-2.135570874001482],[-0.6632146731566372,-2.1202351448304406]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.5417618947907901,-1.3838279266727103,0.71338606911949],"aabb_xy":[[0.461761894517183,-1.456777474498427],[0.6217618950643969,-1.3108783788469935]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.2761820421242219,0.9730313136193636,0.71338606911949],"aabb_xy":[[0.23868204162686363,0.9690626300712452],[0.3136820426215801,0.976999997167482]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.43935207650745545,-2.4412850701554727,0.71338606911949],"aabb_xy":[[0.40185207656368904,-2.4495781601903093],[0.47685207645122185,-2.432991980120636]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.09323667615930253,-1.2401627675190015,0.71338606911949],"aabb_xy":[[-0.15823667711642975,-1.292110979452707],[-0.02823667520217533,-1.1882145555852959]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.025366082755104324,1.5203703472580599,0.71338606911949],"aabb_xy":[[-0.10536608134242374,1.441054745319899],[0.054633915832215094,1.5996859491962208]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.562050775532358,-0.6857878254697891,0.71338606911949],"aabb_xy":[[0.5544265074421799,-0.6934210490063328],[0.5696750436225364,-0.6781546019332454]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.09823010070780169,-0.5362137492385486,0.71338606911949],"aabb_xy":[[-0.15322331204493844,-0.5912137495773422],[-0.04323688937066494,-0.481213748899755]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.3752765818502679,1.39435842213874,0.71338606911949],"aabb_xy":[[-0.39774135182167303,1.3718584212598792],[-0.3528118118788628,1.4168584230176002]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.397380161867394,-1.5274276438398373,0.71338606911949],"aabb_xy":[[0.359880161761801,-1.5342498056928182],[0.4348801619729869,-1.520605481986856]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.4455336847540343,1.1863323925972558,0.71338606911949],"aabb_xy":[[0.44183042342489537,1.182630374288538],[0.44923694608317316,1.1900344109059735]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[0.6816436419207159,1.5781118610231535,0.71338606911949],"aabb_xy":[[0.6516519791868455,1.548111861686353],[0.7116353046545861,1.608111860359954]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.5882413382262135,1.389145614878263,0.71338606911949],"aabb_xy":[[0.570565707637615,1.37146539859886],[0.6059169688148117,1.4068258311576656]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[-0.595875071573055,-2.118453570045503,0.71338606911949],"aabb_xy":[[-0.6062866302535386,-2.123799303381401],[-0.5854635128925711,-2.113107836709604]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[0.05788017411863955,-1.8337829619655364,0.71338606911949],"aabb_xy":[[0.00788017283479958,-1.8837618163561582],[0.1078801754024795,-1.783804107574914]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[-0.46536743480628273,-2.5261203890372204,0.71338606911949],"aabb_xy":[[-0.5028674333819035,-2.538856684700778],[-0.427867436230662,-2.513384093373662]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[-0.0032882549540693695,-0.9856038495368764,0.71338606911949],"aabb_xy":[[-0.014533310524687204,-0.9968456472609716],[0.007956800616548465,-0.974362051812781]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.5638582226456909,-0.6254198342732677,0.71338606911949],"aabb_xy":[[-0.5715614133197678,-0.6331292049720058],[-0.5561550319716136,-0.6177104635745297]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_31","position":[0.6047194843414605,1.222606920794675,0.71338606911949],"aabb_xy":[[0.5407194810517524,1.1792720017907572],[0.6687194876311686,1.2659418397985924]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_32","position":[-0.48801664137169437,1.6139201177128712,0.71338606911949],"aabb_xy":[[-0.5530166392533422,1.5627964540063306],[-0.42301664349004664,1.6650437814194123]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_33","position":[-0.5488161790450943,1.2399284647929183,0.71338606911949],"aabb_xy":[[-0.6325384045451767,1.1499284612582223],[-0.4650939535450118,1.3299284683276142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980414777297481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6673.png","name":"6673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6673.png","name":"6673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3655.png","name":"3655"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3558.png","name":"3558"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/290.png","name":"290"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.6138346537156,"rotation_z_degrees":183.64801270976628,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017596316647837177,0.005787319711735756,0.015304340014372298]},{"name":"camera_2","offset_m":[-0.007432399599003436,0.010558145924431338,0.003611362660068257]},{"name":"camera_3","offset_m":[-0.0018067334213295594,-0.005947473196066836,0.0021738134558033743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023475179341928172,-0.0011098710659564804,0.0003862053845336698],"end_effector_yaw_offset_degrees":0.6791649947920049},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015929415185937247,0.00033147099692836966,-0.001328289932253752],"end_effector_yaw_offset_degrees":-0.6375739325973584},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00013996231557352736,0.0017246165418338404,-0.0017311253661798425],"end_effector_yaw_offset_degrees":0.2313175426003271}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002747002479567262,0.0021863737905996935],"position_m":[0.28264700247956726,0.1591863737905997,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001079850713150577,0.004667340426456538],"position_m":[0.35289201492868494,0.31506734042645657,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002420257595596135,-0.0001243040813736539],"position_m":[0.2892797424044039,-0.04332430408137366,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017787547857387289,-0.0007139445687294917],"position_m":[0.25177875478573875,-0.3372139445687295,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"447662a7c42d3803de3e7159033d6239c39a16d66a7f2cf5d291dc5ab5aa5391","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6673/tex_ceiling_textures_290/tex_floor_textures_4332/tex_table_textures_3655/tex_wall_textures_3558","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2061527086001362373,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2061527086001362373,"visual_seed":2061527086001362373,"scene_id":"lab_003","finished_at":"2026-09-02T03:23:11"}
+{"episode_id":"ep_000022","started_at":"2026-09-02T03:24:44","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[0.25256839130299114,0.8493617496891517,0.71338606911949],"aabb_xy":[[0.18256838970071165,0.8359289564874941],[0.3225683929052706,0.8627945428908093]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.07510901676938353,-1.9508407933621847,0.71338606911949],"aabb_xy":[[-0.004890984303736787,-1.9606188396995692],[0.15510901784250386,-1.9410627470248003]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.3619415804979278,-1.9237840104276158,0.71338606911949],"aabb_xy":[[-0.41191464603044337,-1.973784010240149],[-0.3119685149654124,-1.8737840106150832]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.5932993256168325,0.1548541948808615,0.71338606911949],"aabb_xy":[[-0.6027168001866954,0.14543801774314247],[-0.5838818510469699,0.16427037201858052]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.08481057680494186,-1.8771847699056696,0.71338606911949],"aabb_xy":[[0.049810577674986214,-1.8829299909813337],[0.11981057593489754,-1.8714395488300055]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.47713830459701234,-1.4095435204735467,0.71338606911949],"aabb_xy":[[0.4155475453730196,-1.4735435185825936],[0.5387290638210052,-1.3455435223644998]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.1320165842002835,0.24825968112238028,0.71338606911949],"aabb_xy":[[-0.14326163977090134,0.23701788339828503],[-0.12077152862966567,0.25950147884647556]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.0764146178658689,1.516203436048397,0.71338606911949],"aabb_xy":[[0.0663329107872954,1.436203438156282],[0.08649632494444236,1.5962034339405113]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.4593452615768061,0.32315504253608474,0.71338606911949],"aabb_xy":[[0.4330564372563654,0.2968836088814335],[0.4856340858972467,0.34942647619073597]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.25931994999788677,0.806682214056635,0.71338606911949],"aabb_xy":[[-0.2968199502900616,0.8026407386560314],[-0.22181994970571195,0.8107236894572386]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.15946134005347612,-2.2631267992971997,0.71338606911949],"aabb_xy":[[-0.18945300278734645,-2.2931267986340003],[-0.1294696773196058,-2.233126799960399]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.4974211743368355,1.6860199311169466,0.71338606911949],"aabb_xy":[[0.4914546353960997,1.6800587864575822],[0.5033877132775713,1.6919810757763105]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.06883298331748688,0.9267963039563347,0.71338606911949],"aabb_xy":[[0.004832981405144543,0.8708851546983244],[0.13283298522982923,0.9827074532143453]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.29796203592703424,-2.2357512477368324,0.71338606911949],"aabb_xy":[[-0.32580707270764137,-2.266535746475144],[-0.2701169991464271,-2.2049667489985207]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.3442371482902403,1.5642446038590667,0.71338606911949],"aabb_xy":[[-0.3942371493093757,1.527778388121239],[-0.2942371472711051,1.6007108195968949]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[0.5087750755457092,-0.09253826541359356,0.71338606911949],"aabb_xy":[[0.47431259753262145,-0.09920194259651638],[0.543237553558797,-0.08587458823067073]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.2844415154731621,0.5297996928882776,0.71338606911949],"aabb_xy":[[0.24589582264796106,0.4912539218320889],[0.32298720829836314,0.5683454639444662]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.503805176477166,-0.30838077060656754,0.71338606911949],"aabb_xy":[[0.439805173187458,-0.35171568961048516],[0.5678051797668742,-0.26504585160264993]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[-0.01517017633889084,-1.028213059534931,0.71338606911949],"aabb_xy":[[-0.10517017606206501,-1.0512864120701106],[0.07482982338428333,-1.005139706999751]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.6235088542680982,-1.6380125092480147,0.71338606911949],"aabb_xy":[[-0.6885088552252254,-1.6899607211817202],[-0.558508853310971,-1.586064297314309]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.469618162541832,-1.701806014397947,0.71338606911949],"aabb_xy":[[-0.48741166947674835,-1.7196057599937449],[-0.4518246556069155,-1.6840062688021495]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.5918540269556581,-0.4125545461999285,0.71338606911949],"aabb_xy":[[-0.6718540291184205,-0.49250972982607205],[-0.5118540247928955,-0.3325993625737848]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.04394039690606244,1.673038720371474,0.71338606911949],"aabb_xy":[[-0.06144039716539908,1.6589471781827019],[-0.026440396646725824,1.6871302625602471]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.32208563681719937,1.4459674893586576,0.71338606911949],"aabb_xy":[[0.23239856050908386,1.355967489104207],[0.41177271312531477,1.5359674896131081]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.4325409490812402,0.5901078805821531,0.71338606911949],"aabb_xy":[[-0.4965409507592375,0.5415904891028388],[-0.3685409474032428,0.6386252720614672]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.08691557260004201,-2.1667483041966604,0.71338606911949],"aabb_xy":[[0.054453871718114534,-2.1968811363115623],[0.11937727348196944,-2.1366154720817567]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_26","position":[0.4928120053871825,1.1405809542593777,0.71338606911949],"aabb_xy":[[0.4378120062105931,1.08559127948442],[0.547812004563772,1.1955706290343353]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.3119622783544031,-2.3654918215698624,0.71338606911949],"aabb_xy":[[-0.33084666212291336,-2.3843777463502147],[-0.29307789458589295,-2.346605896789509]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[-0.27755305792708923,-1.1410086324316722,0.71338606911949],"aabb_xy":[[-0.28166900803916184,-1.1451241874645175],[-0.2734371078150165,-1.1368930773988264]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[0.16419266204756988,-1.4266185357033008,0.71338606911949],"aabb_xy":[[0.11419765108811789,-1.4766185347388925],[0.21418767300702196,-1.376618536667709]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[-0.1920851177768006,-0.7572468790522107,0.71338606911949],"aabb_xy":[[-0.25708511593271965,-0.7835431236021229],[-0.12708511962088156,-0.7309506345022985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926004192466105,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4117.png","name":"4117"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4117.png","name":"4117"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6038.png","name":"6038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5320.png","name":"5320"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/736.png","name":"736"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":746.8453998302957,"rotation_z_degrees":139.3369127621057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0022975363859871235,-0.006001668053744233,-0.008444604304206696]},{"name":"camera_2","offset_m":[-0.000762978635413844,-0.016581135696518774,0.00012169417509060726]},{"name":"camera_3","offset_m":[-0.0064883388831820325,0.005122966853308583,0.011492497167461226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018194699438275255,0.0010653657044248943,0.0016704986695302163],"end_effector_yaw_offset_degrees":0.36276884153487865},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012961760636054035,0.0009710751856971686,-0.0003464219759165999],"end_effector_yaw_offset_degrees":0.5821240453247802},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012788473100824303,0.0013765598658771433,-0.0008842829492254625],"end_effector_yaw_offset_degrees":0.5514282847336469}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031620568698298565,-0.002067829428133068],"position_m":[0.2830620568698298,0.15493217057186692,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041454147614670075,0.0005892760058536697],"position_m":[0.34885458523853297,0.3109892760058537,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016621491106966501,-0.004081688980029775],"position_m":[0.29003785088930334,-0.047281688980029775,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006932737103919886,-0.0033734447173372154],"position_m":[0.249306726289608,-0.3398734447173372,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ec03990f6c70b88f2551816c99ca154f9ced779daa4a5f1cf9e22f3afcff5e1b","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4117/tex_ceiling_textures_736/tex_floor_textures_5320/tex_table_textures_1972/tex_wall_textures_6038","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7110799683029688197,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7110799683029688197,"visual_seed":7110799683029688197,"scene_id":"lab_003","finished_at":"2026-09-02T03:27:19"}
+{"episode_id":"ep_000023","started_at":"2026-09-02T03:27:22","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.37655230743982115,-1.1619296206378005,0.71338606911949],"aabb_xy":[[0.3465606447059508,-1.1919296199746012],[0.4065439701736915,-1.1319296213010002]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.29586829415349286,-0.4106141624712718,0.71338606911949],"aabb_xy":[[-0.34586829279941406,-0.4605337061307342],[-0.24586829550757167,-0.3606946188118094]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.1453561998151941,-2.150258872401822,0.71338606911949],"aabb_xy":[[0.13724254514181697,-2.158364688855851],[0.15346985448857117,-2.1421530559477926]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.027612898276835995,-1.4722554117084845,0.71338606911949],"aabb_xy":[[-0.037694605355409465,-1.552255409600599],[-0.017531191198262512,-1.3922554138163696]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.44747324029813207,1.1372206602061388,0.71338606911949],"aabb_xy":[[0.4249732400546167,1.1250160255463668],[0.46997324054164746,1.1494252948659107]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.6710934618353217,0.7241271680963615,0.71338606911949],"aabb_xy":[[0.6211003497261299,0.6741271674221658],[0.7210865739445137,0.7741271687705572]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[0.03290919333602005,-1.8432353359876381,0.71338606911949],"aabb_xy":[[-0.03109080988261781,-1.8899584478866467],[0.0969091965546579,-1.79651222408863]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.49443046102303223,1.2886014111388664,0.71338606911949],"aabb_xy":[[-0.5287467381976501,1.2386014111656884],[-0.46011418384841424,1.338601411112044]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.10886345526715102,-0.6091873417827367,0.71338606911949],"aabb_xy":[[-0.13934770539418118,-0.6591873415642326],[-0.07837920514012087,-0.5591873420012408]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.579430549940124,0.27714032513020115,0.71338606911949],"aabb_xy":[[0.5685789436912484,0.2662810344025501],[0.5902821561889996,0.2879996158578521]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.629197047453681,-0.15501575977481163,0.71338606911949],"aabb_xy":[[-0.6356986839616856,-0.16478358180112143],[-0.6226954109456764,-0.1452479377485019]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.1502267964719879,1.4501608238020762,0.71338606911949],"aabb_xy":[[-0.15985843269241748,1.440523511022367],[-0.14059516025155824,1.459798136581785]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.5755352776745835,0.389159793128111,0.71338606911949],"aabb_xy":[[0.5580353442406,0.3716597932078764],[0.5930352111085667,0.4066597930483455]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[0.6041892428404421,-1.6148465307796114,0.71338606911949],"aabb_xy":[[0.5666892424922143,-1.6266379263606947],[0.6416892431886698,-1.6030551351985276]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.22672168416444916,-0.7039515040131576,0.71338606911949],"aabb_xy":[[-0.25123530826145507,-0.728216097315194],[-0.20220806006744335,-0.6796869107111211]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.22444025314052685,1.3409704430167406,0.71338606911949],"aabb_xy":[[0.21644626456282343,1.33297036292165],[0.2324342417182302,1.3489705231118307]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.04172822169530155,-1.0703879199793414,0.71338606911949],"aabb_xy":[[-0.08449492857472174,-1.1343879234011436],[0.0010384851841186496,-1.0063879165575387]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[-0.46227778415433585,-1.6365415623827917,0.71338606911949],"aabb_xy":[[-0.4847777846663764,-1.6590334207481896],[-0.4397777836422952,-1.614049704017393]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.20057708366412647,-2.220902100396489,0.71338606911949],"aabb_xy":[[-0.23742763160111405,-2.258402101219523],[-0.16372653572713883,-2.1834020995734553]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.6394166329093891,-0.46068919920299445,0.71338606911949],"aabb_xy":[[-0.6481145952001044,-0.4728141735104691],[-0.6307186706186738,-0.44856422489551967]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.21371575530686904,-0.9838833914363818,0.71338606911949],"aabb_xy":[[0.175170062481668,-1.0224291624925703],[0.2522614481320701,-0.9453376203801931]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.49609296010110115,-1.917743109073332,0.71338606911949],"aabb_xy":[[-0.5760929622638635,-1.9976982926994753],[-0.4160929579383386,-1.837787925447188]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[0.4794913009480224,1.5544664871116027,0.71338606911949],"aabb_xy":[[0.4419912997632295,1.550048264415542],[0.516991302132815,1.558884709807663]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.2023399162324636,1.594896170151284,0.71338606911949],"aabb_xy":[[0.1648399147168319,1.5836693971351388],[0.23983991774809532,1.6061229431674289]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.04635391519262455,1.4980004410702121,0.71338606911949],"aabb_xy":[[-0.09583433640658334,1.4340004431573603],[0.003126506021334241,1.562000438983064]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[0.6833568733812043,-0.9137959854148014,0.71338606911949],"aabb_xy":[[0.6458568727166255,-0.9294830434150234],[0.7208568740457829,-0.898108927414579]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[0.34751453474280636,-2.1576970753088625,0.71338606911949],"aabb_xy":[[0.3118853788428466,-2.1933297420657154],[0.3831436906427661,-2.1220644085520095]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[0.34224963250969576,-1.3227418870151126,0.71338606911949],"aabb_xy":[[0.26224963392237627,-1.402057488953273],[0.42224963109701513,-1.2434262850769513]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[-0.1716125576166967,-1.3922681133597623,0.71338606911949],"aabb_xy":[[-0.1807724365605733,-1.3987993314032992],[-0.1624526786728201,-1.385736895316225]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[-0.5958174802361538,0.4274657264077,0.71338606911949],"aabb_xy":[[-0.6333174805283286,0.4234242510070963],[-0.558317479943979,0.43150720180830354]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_30","position":[-0.3233613258490062,1.419392695005032,0.71338606911949],"aabb_xy":[[-0.37333461985226657,1.3693926944504844],[-0.27338803184574567,1.469392695559579]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_31","position":[-0.575922942495755,-0.03145324631918145,0.71338606911949],"aabb_xy":[[-0.5822350420320934,-0.03722018557240028],[-0.5696108429594167,-0.025686307065962616]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_32","position":[0.4372071165584117,-2.0633777949240333,0.71338606911949],"aabb_xy":[[0.4252743821965836,-2.0757599477318927],[0.4491398509202397,-2.050995642116174]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_33","position":[0.07288101819222259,-2.2116447557052044,0.71338606911949],"aabb_xy":[[0.049295894728327724,-2.2766447579506366],[0.09646614165611743,-2.146644753459773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979264734520076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/58.png","name":"58"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/58.png","name":"58"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5149.png","name":"5149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/402.png","name":"402"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3826.png","name":"3826"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5238.png","name":"5238"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":666.0325670240409,"rotation_z_degrees":272.09276850544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016463858509245335,0.01957270268767185,-0.003869202130522491]},{"name":"camera_2","offset_m":[-0.012120127760384616,-0.003765705146675548,-0.01942418060200571]},{"name":"camera_3","offset_m":[0.013126860398114271,-0.0034874612837504024,0.015519111515465863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001661266570225414,0.0016963075685641885,-0.0004359297869479838],"end_effector_yaw_offset_degrees":0.2995505161035299},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-6.658373637623912e-05,8.792551175767875e-05,0.0007737429766778102],"end_effector_yaw_offset_degrees":-0.8042714804304849},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006131604701026111,0.00015491541439841341,0.0016754691359037355],"end_effector_yaw_offset_degrees":0.4223604968757104}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[3.332976424464361e-05,0.0017700580089569937],"position_m":[0.2799333297642446,0.158770058008957,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001492684220946814,0.004494133246552138],"position_m":[0.3528507315779053,0.31489413324655213,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031832149863089696,-0.0023590883308967914],"position_m":[0.28851678501369105,-0.045559088330896794,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023763916277681463,-0.004301478699651196],"position_m":[0.24762360837223185,-0.3408014786996512,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2780d6bb0cc6bf6f21cfdd95580ffc4ac7f917404ee1424adef608dbd7534543","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_58/tex_ceiling_textures_5238/tex_floor_textures_3826/tex_table_textures_5149/tex_wall_textures_402","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7375165587245264713,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7375165587245264713,"visual_seed":7375165587245264713,"scene_id":"lab_003","finished_at":"2026-09-02T03:29:55"}
+{"episode_id":"ep_000024","started_at":"2026-09-02T03:31:28","dimensions":{"distractor":{"count":21,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.1867371715736449,-0.6996770454791412,0.71338606911949],"aabb_xy":[[-0.2086269191625857,-0.7896770427683903],[-0.1648474239847041,-0.6096770481898921]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.30265019771511104,-0.8109267842975214,0.71338606911949],"aabb_xy":[[0.28047767073846014,-0.8331024514536445],[0.3248227246917618,-0.7887511171413981]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.4587757734725473,0.8823940557891006,0.71338606911949],"aabb_xy":[[0.37877577204242,0.802876900776491],[0.5387757749026745,0.9619112108017099]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.4382888502858504,1.7308578717836611,0.71338606911949],"aabb_xy":[[0.4312473993351028,1.723831120045867],[0.445330301236598,1.7378846235214558]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.16353412835381365,-0.030499054558595695,0.71338606911949],"aabb_xy":[[-0.21134029596758228,-0.09549905726565464],[-0.11572796074004499,0.03450094814846326]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.10480646840933505,-1.3968224641749691,0.71338606911949],"aabb_xy":[[0.08569416105135619,-1.4159572430522112],[0.12391877576731392,-1.3776876852977271]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.380873023568443,-2.291940188519382,0.71338606911949],"aabb_xy":[[0.37456092403210456,-2.297707127772601],[0.3871851231047814,-2.2861732492661635]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.2797059403034916,1.607363279598283,0.71338606911949],"aabb_xy":[[-0.3172059414882843,1.6029450569022223],[-0.24220593911869873,1.6117815022943434]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.20220852762977004,1.1739541527299728,0.71338606911949],"aabb_xy":[[0.1772085283578078,1.1576087891338105],[0.22720852690173235,1.1902995163261352]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.3344289390227795,-0.5535265023580798,0.71338606911949],"aabb_xy":[[0.31196416905137436,-0.5760265032369403],[0.3568937089941846,-0.5310265014792193]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.22554601713391698,-1.3979975388484351,0.71338606911949],"aabb_xy":[[0.2175026572079618,-1.4829975399438013],[0.23358937705987215,-1.3129975377530685]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.5729583755350357,0.45086431194364307,0.71338606911949],"aabb_xy":[[-0.6142071865649502,0.3958643124314256],[-0.5317095645051207,0.5058643114558605]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.5857900632734168,-0.06054382556894211,0.71338606911949],"aabb_xy":[[-0.6457900635248178,-0.11482515060540677],[-0.5257900630220155,-0.006262500532477448]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.004364041004758068,-1.5586739968279062,0.71338606911949],"aabb_xy":[[-0.0004795537564719057,-1.5635256493068903],[0.009207635765988043,-1.553822344348922]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.1304229125954376,-1.8426483656399768,0.71338606911949],"aabb_xy":[[0.0654229099576441,-1.8941279643394235],[0.19542291523323108,-1.7911687669405296]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.5641824934276519,-1.116291417388159,0.71338606911949],"aabb_xy":[[-0.5820516011821074,-1.13012432536537],[-0.5463133856731964,-1.102458509410948]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.3263752257116506,-1.2875884624659406,0.71338606911949],"aabb_xy":[[-0.34154739499328396,-1.3027573193941442],[-0.3112030564300173,-1.2724196055377375]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.6248828884407538,-1.3590617461001875,0.71338606911949],"aabb_xy":[[0.613637832870136,-1.3703035438242825],[0.6361279440113716,-1.347819948376092]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.261505098856479,1.4808055745221096,0.71338606911949],"aabb_xy":[[0.25738914874440627,1.4766900194892638],[0.2656210489685516,1.484921129554955]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.08413776157724118,0.3951248162701706,0.71338606911949],"aabb_xy":[[-0.11757793677326077,0.3616811904392404],[-0.050697586381221564,0.42856844210110057]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.6454970490890225,0.7615039338072038,0.71338606911949],"aabb_xy":[[-0.6547906673261731,0.7240039353190699],[-0.6362034308518719,0.7990039322953377]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001105573818407,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9093.png","name":"9093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9093.png","name":"9093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8553.png","name":"8553"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6340.png","name":"6340"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4512.png","name":"4512"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":602.5898837898704,"rotation_z_degrees":36.8171333091579,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005999196425109862,0.0025553532828801566,0.01655995850568563]},{"name":"camera_2","offset_m":[0.0022545351867141357,0.00278788878836507,0.0017550009433049234]},{"name":"camera_3","offset_m":[-0.002162007034819894,0.003855677108222152,-0.0028568485748789833]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.531058546405165e-05,-0.0005490549796973885,-0.001255342635304173],"end_effector_yaw_offset_degrees":0.5972007170569986},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009499829264300232,0.0015729724916051027,-0.0019557837162234395],"end_effector_yaw_offset_degrees":0.8285662876070623},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001186856570133562,0.001248878433727335,0.0010718111934094761],"end_effector_yaw_offset_degrees":0.025919975824617802}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00393251192231395,-0.0031472617428514047],"position_m":[0.28383251192231396,0.1538527382571486,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00477417198159,-0.000473608610418297],"position_m":[0.35777417198159,0.3099263913895817,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004508517683399627,0.0049137754670813645],"position_m":[0.2871914823166004,-0.03828622453291864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003299677338238535,0.0038720871271743238],"position_m":[0.24670032266176148,-0.33262791287282567,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"20703b0fd8ea4906203a902c43c616610a5d0a72556eff3634543e59a81f2c93","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9093/tex_ceiling_textures_4512/tex_floor_textures_1289/tex_table_textures_8553/tex_wall_textures_6340","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6544127937514607088,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6544127937514607088,"visual_seed":6544127937514607088,"scene_id":"lab_003","finished_at":"2026-09-02T03:34:08"}
+{"episode_id":"ep_000025","started_at":"2026-09-02T03:34:11","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.22678289120979978,-2.1133547519319142,0.71338606911949],"aabb_xy":[[0.19845318126125955,-2.1178154941256313],[0.25511260115834,-2.108894009738197]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.06694673254162764,-1.1579443640768194,0.71338606911949],"aabb_xy":[[-0.08444673278667701,-1.175444151916386],[-0.04944673229657825,-1.1404445762372524]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.10969746787028256,-1.7606013608412765,0.71338606911949],"aabb_xy":[[-0.11773380257156738,-1.768639480145693],[-0.10166113316899769,-1.7525632415368595]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.3426044750814258,0.5772581043079721,0.71338606911949],"aabb_xy":[[-0.37257203199125144,0.5472581040100862],[-0.3126369181716001,0.6072581046058577]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.19369997048680876,0.7367879588180677,0.71338606911949],"aabb_xy":[[-0.2286999704633046,0.7273233427704512],[-0.15869997051031293,0.7462525748656844]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.27116015033766083,-1.8083241735039914,0.71338606911949],"aabb_xy":[[-0.33275090956165365,-1.8723241716130383],[-0.209569391113668,-1.7443241753949446]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.45211702624579675,1.5663847660570567,0.71338606911949],"aabb_xy":[[0.417117024894315,1.5460250301002358],[0.4871170275972785,1.5867445020138775]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.22116593735077306,-0.564024562627385,0.71338606911949],"aabb_xy":[[0.20801469137948372,-0.5890245623840716],[0.23431718332206244,-0.5390245628706986]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.13467106384190564,-0.21011507132176188,0.71338606911949],"aabb_xy":[[-0.18467106420247167,-0.2600950585313648],[-0.08467106348133956,-0.1601350841121589]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.46762224010883713,-2.33673962418816,0.71338606911949],"aabb_xy":[[-0.48049414360977727,-2.4167396246019957],[-0.454750336607897,-2.2567396237743234]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.5623403488124448,0.7555681417706421,0.71338606911949],"aabb_xy":[[0.49234034700369944,0.7342143730064548],[0.6323403506211903,0.7769219105348295]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.43951643299353865,1.479714886048232,0.71338606911949],"aabb_xy":[[-0.484509019711989,1.4347148867737833],[-0.3945238462750882,1.5247148853226808]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.5876750194423901,0.22160758720137785,0.71338606911949],"aabb_xy":[[-0.6516750216627972,0.17723450307608954],[-0.5236750172219832,0.26598067132666614]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[-0.4503620852188087,-2.5575794008674624,0.71338606911949],"aabb_xy":[[-0.4853620834889286,-2.5646535285624505],[-0.4153620869486888,-2.550505273172474]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.21977779608657477,-1.4028839391659773,0.71338606911949],"aabb_xy":[[0.20267571812820662,-1.419990744697247],[0.23687987404494293,-1.3857771336347076]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.2928597025646982,-1.6873809583605426,0.71338606911949],"aabb_xy":[[0.2553597027476646,-1.6920191696716846],[0.33035970238173173,-1.682742747049401]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.4388493871873371,1.458262636418152,0.71338606911949],"aabb_xy":[[0.43389336700245607,1.4357626362160303],[0.4438054073722184,1.4807626366202735]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[-0.6287972236649064,0.7646452955871212,0.71338606911949],"aabb_xy":[[-0.6395701975862742,0.7296452973680823],[-0.6180242497435386,0.7996452938061602]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.17366310741468893,-1.3420313130113954,0.71338606911949],"aabb_xy":[[-0.23766310452679465,-1.3910636828058063],[-0.10966311030258327,-1.292998943216985]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.5805655277037489,-1.126965641715873,0.71338606911949],"aabb_xy":[[0.5165655313081757,-1.1909289301346067],[0.6445655240993219,-1.0630023532971395]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.0147243491791188,0.7873130249681255,0.71338606911949],"aabb_xy":[[-0.07972435028506208,0.7623476518999972],[0.05027565192682448,0.8122783980362538]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.06764894616738715,-1.8184182234250246,0.71338606911949],"aabb_xy":[[0.017654113239445546,-1.868418222320268],[0.11764377909532875,-1.768418224529781]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.3712381509229467,0.4057144684049061,0.71338606911949],"aabb_xy":[[-0.43523815118341747,0.3607056690519781],[-0.30723815066247584,0.4507232677578341]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.38427886992994,1.2010252232405376,0.71338606911949],"aabb_xy":[[0.32027886664023186,1.15769030423662],[0.4482788732196481,1.2443601422444552]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.5474813105701499,-1.447236527690299,0.71338606911949],"aabb_xy":[[0.5099813090545181,-1.458463300706444],[0.5849813120857815,-1.436009754674154]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.31239898381638853,0.6471091634465655,0.71338606911949],"aabb_xy":[[0.2898852919929313,0.577109162845558],[0.33491267563984567,0.7171091640475731]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.5812406777050656,-2.177861963705067,0.71338606911949],"aabb_xy":[[0.5312406764212255,-2.2278408180956886],[0.6312406789889055,-2.1278831093144444]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_27","position":[0.5379848581249331,0.9714835764534597,0.71338606911949],"aabb_xy":[[0.5204849246909498,0.953983576533225],[0.5554847915589165,0.988983576373694]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_28","position":[0.5874791925093452,0.19952469687619523,0.71338606911949],"aabb_xy":[[0.5570810814102015,0.16911779487452566],[0.6178773036084887,0.22993159887786468]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009893799318749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5801.png","name":"5801"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5801.png","name":"5801"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7635.png","name":"7635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3694.png","name":"3694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7197.png","name":"7197"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":628.3021318704817,"rotation_z_degrees":36.03361454143603,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016028395257715638,-0.01130323429634446,0.01717594524036883]},{"name":"camera_2","offset_m":[-0.01810641088902941,0.004248768436871612,-0.01103604644517052]},{"name":"camera_3","offset_m":[-0.015263871851464227,-0.004489123026583695,-0.01642408930858788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.587418577967967e-05,-0.0002507517576619586,0.0017558415985393589],"end_effector_yaw_offset_degrees":0.4323815191560634},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00028082599952533593,0.0007482896873528488,0.0005652584911470838],"end_effector_yaw_offset_degrees":0.46091576041082605},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018597584030286911,0.0009530298900432945,0.0005218615817686881],"end_effector_yaw_offset_degrees":0.11331274776842881}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002604553970057796,0.0011809841070265416],"position_m":[0.2825045539700578,0.15818098410702655,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034809946444028803,0.0040958834131384495],"position_m":[0.35648099464440286,0.31449588341313844,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010487679041908627,-0.003955199105684455],"position_m":[0.29274876790419085,-0.047155199105684456,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013070126776854284,0.0031371111974223516],"position_m":[0.24869298732231457,-0.3333628888025777,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"12a71896502b1c49b9ee87edfa92d55443c912e940852a3ba7325857945c250f","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5801/tex_ceiling_textures_7197/tex_floor_textures_3694/tex_table_textures_7635/tex_wall_textures_9952","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8538295369546716136,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8538295369546716136,"visual_seed":8538295369546716136,"scene_id":"lab_003","finished_at":"2026-09-02T03:36:44"}
+{"episode_id":"ep_000026","started_at":"2026-09-02T03:38:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.689568244884001,1.0195936117903024,0.71338606911949],"aabb_xy":[[0.6617232081033939,0.9888091130519907],[0.7174132816646082,1.050378110528614]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.6664645227617205,-2.4419567342166535,0.71338606911949],"aabb_xy":[[0.6627612614325815,-2.4456587525253712],[0.6701677840908593,-2.4382547159079357]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.28915399192193253,-1.3540196063926442,0.71338606911949],"aabb_xy":[[-0.29556780556511747,-1.360429426640312],[-0.2827401782787476,-1.3476097861449754]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.2845407656589201,0.1278310611238873,0.71338606911949],"aabb_xy":[[-0.3485407648286901,0.08106437400492479],[-0.22054076648915025,0.17459774824284974]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.04477953553827063,1.804816372021747,0.71338606911949],"aabb_xy":[[0.019779535605752734,1.7979337038008236],[0.06977953547078852,1.8116990402426703]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.5111681621353094,0.5387586761510739,0.71338606911949],"aabb_xy":[[-0.561168163796804,0.4887602338953711],[-0.46116816047381454,0.5887571184067765]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.5214030075736416,0.8497856236260088,0.71338606911949],"aabb_xy":[[0.5133596476476864,0.7647856225306424],[0.5294463674995967,0.9347856247213753]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.4213079030701492,0.8017525992951393,0.71338606911949],"aabb_xy":[[0.38884620218822163,0.7716197671802365],[0.45376960395207655,0.8318854314100417]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.6664670524910841,-1.0519848694676555,0.71338606911949],"aabb_xy":[[0.6611294768250795,-1.0769848703967952],[0.6718046281570886,-1.0269848685385157]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.41353354518647273,1.7791180909753401,0.71338606911949],"aabb_xy":[[-0.4635177808946499,1.7291180921618448],[-0.36354930947829545,1.829118089788836]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[0.3676301045360688,1.678576600422685,0.71338606911949],"aabb_xy":[[0.36058979460253193,1.598576601023014],[0.3746704144696059,1.7585765998223568]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.41152953539803594,1.126421337955453,0.71338606911949],"aabb_xy":[[0.34652953751638815,1.0752976742489122],[0.4765295332796838,1.177545001661994]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[0.5549305789856449,-0.2905424462114601,0.71338606911949],"aabb_xy":[[0.5245324678865012,-0.3209493482131296],[0.5853286900847884,-0.26013554420979057]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.5021908217191233,-1.2424257453397487,0.71338606911949],"aabb_xy":[[0.4909457661485055,-1.253667543063844],[0.5134358772897412,-1.2311839476156534]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.2793784840908277,1.3093709820163064,0.71338606911949],"aabb_xy":[[-0.34337848576882507,1.2608535905369922],[-0.21537848241283036,1.3578883734956206]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[-0.41242898857222093,-0.977705090517311,0.71338606911949],"aabb_xy":[[-0.45344693195859176,-1.0277050911482684],[-0.37141104518585,-0.9277050898863537]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.3174810677854736,0.4578882180400532,0.71338606911949],"aabb_xy":[[-0.3531102236854333,0.4222555512832003],[-0.28185191188551384,0.4935208847969062]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.08409911532313008,-0.36939226830740735,0.71338606911949],"aabb_xy":[[-0.09874252087716306,-0.3840509879641916],[-0.0694557097690971,-0.35473354865062307]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.40256042243606927,-1.039505861573189,0.71338606911949],"aabb_xy":[[0.337560421330126,-1.0644712346413172],[0.46756042354201255,-1.0145404885050606]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.4815639142199125,1.5597843972129417,0.71338606911949],"aabb_xy":[[-0.5286932932217482,1.4957843961685395],[-0.43443453521807684,1.6237843982573434]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.23081720018540453,-2.1305545178635095,0.71338606911949],"aabb_xy":[[0.19581720099258623,-2.1415215638611715],[0.2658171993782228,-2.1195874718658465]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.00850102376363504,-0.902419666747128,0.71338606911949],"aabb_xy":[[-0.06850102361020183,-0.9592382889401667],[0.05149897608293175,-0.8456010445540894]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.20692572420343625,-2.1752281708400214,0.71338606911949],"aabb_xy":[[-0.2319257234753985,-2.1915735344361833],[-0.18192572493147394,-2.1588828072438586]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.6537383680144113,-1.061830819242906,0.71338606911949],"aabb_xy":[[-0.6668896139857007,-1.0868308189995928],[-0.640587122043122,-1.0368308194862197]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[0.45756410388713187,-1.8557995744184843,0.71338606911949],"aabb_xy":[[0.40259038185079904,-1.9107995739827173],[0.5125378259234648,-1.800799574854251]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.005107144872648406,1.5646780428382114,0.71338606911949],"aabb_xy":[[-0.06510714546866458,1.509865570292988],[0.05489285572336777,1.619490515383435]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[0.13578460805231973,1.1237084456294921,0.71338606911949],"aabb_xy":[[0.09987110362733002,1.0877949374127376],[0.1716981124773094,1.1596219538462467]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.6303698417247005,-2.1917422116431755,0.71338606911949],"aabb_xy":[[-0.6803698426752331,-2.223291358646697],[-0.5803698407741675,-2.160193064639654]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_28","position":[-0.26108111524568595,-1.7765221896286207,0.71338606911949],"aabb_xy":[[-0.2956721980997311,-1.8415221899136516],[-0.2264900323916407,-1.7115221893435895]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[0.23877806778016042,-1.5228824834630854,0.71338606911949],"aabb_xy":[[0.15377806936273722,-1.6077567789253702],[0.32377806619758365,-1.4380081880008002]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[-0.1214924906475695,-2.2397520379938687,0.71338606911949],"aabb_xy":[[-0.13164550620171883,-2.275821579566608],[-0.11133947509342008,-2.2036824964211275]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_31","position":[-0.5567564361856499,-0.16832246091859782,0.71338606911949],"aabb_xy":[[-0.5917564353156055,-0.17406768199426192],[-0.5217564370556942,-0.1625772398429337]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_32","position":[-0.024843602744216375,1.0010047668307918,0.71338606911949],"aabb_xy":[[-0.034003481688092974,0.9944735487872547],[-0.015683723800339774,1.0075359848743288]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_33","position":[0.6009877000641051,0.5613113342717355,0.71338606911949],"aabb_xy":[[0.59014722183759,0.5441250529810867],[0.6118281782906199,0.5784976155623843]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_34","position":[-0.032224938788270485,-2.0714560120360717,0.71338606911949],"aabb_xy":[[-0.06219249569809615,-2.1014560123339576],[-0.0022573818784448196,-2.0414560117381857]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953554499973019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9713.png","name":"9713"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9713.png","name":"9713"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5586.png","name":"5586"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7068.png","name":"7068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8202.png","name":"8202"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":602.5837109102197,"rotation_z_degrees":345.5888845124749,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01682911568445442,0.01733378078178849,-0.005531075021865197]},{"name":"camera_2","offset_m":[-0.015004326096479757,-0.0012111503946753525,-0.010746804934103533]},{"name":"camera_3","offset_m":[-0.018199280212261155,0.010473145121912456,-0.0036909841567672116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019062976878078883,0.0010395554850444848,-2.3928591314083085e-05],"end_effector_yaw_offset_degrees":0.8274715878454144},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014103778077886285,-0.0019281152497220195,-0.0005439358627487309],"end_effector_yaw_offset_degrees":-0.02613502451312044},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009401585307948538,0.0012894129822280317,0.0019968379823764445],"end_effector_yaw_offset_degrees":-0.67812406042042}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004902648339794543,-0.0003502256553454654],"position_m":[0.2848026483397945,0.15664977434465455,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016130360132793186,-0.004822278821766579],"position_m":[0.3546130360132793,0.30557772117823345,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0038474344815629105,0.0023403425461394067],"position_m":[0.28785256551843713,-0.040859657453860596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002960829267664129,-0.002662531895330381],"position_m":[0.24703917073233586,-0.3391625318953304,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5b15b718192e37a5c1aa7c0506b39c63e6c211b67af58ac5accc87695b8f4122","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9713/tex_ceiling_textures_8202/tex_floor_textures_8134/tex_table_textures_5586/tex_wall_textures_7068","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4875281178489014055,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4875281178489014055,"visual_seed":4875281178489014055,"scene_id":"lab_003","finished_at":"2026-09-02T03:40:49"}
+{"episode_id":"ep_000027","started_at":"2026-09-02T03:40:52","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.48463481667489516,0.0026766303835326077,0.71338606911949],"aabb_xy":[[-0.4895341089814586,-0.025000288919036162],[-0.4797355243683316,0.030353549686101378]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.22714431566075627,-0.9135444992220974,0.71338606911949],"aabb_xy":[[-0.25713597839462654,-0.9435444985588978],[-0.1971526529268859,-0.8835444998852967]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.6475328293813543,1.5932491229506138,0.71338606911949],"aabb_xy":[[-0.6713690470219593,1.5032491221421278],[-0.6236966117407492,1.6832491237591007]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[0.4857882153374058,-1.8219996483551952,0.71338606911949],"aabb_xy":[[0.4317726190555058,-1.8859996512474522],[0.5398038116193058,-1.7579996454629379]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.49309799344282657,-2.434055042043013,0.71338606911949],"aabb_xy":[[0.43797278781323573,-2.4940550434842996],[0.5482231990724172,-2.3740550406017253]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[-0.5338715412957418,-2.111765497287229,0.71338606911949],"aabb_xy":[[-0.5790428591439108,-2.1757654944317673],[-0.4887002234475729,-2.0477655001426904]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.11544672361353758,-1.768005935788592,0.71338606911949],"aabb_xy":[[-0.15294672396176534,-1.7797973313696753],[-0.07794672326530981,-1.7562145402075082]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.3586220049898386,0.7394589617526375,0.71338606911949],"aabb_xy":[[-0.39987081601975333,0.6844589622404199],[-0.31737319395992386,0.7944589612648548]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.23355569290945521,1.4183303506667655,0.71338606911949],"aabb_xy":[[0.22585250223537817,1.4106209799680274],[0.24125888358353226,1.4260397213655036]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.515541207449554,0.8635218792043435,0.71338606911949],"aabb_xy":[[-0.5654239043272503,0.8135218799580688],[-0.4656585105718579,0.9135218784506183]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.07524796586737881,1.5184732834794255,0.71338606911949],"aabb_xy":[[0.010247963229585308,1.4669936847799785],[0.1402479685051723,1.5699528821788724]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.44047737414082944,-1.198317514869865,0.71338606911949],"aabb_xy":[[0.37647737702872375,-1.2473498846642757],[0.5044773712529351,-1.1492851450754544]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.16929142320481017,-2.293247900564457,0.71338606911949],"aabb_xy":[[0.16166715511463192,-2.300881124101001],[0.1769156912949884,-2.2856146770279135]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.44262377394630037,0.8202706654417828,0.71338606911949],"aabb_xy":[[0.43819314459146025,0.8148222937071001],[0.4470544033011406,0.8257190371764653]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.18080008305410256,-1.9701316074469144,0.71338606911949],"aabb_xy":[[0.16330008391973536,-1.980011234484502],[0.1983000821884697,-1.9602519804093264]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.05733565052500034,-1.3389534317613307,0.71338606911949],"aabb_xy":[[0.02685140039797019,-1.3889534315428265],[0.08781990065203049,-1.2889534319798346]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.3074968505621335,-0.7306063548096977,0.71338606911949],"aabb_xy":[[-0.3524968520283624,-0.7756062116711786],[-0.2624968490959047,-0.6856064979482172]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.4350658539852045,1.045094731849595,0.71338606911949],"aabb_xy":[[-0.4900590653223413,0.9900947315108013],[-0.3800726426480678,1.1000947321883885]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.05339587509997179,1.3817332017123047,0.71338606911949],"aabb_xy":[[0.04016492956529049,1.368505782690305],[0.06662682063465308,1.394960620734304]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.46489179945426273,0.9733331356310808,0.71338606911949],"aabb_xy":[[0.4423917994441145,0.9592369159914775],[0.4873917994644111,0.9874293552706841]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[-0.4034600816157213,0.3752318507608514,0.71338606911949],"aabb_xy":[[-0.4934600839497403,0.2977494961757387],[-0.31346007928170216,0.452714205345964]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.12141614138012902,0.8302400510947678,0.71338606911949],"aabb_xy":[[0.06141614051931619,0.7788136210882813],[0.18141614224094177,0.8816664811012541]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.4090073887413457,-2.2778096384068323,0.71338606911949],"aabb_xy":[[0.3190073920057354,-2.3309931017241268],[0.49900738547695583,-2.2246261750895377]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.5181351434335936,-0.9970524534393055,0.71338606911949],"aabb_xy":[[-0.540635143247496,-1.0015270698097865],[-0.4956351436196912,-0.992577837068825]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[-0.1567049743352631,0.9747923558272031,0.71338606911949],"aabb_xy":[[-0.17920497385897044,0.9522964083765825],[-0.13420497481155563,0.997288303277824]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.4670460401437339,-0.45053166431784275,0.71338606911949],"aabb_xy":[[-0.5310460420560764,-0.5064428135758532],[-0.4030460382313917,-0.39462051505983237]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.19375657362314014,-1.2771926026077596,0.71338606911949],"aabb_xy":[[-0.27375039720169836,-1.3571926052006014],[-0.11376275004458195,-1.1971926000149182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001081565438474,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/574.png","name":"574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4664.png","name":"4664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1732.png","name":"1732"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5361.png","name":"5361"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":742.125074380248,"rotation_z_degrees":315.6597046446639,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007798860753471453,-0.00930155713525145,0.012293279848142203]},{"name":"camera_2","offset_m":[-0.013811720827779173,0.019220558038089672,-0.01725249733261238]},{"name":"camera_3","offset_m":[-0.015191876500439964,-0.013683356886036536,0.004068015497620953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00045492173085908056,0.00018988512645996608,-0.0009064546254844701],"end_effector_yaw_offset_degrees":-0.3359187625053621},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005675931409566148,0.001752517760146823,-0.00030011115664548785],"end_effector_yaw_offset_degrees":-0.16669921481250616},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007413452371492766,-0.0008441242167873603,0.001867902215306551],"end_effector_yaw_offset_degrees":0.6743553674162928}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004071240567915363,-0.0008089293410137033],"position_m":[0.2758287594320846,0.1561910706589863,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004448540359358874,0.00017969443694997207],"position_m":[0.35744854035935886,0.31057969443695,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0042751359848014975,0.004474209941843085],"position_m":[0.2959751359848015,-0.03872579005815692,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026827025170915674,-0.0027817940041614266],"position_m":[0.24731729748290843,-0.3392817940041615,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c6ad2055ba095679540c74c94db6329b73ab171bbcc58cdc4cff6859f7de6442","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7473/tex_ceiling_textures_5361/tex_floor_textures_1732/tex_table_textures_574/tex_wall_textures_4664","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":9025735052580668117,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":9025735052580668117,"visual_seed":9025735052580668117,"scene_id":"lab_003","finished_at":"2026-09-02T03:43:31"}
+{"episode_id":"ep_000028","started_at":"2026-09-02T03:43:36","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.04666622558487521,-1.2867463305511597,0.71338606911949],"aabb_xy":[[-0.05926892472195167,-1.2993417267760252],[-0.03406352644779876,-1.2741509343262942]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.165306305759916,1.571906986954564,0.71338606911949],"aabb_xy":[[-0.18985252138266673,1.541658090405527],[-0.14076009013716528,1.6021558835036012]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.4714433979436181,-0.7020069183980535,0.71338606911949],"aabb_xy":[[0.4014433953070317,-0.7221117833939188],[0.5414434005802045,-0.6819020534021878]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.4012850968341951,0.8910583886975845,0.71338606911949],"aabb_xy":[[-0.4067430424712151,0.8110583853899254],[-0.395827151197175,0.9710583920052436]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.21753439084698628,-0.20787540611160793,0.71338606911949],"aabb_xy":[[-0.2975343922771134,-0.2873925611242174],[-0.13753438941685905,-0.12835825109899843]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.6137989178184884,0.4297866785181461,0.71338606911949],"aabb_xy":[[0.5497989145998506,0.38306356661913776],[0.6777989210371264,0.47650979041715447]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.3373239369313694,-2.247499695851825,0.71338606911949],"aabb_xy":[[0.3184395531628592,-2.2663856206321777],[0.3562083206998796,-2.228613771071472]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.3367568037422858,-2.5372329079036042,0.71338606911949],"aabb_xy":[[-0.35866548588163677,-2.559133574723695],[-0.3148481216029347,-2.5153322410835135]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.5319405373224908,-0.6421956094489465,0.71338606911949],"aabb_xy":[[-0.6119405394852533,-0.72215079307509],[-0.4519405351597283,-0.5622404258228028]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.47219557974350956,-1.2204016081393978,0.71338606911949],"aabb_xy":[[0.4346955792461513,-1.224370291687516],[0.5096955802408678,-1.216432924591279]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.20414947648870002,-2.4312488523869593,0.71338606911949],"aabb_xy":[[-0.2085801058435402,-2.4366972241216422],[-0.19971884713385984,-2.4258004806522773]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.05782334407891898,-2.22174613900854,0.71338606911949],"aabb_xy":[[0.007844535568603088,-2.2717461390142586],[0.10780215258923487,-2.171746139002821]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.5872077321192514,-2.352925034853997,0.71338606911949],"aabb_xy":[[-0.598776712866188,-2.377925034970928],[-0.5756387513723149,-2.327925034737065]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.6327949576411473,-0.1756733285452774,0.71338606911949],"aabb_xy":[[-0.6826117371059821,-0.22567332702958076],[-0.5829781781763126,-0.12567333006097403]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.26399675418447205,-1.9851816540218175,0.71338606911949],"aabb_xy":[[-0.3279967514868184,-2.0295480809896738],[-0.1999967568821256,-1.9408152270539603]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.3818292388918292,-2.4930460549592817,0.71338606911949],"aabb_xy":[[0.30182923781870885,-2.5028241012966657],[0.4618292399649495,-2.483268008621897]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.2934140064508112,-0.6426234207768502,0.71338606911949],"aabb_xy":[[-0.3284140055807669,-0.6483686418525142],[-0.25841400732085557,-0.636878199701186]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.030441250484964377,-1.5946589439733643,0.71338606911949],"aabb_xy":[[0.02172728143502988,-1.617158944632552],[0.03915521953489885,-1.5721589433141756]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.40898589407770986,-1.546048706589767,0.71338606911949],"aabb_xy":[[-0.45398589554393876,-1.5910485634512481],[-0.363985892611481,-1.5010488497282868]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.20590358907999895,1.685512212286619,0.71338606911949],"aabb_xy":[[0.12590358880639196,1.6125626644609026],[0.28590358935360594,1.758461760112336]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.07759233419891975,1.4690359886788502,0.71338606911949],"aabb_xy":[[0.013592334904751535,1.405049848309996],[0.14159233349308797,1.5330221290477044]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.18717661475198655,0.7376804002585011,0.71338606911949],"aabb_xy":[[-0.22572230757718761,0.6991346292023124],[-0.14863092192678554,0.7762261713146896]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.11705009552763146,0.9938613481210523,0.71338606911949],"aabb_xy":[[-0.16705009510396618,0.9438807691689464],[-0.06705009595129675,1.0438419270731583]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.13127854586424292,0.6993974382495836,0.71338606911949],"aabb_xy":[[0.1180476003295616,0.6861700192275841],[0.1445094913989242,0.712624857271583]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.271602463799556,-2.051040179593624,0.71338606911949],"aabb_xy":[[0.22379629618578728,-2.116040182300683],[0.3194086314133246,-1.986040176886565]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.45897077798142855,-2.1348548216375365,0.71338606911949],"aabb_xy":[[-0.49397077717424676,-2.1458218676351986],[-0.4239707787886102,-2.1238877756398735]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[-0.5828574797807343,1.0296228237331242,0.71338606911949],"aabb_xy":[[-0.6328417154889115,0.9796228249196286],[-0.5328732440725571,1.0796228225466198]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.11500917951420386,-2.1597154459061114,0.71338606911949],"aabb_xy":[[-0.1500091778248993,-2.167430460829657],[-0.0800091812035084,-2.1520004309825658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6912354320514529,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6653.png","name":"6653"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6653.png","name":"6653"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1821.png","name":"1821"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2678.png","name":"2678"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7378.png","name":"7378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9170.png","name":"9170"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":593.4362793286962,"rotation_z_degrees":57.63869633553797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01993815489370575,-0.005249874454924032,-0.005381098804278825]},{"name":"camera_2","offset_m":[0.005988113074515477,-0.0017544939128756425,0.01498463582508196]},{"name":"camera_3","offset_m":[0.013406662185221564,-0.01797749688235574,0.00472414365411547]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00071918844251684,0.0009851597057588882,-0.0007617465915719915],"end_effector_yaw_offset_degrees":-0.43552382207552087},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00016900105677076713,-0.0009281480875054644,0.0008966091091137389],"end_effector_yaw_offset_degrees":0.08660586809877335},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00015736474446714126,-0.001145213292210222,0.001100935765660074],"end_effector_yaw_offset_degrees":-0.7250551990411649}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002865552432042887,-0.0021832113004794694],"position_m":[0.2827655524320429,0.15481678869952054,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003914975958986587,-0.0029261925832168656],"position_m":[0.3490850240410134,0.30747380741678315,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011166783755517697,-0.004760247406267153],"position_m":[0.2905833216244482,-0.047960247406267156,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026241174120483356,-0.0016629497561743444],"position_m":[0.24737588258795165,-0.3381629497561744,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cc5257fd1320844c6aca68c212fdae91bf89640c803f1e83a3b5451bfa8827e4","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6653/tex_ceiling_textures_9170/tex_floor_textures_7378/tex_table_textures_1821/tex_wall_textures_2678","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8855188480500867016,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8855188480500867016,"visual_seed":8855188480500867016,"scene_id":"lab_003","finished_at":"2026-09-02T03:46:16"}
+{"episode_id":"ep_000029","started_at":"2026-09-02T03:46:18","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.06647034876433644,-2.2522900647562083,0.71338606911949],"aabb_xy":[[-0.07803932951127303,-2.2772900648731405],[-0.05490136801739988,-2.227290064639277]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.4849355247219065,-0.4084374965293134,0.71338606911949],"aabb_xy":[[0.46887359726338884,-0.49343749834190515],[0.5009974521804241,-0.3234374947167215]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.5464010504860618,1.5433391645778172,0.71338606911949],"aabb_xy":[[-0.5709146745830675,1.5190745712757807],[-0.5218874263890558,1.5676037578798536]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.6233178248269007,0.15533330384660982,0.71338606911949],"aabb_xy":[[-0.6733170999953368,0.10533330257066265],[-0.5733185496584645,0.20533330512255699]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.2957049762697178,0.6684425032343113,0.71338606911949],"aabb_xy":[[0.2896103483815995,0.6598731086826426],[0.30179960415783613,0.67701189778598]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.6191723140742709,-1.0185393236999105,0.71338606911949],"aabb_xy":[[0.5491723119428412,-1.0413012893256057],[0.6891723162057003,-0.9957773580742144]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.5839492521777809,0.6546540216599372,0.71338606911949],"aabb_xy":[[0.5688469507167626,0.6395525000288753],[0.5990515536387988,0.669755543290999]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.5107241253461767,0.4083902594665121,0.71338606911949],"aabb_xy":[[0.4803260142470332,0.3779833574648425],[0.5411222364453203,0.43879716146818154]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.430125193104962,0.19859411664102122,0.71338606911949],"aabb_xy":[[-0.5138474186050445,0.10859411310632527],[-0.34640296760487954,0.2885941201757172]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.37583231826969765,1.6776832396398595,0.71338606911949],"aabb_xy":[[0.3408323199590022,1.669968224716314],[0.4108323165803931,1.6853982545634052]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.5719290334214087,1.1304447907516773,0.71338606911949],"aabb_xy":[[0.5435993234728685,1.1259840485579602],[0.600258743369949,1.1349055329453943]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.3231522363389164,0.7140488049691038,0.71338606911949],"aabb_xy":[[-0.3581522346090362,0.7069746772741157],[-0.2881522380687964,0.721122932664092]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.15315903920052976,1.39517348567087,0.71338606911949],"aabb_xy":[[-0.2181590377576026,1.3654209522569876],[-0.08815904064345692,1.4249260190847528]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.29837085004637376,1.2326895839228058,0.71338606911949],"aabb_xy":[[0.20837085145190382,1.2164389976093848],[0.3883708486408437,1.2489401702362268]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.0877921957624892,1.6088436789014868,0.71338606911949],"aabb_xy":[[0.01779219416020973,1.5954108856998295],[0.15779219736476868,1.6222764721031446]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.46478907821225235,-1.4360901665493881,0.71338606911949],"aabb_xy":[[0.41478907655075753,-1.4860886088050906],[0.514789079873747,-1.3860917242936852]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.21078323485852174,-0.7152676213537306,0.71338606911949],"aabb_xy":[[-0.24727905548580048,-0.751751563780488],[-0.174287414231243,-0.6787836789269729]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.4776515142927259,-2.2340078038751443,0.71338606911949],"aabb_xy":[[-0.49754255417306625,-2.246663615159841],[-0.45776047441238576,-2.2213519925904475]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.06925920592025636,1.2409029798905973,0.71338606911949],"aabb_xy":[[0.06392163025425181,1.2159029789614575],[0.07459678158626094,1.265902980819737]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[0.12193050737478506,-2.3679440929761437,0.71338606911949],"aabb_xy":[[0.0322434310666696,-2.4579440932305943],[0.2116175836829005,-2.277944092721693]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.15361842054073094,-1.4611401288519408,0.71338606911949],"aabb_xy":[[-0.21761841765283665,-1.5101724986463514],[-0.08961842342862528,-1.4121077590575302]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.02743177266609409,-1.2185913199154232,0.71338606911949],"aabb_xy":[[-0.10743177409622129,-1.2981084749280327],[0.05256822876403311,-1.1390741649028138]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.6094396199279726,-1.5567544878095643,0.71338606911949],"aabb_xy":[[-0.674439620928473,-1.6075408529642392],[-0.544439618927472,-1.5059681226548893]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[0.6771916448860766,-1.9027266426301424,0.71338606911949],"aabb_xy":[[0.642894733868336,-1.9370235288400832],[0.7114885559038171,-1.8684297564202006]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[0.48282285008371817,-0.8361990168923059,0.71338606911949],"aabb_xy":[[0.4178228500494155,-0.8828996935726333],[0.5478228501180209,-0.7894983402119787]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.05599775310121469,0.7272410088043513,0.71338606911949],"aabb_xy":[[-0.10597516996646826,0.6772410073151027],[-0.006020336235961098,0.7772410102935998]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.14776221231089848,-0.41099209200745124,0.71338606911949],"aabb_xy":[[-0.19775722327035053,-0.46099209104304306],[-0.09776720135144645,-0.3609920929718596]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.5902912677472185,-1.7582248728323162,0.71338606911949],"aabb_xy":[[-0.6402912681077845,-1.808204860041919],[-0.5402912673866523,-1.708244885622713]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[-0.10335602520456844,-2.573903351273682,0.71338606911949],"aabb_xy":[[-0.11658697073924973,-2.587130770295681],[-0.09012507966988714,-2.5606759322516823]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[0.5754822762068734,-1.5581393773456402,0.71338606911949],"aabb_xy":[[0.5579822770725062,-1.5680190043832278],[0.5929822753412406,-1.5482597503080522]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_30","position":[-0.06098776583396537,1.7564158466423563,0.71338606911949],"aabb_xy":[[-0.07139932451444907,1.7510701133064577],[-0.05057620715348164,1.7617615799782544]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_31","position":[-0.34890528603139137,1.2835447351400044,0.71338606911949],"aabb_xy":[[-0.4389052825322631,1.237633092721546],[-0.25890528953051956,1.3294563775584625]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_32","position":[0.4245214531321555,-2.0941216161413934,0.71338606911949],"aabb_xy":[[0.3895214539393372,-2.1050886621390554],[0.4595214523249737,-2.0831545701437304]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_33","position":[-0.4136929771001934,-1.0288085271786682,0.71338606911949],"aabb_xy":[[-0.42833638265422636,-1.0434672468354524],[-0.3990495715461604,-1.014149807521884]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_34","position":[0.5515638259203162,-0.7130770195706353,0.71338606911949],"aabb_xy":[[0.5140638252557372,-0.7287640775708574],[0.5890638265848946,-0.697389961570413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979793673383239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4078.png","name":"4078"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4078.png","name":"4078"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5771.png","name":"5771"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7922.png","name":"7922"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3834.png","name":"3834"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":678.892894409711,"rotation_z_degrees":266.45749740728075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005466875949382621,-0.008051097704834339,-0.008284543835545359]},{"name":"camera_2","offset_m":[-0.003446720448649177,0.008277979168387451,-0.0019110574868340807]},{"name":"camera_3","offset_m":[0.0034867908264931344,0.016328334566557776,-0.019366172086797744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006929375555571647,0.0006009134086754214,5.3191319083825076e-05],"end_effector_yaw_offset_degrees":0.6119279919221334},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000788268603759113,-0.001304962975806522,0.0016805465756292402],"end_effector_yaw_offset_degrees":-0.5249368649840449},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011130356832097853,-0.0016722335671162884,-0.0005857041387740938],"end_effector_yaw_offset_degrees":0.5495053752129193}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005145133850193032,0.0033915972214410535],"position_m":[0.28041451338501927,0.16039159722144106,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030349139120792725,-0.0017651504449792254],"position_m":[0.35603491391207925,0.3086348495550208,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004988373870314808,-0.004125615171972014],"position_m":[0.2966883738703148,-0.047325615171972014,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00022807482970374927,-0.0005438741950012259],"position_m":[0.24977192517029626,-0.33704387419500126,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e6bcb6c43052c82f93aec787fa3751c1e3d4ce26a5036452aa10853612913d3","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4078/tex_ceiling_textures_3834/tex_floor_textures_817/tex_table_textures_5771/tex_wall_textures_7922","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6280450104934446605,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6280450104934446605,"visual_seed":6280450104934446605,"scene_id":"lab_003","finished_at":"2026-09-02T03:48:52"}
+{"episode_id":"ep_000030","started_at":"2026-09-02T03:48:55","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.11053735552067301,-0.8578928890313449,0.71338606911949],"aabb_xy":[[-0.1330373560327136,-0.8803847473967432],[-0.0880373550086324,-0.8354010306659465]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[-0.3442244363004198,0.41701376013209046,0.71338606911949],"aabb_xy":[[-0.42422443956443295,0.4034537278231771],[-0.2642244330364067,0.4305737924410038]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.5651947632631362,1.7861478438171932,0.71338606911949],"aabb_xy":[[0.561754087023079,1.7822864108428287],[0.5686354395031934,1.7900092767915576]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.5177037460842986,1.0056668038691479,0.71338606911949],"aabb_xy":[[-0.5977037447411846,0.9911619449448851],[-0.4377037474274126,1.0201716627934108]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.24774973197633643,-1.1058901041044253,0.71338606911949],"aabb_xy":[[0.22954390831508875,-1.116915504686417],[0.2659555556375841,-1.0948647035224337]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.11971263180050506,1.072327042135543,0.71338606911949],"aabb_xy":[[0.08221263185673866,1.0640339521007065],[0.15721263174427147,1.0806201321703797]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.6500232253582299,1.5920551351055798,0.71338606911949],"aabb_xy":[[0.6248023884983901,1.5668313842526929],[0.6752440622180694,1.6172788859584664]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[-0.23300894610481154,1.2922150080891637,0.71338606911949],"aabb_xy":[[-0.2548986936937523,1.2022150107999143],[-0.21111919851587074,1.3822150053784126]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.5489778805423464,1.4714801947915466,0.71338606911949],"aabb_xy":[[-0.586477881727139,1.4670619720954858],[-0.5114778793575534,1.4758984174876069]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.2497616907160507,-1.5025114486156266,0.71338606911949],"aabb_xy":[[-0.2722581121499148,-1.5250114484223742],[-0.2272652692821866,-1.4800114488088794]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.60659599140541,1.472499700756162,0.71338606911949],"aabb_xy":[[0.5984823367320329,1.464393884302133],[0.6147096460787871,1.480605517210191]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.5170878330434348,0.6905343199766882,0.71338606911949],"aabb_xy":[[0.4996571179644282,0.6732622053128372],[0.5345185481224412,0.7078064346405388]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.08733912842360958,-2.1338682652018894,0.71338606911949],"aabb_xy":[[0.059494091643002456,-2.164652763940201],[0.1151841652042167,-2.1030837664635778]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.5340023845309987,0.15818887549901595,0.71338606911949],"aabb_xy":[[0.5090023845984808,0.15130620727809263],[0.5590023844635166,0.16507154371993926]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.370610635601504,1.0794701349750864,0.71338606911949],"aabb_xy":[[0.35032633287810516,1.059187509832377],[0.3908949383249027,1.0997527601177948]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.40953913187566093,0.4752721328124445,0.71338606911949],"aabb_xy":[[0.35953913021416606,0.4252736905567418],[0.4595391335371556,0.5252705750681472]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.5816530435021752,-1.7866886942448366,0.71338606911949],"aabb_xy":[[0.5566530443365422,-1.7936409399501931],[0.6066530426678084,-1.77973644853948]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.5091385338553027,0.8082211360335223,0.71338606911949],"aabb_xy":[[-0.5731385302826247,0.761051512211426],[-0.44513853742798093,0.8553907598556189]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.5463464838508822,-1.2809650824645433,0.71338606911949],"aabb_xy":[[-0.5913464853171111,-1.325964939326024],[-0.5013464823846534,-1.2359652256030627]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.5761118863042275,-1.6558235496423035,0.71338606911949],"aabb_xy":[[-0.5801900442112774,-1.659904529890567],[-0.5720337283971778,-1.6517425693940404]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.538595076489537,1.610491984810293,0.71338606911949],"aabb_xy":[[-0.5885950774400697,1.5789428378067718],[-0.48859507553900405,1.6420411318138146]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.5499258489006431,-1.9682269158829346,0.71338606911949],"aabb_xy":[[0.5266440067025118,-2.0532269171801625],[0.5732076910987745,-1.8832269145857066]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.05295398841538701,-1.493793580520204,0.71338606911949],"aabb_xy":[[-0.11295399005830886,-1.5457937298121482],[0.007046013227534842,-1.4417934312282599]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[-0.5526161067949427,-2.2353060797215627,0.71338606911949],"aabb_xy":[[-0.5976086935133931,-2.2803060789960115],[-0.5076235200764923,-2.190306080447114]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.5221105436165143,1.2637559208750728,0.71338606911949],"aabb_xy":[[-0.5412228509744933,1.2446211419978306],[-0.5029982362585356,1.2828906997523146]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[-0.05103528944420743,-2.1361728073339807,0.71338606911949],"aabb_xy":[[-0.1210352858541692,-2.156610742985662],[0.018964706965754367,-2.1157348716822986]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.15068468908168997,-2.4705027109543,0.71338606911949],"aabb_xy":[[-0.1728572160583408,-2.4926783781104227],[-0.12851216210503913,-2.4483270437981766]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[0.6337161460234504,-2.1809669220258066,0.71338606911949],"aabb_xy":[[0.5962161462064167,-2.1856051333369484],[0.6712161458404838,-2.1763287107146647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69142782839575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4230.png","name":"4230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4481.png","name":"4481"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1793.png","name":"1793"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4302.png","name":"4302"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/17.png","name":"17"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":776.6269350471349,"rotation_z_degrees":307.25500669996114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018483598019447052,-0.01137685813809442,-0.017443023375398124]},{"name":"camera_2","offset_m":[-0.011085188889944236,-0.01160533435278762,-0.003990261673700413]},{"name":"camera_3","offset_m":[0.011811532607608258,0.010597169875595142,-0.009316558778442277]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010497665883396805,0.0016044823468029184,-0.0018858055647366844],"end_effector_yaw_offset_degrees":0.5087546367929425},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019709457665227697,-0.001927008601319014,0.0002588160609164939],"end_effector_yaw_offset_degrees":0.4864244589796729},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00012719187210216958,0.00031925048658127796,-3.3530667080769894e-05],"end_effector_yaw_offset_degrees":-0.616480197194123}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003997729516760743,0.0001281416003488852],"position_m":[0.27590227048323923,0.15712814160034888,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004588655685143553,-0.0011430876551232526],"position_m":[0.34841134431485643,0.30925691234487673,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009625606484492425,-0.003618217618540643],"position_m":[0.29266256064844925,-0.046818217618540645,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018538562123499571,0.003994522640468723],"position_m":[0.24814614378765004,-0.3325054773595313,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"325607d5d38a6eb2a9c3888833a70f70dc31aad91d835aca8211526ac5404134","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4230/tex_ceiling_textures_17/tex_floor_textures_4302/tex_table_textures_4481/tex_wall_textures_1793","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2360250538631254623,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2360250538631254623,"visual_seed":2360250538631254623,"scene_id":"lab_003","finished_at":"2026-09-02T03:51:34"}
+{"episode_id":"ep_000031","started_at":"2026-09-02T03:51:38","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.4167849686762477,0.9667351406167217,0.71338606911949],"aabb_xy":[[0.39178496951061464,0.9597828949113651],[0.44178496784188087,0.9736873863220783]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.6317901793322125,-0.27301149566843774,0.71338606911949],"aabb_xy":[[-0.6367461995170938,-0.2955114958705594],[-0.6268341591473314,-0.2505114954663162]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.0967452306705403,-0.6124428091979237,0.71338606911949],"aabb_xy":[[-0.11585753802851916,-0.6315775880751657],[-0.07763292331256143,-0.5933080303206817]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[0.40296612693140177,-1.2331938630679542,0.71338606911949],"aabb_xy":[[0.3229661283440823,-1.3125094650061149],[0.48296612551872115,-1.153878261129793]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.20071813367001579,1.507385888528305,0.71338606911949],"aabb_xy":[[0.19193690652277964,1.4986061412397746],[0.2094993608172521,1.5161656358168354]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.18310965587125794,-2.418828600536286,0.71338606911949],"aabb_xy":[[-0.22165534869645898,-2.4573743715924743],[-0.1445639630460569,-2.380282829480097]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.10871433636246408,-2.2113575972070367,0.71338606911949],"aabb_xy":[[0.09991228105349136,-2.2191689233619654],[0.11751639167143678,-2.203546271052107]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.4939253260834135,-1.312907485668006,0.71338606911949],"aabb_xy":[[-0.5439095617915908,-1.3629074844815015],[-0.4439410903752362,-1.2629074868545103]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.21891567548093915,1.4298250334962472,0.71338606911949],"aabb_xy":[[-0.28291137287603574,1.365825035195538],[-0.15491997808584254,1.4938250317969555]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.1872958410652199,1.22572178087729,0.71338606911949],"aabb_xy":[[-0.22831378445159078,1.1757217802463324],[-0.14627789767884902,1.275721781508247]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.1690337667838423,0.9170985362903434,0.71338606911949],"aabb_xy":[[-0.2065337667276087,0.9088054462555069],[-0.1315337668400759,0.92539162632518]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.61667197519446,1.7291862101036322,0.71338606911949],"aabb_xy":[[-0.6274449491158278,1.6941862118845932],[-0.6058990012730923,1.7641862083226711]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.396859504438828,1.6009643152010784,0.71338606911949],"aabb_xy":[[-0.419775217323878,1.5780600180646553],[-0.37394379155377816,1.6238686123375023]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.23109829136878668,-0.5307800665233509,0.71338606911949],"aabb_xy":[[-0.29109829222959943,-0.5822064965298371],[-0.17109829050797384,-0.4793536365168644]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.6192177641802741,0.5703668453246307,0.71338606911949],"aabb_xy":[[0.5817177657568736,0.5572026313568],[0.6567177626036743,0.5835310592924613]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[0.5731935941169413,-1.5623993338520923,0.71338606911949],"aabb_xy":[[0.5486473784941905,-1.5926482304011291],[0.597739809739692,-1.532150437303055]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[0.002509067455524372,-0.851438662821439,0.71338606911949],"aabb_xy":[[-0.0011941938736144961,-0.8551406811301567],[0.006212328784663239,-0.847736644512721]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.315107359209549,1.0337766192514253,0.71338606911949],"aabb_xy":[[0.22510736061507913,1.0175260329380043],[0.405107357804019,1.0500272055648463]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.6284752517366857,1.3923405800631636,0.71338606911949],"aabb_xy":[[-0.678475252755821,1.355874364325336],[-0.5784752507175505,1.4288067958009918]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.25259511955543146,-1.9417240784380465,0.71338606911949],"aabb_xy":[[0.22759512000369297,-1.9518665623031812],[0.27759511910716994,-1.9315815945729118]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.5119968203876273,1.3165220719351933,0.71338606911949],"aabb_xy":[[0.46981240622679665,1.2525220716579821],[0.5541812345484581,1.3805220722124045]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.04647606622246081,-2.358557047895321,0.71338606911949],"aabb_xy":[[0.023976066408558427,-2.3630316642658014],[0.06897606603636319,-2.3540824315248403]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.5651290925580285,-1.7566106867262365,0.71338606911949],"aabb_xy":[[-0.6103004104061975,-1.8206106838707752],[-0.5199577747098596,-1.6926106895816984]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.07478228139146093,-1.311027737625505,0.71338606911949],"aabb_xy":[[-0.0972814171176879,-1.333527738403768],[-0.052283145665233954,-1.288527736847242]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.5344483088451204,0.07146732737603845,0.71338606911949],"aabb_xy":[[0.5169483097107531,0.06158770033845063],[0.5519483079794875,0.08134695441362627]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_25","position":[-0.03642457280071165,-0.40388653096034366,0.71338606911949],"aabb_xy":[[-0.04512253509142694,-0.41601150526781844],[-0.027726610509996363,-0.391761556652869]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[-0.19321048696581922,-0.8450328585275106,0.71338606911949],"aabb_xy":[[-0.22154019691435944,-0.8494936007212278],[-0.164880777017279,-0.8405721163337937]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[-0.6146757703829704,0.07906116119697648,0.71338606911949],"aabb_xy":[[-0.6210895840261552,0.07265134094930813],[-0.6082619567397853,0.08547098144464481]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.4702144996280381,0.2288062164834428,0.71338606911949],"aabb_xy":[[-0.4884203232892858,0.21778081590145115],[-0.45200867596679045,0.23983161706543443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980447035069612,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3148.png","name":"3148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3148.png","name":"3148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6899.png","name":"6899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/515.png","name":"515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1494.png","name":"1494"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/524.png","name":"524"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":721.664088535002,"rotation_z_degrees":96.29047687991164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009830865424812749,0.013102753159902333,-0.019887701475562982]},{"name":"camera_2","offset_m":[0.013627593704265455,0.01717317110974906,-0.007085662400615594]},{"name":"camera_3","offset_m":[0.005811497762034566,-0.012322804263890177,0.0024223013134717364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016980203416957994,-0.001602098144378841,0.0011982406841172435],"end_effector_yaw_offset_degrees":0.5354720385199097},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001658387754374587,0.0016153054791950006,0.0007568785062460966],"end_effector_yaw_offset_degrees":0.7512048385459884},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012873303019929133,-0.0016998243535622049,-0.00023615557259122123],"end_effector_yaw_offset_degrees":0.11927528638949147}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015087581439874763,0.001201471712404545],"position_m":[0.28140875814398747,0.15820147171240453,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004462729589760986,-0.004529246893400665],"position_m":[0.35746272958976094,0.30587075310659934,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003931956071148292,-0.0037410895034550055],"position_m":[0.2956319560711483,-0.046941089503455005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003171094812836786,0.0005774442477273637],"position_m":[0.24682890518716322,-0.33592255575227264,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ddc252472a2f7b78f2cc3406e2f3abe8f4969e130e433d3a0e44ed8ae055b10d","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3148/tex_ceiling_textures_524/tex_floor_textures_1494/tex_table_textures_6899/tex_wall_textures_515","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":957199447049476015,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":957199447049476015,"visual_seed":957199447049476015,"scene_id":"lab_003","finished_at":"2026-09-02T03:54:15"}
+{"episode_id":"ep_000032","started_at":"2026-09-02T03:54:19","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.24413176707855389,0.10755125228729145,0.71338606911949],"aabb_xy":[[-0.3081317673525321,0.057485152090003475],[-0.18013176680457565,0.15761735248457942]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[-0.2411359933933125,1.1787575978309621,0.71338606911949],"aabb_xy":[[-0.24659393903033253,1.098757594523303],[-0.2356780477562924,1.2587576011386212]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.6353855741629566,-1.6786865522084744,0.71338606911949],"aabb_xy":[[0.6195010808976315,-1.6930394925072987],[0.6512700674282818,-1.6643336119096506]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.4370259251054169,1.5520223438581646,0.71338606911949],"aabb_xy":[[-0.4487941119000744,1.4670223439529433],[-0.42525773831075936,1.6370223437633866]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.40082028168296957,-1.6207828888260543,0.71338606911949],"aabb_xy":[[0.36582028033148783,-1.6411426247828753],[0.4358202830344513,-1.6004231528692336]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[0.3777990763051109,0.5702839471840804,0.71338606911949],"aabb_xy":[[0.2877990795695006,0.5171004838667858],[0.46779907304072105,0.6234674105013748]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.6332125388288518,-1.9446064269650782,0.71338606911949],"aabb_xy":[[-0.6697083594561304,-1.9810903693918358],[-0.5967167182015729,-1.9081224845383207]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.438284529294216,-0.5819917450990113,0.71338606911949],"aabb_xy":[[-0.49828452914078275,-0.6388103672920499],[-0.3782845294476492,-0.5251731229059725]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.6657363490341519,1.5239680292667175,0.71338606911949],"aabb_xy":[[0.6586948980834042,1.516941277528923],[0.6727777999848994,1.530994781004512]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.40406302597876254,-1.1954197432552303,0.71338606911949],"aabb_xy":[[0.3980260129780979,-1.2014464443241788],[0.4101000389794274,-1.1893930421862822]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.5799257073868576,1.0489774998167007,0.71338606911949],"aabb_xy":[[0.5347543895386886,0.9849775026721626],[0.6250970252350265,1.1129774969612394]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.65132609101372,-0.18581025975401477,0.71338606911949],"aabb_xy":[[0.6457444193795912,-0.19831025957179027],[0.6569077626478488,-0.17331025993623927]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.19777480098249733,-1.6719623591119808,0.71338606911949],"aabb_xy":[[-0.2617748012429681,-1.7169711584649088],[-0.1337748007220265,-1.6269535597590528]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.10613322539285808,-2.1454548784177794,0.71338606911949],"aabb_xy":[[0.0858489226694593,-2.165737503560488],[0.1264175281162568,-2.12517225327507]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.19769698445283507,1.4090625755035475,0.71338606911949],"aabb_xy":[[-0.2476969858137223,1.3590846709281317],[-0.14769698309194784,1.459040480078963]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.18595563912635638,-0.5282077198292301,0.71338606911949],"aabb_xy":[[-0.26595563614060436,-0.5483422715026414],[-0.1059556421121084,-0.5080731681558188]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.646952982152287,1.6112502325723006,0.71338606911949],"aabb_xy":[[0.6293746799633402,1.5936757429981954],[0.6645312843412339,1.6288247221464054]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.2732337650778972,0.3909197354335645,0.71338606911949],"aabb_xy":[[-0.3232125735882131,0.3409197354278457],[-0.22325495656758132,0.4409197354392833]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.6542163733604033,-0.2648754910626545,0.71338606911949],"aabb_xy":[[-0.6619195640344804,-0.2725848617613925],[-0.6465131826863262,-0.2571661203639165]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.5321067547557217,1.4755357346629254,0.71338606911949],"aabb_xy":[[0.49710675485970274,1.4671614991509854],[0.5671067546517404,1.4839099701748655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6974827311350061,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5389.png","name":"5389"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5389.png","name":"5389"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/115.png","name":"115"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/930.png","name":"930"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4969.png","name":"4969"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/365.png","name":"365"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.2763332197991,"rotation_z_degrees":44.962742198046456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009058396929613086,0.01976637657575182,0.01692529817955715]},{"name":"camera_2","offset_m":[-0.019786990193859766,0.0006158505238292554,0.014890028227926264]},{"name":"camera_3","offset_m":[-0.01759368019011584,0.017999514345488087,0.01280535186996137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009299515628458698,-0.0005021684048503077,0.0004346136242530745],"end_effector_yaw_offset_degrees":0.9154861513077692},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001895873762149205,-0.0010959917262565962,0.000390101227117533],"end_effector_yaw_offset_degrees":-0.5920911028207183},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016444776713440442,-0.0017269469602558512,-0.0016984077043751906],"end_effector_yaw_offset_degrees":-0.5041012359844972}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038579854336256714,-0.0002948926002705153],"position_m":[0.27604201456637434,0.15670510739972948,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003179733080508799,-0.003184947187787277],"position_m":[0.35617973308050876,0.30721505281221273,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005756952532060822,-0.0004456634143732976],"position_m":[0.29112430474679396,-0.0436456634143733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001989450459933423,6.828747271193664e-05],"position_m":[0.25198945045993343,-0.3364317125272881,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93ca11988ac7f3422f70ee8e9399478053a58ca62c41a336941282d1b4894187","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5389/tex_ceiling_textures_365/tex_floor_textures_4969/tex_table_textures_115/tex_wall_textures_930","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4963354697997669062,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4963354697997669062,"visual_seed":4963354697997669062,"scene_id":"lab_003","finished_at":"2026-09-02T03:56:59"}
+{"episode_id":"ep_000033","started_at":"2026-09-02T03:58:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.2949899705493957,-1.9508525369576046,0.71338606911949],"aabb_xy":[[0.2249899684179661,-1.9736145025833],[0.36498997268082517,-1.9280905713319088]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.2662683416326357,1.676475312781926,0.71338606911949],"aabb_xy":[[0.25864407354245744,1.6688420892453824],[0.27389260972281393,1.6841085363184698]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.28768139281438665,-0.6028628422216566,0.71338606911949],"aabb_xy":[[-0.30518132624836997,-0.6203628421418911],[-0.2701814593804032,-0.585362842301422]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.24581112026799423,1.4993028619560964,0.71338606911949],"aabb_xy":[[-0.25222493391117906,1.4928930417084278],[-0.23939730662480924,1.5057126822037645]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.3476818513675304,-1.782581157784423,0.71338606911949],"aabb_xy":[[0.31268185217471206,-1.7935482037820858],[0.3826818505603486,-1.7716141117867603]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.42647719931910644,-0.035268346122887095,0.71338606911949],"aabb_xy":[[-0.46397719966733414,-0.04705974170397065],[-0.3889771989708786,-0.023476950541803543]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.6518752112463001,-1.4107231342355027,0.71338606911949],"aabb_xy":[[-0.6743743469725271,-1.4332231350137656],[-0.6293760755200731,-1.3882231334572397]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.0365194796165077,-2.222102806626423,0.71338606911949],"aabb_xy":[[-0.07401947978837964,-2.2548035420093298],[0.0009805205553642463,-2.1894020712435154]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.03615865283665409,0.8937563291740998,0.71338606911949],"aabb_xy":[[-0.06959882803267367,0.8603127033431696],[-0.0027184776406344795,0.9271999550050297]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.5978640841003773,0.9065427937584531,0.71338606911949],"aabb_xy":[[-0.6778640873582201,0.8265462859664692],[-0.5178640808425342,0.9865393015504371]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.07342176837090775,-0.8602356816955921,0.71338606911949],"aabb_xy":[[0.028250450522738786,-0.9242356788401306],[0.11859308621907674,-0.7962356845510538]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.34296112828488096,0.8685765795203144,0.71338606911949],"aabb_xy":[[-0.43296112478575266,0.8226649371018561],[-0.25296113178400914,0.9144882219387725]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.21705254828092813,1.1254985631246002,0.71338606911949],"aabb_xy":[[0.16205254865918228,1.0705148703371277],[0.27205254790267397,1.1804822559120731]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.21257669353404351,-0.9345345039053474,0.71338606911949],"aabb_xy":[[0.16544731453220782,-0.9985345049497493],[0.2597060725358792,-0.8705345028609454]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.17720355440532953,0.6507321297945561,0.71338606911949],"aabb_xy":[[0.16636307617881463,0.6335458485039072],[0.18804403263184444,0.6679184110852048]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.32870100544334435,1.4526897979829037,0.71338606911949],"aabb_xy":[[0.2647010090477713,1.3887265095641703],[0.39270100183891743,1.5166530864016374]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.520867448418907,0.328253624964999,0.71338606911949],"aabb_xy":[[-0.5546430076095998,0.31421512975183397],[-0.4870918892282139,0.342292120178164]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.20488939363182745,-1.4773526782319004,0.71338606911949],"aabb_xy":[[-0.2353736437588576,-1.5273526780133964],[-0.1744051435047973,-1.4273526784504045]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.09830095346639034,-0.8484837124745419,0.71338606911949],"aabb_xy":[[-0.13276330086453209,-0.8829775948723644],[-0.06383860606824851,-0.813989830076719]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.6638276812283112,1.5485407620779168,0.71338606911949],"aabb_xy":[[-0.6731212994654616,1.5110407635897827],[-0.6545340629911605,1.5860407605660505]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.6305625789764544,-2.3421544661910825,0.71338606911949],"aabb_xy":[[0.5655625780193271,-2.394102678124788],[0.6955625799335815,-2.290206254257377]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6984879470307009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9337.png","name":"9337"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9337.png","name":"9337"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9814.png","name":"9814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8175.png","name":"8175"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":668.7081002443075,"rotation_z_degrees":74.71679529195005,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006947437990099833,0.001892547049418502,-0.010541353166555498]},{"name":"camera_2","offset_m":[0.0024569175614064694,0.011904741311606095,-0.0030090988794890666]},{"name":"camera_3","offset_m":[-0.0015947987651523665,-0.0064419461513207515,-0.012484140173234973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011019235590598825,-0.000139093943473859,-0.0009944888530114024],"end_effector_yaw_offset_degrees":-0.009137293303677074},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001087851444911856,0.0001973234395432179,0.0009256371711130586],"end_effector_yaw_offset_degrees":0.33511942901207736},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00020438710535189007,0.0005356647450545956,-0.0014655722425621653],"end_effector_yaw_offset_degrees":0.8368041112643563}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0001913453276149047,-0.003452325091902301],"position_m":[0.2797086546723851,0.1535476749080977,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014116968959477496,0.0026422200411072693],"position_m":[0.3544116968959477,0.31304222004110727,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002868546209052825,-0.00464750380990843],"position_m":[0.2919868546209053,-0.04784750380990843,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00032573224138992326,0.0008979845544677175],"position_m":[0.24967426775861007,-0.3356020154455323,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"84ba6682c0d079b46e1d7e5db96bdb2330c7ba051aac2fe53a5adcbbae7c12d3","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9337/tex_ceiling_textures_8175/tex_floor_textures_4885/tex_table_textures_9814/tex_wall_textures_7868","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1132760869076913779,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1132760869076913779,"visual_seed":1132760869076913779,"scene_id":"lab_003","finished_at":"2026-09-02T04:01:05"}
+{"episode_id":"ep_000034","started_at":"2026-09-02T04:01:08","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.24474973771956388,-1.3403940989878298,0.71338606911949],"aabb_xy":[[-0.25908416284572733,-1.3524543145423686],[-0.23041531259340042,-1.328333883433291]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.5298473877232576,0.09187707759829422,0.71338606911949],"aabb_xy":[[-0.5938473881007911,0.04213181074748196],[-0.46584738734572384,0.14162234444910649]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.45181873064947803,-0.6993085030436699,0.71338606911949],"aabb_xy":[[-0.5318187317225984,-0.7090865493810544],[-0.37181872957635764,-0.6895304567062855]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.30060501693985875,-2.2686715058442077,0.71338606911949],"aabb_xy":[[-0.3556004947605181,-2.3236715072781147],[-0.2456095391191993,-2.213671504410301]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.6927345216867895,1.019983137938544,0.71338606911949],"aabb_xy":[[0.6798626181858493,0.939983137524708],[0.7056064251877295,1.0999831383523802]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.6173241658107375,-0.2140751517866053,0.71338606911949],"aabb_xy":[[-0.6673241668298727,-0.25054136752443323],[-0.5673241647916022,-0.17760893604877734]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.6227405644479266,-1.9976312547403028,0.71338606911949],"aabb_xy":[[-0.6505856012285336,-2.0284157534786145],[-0.5948955276673193,-1.966846756001991]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.2664124323646132,-1.5843851108009896,0.71338606911949],"aabb_xy":[[0.21141922102747646,-1.6393851111397835],[0.32140564370174995,-1.5293851104621963]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.497778175974255,-0.9869651413561413,0.71338606911949],"aabb_xy":[[0.43277817741718216,-1.0167176747700237],[0.5627781745313278,-0.9572126079422586]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.5352525066660685,-2.348432595498174,0.71338606911949],"aabb_xy":[[-0.5780192135454887,-2.4124325989199766],[-0.4924857997866483,-2.2844325920763717]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.5838538386561161,-2.0083039969413856,0.71338606911949],"aabb_xy":[[0.5613547029298891,-2.030803997719649],[0.606352974382343,-1.9858039961631226]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.25174115402416747,-1.7777221326504566,0.71338606911949],"aabb_xy":[[-0.2611586285940302,-1.7871383097881757],[-0.24232367945430472,-1.7683059555127376]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.5205799616066931,-0.24233804265607883,0.71338606911949],"aabb_xy":[[0.4861174835936053,-0.24900171983900166],[0.5550424396197808,-0.235674365473156]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[0.1450465960804167,-0.7934052416303006,0.71338606911949],"aabb_xy":[[0.10754659626338312,-0.7980434529414424],[0.18254659589745023,-0.7887670303191587]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.0030988038132118145,-1.3567471602447938,0.71338606911949],"aabb_xy":[[-0.0010370525194883795,-1.3942471596891508],[0.007234660145912009,-1.3192471608004368]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.683063802531499,-2.528600693144148,0.71338606911949],"aabb_xy":[[0.6655638022721624,-2.5426922353329204],[0.7005638027908356,-2.514509150955375]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.09793783017368596,0.7008920481785346,0.71338606911949],"aabb_xy":[[0.007937833438075734,0.6477085848612399],[0.18793782690929617,0.754075511495829]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.5153459618117382,1.5895885891551083,0.71338606911949],"aabb_xy":[[-0.565345963095578,1.539609734764486],[-0.4653459605278982,1.6395674435457301]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.08166841610725317,1.0140211385551554,0.71338606911949],"aabb_xy":[[0.017668413764451604,0.969080287311023],[0.1456684184500547,1.058961989799288]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.13933208823176668,-0.9780486447285333,0.71338606911949],"aabb_xy":[[0.11100237828322648,-0.9825093869222503],[0.16766179818030694,-0.9735879025348162]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.25067345208515357,-0.3167234895601241,0.71338606911949],"aabb_xy":[[-0.33067344904819274,-0.39379913120389753],[-0.1706734551221144,-0.23964784791635063]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.0230618574040784,-2.426019512268605,0.71338606911949],"aabb_xy":[[-0.03193814079766643,-2.466541478895042],[0.07806185560582322,-2.385497545642167]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.4008795237364522,1.7460451297335573,0.71338606911949],"aabb_xy":[[0.3783795239225498,1.7415705133630766],[0.4233795235503546,1.750519746104038]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.20419584241243954,0.9285488888365752,0.71338606911949],"aabb_xy":[[-0.2211065748487813,0.9150766832439606],[-0.18728510997609774,0.9420210944291897]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950231621334724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2190.png","name":"2190"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2789.png","name":"2789"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":540.3507898955129,"rotation_z_degrees":171.81005666876516,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015545468777533406,-0.013113650463769298,0.009711793899813644]},{"name":"camera_2","offset_m":[0.01093028457984424,-0.014597735830628546,0.015904322928595793]},{"name":"camera_3","offset_m":[0.01966822843093077,-0.010119968500355726,-0.014988401040217592]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008925966234008783,0.0002563455656418314,-0.0011021888317733497],"end_effector_yaw_offset_degrees":0.1052141410093872},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015685931611391464,-0.001089643760588371,-0.0015266837601984591],"end_effector_yaw_offset_degrees":-0.49937565073079515},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006715127210100993,-0.0009849147497813192,-0.0010453342061538763],"end_effector_yaw_offset_degrees":0.21837812126058354}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004607933202193292,-0.0027217098903452273],"position_m":[0.28450793320219325,0.15427829010965477,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018209385858256235,0.0013591317564888763],"position_m":[0.3511790614141744,0.3117591317564889,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0043981256861305015,0.0021381769403436557],"position_m":[0.29609812568613053,-0.04106182305965635,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003131696301716296,0.0031371924515810863],"position_m":[0.2468683036982837,-0.33336280754841896,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d5645e9327fae012e73ac518cc90cc458d86fbb58e983d64874c51beb4edf058","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7788/tex_ceiling_textures_5849/tex_floor_textures_5990/tex_table_textures_2190/tex_wall_textures_2789","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4897106397443784959,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4897106397443784959,"visual_seed":4897106397443784959,"scene_id":"lab_003","finished_at":"2026-09-02T04:03:54"}
+{"episode_id":"ep_000035","started_at":"2026-09-02T04:03:57","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.5128519897060895,-2.0583466402022856,0.71338606911949],"aabb_xy":[[-0.5928519871096829,-2.138339211400468],[-0.4328519923024961,-1.9783540690041026]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.49378527247329984,1.422977001385488,0.71338606911949],"aabb_xy":[[0.4600097132826069,1.408938506172323],[0.5275608316639928,1.4370154965986528]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.6127520272507254,0.7619250731246909,0.71338606911949],"aabb_xy":[[0.57525202645873,0.7555572321665008],[0.6502520280427209,0.768292914082881]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.18405845949290844,-1.6175178376563464,0.71338606911949],"aabb_xy":[[-0.24805845660501413,-1.666550207450757],[-0.12005846238080276,-1.5684854678619358]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.6330105851951429,-1.0644729989523254,0.71338606911949],"aabb_xy":[[0.615510585917056,-1.0818110990186713],[0.6505105844732297,-1.0471348988859794]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.6664388665491402,-1.9957047388621387,0.71338606911949],"aabb_xy":[[-0.6840717021426677,-2.0133276848777615],[-0.6488060309556125,-1.9780817928465155]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.23461571929073027,-2.172477386688291,0.71338606911949],"aabb_xy":[[-0.2571121407245944,-2.194977386495039],[-0.21211929785686617,-2.149977386881544]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.6778648856971057,1.4259056738502722,0.71338606911949],"aabb_xy":[[-0.6852773412384943,1.4200544634286443],[-0.6704524301557173,1.4317568842719002]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.5413864861255963,0.19177722966272492,0.71338606911949],"aabb_xy":[[-0.54960103124128,0.18310063936508358],[-0.533171941009912,0.20045381996036615]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.6696308106873267,0.952354670145771,0.71338606911949],"aabb_xy":[[-0.6775540909260749,0.9298546699077677],[-0.6617075304485782,0.9748546703837744]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.42072791253225994,-0.20112629935212345,0.71338606911949],"aabb_xy":[[-0.4857279104139078,-0.2522499630586643],[-0.35572791465061215,-0.15000263564558258]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.5175582194741004,1.6044012317397915,0.71338606911949],"aabb_xy":[[-0.5400582189978077,1.5819052842891705],[-0.49505821995039295,1.626897179190412]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.0656787188802318,-1.2035784477246523,0.71338606911949],"aabb_xy":[[-0.0737923735536089,-1.2116842641786814],[-0.0575650642068547,-1.1954726312706232]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.347554112224414,0.842077611157535,0.71338606911949],"aabb_xy":[[-0.41755411382669344,0.8286448179558775],[-0.2775541106221345,0.8555104043591927]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.5271023303912723,-1.0761847273203797,0.71338606911949],"aabb_xy":[[0.5231418466215381,-1.0838525919059006],[0.5310628141610068,-1.0685168627348594]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.24064271824473843,-0.8677448952215028,0.71338606911949],"aabb_xy":[[-0.290740182225812,-0.9317448957313147],[-0.19054525426366478,-0.8037448947116911]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.2164846924492385,0.776609968329574,0.71338606911949],"aabb_xy":[[0.19898469218990192,0.7625184261408015],[0.23398469270857516,0.7907015105183467]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.4984391545495639,1.0330107333166718,0.71338606911949],"aabb_xy":[[0.4904456647542819,1.0250126013761964],[0.5064326443448459,1.0410088652571476]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.25838098199803683,-1.3279595984435824,0.71338606911949],"aabb_xy":[[0.19338098384211777,-1.3542558429934946],[0.3233809801539559,-1.3016633538936702]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.05797386192308773,-2.1525074445697503,0.71338606911949],"aabb_xy":[[-0.13797386051040714,-2.2318230465079107],[0.022026136664231696,-2.073191842631589]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.5975073086707876,-1.8102357415820673,0.71338606911949],"aabb_xy":[[0.542507309494198,-1.8652254163570245],[0.652507307847377,-1.7552460668071093]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.33899013295857516,-1.2245759887372905,0.71338606911949],"aabb_xy":[[-0.42271235845865757,-1.3145759922719862],[-0.25526790745849265,-1.1345759852025943]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.4010425776555464,1.1891467761183536,0.71338606911949],"aabb_xy":[[0.383542644221563,1.1716467761981189],[0.4185425110895297,1.206646776038588]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.6756634551756782,-0.08186759856857373,0.71338606911949],"aabb_xy":[[0.667620095249723,-0.16686759966394016],[0.6837068151016333,0.003132402526792713]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[0.134101285585299,-2.1384775052836895,0.71338606911949],"aabb_xy":[[0.07010128531132076,-2.1885436054809775],[0.19810128585927722,-2.0884114050864016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936838674821029,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/602.png","name":"602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/602.png","name":"602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1516.png","name":"1516"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/248.png","name":"248"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5129.png","name":"5129"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9667.png","name":"9667"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":733.7882101129151,"rotation_z_degrees":43.388366124228845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012088497704179422,-0.004785455638592246,0.013593860426364828]},{"name":"camera_2","offset_m":[0.014748145438195952,-0.008345404326144572,-0.010807045388055285]},{"name":"camera_3","offset_m":[-0.007597834077673431,-0.0010636103788165263,-0.006898890686244545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001355249559104663,0.0007189968971404465,0.0019183317964004843],"end_effector_yaw_offset_degrees":0.030530963978035786},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006454920098230353,-0.0009246437426809161,-0.001666374550525752],"end_effector_yaw_offset_degrees":0.34668128460516257},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001304775372179703,-0.001575961213560165,-0.0018570182448641752],"end_effector_yaw_offset_degrees":0.846607609781501}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004984285768333353,0.0022582950445787222],"position_m":[0.2749157142316666,0.15925829504457872,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003711780051640209,-0.004572197689475473],"position_m":[0.352628821994836,0.30582780231052453,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034675284847572665,-0.0017279076323921906],"position_m":[0.2882324715152427,-0.04492790763239219,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003718582265085123,-0.0008184691975160864],"position_m":[0.24628141773491488,-0.3373184691975161,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e9cac1b30a909e042fced70e8ff20d1965935da36646cde997bdcb615b6d801","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_602/tex_ceiling_textures_9667/tex_floor_textures_5129/tex_table_textures_1516/tex_wall_textures_248","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4985649343723911532,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4985649343723911532,"visual_seed":4985649343723911532,"scene_id":"lab_003","finished_at":"2026-09-02T04:06:45"}
+{"episode_id":"ep_000036","started_at":"2026-09-02T04:06:48","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.6536856401931818,1.2718674601658613,0.71338606911949],"aabb_xy":[[-0.6782318558159325,1.241618563616824],[-0.629139424570431,1.3021163567148981]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.218246728916633,1.1681723847736265,0.71338606911949],"aabb_xy":[[-0.2683441928977066,1.104172384263815],[-0.16814926493555934,1.2321723852834385]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.42609764995690336,-1.5385904978977998,0.71338606911949],"aabb_xy":[[-0.44352836503590976,-1.5558626125616504],[-0.40866693487789674,-1.5213183832339487]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.37028507884877704,-0.924367204504092,0.71338606911949],"aabb_xy":[[0.3327850804253767,-0.9375314184719226],[0.4077850772721774,-0.9112029905362613]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.5345193569374809,1.6458760717235585,0.71338606911949],"aabb_xy":[[-0.5597401937973204,1.6206523208706716],[-0.5092985200776411,1.671099822576445]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.41221489090278096,-2.536612460084607,0.71338606911949],"aabb_xy":[[0.37775241288969313,-2.54327613726753],[0.4466773689158687,-2.5299487829016845]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.2867287889592566,1.0158555553843547,0.71338606911949],"aabb_xy":[[0.2708442956939314,1.0015026150855308],[0.3026132822245817,1.030208495683179]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.3490047062059572,0.45389921270475453,0.71338606911949],"aabb_xy":[[-0.3569279864447055,0.4313992124667511],[-0.34108142596720886,0.47639921294275783]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[-0.3588306560555607,-2.288165102912241,0.71338606911949],"aabb_xy":[[-0.388822318789431,-2.3181651022490413],[-0.32883899332169036,-2.25816510357544]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.4327997883446926,1.1611975640416814,0.71338606911949],"aabb_xy":[[-0.49679978763886085,1.097211423672827],[-0.3687997890505244,1.2251837044105354]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.3531160168847156,-2.3998682028733413,0.71338606911949],"aabb_xy":[[0.2891160204573937,-2.4470378266954382],[0.4171160133120375,-2.3526985790512454]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.22835056406191173,-1.9322939883875492,0.71338606911949],"aabb_xy":[[-0.26514519718681806,-1.9691998634841315],[-0.1915559309370055,-1.895388113290967]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.6426609829409421,-1.5947783129028856,0.71338606911949],"aabb_xy":[[-0.6713103153013582,-1.6234238721799614],[-0.6140116505805258,-1.5661327536258098]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.09221220891923476,-2.185393599454179,0.71338606911949],"aabb_xy":[[0.02821220854170113,-2.2351388663049914],[0.15621220929676838,-2.135648332603367]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.3545054387933453,-2.1923930513239895,0.71338606911949],"aabb_xy":[[0.332005438783197,-2.206489270963593],[0.3770054388034936,-2.1782968316843863]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.12594554240444655,-2.0153456999527375,0.71338606911949],"aabb_xy":[[0.12186738449739681,-2.019426680201],[0.1300237003114963,-2.011264719704474]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.27839459070032035,-1.3762057701782189,0.71338606911949],"aabb_xy":[[0.2545583730597153,-1.4662057709867056],[0.3022308083409254,-1.2862057693697326]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.6834699650795303,-1.0987425399922244,0.71338606911949],"aabb_xy":[[-0.6883692573860938,-1.126419459294793],[-0.6785706727729668,-1.0710656206896554]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.5916831221449292,-1.1543420956147337,0.71338606911949],"aabb_xy":[[0.5016831227265582,-1.1877175924589232],[0.6816831215633,-1.1209665987705437]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.3103059490871091,-0.6931653638893667,0.71338606911949],"aabb_xy":[[-0.3601886459648054,-0.7431653631356414],[-0.260423252209413,-0.6431653646430919]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.673872474520093,-2.370893321547973,0.71338606911949],"aabb_xy":[[0.6701692131909539,-2.37459533985669],[0.6775757358492317,-2.3671913032392546]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[-0.003379459914046423,-1.9603512399280754,0.71338606911949],"aabb_xy":[[-0.03334701682387209,-1.990351240225961],[0.026588096995779242,-1.9303512396301896]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.5879608331344185,1.1677023962000734,0.71338606911949],"aabb_xy":[[-0.6082451358578173,1.1474197710573641],[-0.5676765304110197,1.1879850213427818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69643722370904,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2253.png","name":"2253"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/371.png","name":"371"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3339.png","name":"3339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2393.png","name":"2393"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":800.5545677225166,"rotation_z_degrees":116.17858415152858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016527124207434268,-0.009341769660697375,0.0028376893017755395]},{"name":"camera_2","offset_m":[0.005165321777624483,-0.006235184788988888,0.000522715301940712]},{"name":"camera_3","offset_m":[0.011180073479159523,-0.011915097221785628,-0.01892772716297028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011916616252470869,0.0017548283296310364,-0.001801257913062318],"end_effector_yaw_offset_degrees":0.48382701804581085},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018783813227974556,0.001216156359354716,-8.928338901722415e-05],"end_effector_yaw_offset_degrees":0.5827345158265722},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00023215073090491426,-0.001313232337907554,-0.0012625647112886247],"end_effector_yaw_offset_degrees":0.9051628926107835}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004924866339321556,0.00036958604471766174],"position_m":[0.2848248663393215,0.15736958604471765,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011615737535736444,-0.0014548219765144065],"position_m":[0.3541615737535736,0.3089451780234856,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004264134777829128,8.359860320700414e-06],"position_m":[0.2959641347778291,-0.0431916401396793,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024368483908194585,0.002518487455613224],"position_m":[0.2524368483908195,-0.3339815125443868,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"adf2d8dd1e17235d180f1c7e1c3b2384a012318d654d3a02c57b9bf60e13fbef","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6541/tex_ceiling_textures_2393/tex_floor_textures_3339/tex_table_textures_2253/tex_wall_textures_371","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4455122860567472487,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4455122860567472487,"visual_seed":4455122860567472487,"scene_id":"lab_003","finished_at":"2026-09-02T04:09:25"}
+{"episode_id":"ep_000037","started_at":"2026-09-02T04:09:27","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.5086629337600882,0.25054106529387976,0.71338606911949],"aabb_xy":[[-0.5245474270254133,0.2361881249950557],[-0.49277844049476305,0.2648940055927038]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.20521518787416743,0.13262135518167462,0.71338606911949],"aabb_xy":[[-0.22212592031050918,0.11914914958906007],[-0.18830445543782562,0.14609356077428912]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.6179526534735322,0.7198905315769939,0.71338606911949],"aabb_xy":[[0.6135220241186922,0.7144421598423112],[0.6223832828283725,0.7253389033116764]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[-0.5361530704211094,-0.5812468806484619,0.71338606911949],"aabb_xy":[[-0.5411090906059907,-0.6037468808505835],[-0.5311970502362283,-0.5587468804463402]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.04744420277680261,-0.48223257510119577,0.71338606911949],"aabb_xy":[[-0.061778627902966066,-0.4942927906557346],[-0.03310977765063916,-0.4701723595466569]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.3240305638075497,1.305864244926671,0.71338606911949],"aabb_xy":[[-0.3310708737410867,1.2258642455269997],[-0.3169902538740127,1.3858642443263425]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.6357389474317494,-1.1105375308686716,0.71338606911949],"aabb_xy":[[0.613238947617847,-1.1150121472391523],[0.6582389472456518,-1.1060629144981908]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.33551414584953426,-1.209129059479101,0.71338606911949],"aabb_xy":[[-0.38551414621010033,-1.2591090466887038],[-0.2855141454889682,-1.159149072269498]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.6634752052216545,0.35038426205131623,0.71338606911949],"aabb_xy":[[-0.668812780887659,0.32538426112217644],[-0.6581376295556499,0.375384262980456]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.2564497125931071,-1.9655372534697517,0.71338606911949],"aabb_xy":[[0.2432984666218178,-1.9905372532264383],[0.26960095856439653,-1.9405372537130652]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[0.40382047821032385,-2.4109463718345885,0.71338606911949],"aabb_xy":[[0.3398204790405539,-2.457713058953551],[0.4678204773800938,-2.364179684715626]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.5392965742873124,-1.2145356247510724,0.71338606911949],"aabb_xy":[[0.45929657712773697,-1.2260832257088892],[0.6192965714468875,-1.202988023793255]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.5184591923929578,-0.420334851880507,0.71338606911949],"aabb_xy":[[0.4384591937360718,-0.4348397108047698],[0.5984591910498438,-0.4058299929562442]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.33263714680810386,-0.6578950102431134,0.71338606911949],"aabb_xy":[[-0.3778084646562729,-0.7218950073876519],[-0.2874658289599349,-0.5938950130985751]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.5243256614964349,0.8582547144721042,0.71338606911949],"aabb_xy":[[0.506778966580316,0.8207547129078528],[0.5418723564125538,0.8957547160363554]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.7128321759751501,1.5104872730789487,0.71338606911949],"aabb_xy":[[0.70869631964245,1.472987273634592],[0.7169680323078503,1.547987272523306]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.19324975218079543,-2.052458613372045,0.71338606911949],"aabb_xy":[[-0.2832497486816671,-2.0983702557905026],[-0.10324975567992363,-2.006546970953586]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.07807778387959052,1.673603593729894,0.71338606911949],"aabb_xy":[[0.023077784703001022,1.6186139189549362],[0.13307778305618,1.7285932685048515]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.23407509490933043,-1.2605806593835587,0.71338606911949],"aabb_xy":[[0.19657509633370962,-1.2733169550471166],[0.27157509348495124,-1.2478443637200007]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.43634440494203347,1.3465320484632812,0.71338606911949],"aabb_xy":[[-0.44426768518078186,1.3240320482252779],[-0.4284211247032852,1.3690320487012846]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[-0.6581944361092014,-2.1132720576981754,0.71338606911949],"aabb_xy":[[-0.6927855189632465,-2.178272057983206],[-0.623603353255156,-2.048272057413144]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.18347230200576903,-2.1958039574678176,0.71338606911949],"aabb_xy":[[0.12847230238402318,-2.2507876502552904],[0.23847230162751487,-2.140820264680345]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[0.6107478289376678,-0.8629716573631641,0.71338606911949],"aabb_xy":[[0.606669671030618,-0.8670526376114274],[0.6148259868447173,-0.8588906771149007]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.1566757602881006,-1.515141221065177,0.71338606911949],"aabb_xy":[[-0.24039798578818303,-1.6051412245998729],[-0.07295353478801811,-1.425141217530481]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.37548693198611555,0.7256563564360481,0.71338606911949],"aabb_xy":[[-0.4604869306781902,0.6936704930411692],[-0.2904869332940409,0.7576422198309269]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.1619249604362596,1.4325749729714627,0.71338606911949],"aabb_xy":[[-0.21192496172009956,1.3825961185808404],[-0.11192495915241964,1.4825538273620846]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[0.39589721741449546,-2.136380495588108,0.71338606911949],"aabb_xy":[[0.3108972189970723,-2.2212547910503933],[0.48089721583191875,-2.0515062001258233]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[-0.230656285070935,-2.183168959415135,0.71338606911949],"aabb_xy":[[-0.241223764729034,-2.1937139895281432],[-0.22008880541283599,-2.172623929302126]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[0.011607547672811136,-1.7540761984855087,0.71338606911949],"aabb_xy":[[-0.000859810436924513,-1.7665415231188324],[0.024074905782546785,-1.7416108738521854]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[-0.37314472049435365,-1.3845664917897014,0.71338606911949],"aabb_xy":[[-0.43714472240669605,-1.440477641047712],[-0.30914471858201137,-1.3286553425316912]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_30","position":[-0.3923955921451328,-1.0579402953754087,0.71338606911949],"aabb_xy":[[-0.4336444031750475,-1.1129402948876261],[-0.351146781115218,-1.0029402958631912]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[-0.3066678387513623,1.4811837644237031,0.71338606911949],"aabb_xy":[[-0.3137092897021099,1.4741570126859087],[-0.2996263878006147,1.4882105161614976]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_32","position":[0.30109370805892977,1.089989758652517,0.71338606911949],"aabb_xy":[[0.26663136066078785,1.055495876254694],[0.33555605545707146,1.1244836410503394]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6914603523366732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3215.png","name":"3215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4698.png","name":"4698"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7379.png","name":"7379"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9259.png","name":"9259"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":834.8971440611,"rotation_z_degrees":105.32688034564714,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01723218062601162,-0.01659040043221067,-0.018350584449917422]},{"name":"camera_2","offset_m":[-0.014702683186477269,0.019231063068514447,-0.008913068724619291]},{"name":"camera_3","offset_m":[-0.0027023249401179512,0.014104279451889943,0.006185841305042107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019987872535743327,-0.00037484538809273975,0.0005960297318495797],"end_effector_yaw_offset_degrees":-0.4156807887121803},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013420576027398544,0.0007562940229545881,0.0016521215744522543],"end_effector_yaw_offset_degrees":-0.7704636411334231},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016734933623538764,-0.0003469389009762298,-0.0016359281996956195],"end_effector_yaw_offset_degrees":0.6582968657374861}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034033540105694437,0.0020280836640690914],"position_m":[0.2764966459894305,0.1590280836640691,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004491104418767897,-0.0012654796554103097],"position_m":[0.3485088955812321,0.3091345203445897,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002777834713629013,0.0037386726057623233],"position_m":[0.288922165286371,-0.03946132739423768,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004078502003991231,-0.0020611771046819363],"position_m":[0.24592149799600876,-0.338561177104682,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e8f5bc20b74d4ae77141f8f19e2418427a5d9922337a350767a9d9610223f89a","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8839/tex_ceiling_textures_9259/tex_floor_textures_7379/tex_table_textures_3215/tex_wall_textures_4698","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5849194021074089114,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5849194021074089114,"visual_seed":5849194021074089114,"scene_id":"lab_003","finished_at":"2026-09-02T04:12:04"}
+{"episode_id":"ep_000038","started_at":"2026-09-02T04:12:06","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.10444012036268047,0.7976368401432588,0.71338606911949],"aabb_xy":[[-0.1620705892499513,0.737636841216548],[-0.0468096514754096,0.8576368390699691]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.5481338572862489,-1.6130225449894386,0.71338606911949],"aabb_xy":[[-0.5849284904111551,-1.649928420086021],[-0.5113392241613426,-1.5761166698928564]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.6030921955428561,1.6153464144539078,0.71338606911949],"aabb_xy":[[-0.6101336464936037,1.6083196627161134],[-0.5960507445921085,1.6223731661917022]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.22249828740949273,-1.3386333733348301,0.71338606911949],"aabb_xy":[[0.17721967252834347,-1.4026333726830136],[0.267776902290642,-1.2746333739866462]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.6268535753130374,1.3405269112352567,0.71338606911949],"aabb_xy":[[-0.6908535773627694,1.3004324281459487],[-0.5628535732633054,1.3806213943245647]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.4457180918525645,0.5023997238456905,0.71338606911949],"aabb_xy":[[-0.470718091404303,0.4922572399805558],[-0.420718092300826,0.5125422077108253]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.5896516857827192,0.5958735926117558,0.71338606911949],"aabb_xy":[[0.567137993959262,0.5258735920107481],[0.6121653776061764,0.6658735932127632]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.33111474549514114,1.087660279210049,0.71338606911949],"aabb_xy":[[-0.3549509631357462,0.9976602784015625],[-0.3072785278545361,1.1776602800185354]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.07486461953569545,-0.8637103083003133,0.71338606911949],"aabb_xy":[[0.06682125960974028,-0.9487103093956798],[0.08290797946165063,-0.7787103072049469]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.4946080835634602,-0.6472734460388074,0.71338606911949],"aabb_xy":[[-0.5446080849243473,-0.6972513506142229],[-0.4446080822025729,-0.5972955414633917]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.11767109401820841,-1.6285257085992522,0.71338606911949],"aabb_xy":[[0.10249892473657507,-1.6436945655274555],[0.13284326329984175,-1.6133568516710488]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.10640075530172033,-2.1347603278638663,0.71338606911949],"aabb_xy":[[-0.143900755966299,-2.150447385864088],[-0.06890075463714161,-2.1190732698636436]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.6929465501639984,0.4792857670604289,0.71338606911949],"aabb_xy":[[0.6848188619706853,0.4703721586497212],[0.7010742383573118,0.4881993754711365]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.3572931994204851,-2.2731980762713238,0.71338606911949],"aabb_xy":[[0.297293198824469,-2.3280105488165472],[0.41729320001650133,-2.2183856037261003]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.31463945308488594,0.5074232801425649,0.71338606911949],"aabb_xy":[[0.29435515036148713,0.487140654999856],[0.33492375580828465,0.5277059052852736]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[0.06305568326233901,1.57910787392369,0.71338606911949],"aabb_xy":[[0.029280124071646055,1.5650693787105248],[0.096831242453032,1.5931463691368546]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.1568578557497814,-0.1538533215630684,0.71338606911949],"aabb_xy":[[-0.23685785621999736,-0.1621640291774168],[-0.07685785527956544,-0.14554261394872003]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.036839236171675394,-0.5356077237755352,0.71338606911949],"aabb_xy":[[-0.06516894612021562,-0.5400684659692524],[-0.008509526223135166,-0.5311469815818183]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.5874893767240357,0.15404944932628295,0.71338606911949],"aabb_xy":[[0.49748937812956584,0.13779886301286196],[0.6774893753185057,0.170300035639704]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.23106465613308547,-1.4742954564226767,0.71338606911949],"aabb_xy":[[0.22303838550245947,-1.4830469514000293],[0.23909092676371146,-1.465543961445324]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.4770529778470256,0.8104012658748179,0.71338606911949],"aabb_xy":[[0.40705298143706364,0.7899633302231359],[0.5470529742569872,0.8308392015264994]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.26185575060017574,-2.521067305261996,0.71338606911949],"aabb_xy":[[0.22435575065640934,-2.529360395296832],[0.29935575054394215,-2.512774215227159]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.3485713288965991,-1.4083716106454158,0.71338606911949],"aabb_xy":[[-0.39465642015133057,-1.472371607897971],[-0.3024862376418676,-1.3443716133928607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6990400534826243,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4994.png","name":"4994"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4994.png","name":"4994"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7422.png","name":"7422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1551.png","name":"1551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1032.png","name":"1032"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":616.6239016162453,"rotation_z_degrees":68.8368376441578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016142802086427665,-0.011493505029010987,-0.005441440422016023]},{"name":"camera_2","offset_m":[-0.008966133743532083,-0.01431110981756811,0.0009671211693614533]},{"name":"camera_3","offset_m":[0.011583974576047765,-0.009328430819799815,-0.004783475556598216]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001380077145494393,-0.0008895528968379885,0.00043033434761262845],"end_effector_yaw_offset_degrees":0.4208545290626733},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014347598577193201,0.001055824164540112,0.0008627896130398074],"end_effector_yaw_offset_degrees":0.25079916328928276},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011754414880321162,-0.0014734062666782025,-0.0019254127470481387],"end_effector_yaw_offset_degrees":0.9080332128364226}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022319728052312823,0.0008132694429196794],"position_m":[0.2821319728052313,0.15781326944291968,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027578602170952107,0.001183188446048082],"position_m":[0.3557578602170952,0.3115831884460481,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016477576117776803,-0.0006076004098328203],"position_m":[0.29005224238822236,-0.04380760040983282,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010035578987261477,-0.004716803869284338],"position_m":[0.24899644210127386,-0.3412168038692844,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d4c71fd359dcc3c7d0e8f8a0f3e821531030c553ca0f670f3e035f8637ce7aa5","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4994/tex_ceiling_textures_1032/tex_floor_textures_1551/tex_table_textures_5971/tex_wall_textures_7422","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5896501215513455235,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5896501215513455235,"visual_seed":5896501215513455235,"scene_id":"lab_003","finished_at":"2026-09-02T04:14:46"}
+{"episode_id":"ep_000039","started_at":"2026-09-02T04:16:11","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.6224481542990348,-0.8782404711106546,0.71338606911949],"aabb_xy":[[0.5324481575634246,-0.9314239344279489],[0.712448151034645,-0.8250570077933599]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.22320985000940663,-1.5311719584042627,0.71338606911949],"aabb_xy":[[0.20804697703246958,-1.5463374156993817],[0.23837272298634374,-1.5160065011091441]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.11336069975757845,-0.8722405361961867,0.71338606911949],"aabb_xy":[[-0.1396495240780191,-0.8985119698508378],[-0.08707187543713778,-0.8459691025415353]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.16339647332633633,-2.199431638374426,0.71338606911949],"aabb_xy":[[0.0993964730523581,-2.249497738571714],[0.22739647360031456,-2.149365538177138]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[0.2629199967583481,-1.0321081867264883,0.71338606911949],"aabb_xy":[[0.1729200002574763,-1.0780198291449463],[0.3529199932592198,-0.9861965443080299]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.5184682149077141,-2.2784233468836748,0.71338606911949],"aabb_xy":[[-0.5559682147247477,-2.2830615581948166],[-0.48096821509068055,-2.273785135572533]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.5507305649604866,-2.400581857860664,0.71338606911949],"aabb_xy":[[0.5007305645999205,-2.4505618450702666],[0.6007305653210526,-2.3506018706510607]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.04469135105822031,1.078727506476667,0.71338606911949],"aabb_xy":[[-0.05272768575950515,1.0706893871722503],[-0.036655016356935466,1.0867656257810838]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.18433099676935194,-0.6599610354004741,0.71338606911949],"aabb_xy":[[0.16690028169034543,-0.6772331500643249],[0.20176171184835845,-0.6426889207366233]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.45135934190149263,-2.462909755582264,0.71338606911949],"aabb_xy":[[-0.5163593397831405,-2.5140334192888054],[-0.3863593440198449,-2.4117860918757237]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.21894266908393,-1.9050588732828566,0.71338606911949],"aabb_xy":[[0.19644266956022258,-1.9275548207334772],[0.24144266860763738,-1.8825629258322356]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.1568702416435055,0.34402195751397135,0.71338606911949],"aabb_xy":[[-0.21846100086749834,0.28002195940492447],[-0.0952794824195127,0.40802195562301824]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.22355288344618712,1.1709087564913445,0.71338606911949],"aabb_xy":[[-0.28755288274035534,1.1069226161224905],[-0.1595528841520189,1.234894896860199]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.4222599664511997,-0.28832884775702494,0.71338606911949],"aabb_xy":[[0.39393025650265945,-0.292789589950742],[0.4505896763997399,-0.2838681055633079]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.3128277596532524,-1.1499341389590665,0.71338606911949],"aabb_xy":[[-0.4028277582477223,-1.1661847252724875],[-0.22282776105878244,-1.1336835526456455]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.014393080520993862,0.315528478439449,0.71338606911949],"aabb_xy":[[-0.017833756761051034,0.31166704546508456],[-0.01095240428093669,0.3193899114138135]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.5348250354365041,0.3379503248689568,0.71338606911949],"aabb_xy":[[0.529367089799484,0.25795032156129766],[0.5402829810735241,0.41795032817661587]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.01458270037802012,-0.7889325744534519,0.71338606911949],"aabb_xy":[[-0.022626060303975293,-0.8739325755488182],[-0.006539340452064946,-0.7039325733580853]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.16903156015560072,1.6706660667696167,0.71338606911949],"aabb_xy":[[-0.17673475082967777,1.6629566960708786],[-0.16132836948152368,1.6783754374683548]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.23223552694661653,-1.2975386152981647,0.71338606911949],"aabb_xy":[[0.18946882006719634,-1.3615386187199672],[0.2750022338260367,-1.2335386118763623]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.24514260621898343,0.6899990992297558,0.71338606911949],"aabb_xy":[[0.1801426051130401,0.6650337261616275],[0.31014260732492666,0.7149644722978841]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935952393655018,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9368.png","name":"9368"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9368.png","name":"9368"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4620.png","name":"4620"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2318.png","name":"2318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4482.png","name":"4482"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8681.png","name":"8681"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":608.1650424432589,"rotation_z_degrees":303.63194336107705,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015362889550101084,0.014481144138135445,-0.0009346986780623609]},{"name":"camera_2","offset_m":[-0.017394079054545552,0.013221476871394851,-0.01832952524920699]},{"name":"camera_3","offset_m":[-7.971625407242333e-05,0.014935123195830995,0.018405286771815802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00041871075406049165,0.000313548537723658,-0.0011926720422529096],"end_effector_yaw_offset_degrees":-0.17326003725576022},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001326889816636884,-0.0009663277189311441,0.0013625142316712035],"end_effector_yaw_offset_degrees":-0.4650977999757111},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004697987600981667,0.0005772048209702943,-0.0008224008554700028],"end_effector_yaw_offset_degrees":0.757884104366183}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026572468662295046,-0.0009125299076725626],"position_m":[0.2772427531337705,0.15608747009232743,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008043016702596285,-0.003892486715931949],"position_m":[0.35219569832974035,0.30650751328406806,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004155158223428749,0.0035353663906698115],"position_m":[0.2958551582234288,-0.03966463360933019,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004198151523074601,-0.001606774686399165],"position_m":[0.2541981515230746,-0.33810677468639916,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ff92fc24f74123867560924cc2365981f051685c2ed8baa2bd6f59297b321528","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9368/tex_ceiling_textures_8681/tex_floor_textures_4482/tex_table_textures_4620/tex_wall_textures_2318","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":491959767274784194,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":491959767274784194,"visual_seed":491959767274784194,"scene_id":"lab_003","finished_at":"2026-09-02T04:18:43"}
+{"episode_id":"ep_000040","started_at":"2026-09-02T04:18:49","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.154585400779915,-0.7078327477423816,0.71338606911949],"aabb_xy":[[-0.17149613321625676,-0.721304953334996],[-0.1376746683435732,-0.694360542149767]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.6209025528464025,0.8615874071889196,0.71338606911949],"aabb_xy":[[0.6171992915172636,0.8578853888802017],[0.6246058141755414,0.8652894254976374]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.4890568433750797,-0.6010084241185008,0.71338606911949],"aabb_xy":[[0.4390835493718192,-0.651008424673048],[0.5390301373783402,-0.5510084235639533]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.6403971443730907,-0.8377843035499675,0.71338606911949],"aabb_xy":[[0.580397142730169,-0.8897844528419117],[0.7003971460160127,-0.7857841542580233]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.3344056007707404,-0.6395778038289923,0.71338606911949],"aabb_xy":[[-0.3425332889640536,-0.6484914122397],[-0.32627791257742716,-0.6306641954182847]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.4886104918193088,0.8906062757398754,0.71338606911949],"aabb_xy":[[0.4436179051008584,0.8456062764654266],[0.5336030785377592,0.9356062750143241]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.2519441827427728,0.7856628675075803,0.71338606911949],"aabb_xy":[[-0.33194417990234804,0.7741152665497633],[-0.17194418558319746,0.7972104684653973]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.6344392455628646,1.085744321764448,0.71338606911949],"aabb_xy":[[-0.6431372078535799,1.0736193474569735],[-0.6257412832721493,1.097869296071923]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.3485653009967463,-1.8938690477259956,0.71338606911949],"aabb_xy":[[-0.4035652991984911,-1.9343910143524332],[-0.2935653027950014,-1.853347081099558]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.5392033520044484,1.6584138211038577,0.71338606911949],"aabb_xy":[[0.5139825151446086,1.633190070250971],[0.5644241888642879,1.6836375719567445]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.0612445952109123,1.5438463184766902,0.71338606911949],"aabb_xy":[[-0.12524459249656095,1.5023395995238462],[0.002755402074736346,1.5853530374295342]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.1010221268899294,-0.10640044598327636,0.71338606911949],"aabb_xy":[[-0.1650221241922758,-0.1507668729511331],[-0.037022129587583,-0.06203401901541959]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.6650806862831937,1.4112861644395363,0.71338606911949],"aabb_xy":[[0.6151032694179399,1.3612861629502877],[0.7150581031484471,1.4612861659287848]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.6641444842325968,-0.8474435478528797,0.71338606911949],"aabb_xy":[[-0.6729465395415695,-0.8552548740078088],[-0.655342428923624,-0.8396322216979506]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.5329542967145182,1.3385347392408122,0.71338606911949],"aabb_xy":[[0.4961037487775306,1.3010347384177785],[0.5698048446515058,1.376034740063846]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.22452340492003348,1.0587267450634563,0.71338606911949],"aabb_xy":[[-0.28452340542788634,1.0018800113775348],[-0.16452340441218055,1.1155734787493774]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.6175185982235615,0.6431566535384139,0.71338606911949],"aabb_xy":[[-0.6272745877327354,0.6333941194791795],[-0.6077626087143876,0.6529191875976483]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.23011790370078378,1.680775853097019,0.71338606911949],"aabb_xy":[[0.18011790203928896,1.6307774108413158],[0.28011790536227843,1.7307742953527212]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[0.38620143517613914,0.7879976268856455,0.71338606911949],"aabb_xy":[[0.3797876215329542,0.7815878066379769],[0.3926152488193241,0.7944074471333136]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.11440953682039823,-1.4304087094058837,0.71338606911949],"aabb_xy":[[-0.1844095384226777,-1.4438415026075415],[-0.04440953521811876,-1.4169759162042264]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.15838710617781415,0.5264225846821313,0.71338606911949],"aabb_xy":[[-0.19588710769344583,0.5151958116659863],[-0.12088710466218242,0.5376493576982764]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.38286848404010215,-2.4030967403983543,0.71338606911949],"aabb_xy":[[-0.3972029091662656,-2.4151569559528934],[-0.3685340589139387,-2.3910365248438152]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.4038864238842556,-0.7582275643582725,0.71338606911949],"aabb_xy":[[-0.426386424127771,-0.7704321990180445],[-0.3813864236407402,-0.7460229296985006]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[-0.22110497003086999,0.10194459699897429,0.71338606911949],"aabb_xy":[[-0.2576007906581487,0.06546065457221673],[-0.18460914940359124,0.13842853942573186]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[0.01198927336308575,-0.8464556272423813,0.71338606911949],"aabb_xy":[[-0.005589028825861098,-0.8640301168164862],[0.0295675755520326,-0.8288811376682764]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[0.4781376392193426,-2.5709323741983754,0.71338606911949],"aabb_xy":[[0.45313764005370955,-2.577884619903732],[0.5031376383849757,-2.563980128493019]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.6038211203940624,-1.8097481652178957,0.71338606911949],"aabb_xy":[[0.5759760836134554,-1.8405326639562072],[0.6316661571746697,-1.7789636664795838]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.07637517126624926,-0.7111033072976038,0.71338606911949],"aabb_xy":[[0.07229701335919951,-0.715184287545867],[0.08045332917329899,-0.7070223270493404]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_28","position":[0.4412312464702468,-1.6733677564189278,0.71338606911949],"aabb_xy":[[0.379640487246254,-1.7373677545279749],[0.5028220056942396,-1.609367758309881]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.33167199065508796,1.3089617583263622,0.71338606911949],"aabb_xy":[[-0.34834912664818346,1.292261834352432],[-0.31499485466199245,1.3256616823002925]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[-0.058555635802527206,0.8289861642673424,0.71338606911949],"aabb_xy":[[-0.11368084143211797,0.7689861628260553],[-0.003430430172936427,0.8889861657086295]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_31","position":[-0.26982996836282397,0.8761743777407687,0.71338606911949],"aabb_xy":[[-0.3598299669572939,0.8599237914273478],[-0.17982996976835403,0.8924249640541898]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[-0.5131773364295154,-2.0121229101882854,0.71338606911949],"aabb_xy":[[-0.5831773390661017,-2.0322277751841504],[-0.443177333792929,-1.9920180451924194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949729439453325,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3125.png","name":"3125"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3125.png","name":"3125"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1571.png","name":"1571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6386.png","name":"6386"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6164.png","name":"6164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1072.png","name":"1072"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":687.3063222454255,"rotation_z_degrees":253.0262017165318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002980585560839487,0.01019452053267246,-0.017836838753052104]},{"name":"camera_2","offset_m":[-0.017394406752506825,0.005666917061592797,-0.004826247639759753]},{"name":"camera_3","offset_m":[-0.008619931022859392,0.007999915597859668,-0.0166214744888392]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009177925644660082,0.0015219170537046941,-0.0010125546868933303],"end_effector_yaw_offset_degrees":0.8081248960997669},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002525779575998071,0.001987042734887292,-0.0005863116030091872],"end_effector_yaw_offset_degrees":-0.6606333094829622},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001578822237833073,0.001979287250513959,0.0009768873115291294],"end_effector_yaw_offset_degrees":0.28939989914633646}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004264701485421161,-0.0032156320738035826],"position_m":[0.2756352985145788,0.15378436792619643,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000488772407234387,-0.0033997880789912505],"position_m":[0.35348877240723436,0.30700021192100874,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003581139162952708,-0.004691943664969574],"position_m":[0.2881188608370473,-0.04789194366496958,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040127238465537335,0.0019082725248041965],"position_m":[0.2540127238465537,-0.33459172747519583,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af3a6b77dc157d50aa066ad946ff64795fbbb4f5260a4ba1cbb3e66823b8e95f","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3125/tex_ceiling_textures_1072/tex_floor_textures_6164/tex_table_textures_1571/tex_wall_textures_6386","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2957876019185041655,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2957876019185041655,"visual_seed":2957876019185041655,"scene_id":"lab_003","finished_at":"2026-09-02T04:20:56"}
+{"episode_id":"ep_000041","started_at":"2026-09-02T04:21:00","dimensions":{"distractor":{"count":20,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.3106317376511829,1.2670177530453146,0.71338606911949],"aabb_xy":[[0.2206317409155727,1.2138342897280199],[0.4006317343867931,1.320201216362609]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.48595440851735566,-1.8034779467364306,0.71338606911949],"aabb_xy":[[-0.4975233892642923,-1.8284779468533627],[-0.47438542777041914,-1.7784779466194993]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.0014192910395138814,-2.0264897544159917,0.71338606911949],"aabb_xy":[[-0.08858070546135786,-2.0724013968344495],[0.09141928754038563,-1.9805781119975332]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.07337015588862217,1.519206683593445,0.71338606911949],"aabb_xy":[[0.0680325802226176,1.4942066826643052],[0.07870773155462674,1.5442066845225848]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.06915973635751194,1.4295235281334482,0.71338606911949],"aabb_xy":[[0.03415973808739202,1.42244940043846],[0.10415973462763183,1.4365976558284363]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.5356523168106113,0.8198646162533958,0.71338606911949],"aabb_xy":[[0.5262348422407486,0.8104484391156767],[0.5450697913804741,0.8292807933911147]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.5860692721709471,-2.2689597299138202,0.71338606911949],"aabb_xy":[[0.5717348470447836,-2.2810199454683593],[0.6004036972971105,-2.256899514359281]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.08507850487354252,-1.7399139079887083,0.71338606911949],"aabb_xy":[[0.005078502710780031,-1.819869091614852],[0.165078507036305,-1.6599587243625649]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.23354651031067086,-2.4619433058073756,0.71338606911949],"aabb_xy":[[0.214434202952692,-2.4810780846846177],[0.2526588176686497,-2.4428085269301336]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.40316621802950836,-0.19296580644460892,0.71338606911949],"aabb_xy":[[-0.4072443759365581,-0.19704678669287226],[-0.3990880601224586,-0.18888482619634564]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.3281082976726164,-1.4155495443366308,0.71338606911949],"aabb_xy":[[-0.37523767667445196,-1.4795495453810326],[-0.2809789186707806,-1.3515495432922287]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.5506318233154512,0.7190441330782678,0.71338606911949],"aabb_xy":[[-0.6156318243159518,0.6682577679235928],[-0.4856318223149507,0.7698304982329427]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.4747507075039712,0.2516502225511532,0.71338606911949],"aabb_xy":[[0.4572507083696039,0.24177059551356536],[0.49225070663833825,0.261529849588741]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.07867608041065388,-2.319228968484487,0.71338606911949],"aabb_xy":[[0.044359803236035944,-2.369228968457665],[0.11299235758527182,-2.2692289685113094]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.1658679729869803,-1.3801812296127165,0.71338606911949],"aabb_xy":[[-0.19086797225894256,-1.3965265932088788],[-0.140867973715018,-1.3638358660165542]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.6290813928265515,0.09834453531574372,0.71338606911949],"aabb_xy":[[-0.6661155022546111,0.06396732798203426],[-0.5920472833984917,0.13272174264945313]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.5035269263820359,1.1582824293018605,0.71338606911949],"aabb_xy":[[-0.5107706924282812,1.0782824310982582],[-0.49628316033579056,1.238282427505463]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.1464148274074587,-1.8255369986097967,0.71338606911949],"aabb_xy":[[-0.18391482598307948,-1.8382732942733546],[-0.10891482883183788,-1.8128007029462387]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.41669904692306003,-1.9585638823180844,0.71338606911949],"aabb_xy":[[0.41273856315332574,-1.9662317469036052],[0.42065953069279444,-1.950896017732564]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.007246270935886701,-2.1821797153659244,0.71338606911949],"aabb_xy":[[-0.04224627083190557,-2.190553950877864],[0.027753728960132167,-2.173805479853984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947095247381042,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5150.png","name":"5150"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9073.png","name":"9073"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9119.png","name":"9119"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3453.png","name":"3453"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":838.697095686257,"rotation_z_degrees":343.2338015942054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017921262875430607,0.000678400956663331,-0.0006333542722152426]},{"name":"camera_2","offset_m":[0.015615461849204742,-0.009959111659767862,-0.0032359306608070737]},{"name":"camera_3","offset_m":[0.007988432529202352,0.009729157276753466,-0.004180712656919647]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004340141546998427,-0.001180508432717637,0.0009601039027857909],"end_effector_yaw_offset_degrees":0.5463769675420549},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009752390328192021,0.0014443630996290274,0.0011309729248289743],"end_effector_yaw_offset_degrees":-0.46832718706114895},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018432291721779542,-0.001539309497593384,0.0009072492082361962],"end_effector_yaw_offset_degrees":-0.20451473098556772}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004620535828748711,0.0008008746045916606],"position_m":[0.2845205358287487,0.15780087460459166,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005501694610111829,-0.004121537572339743],"position_m":[0.35355016946101114,0.30627846242766027,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008022136304167496,-0.0044835366103362926],"position_m":[0.2925022136304168,-0.047683536610336294,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00279719481999387,-0.003673618586401449],"position_m":[0.25279719481999385,-0.3401736185864015,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"92510baff9969e821a5866d1d628ff49e9fbc6fc75193d1b5bd9f5b77b5c75f9","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9803/tex_ceiling_textures_3453/tex_floor_textures_9119/tex_table_textures_5150/tex_wall_textures_9073","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5911558232072667762,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5911558232072667762,"visual_seed":5911558232072667762,"scene_id":"lab_003","finished_at":"2026-09-02T04:23:15"}
+{"episode_id":"ep_000042","started_at":"2026-09-02T04:23:18","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.05165388543661986,0.69270578363348,0.71338606911949],"aabb_xy":[[-0.056609905621501075,0.6702057834313585],[-0.04669786525173867,0.7152057838356017]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.11617814239893476,-1.5939525317493173,0.71338606911949],"aabb_xy":[[0.08186186522431681,-1.6439525317224948],[0.1504944195735527,-1.5439525317761393]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.48989177305933895,-1.9226402558582962,0.71338606911949],"aabb_xy":[[-0.5006647469807067,-1.9576402540773357],[-0.4791187991379712,-1.8876402576392577]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.24862967032243555,-1.3138533467293838,0.71338606911949],"aabb_xy":[[0.20082350270866683,-1.3788533494364426],[0.29643583793620415,-1.2488533440223246]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[0.09429158958536277,-1.955566513815918,0.71338606911949],"aabb_xy":[[0.014291586321349622,-1.9691265461248308],[0.1742915928493759,-1.9420064815070042]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.05660833703479318,0.9500358273664729,0.71338606911949],"aabb_xy":[[-0.13660833562211258,0.870720225428312],[0.023391661552526245,1.0293514293046337]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.42058673837915683,-1.970913012283718,0.71338606911949],"aabb_xy":[[-0.42655327731989257,-1.976874156943082],[-0.414620199438421,-1.9649518676243538]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.4406653924000219,-1.4840725999585243,0.71338606911949],"aabb_xy":[[0.40316539205179414,-1.4958639955396076],[0.47816539274824965,-1.4722812043774405]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.10148817583345271,1.269722858287209,0.71338606911949],"aabb_xy":[[-0.10952451053473755,1.2616847389827923],[-0.09345184113216787,1.2777609775916259]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.258997152524149,-1.5755720420806925,0.71338606911949],"aabb_xy":[[0.24584590655285965,-1.600572041837379],[0.27214839849543837,-1.550572042324006]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.3297380196908095,-0.8974217804066116,0.71338606911949],"aabb_xy":[[0.264738018690309,-0.9482081455612865],[0.39473802069131003,-0.8466354152519366]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.5950333383657576,-1.1247225171791175,0.71338606911949],"aabb_xy":[[0.5150333403849725,-1.1323240581409695],[0.6750333363465426,-1.1171209762172656]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.1293960043685075,1.3303336682934526,0.71338606911949],"aabb_xy":[[-0.14202279165570386,1.3207875945918794],[-0.11676921708131116,1.3398797419950252]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.04760687935042929,-1.7940726760816368,0.71338606911949],"aabb_xy":[[-0.0023664146528311683,-1.8440726766361841],[0.09758017335368974,-1.7440726755270894]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.20310677500430535,-0.08590605292097431,0.71338606911949],"aabb_xy":[[-0.2250154571436564,-0.10780671974106504],[-0.1811980928649543,-0.06400538610088358]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.12291047869096883,0.6522594588920878,0.71338606911949],"aabb_xy":[[0.08947030349494921,0.6188158330611575],[0.1563506538869884,0.6857030847230177]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[-0.006917790988352768,1.5079578733022223,0.71338606911949],"aabb_xy":[[-0.016264798570647998,1.4936542510845785],[0.0024292165939424635,1.5222614955198666]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.4120864882568813,-1.1059274876494376,0.71338606911949],"aabb_xy":[[0.37708648912692566,-1.1116727087251015],[0.447086487386837,-1.1001822665737733]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.28211933969845093,-1.6905902694144186,0.71338606911949],"aabb_xy":[[-0.28916079064919853,-1.6976170211522128],[-0.27507788874770334,-1.683563517676624]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.5672892067231038,-1.9980913895051027,0.71338606911949],"aabb_xy":[[-0.571719836077944,-2.0035397612397854],[-0.5628585773682636,-1.99264301777042]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.025767083291260318,-2.440481050804825,0.71338606911949],"aabb_xy":[[0.0035945563146094787,-2.462656717960947],[0.047939610267911145,-2.418305383648701]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.4726532390785706,-0.08995892621158896,0.71338606911949],"aabb_xy":[[-0.5096873485066303,-0.12433613354529839],[-0.43561912965051086,-0.0555817188778795]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.27485251695332885,0.17165666777984923,0.71338606911949],"aabb_xy":[[-0.28363374410056513,0.1628769204913191],[-0.2660712898060927,0.1804364150683794]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.25835116786372164,1.0396077227726255,0.71338606911949],"aabb_xy":[[-0.2636887435297262,1.0146077218434857],[-0.2530135921977171,1.0646077237017653]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.65201093968228,-0.13939363407919814,0.71338606911949],"aabb_xy":[[-0.6719019795626203,-0.15204944536389498],[-0.6321198998019398,-0.1267378227945013]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[-0.31776750692674466,0.6298512069785454,0.71338606911949],"aabb_xy":[[-0.3977675072003516,0.5569016591528286],[-0.23776750665313764,0.7028007548042621]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[-0.48716249870780703,-0.7389090966498844,0.71338606911949],"aabb_xy":[[-0.5771625010418261,-0.8163914512349969],[-0.397162496373788,-0.6614267420647716]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.5995883749410563,-0.07650233988898147,0.71338606911949],"aabb_xy":[[-0.6279180848895966,-0.08096308208269853],[-0.5712586649925161,-0.07204159769526441]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[0.6849953826323074,0.39751819921984133,0.71338606911949],"aabb_xy":[[0.649995383439489,0.38655115322217865],[0.7199953818251256,0.4084852452175039]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[0.3955481227316211,0.9406860525729503,0.71338606911949],"aabb_xy":[[0.35804812291458754,0.9360478412618085],[0.43304812254865466,0.9453242638840922]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.38012870631808005,0.5828138989902123,0.71338606911949],"aabb_xy":[[0.36245307572948166,0.5651336827108094],[0.3978043369066783,0.6004941152696149]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_31","position":[-0.39767910816443336,-1.4172965755917235,0.71338606911949],"aabb_xy":[[-0.4476783833328696,-1.467296576867671],[-0.34767983299599725,-1.3672965743157766]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[0.18505516718495274,1.5082897490589189,0.71338606911949],"aabb_xy":[[0.09505516746177854,1.4852163965237388],[0.27505516690812687,1.5313631015940985]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_33","position":[0.40384731074186053,-0.63339260873381,0.71338606911949],"aabb_xy":[[0.3487221051122697,-0.693392610175097],[0.45897251637145126,-0.5733926072925227]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_34","position":[-0.5422637789767554,-1.5659096015405354,0.71338606911949],"aabb_xy":[[-0.5493040889102925,-1.645909600940207],[-0.5352234690432185,-1.485909602140864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966808397480776,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7799.png","name":"7799"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4071.png","name":"4071"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9121.png","name":"9121"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":792.8285939842735,"rotation_z_degrees":357.1912955710165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009795570177749367,-0.009512927146237572,-0.005675110927504919]},{"name":"camera_2","offset_m":[0.01605503769678061,-0.006622967221162859,-0.015939876664962764]},{"name":"camera_3","offset_m":[0.00790036702039253,-0.003236626786955129,-0.008977711263036503]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019653208192251794,-0.0009585020252288971,0.00032449640117718876],"end_effector_yaw_offset_degrees":-0.8838900227941444},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003958492561955188,0.0019678737558013644,-0.0012403444878110452],"end_effector_yaw_offset_degrees":0.08544439660395842},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0003727925076882114,-0.0015555067228413355,-0.0005125593023240001],"end_effector_yaw_offset_degrees":0.3944241661334973}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026338829525264363,0.004991758252666303],"position_m":[0.27726611704747356,0.1619917582526663,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004294111238718236,0.00228201256164688],"position_m":[0.35257058887612813,0.3126820125616469,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003146958785268615,-0.0005312137545756953],"position_m":[0.2948469587852686,-0.0437312137545757,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037002479941138358,-0.0030000591436194924],"position_m":[0.25370024799411384,-0.3395000591436195,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0b85cba9bf021febbb64c99f715fbc01ac359919f3526bf57850be3d61689ef7","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8277/tex_ceiling_textures_9121/tex_floor_textures_3899/tex_table_textures_7799/tex_wall_textures_4071","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":964414724535584703,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":964414724535584703,"visual_seed":964414724535584703,"scene_id":"lab_003","finished_at":"2026-09-02T04:25:52"}
+{"episode_id":"ep_000043","started_at":"2026-09-02T04:25:55","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.39148752693922995,0.38293932199462155,0.71338606911949],"aabb_xy":[[0.3827895646485147,0.37081434768714683],[0.4001854892299453,0.39506429630209633]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.04307986979052547,1.020367138831685,0.71338606911949],"aabb_xy":[[-0.01455059909674539,0.9603671399049742],[0.1007103386777963,1.0803671377583954]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.5600795977042086,-2.3708806357174885,0.71338606911949],"aabb_xy":[[0.4960796013086355,-2.434843924136222],[0.6240795940997816,-2.306917347298755]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.6755116025494259,-0.5358260039159357,0.71338606911949],"aabb_xy":[[-0.6825519124829629,-0.6158260033156072],[-0.6684712926158889,-0.4558260045162644]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.47490891741816,-0.06919099993742739,0.71338606911949],"aabb_xy":[[0.4444246672911298,-0.11919099971892332],[0.5053931675451901,-0.019191000155931434]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.6696077710877477,-0.6088281640571132,0.71338606911949],"aabb_xy":[[0.6310620782625467,-0.6473739351133018],[0.7081534639129488,-0.5702823930009245]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.6136492941817554,0.7908364882831975,0.71338606911949],"aabb_xy":[[-0.6776492906090773,0.7436668644611011],[-0.5496492977544335,0.838006112105294]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.2915272141159707,-1.5816495925310456,0.71338606911949],"aabb_xy":[[0.28689209896373724,-1.5855169276081942],[0.29616232926820396,-1.5777822574538967]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.4738829454948199,1.5022695195282219,0.71338606911949],"aabb_xy":[[0.45601383774036436,1.488436611551011],[0.49175205324927534,1.5161024275054331]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.4559728024520463,-0.1945451027430165,0.71338606911949],"aabb_xy":[[-0.5199728045017783,-0.23463958583232447],[-0.3919728004023143,-0.15445061965370854]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.6397884401409336,0.256411727391761,0.71338606911949],"aabb_xy":[[-0.6647884393065667,0.24945948168640442],[-0.6147884409753005,0.26336397309711757]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.5097409882001364,-0.3732815645174128,0.71338606911949],"aabb_xy":[[-0.520592594449012,-0.3841408552450638],[-0.49888938195126076,-0.3624222737897618]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.09612591825961236,0.2515362982008731,0.71338606911949],"aabb_xy":[[-0.12112591819213026,0.24465362997994977],[-0.07112591832709447,0.2584189664217964]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.12704027436079124,-1.3695433743737293,0.71338606911949],"aabb_xy":[[-0.21672735066890667,-1.4595433746281798],[-0.03735319805267576,-1.2795433741192788]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.6146829315445155,-0.10203542532169818,0.71338606911949],"aabb_xy":[[-0.6433322639049316,-0.13068098459877397],[-0.5860335991840991,-0.07338986604462237]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.5442379376713831,-0.4477654613208344,0.71338606911949],"aabb_xy":[[0.5029891266414682,-0.5027654608330518],[0.5854867487012977,-0.39276546180861693]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.5181779070593671,-1.8990915716780083,0.71338606911949],"aabb_xy":[[0.46819495687188767,-1.9490915713205688],[0.5681608572468463,-1.849091572035448]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.41279014079549736,0.6370010924085094,0.71338606911949],"aabb_xy":[[-0.4241518754487835,0.6256326260022212],[-0.4014284061422112,0.6483695588147974]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.6486893679427854,-2.125153126832414,0.71338606911949],"aabb_xy":[[0.5986893692968641,-2.1750726704918764],[0.6986893665887065,-2.0752335831729516]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.27861376335728427,-0.09913553831630617,0.71338606911949],"aabb_xy":[[-0.29054649771911234,-0.11151769112416555],[-0.2666810289954562,-0.08675338550844681]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.36791031271998365,-0.7219929806176013,0.71338606911949],"aabb_xy":[[-0.4479103159839968,-0.7355530129265145],[-0.2879103094559705,-0.7084329483086879]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.10300970101794082,-0.8429204713414093,0.71338606911949],"aabb_xy":[[0.053032284152687216,-0.8929204728306579],[0.15298711788319436,-0.7929204698521608]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[-0.593333419524283,-1.6649468705350596,0.71338606911949],"aabb_xy":[[-0.6158334200363235,-1.6874387289004578],[-0.5708334190122423,-1.642455012169661]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.2757910092416864,-0.9577677117856003,0.71338606911949],"aabb_xy":[[-0.29329094267566974,-0.9752677117058347],[-0.258291075807703,-0.9402677118653656]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[0.06302109970695158,-1.2145490684258642,0.71338606911949],"aabb_xy":[[0.02171655664321559,-1.2785490679939813],[0.10432564277068757,-1.150549068857747]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.692109045424468,-0.39651597534026584,0.71338606911949],"aabb_xy":[[0.682353055915294,-0.4062785093995003],[0.7018650349336418,-0.3867534412810314]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[-0.03996119437395962,-0.38743857624204514,0.71338606911949],"aabb_xy":[[-0.06992875128378528,-0.41743857653993094],[-0.009993637464133953,-0.35743857594415945]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[0.437401982124874,-1.1971865676864952,0.71338606911949],"aabb_xy":[[0.4301407345544666,-1.2099735779500047],[0.44466322969528144,-1.1843995574229857]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.23635922209689242,-1.347324876205774,0.71338606911949],"aabb_xy":[[0.1988592214323137,-1.3630119342059959],[0.27385922276147107,-1.3316378182055515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7005499739032846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6376.png","name":"6376"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6376.png","name":"6376"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6214.png","name":"6214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1768.png","name":"1768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4967.png","name":"4967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4704.png","name":"4704"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":630.348441371114,"rotation_z_degrees":187.1673294931439,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01720579788618184,-0.017177334607744163,0.0014412604420131897]},{"name":"camera_2","offset_m":[-0.018543865535681294,-0.0032515918329242104,-0.002889795370956922]},{"name":"camera_3","offset_m":[-0.006404204954696206,0.00835176270677599,0.010908375232721965]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[7.587703974176003e-05,-0.00030863564529510254,0.0004568781161110782],"end_effector_yaw_offset_degrees":0.5250574028124275},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016393505215710996,-0.0017979381188062767,0.0016413905282226635],"end_effector_yaw_offset_degrees":0.06706039672200959},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00029832580370348387,0.001883291023806946,0.001101668832104787],"end_effector_yaw_offset_degrees":-0.6297004859954449}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025437997871365194,-0.0005020128916553871],"position_m":[0.27735620021286345,0.15649798710834462,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045711725869027305,0.0009272808598310492],"position_m":[0.3575711725869027,0.3113272808598311,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036751402237585862,0.0013594236514685547],"position_m":[0.2880248597762414,-0.041840576348531444,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025401945727465992,-0.001866752176971579],"position_m":[0.2474598054272534,-0.3383667521769716,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1bbacdbd76a0cfda56c3ce9a2ac8fc9c046622a8861a5963d014ffc1b446077f","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6376/tex_ceiling_textures_4704/tex_floor_textures_4967/tex_table_textures_6214/tex_wall_textures_1768","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4897946785895594356,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4897946785895594356,"visual_seed":4897946785895594356,"scene_id":"lab_003","finished_at":"2026-09-02T04:28:32"}
+{"episode_id":"ep_000044","started_at":"2026-09-02T04:31:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.01817996634949126,-1.6668879924461657,0.71338606911949],"aabb_xy":[[-0.004284803621913854,-1.6893879933250262],[0.04064473632089638,-1.6443879915673052]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.1772881190876755,1.3102468775625504,0.71338606911949],"aabb_xy":[[0.1547881188441601,1.2980422429027785],[0.1997881193311909,1.3224515122223224]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.4493330988540981,0.9808452905118443,0.71338606911949],"aabb_xy":[[-0.4837955768671859,0.9741816133289214],[-0.41487062084101034,0.987508967694767]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.5702139873944291,-2.234435399830002,0.71338606911949],"aabb_xy":[[-0.6067098080217077,-2.2709193422567595],[-0.5337181667671502,-2.1979514574032444]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.4790586633039293,-1.0630749647071867,0.71338606911949],"aabb_xy":[[0.47421506854269935,-1.0679266171861708],[0.4839022580651593,-1.0582233122282025]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.429522503155301,-1.4479215073990968,0.71338606911949],"aabb_xy":[[-0.4399340618357846,-1.4532672407349951],[-0.41911094447481717,-1.4425757740631984]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.08279075618209975,-2.002645915579739,0.71338606911949],"aabb_xy":[[0.0751664880919215,-2.0102791391162826],[0.09041502427227799,-1.9950126920431952]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.6608650238777425,-1.672770152143284,0.71338606911949],"aabb_xy":[[-0.6710180394318918,-1.7088396937160242],[-0.650712008323593,-1.6367006105705435]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.7118096336842881,-0.23298685936681318,0.71338606911949],"aabb_xy":[[0.7000414468896307,-0.3179868592720348],[0.7235778204789457,-0.14798685946159165]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.5432748168454209,-1.6867857452310093,0.71338606911949],"aabb_xy":[[0.5082748185753009,-1.6938598729259975],[0.5782748151155407,-1.6797116175360212]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.14074045360044296,1.1822327706561868,0.71338606911949],"aabb_xy":[[0.07674045631479434,1.1407260517033428],[0.20474045088609164,1.2237394896090308]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.18835039771061146,-2.5235417976243073,0.71338606911949],"aabb_xy":[[0.1578661475835813,-2.5735417974058032],[0.21883464783764162,-2.4735417978428114]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[-0.47237736842079314,-0.7566356328721271,0.71338606911949],"aabb_xy":[[-0.48245907549936656,-0.8366356307642416],[-0.4622956613422196,-0.6766356349800123]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[0.4969155007869257,-2.5617841160508283,0.71338606911949],"aabb_xy":[[0.41691549971380537,-2.5715621623882123],[0.576915501860046,-2.5520060697134435]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.5405460303062803,1.4341513744498102,0.71338606911949],"aabb_xy":[[-0.6045460335249182,1.3874282625508019],[-0.4765460270876425,1.4808744863488186]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.4443619835745254,0.52045010276739,0.71338606911949],"aabb_xy":[[0.4068619849989045,0.507713807103832],[0.48186198215014614,0.5331863984309478]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.0722557607668105,-1.4354313066797708,0.71338606911949],"aabb_xy":[[-0.1135603038305465,-1.499431306247888],[-0.03095121770307452,-1.3714313071116537]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.6345002448665352,-1.1971304641985,0.71338606911949],"aabb_xy":[[-0.6460692256134719,-1.2221304643154318],[-0.6229312641195988,-1.1721304640815684]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.43959233084265403,1.7888071582677818,0.71338606911949],"aabb_xy":[[-0.4645923301146163,1.7724617946716197],[-0.41459233157069175,1.8051525218639444]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.12341173000460581,-2.0084579459212026,0.71338606911949],"aabb_xy":[[-0.14032246244094754,-2.021930151513817],[-0.106500997568264,-1.9949857403285878]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.19083385433301392,1.5112021852493345,0.71338606911949],"aabb_xy":[[-0.19496971066571414,1.4737021858049775],[-0.18669799800031375,1.5487021846936915]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.36463957848795353,-1.1184579609332765,0.71338606911949],"aabb_xy":[[-0.45463958216487155,-1.1798903675103805],[-0.27463957481103524,-1.0570255543561717]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.6545966941346197,1.7876841406863968,0.71338606911949],"aabb_xy":[[-0.6919279706598623,1.7530310858915443],[-0.6172654176093771,1.8223371954812488]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[-0.10717351291043153,-0.23142428334449727,0.71338606911949],"aabb_xy":[[-0.1446735132586593,-0.2432156789255808],[-0.06967351256220376,-0.2196328877634137]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.32716243822994373,1.6597378180725264,0.71338606911949],"aabb_xy":[[-0.347053478110284,1.6470820067878298],[-0.3072713983496035,1.6723936293572235]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.6622924362195752,-1.3920117960100111,0.71338606911949],"aabb_xy":[[-0.6922840989534456,-1.4220117953468114],[-0.6323007734857049,-1.3620117966732104]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[0.1704814917673947,0.7839794486509026,0.71338606911949],"aabb_xy":[[0.15733024579610533,0.7589794488942163],[0.18363273773868405,0.8089794484075894]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.32661583587280885,-2.438547482067609,0.71338606911949],"aabb_xy":[[0.31197243031877586,-2.4532062017243934],[0.34125924142684183,-2.423888762410825]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[-0.2943524778880255,-0.0907872526936675,0.71338606911949],"aabb_xy":[[-0.3052040841369011,-0.1016465434213185],[-0.2835008716391499,-0.07992796196601647]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[-0.44184666277788814,-0.49921098897604477,0.71338606911949],"aabb_xy":[[-0.45160265228706203,-0.5089735230352792],[-0.43209067326871425,-0.4894484549168103]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_30","position":[0.4815164339464355,-2.3903336502578845,0.71338606911949],"aabb_xy":[[0.47074346002506773,-2.4253336484769235],[0.4922894078678033,-2.3553336520388455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7020535596779687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9195.png","name":"9195"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9195.png","name":"9195"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6835.png","name":"6835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2322.png","name":"2322"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7967.png","name":"7967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5878.png","name":"5878"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":684.8908966008253,"rotation_z_degrees":288.1328205721529,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009153289200553048,-0.01165190664207545,-0.009312308337589607]},{"name":"camera_2","offset_m":[0.015620742764233506,-0.0073125059297770405,-0.003766549482680591]},{"name":"camera_3","offset_m":[0.014929894938592276,0.012772287424862309,-0.003293912452677867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001180311206918684,0.0005160505511613948,-0.0014297796503124527],"end_effector_yaw_offset_degrees":0.9169353367896809},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001862626382474673,0.0016042476251117935,-0.00029012313099065993],"end_effector_yaw_offset_degrees":0.4111272938769015},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005169975723942999,-0.0008770475020425227,-9.214819394011051e-05],"end_effector_yaw_offset_degrees":-0.6748635754155057}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022619759847160503,-0.0017154509878790415],"position_m":[0.2776380240152839,0.15528454901212096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048966038769540825,0.0036462418547548335],"position_m":[0.35789660387695404,0.3140462418547548,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021105452711830588,0.003153131415112374],"position_m":[0.289589454728817,-0.04004686858488763,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005513845620918108,-0.0031447151656971775],"position_m":[0.2505513845620918,-0.3396447151656972,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"452d5b047d4522e9518746f5bde389d0a44f0b1bc4913dd8411dc9f90c759a2b","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9195/tex_ceiling_textures_5878/tex_floor_textures_7967/tex_table_textures_6835/tex_wall_textures_2322","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5431094412006886810,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5431094412006886810,"visual_seed":5431094412006886810,"scene_id":"lab_003","finished_at":"2026-09-02T04:33:44"}
+{"episode_id":"ep_000045","started_at":"2026-09-02T04:33:47","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.14075353744360342,-0.26601611760636956,0.71338606911949],"aabb_xy":[[-0.146091113109608,-0.29101611853550935],[-0.13541596177759888,-0.24101611667722977]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.2913881503452274,-0.6807269965216265,0.71338606911949],"aabb_xy":[[-0.32701730624518716,-0.7163596632784793],[-0.2557589944452677,-0.6450943297647734]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.5642583834080813,-1.5888972158142205,0.71338606911949],"aabb_xy":[[-0.6142583820540025,-1.6388167594736829],[-0.5142583847621601,-1.5389776721547581]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.6925357072728631,-0.41749986689906304,0.71338606911949],"aabb_xy":[[0.673651323504353,-0.4363857916794158],[0.7114200910413734,-0.39861394211871026]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.5227789067605728,1.153170956412866,0.71338606911949],"aabb_xy":[[0.5150757160864958,1.145461585714128],[0.5304820974346498,1.1608803271116042]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.0500395736831869,-0.9169016744139782,0.71338606911949],"aabb_xy":[[0.043727474146848466,-0.922668613667197],[0.05635167321952533,-0.9111347351607594]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[0.4422030906226688,1.4964243879934958,0.71338606911949],"aabb_xy":[[0.43662141898854,1.4839243881757203],[0.44778476225679753,1.5089243878112713]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.4297946837746669,1.0549004215998221,0.71338606911949],"aabb_xy":[[0.4217684131440409,1.0461489266224695],[0.4378209544052929,1.0636519165771747]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.15468495524927417,-0.012481779694966555,0.71338606911949],"aabb_xy":[[-0.20468495482560892,-0.0624623586470725],[-0.10468495567293948,0.03749879925713939]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.6341867459531648,-1.7618681664205835,0.71338606911949],"aabb_xy":[[-0.6716867471379574,-1.7662863891166438],[-0.5966867447683718,-1.7574499437245228]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.34019957853387517,-1.493267297955923,0.71338606911949],"aabb_xy":[[-0.43019958221079324,-1.5546997045330269],[-0.25019957485695693,-1.4318348913788184]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.09941980120890148,-1.6458601272770657,0.71338606911949],"aabb_xy":[[-0.11947821282214176,-1.665925214186223],[-0.07936138959566118,-1.6257950403679082]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.40071533657669983,-1.145203783659445,0.71338606911949],"aabb_xy":[[-0.4807153345574849,-1.152805324621297],[-0.3207153385959148,-1.1376022426975931]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.007971821206029683,-2.1085107863604153,0.71338606911949],"aabb_xy":[[-0.07702817721139354,-2.1933850818227],[0.09297181962345291,-2.02363649089813]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.08088336974092236,-1.1738423679252985,0.71338606911949],"aabb_xy":[[-0.08959733879085684,-1.1963423685844863],[-0.07216940069098786,-1.1513423672661098]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.2983798490564412,-1.5253746821980299,0.71338606911949],"aabb_xy":[[0.22837984692501168,-1.5481366478237253],[0.36837985118787075,-1.502612716572334]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[-0.39813689952406905,0.3541698509116764,0.71338606911949],"aabb_xy":[[-0.4061308881017724,0.346169770816586],[-0.3901429109463656,0.3621699310067667]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.22983736513784675,-1.8937571142624905,0.71338606911949],"aabb_xy":[[-0.30983736560806274,-1.902067821876839],[-0.14983736466763084,-1.8854464066481424]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.5146078478516043,0.1123976311950603,0.71338606911949],"aabb_xy":[[0.4646078469010714,0.08084848419153887],[0.564607848802137,0.14394677819858168]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.6623621028172144,-0.9197019938088504,0.71338606911949],"aabb_xy":[[0.6277710199631691,-0.9847019940938814],[0.6969531856712595,-0.8547019935238193]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.47428215739284296,-0.12301402525216565,0.71338606911949],"aabb_xy":[[-0.4992821569445814,-0.13315650911730037],[-0.4492821578411044,-0.11287154138703093]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.2795798905762841,0.6020749320092103,0.71338606911949],"aabb_xy":[[-0.31006414070331423,0.5520749322277142],[-0.24909564044925392,0.6520749317907061]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.5128464005268739,0.5785296413903747,0.71338606911949],"aabb_xy":[[-0.5628252090371897,0.5285296413846559],[-0.4628675920165579,0.6285296413960935]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.5944385982111381,-2.1123785902818857,0.71338606911949],"aabb_xy":[[-0.6405236894658696,-2.176378587534441],[-0.5483535069564066,-2.0483785930293306]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.05538595366430554,1.7226806862387751,0.71338606911949],"aabb_xy":[[0.03759244672938909,1.7048809406429775],[0.07317946059922197,1.7404804318345728]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[-0.4314657153725339,-0.687034069227952,0.71338606911949],"aabb_xy":[[-0.4422386892939016,-0.722034067446991],[-0.42069274145116603,-0.652034071008913]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.0723600716919599,0.37388134644768645,0.71338606911949],"aabb_xy":[[-0.0890372076850554,0.3571814224737562],[-0.055682935698864386,0.3905812704216168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937558856383197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7516.png","name":"7516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4924.png","name":"4924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8682.png","name":"8682"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3844.png","name":"3844"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9560.png","name":"9560"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":776.493737226805,"rotation_z_degrees":149.5994304793414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01240301886538997,-0.008699214944978242,-0.01730148244809463]},{"name":"camera_2","offset_m":[0.011239330108555691,0.0003753930782481839,-0.0056537216612985875]},{"name":"camera_3","offset_m":[-0.0028138256591398875,-0.0012661452156226063,-0.015032234762774679]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016914839034352248,0.0015122929391219045,-0.0007440987914229366],"end_effector_yaw_offset_degrees":-0.24514412623365955},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016088794789544184,0.0019218534380428878,0.00100759039096674],"end_effector_yaw_offset_degrees":0.05790576515225965},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0001123340246470424,0.0017483183163806825,3.973696795169304e-06],"end_effector_yaw_offset_degrees":-0.04759130975360781}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035995709208806433,-0.0003781047639011747],"position_m":[0.28349957092088063,0.15662189523609882,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004424878465362932,0.0037051330415280538],"position_m":[0.34857512153463704,0.31410513304152804,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004049753116533153,-0.004892828980279123],"position_m":[0.28765024688346685,-0.048092828980279126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014188580020495908,-0.0018495793146012596],"position_m":[0.2514188580020496,-0.3383495793146013,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"95727630c534156aeda7139f5bc8c43cddeb219725f09159360feced15bc6cda","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0055.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7516/tex_ceiling_textures_9560/tex_floor_textures_3844/tex_table_textures_4924/tex_wall_textures_8682","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8351854069514020756,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8351854069514020756,"visual_seed":8351854069514020756,"scene_id":"lab_003","finished_at":"2026-09-02T04:36:14"}
+{"episode_id":"ep_000046","started_at":"2026-09-02T04:36:18","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.2015224355730164,1.7227992442719464,0.71338606911949],"aabb_xy":[[-0.23200668570004654,1.6727992444904507],[-0.17103818544598623,1.7727992440534426]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.3071669947364646,-1.6916976132896275,0.71338606911949],"aabb_xy":[[0.29283256961030113,-1.7037578288441664],[0.32150141986262804,-1.6796373977350887]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.6730413562120554,-0.6840581047542149,0.71338606911949],"aabb_xy":[[-0.6803236725887188,-0.7740581083637237],[-0.6657590398353915,-0.5940581011447057]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.15411923349498835,1.1636120279305673,0.71338606911949],"aabb_xy":[[0.07411923133222587,1.0836568443044234],[0.23411923565775083,1.2435672115567107]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.18182396669709855,-2.3170994955554365,0.71338606911949],"aabb_xy":[[-0.20399649367374936,-2.3392751627115596],[-0.1596514397204477,-2.2949238283993134]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.4746975230771995,-1.407444008746916,0.71338606911949],"aabb_xy":[[0.4371975229716064,-1.414266170599897],[0.5121975231827922,-1.4006218468939347]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.4765403798039018,0.20025998595089645,0.71338606911949],"aabb_xy":[[-0.4839528353452902,0.1944087755292685],[-0.46912792426251326,0.2061111963725244]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.36448099561680386,1.3417136051109488,0.71338606911949],"aabb_xy":[[-0.37098263212480853,1.331945783084639],[-0.3579793591087993,1.3514814271372586]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.03119304084002894,-1.3536146137732037,0.71338606911949],"aabb_xy":[[-0.1111930440978719,-1.4336111215651879],[0.048806962417814015,-1.27361810598122]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.46509541074398464,-0.052229451434194996,0.71338606911949],"aabb_xy":[[0.461181537548562,-0.06097846684075175],[0.46900928393940705,-0.04348043602763823]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.37531222647950924,-0.9366917870599121,0.71338606911949],"aabb_xy":[[-0.41661676954324517,-1.0006917866280292],[-0.3340076834157732,-0.8726917874917949]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.4651326904567368,-1.9677079007009552,0.71338606911949],"aabb_xy":[[0.40513269061016993,-2.0245265228939933],[0.5251326903033036,-1.9108892785079161]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.08572882683672867,0.3888422947342054,0.71338606911949],"aabb_xy":[[-0.093652107075477,0.3663422944962021],[-0.07780554659798034,0.4113422949722088]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.03598682578412893,-1.0744879348294436,0.71338606911949],"aabb_xy":[[-0.08598183674358095,-1.1244879338650355],[0.014008185175323106,-1.0244879357938521]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.32096256389720423,0.45255764972870116,0.71338606911949],"aabb_xy":[[0.303462564762837,0.4426780226911132],[0.33846256303157135,0.4624372767662889]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.3621603535283067,0.8206362493832331,0.71338606911949],"aabb_xy":[[-0.36857416717149155,0.8142264291355645],[-0.35574653988512167,0.8270460696309012]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.5735954059820176,-0.5341433019972222,0.71338606911949],"aabb_xy":[[0.5235954043205229,-0.5841417442529248],[0.6235954076435124,-0.4841448597415194]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.47466526023656197,-0.22377254320365614,0.71338606911949],"aabb_xy":[[0.4246704273086204,-0.2737725420988997],[0.5246600931645036,-0.17377254430841257]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.02758494425814384,-2.0938039236457056,0.71338606911949],"aabb_xy":[[-0.06241505247746637,-2.146987386963],[0.11758494099375405,-2.040620460328411]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.15405880504299618,-1.6393003180462218,0.71338606911949],"aabb_xy":[[0.09405880418218333,-1.6907267480527082],[0.21405880590380894,-1.5878738880397354]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.661130852727043,-1.5973305648855824,0.71338606911949],"aabb_xy":[[0.6299839338834597,-1.6673305635723894],[0.692277771570626,-1.527330566198775]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[0.6517868842415548,0.6806303305748584,0.71338606911949],"aabb_xy":[[0.618307716980514,0.6471512172037516],[0.6852660515025959,0.7141094439459655]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.5253324052058479,0.4488487825570875,0.71338606911949],"aabb_xy":[[-0.5491686228464531,0.3588487817486011],[-0.501496187565243,0.5388487833655741]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.32603334552714003,-1.4792322640636808,0.71338606911949],"aabb_xy":[[0.26203334526666916,-1.5242410634166088],[0.3900333457876108,-1.4342234647107528]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[0.34975061607490154,1.7605126100869026,0.71338606911949],"aabb_xy":[[0.28975061556704856,1.7036658764009813],[0.4097506165827544,1.817359343772824]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.2327366902587253,-1.9798171087643128,0.71338606911949],"aabb_xy":[[-0.25632181372262014,-2.0448171110097446],[-0.20915156679483043,-1.9148171065188813]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.5971737736505072,0.5552498109302095,0.71338606911949],"aabb_xy":[[0.5804966376574118,0.5385498869562793],[0.6138509096436028,0.5719497349041398]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_27","position":[-0.5344842471364764,-0.0890746950352379,0.71338606911949],"aabb_xy":[[-0.5648823582356198,-0.11948159703690742],[-0.5040861360373327,-0.0586677930335684]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[0.25354208632407904,0.8113982508490278,0.71338606911949],"aabb_xy":[[0.17354208489395184,0.7318810958364182],[0.33354208775420624,0.8909154058616372]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[0.5906664221190678,0.21432750706350845,0.71338606911949],"aabb_xy":[[0.5266664248334192,0.17282078811066445],[0.6546664194047165,0.2558342260163524]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_30","position":[-0.03965376037556834,-0.19319772722181394,0.71338606911949],"aabb_xy":[[-0.07528291627552808,-0.22883039397866686],[-0.004024604475608588,-0.15756506046496097]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_31","position":[-0.6611276386722159,1.5088935927799896,0.71338606911949],"aabb_xy":[[-0.6945678138682353,1.4754499669490593],[-0.6276874634761961,1.5423372186109194]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_32","position":[0.18818822157789206,-1.1581832468895588,0.71338606911949],"aabb_xy":[[0.17810651449931855,-1.2381832447816732],[0.1982699286564655,-1.0781832489974439]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945350562103911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7290.png","name":"7290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7290.png","name":"7290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5677.png","name":"5677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3206.png","name":"3206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2518.png","name":"2518"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1820.png","name":"1820"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":697.0434409651193,"rotation_z_degrees":57.055367143653,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007765184587112532,0.009142147004966152,0.005224463399471357]},{"name":"camera_2","offset_m":[-0.018397018279616578,-0.016369100391884696,-0.00595038513366152]},{"name":"camera_3","offset_m":[-0.008024857978237208,-0.014533917518285599,0.012230127263631558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001778338411197166,-0.00020616431141632805,0.001417512791020151],"end_effector_yaw_offset_degrees":-0.535708677428337},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008661454799627159,-0.0005955706522358471,0.0017627407407834845],"end_effector_yaw_offset_degrees":-0.44142369051582975},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00019417549405899553,-0.0018878845442506433,-0.0008321108576704809],"end_effector_yaw_offset_degrees":-0.35260608879566435}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00022313210075892292,-0.00021214628598388487],"position_m":[0.2801231321007589,0.15678785371401613,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035946190689077383,0.00379087365450649],"position_m":[0.34940538093109225,0.3141908736545065,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002362913456583128,0.0012283263745658983],"position_m":[0.2893370865434169,-0.0419716736254341,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0040612163077667655,0.000247443870365076],"position_m":[0.24593878369223324,-0.33625255612963495,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a74386ebe587cfc7555b2da65d56012a83ce5923a4672c19e6f417f257a811b1","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7290/tex_ceiling_textures_1820/tex_floor_textures_2518/tex_table_textures_5677/tex_wall_textures_3206","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6898212718051542231,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6898212718051542231,"visual_seed":6898212718051542231,"scene_id":"lab_003","finished_at":"2026-09-02T04:38:45"}
+{"episode_id":"ep_000047","started_at":"2026-09-02T04:38:48","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.6317130499172618,-1.0191060828665974,0.71338606911949],"aabb_xy":[[0.6017454930074362,-1.0491060831644832],[0.6616806068270875,-0.9891060825687117]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.3137980617724252,-0.9590689436068791,0.71338606911949],"aabb_xy":[[0.30404207226325125,-0.9688314776661134],[0.32355405128159903,-0.9493064095476446]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5838854148539856,-2.170648977553437,0.71338606911949],"aabb_xy":[[0.5188854162969126,-2.2004015109673203],[0.6488854134110583,-2.140896444139555]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.42978657097214773,0.00969254644030526,0.71338606911949],"aabb_xy":[[-0.43894644991602433,0.003161328396768248],[-0.42062669202827113,0.016223764483842273]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.6556567763889551,-0.13199778863584566,0.71338606911949],"aabb_xy":[[0.6493446768526168,-0.13776472788906452],[0.6619688759252935,-0.12623084938262685]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.290955956326825,1.7378826389383053,0.71338606911949],"aabb_xy":[[-0.2959119765117062,1.7153826387361837],[-0.28599993614194386,1.760382639140427]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.15294018343339078,-1.4471466529478372,0.71338606911949],"aabb_xy":[[0.1448968235074356,-1.5321466540432036],[0.16098354335934595,-1.3621466518524707]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.30454945648561416,1.6010557161683132,0.71338606911949],"aabb_xy":[[0.24054945621163598,1.5509896159710252],[0.36854945675959244,1.6511218163656012]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.1399114168086827,-2.4001962792908063,0.71338606911949],"aabb_xy":[[0.1173977249852255,-2.470196279891814],[0.16242510863213988,-2.3301962786897987]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.5271084738578322,-0.5271053438137732,0.71338606911949],"aabb_xy":[[0.4631084746880622,-0.5738720309327356],[0.591108473027602,-0.48033865669481074]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.2931340528605312,-1.3833956728302192,0.71338606911949],"aabb_xy":[[0.27558735794441225,-1.4208956743944703],[0.3106807477766501,-1.3458956712659678]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.410255351559639,0.7731974294153705,0.71338606911949],"aabb_xy":[[0.3452553506025118,0.7212492174816649],[0.4752553525167662,0.8251456413490761]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.5138738467429218,-1.6240320184557708,0.71338606911949],"aabb_xy":[[0.5004273201088785,-1.6375018701088622],[0.5273203733769651,-1.6105621668026795]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.5869938514143257,1.1423681305767217,0.71338606911949],"aabb_xy":[[-0.6244938529299574,1.1311413575605767],[-0.549493849898694,1.1535949035928668]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.37997385507213455,-0.3761801208473625,0.71338606911949],"aabb_xy":[[-0.4299688660315866,-0.42618011988295434],[-0.3299788441126825,-0.32618012181177086]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.4671430813983915,0.9413846154458798,0.71338606911949],"aabb_xy":[[-0.5046430817466192,0.9295932198647964],[-0.42964308105016374,0.9531760110269635]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.1572018779697716,0.7809689289524795,0.71338606911949],"aabb_xy":[[-0.17970187797991988,0.7668727093128762],[-0.1347018779596233,0.7950651485920828]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.24377475145299898,-1.0780752799456441,0.71338606911949],"aabb_xy":[[0.19380168592048358,-1.1280752797581772],[0.2937478169855145,-1.0280752801331114]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.6123942751826424,-1.9552822888816963,0.71338606911949],"aabb_xy":[[-0.6923942721456816,-2.0323579305254693],[-0.5323942782196033,-1.8782066472379226]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[0.2503326592003904,-2.1836531960443257,0.71338606911949],"aabb_xy":[[0.24689198296033327,-2.18751462901869],[0.2537733354404476,-2.1797917630699613]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.18553764549717378,-0.9577002219946069,0.71338606911949],"aabb_xy":[[-0.19637812372368868,-0.9748865032852557],[-0.17469716727065887,-0.9405139407039581]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[-0.5012950621954431,-0.23307066769029205,0.71338606911949],"aabb_xy":[[-0.5130632489901007,-0.31807066759551367],[-0.48952687540078565,-0.14807066778507053]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.0045048535220092445,0.9119172574542556,0.71338606911949],"aabb_xy":[[-0.06850485082435565,0.8675508304863987],[0.059495143780337156,0.9562836844221122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936576246132864,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/105.png","name":"105"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/105.png","name":"105"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4995.png","name":"4995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/394.png","name":"394"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":672.2164867167014,"rotation_z_degrees":245.04569605413968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013857736467754334,-0.013063849126769406,0.01598475960743059]},{"name":"camera_2","offset_m":[-0.0025970494267375938,-0.013601225013433154,0.0016066057788752322]},{"name":"camera_3","offset_m":[-0.008253968825591804,0.012814993544907834,0.011041232745066097]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014860218063609387,0.0013189751638249514,8.421508043705188e-05],"end_effector_yaw_offset_degrees":-0.5549605928496333},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-4.2862426816535956e-05,9.992966825823511e-05,-0.0013047481486773505],"end_effector_yaw_offset_degrees":0.8352819952209021},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004597676016223264,0.001975585248213582,-0.0006518300231397284],"end_effector_yaw_offset_degrees":0.5667828512359263}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030483759176382344,0.001804127303629179],"position_m":[0.2829483759176382,0.15880412730362917,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013866899222343743,-0.0025724840435217967],"position_m":[0.3516133100777656,0.3078275159564782,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031435311948377004,0.001286976024148928],"position_m":[0.2948435311948377,-0.041913023975851074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018309308943745706,0.003711725935287507],"position_m":[0.2501830930894375,-0.3327882740647125,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cca4445168e9fd55e826663be162f1f261aeda2f1e49ef2d732c5827d1d2eb98","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_105/tex_ceiling_textures_394/tex_floor_textures_9013/tex_table_textures_4995/tex_wall_textures_1607","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3325357021750949575,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3325357021750949575,"visual_seed":3325357021750949575,"scene_id":"lab_003","finished_at":"2026-09-02T04:41:29"}
+{"episode_id":"ep_000048","started_at":"2026-09-02T04:41:32","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.6347289081957546,0.19216388163812237,0.71338606911949],"aabb_xy":[[-0.6572289082059029,0.17806766199851906],[-0.6122289081856063,0.20626010127772562]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.2760898893726783,-1.4458975447462852,0.71338606911949],"aabb_xy":[[0.27264921313262114,-1.4497589777206499],[0.2795305656127355,-1.442036111771921]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.05384701938705061,-2.203922002734148,0.71338606911949],"aabb_xy":[[-0.0763470198990912,-2.2264138610995463],[-0.031347018875010006,-2.1814301443687496]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.40934276868128205,-0.409396469728069,0.71338606911949],"aabb_xy":[[-0.41468034434728657,-0.4343964706572088],[-0.40400519301527743,-0.38439646879892925]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.08468624593444496,0.669119141429551,0.71338606911949],"aabb_xy":[[-0.1082713693983398,0.6041191391841192],[-0.06110112247055009,0.7341191436749828]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.3853546456674759,1.634870366172843,0.71338606911949],"aabb_xy":[[-0.397226728678977,1.5498703664791929],[-0.3734825626559748,1.7198703658664936]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.058860827347555156,1.0255853294016388,0.71338606911949],"aabb_xy":[[0.03697107975861434,0.9355853321123898],[0.08075057493649593,1.115585326690888]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.2180025145781035,-1.6531019746707165,0.71338606911949],"aabb_xy":[[0.1766979715143675,-1.7171019742388336],[0.2593070576418395,-1.5891019751025994]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[0.029230239443126638,-0.9987251195232676,0.71338606911949],"aabb_xy":[[0.01838976121661173,-1.0159114008139163],[0.04007071766964154,-0.9815388382326188]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.07492126303933933,1.5336571037669908,0.71338606911949],"aabb_xy":[[0.05936549362907409,1.518106670522584],[0.09047703244960462,1.5492075370113985]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.07045578379195772,-1.7119014894208073,0.71338606911949],"aabb_xy":[[0.04661956615135266,-1.801901490229294],[0.0942920014325628,-1.621901488612321]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.06823557627263277,-0.19908501270075263,0.71338606911949],"aabb_xy":[[-0.09608061305323991,-0.22986951143906434],[-0.04039053949202566,-0.16830051396244097]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.33899968902807154,-0.1576384151188921,0.71338606911949],"aabb_xy":[[-0.4029996863304179,-0.20200484208674885],[-0.2749996917257251,-0.11327198815103534]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.14609518112953912,1.2606606620056606,0.71338606911949],"aabb_xy":[[-0.22609518255966632,1.1811435069930512],[-0.06609517969941192,1.34017781701827]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.5867399444992238,-0.7402850809897743,0.71338606911949],"aabb_xy":[[0.5642408087729969,-0.7627850817680372],[0.6092390802254508,-0.7177850802115112]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.39741453741072963,0.7208341254577544,0.71338606911949],"aabb_xy":[[0.3334145360027389,0.6690451739338296],[0.46141453881872024,0.772623076981679]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.4153115489833273,1.3754384412239657,0.71338606911949],"aabb_xy":[[-0.4793115512037343,1.3310653570986775],[-0.35131154676292026,1.419811525349254]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[-0.2921498701468332,0.8395505148561897,0.71338606911949],"aabb_xy":[[-0.3571498701811359,0.7928498381758625],[-0.22714987011253046,0.8862511915365171]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.4385460388544966,-0.3715001522319348,0.71338606911949],"aabb_xy":[[0.3885460374936094,-0.4214780568073504],[0.48854604021538384,-0.32152224765651916]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.39735131908252086,0.5741703915130314,0.71338606911949],"aabb_xy":[[0.38218844610558383,0.5590049342179128],[0.412514192059458,0.5893358488081503]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.07415471735702717,-1.2371713516739526,0.71338606911949],"aabb_xy":[[-0.12363513857098596,-1.3011713495868047],[-0.024674296143068375,-1.173171353761101]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.4965786483923522,1.3718576617700462,0.71338606911949],"aabb_xy":[[0.4858056744709845,1.3368576635510072],[0.50735162231372,1.4068576599890852]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.5434590888574988,1.1628256675366613,0.71338606911949],"aabb_xy":[[-0.5884590903237278,1.1178258106751806],[-0.4984590873912701,1.207825524398142]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.08516768272387676,-1.917852442207601,0.71338606911949],"aabb_xy":[[-0.14516768323172966,-1.974699175893522],[-0.02516768221602383,-1.8610057085216793]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.3830033718341823,1.332833424760775,0.71338606911949],"aabb_xy":[[0.3456720953089397,1.2981803699659227],[0.4203346483594249,1.3674864795556272]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[0.5351085802569153,1.1563645258433408,0.71338606911949],"aabb_xy":[[0.48511546814772344,1.1063645251691454],[0.5851016923661072,1.2063645265175367]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[0.6400846502568032,-1.2497391854509527,0.71338606911949],"aabb_xy":[[0.5600846530972279,-1.2612867864087698],[0.7200846474163785,-1.2381915844931357]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[-0.6358589189721126,-0.09481508552945206,0.71338606911949],"aabb_xy":[[-0.6608589185238509,-0.10495756939458678],[-0.610858919420374,-0.08467260166431734]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_28","position":[-0.5007442758269424,-1.6028158788392877,0.71338606911949],"aabb_xy":[[-0.5196286595954525,-1.6217018036196404],[-0.48185989205843205,-1.5839299540589349]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_29","position":[-0.6369466244614193,1.4513405042710414,0.71338606911949],"aabb_xy":[[-0.6920718300910099,1.3913405028297543],[-0.5818214188318284,1.5113405057123286]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[-0.39421178669868145,0.9860789993755446,0.71338606911949],"aabb_xy":[[-0.41171178597676833,0.9687408993091985],[-0.3767117874205946,1.0034170994418905]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_31","position":[0.35038254009218495,-1.7178302074766827,0.71338606911949],"aabb_xy":[[0.34108892185503437,-1.7553302059648164],[0.3596761583293355,-1.6803302089885486]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_32","position":[-0.20659353478765313,-1.3887434514768013,0.71338606911949],"aabb_xy":[[-0.21205148042467317,-1.4687434547844602],[-0.20113558915063304,-1.308743448169142]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_33","position":[-0.16725719043485965,0.13999519593287557,0.71338606911949],"aabb_xy":[[-0.18942971741151043,0.11781952877675239],[-0.14508466345820878,0.16217086308899875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691270488340943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6011.png","name":"6011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6891.png","name":"6891"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":540.3296855767702,"rotation_z_degrees":144.84104282395765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013918671472129614,-0.002539743380829726,0.014827480552404706]},{"name":"camera_2","offset_m":[0.018839995136913274,0.013381505405018927,0.005817407690275802]},{"name":"camera_3","offset_m":[0.01087893321641415,0.002526001358465875,0.017344208374783992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014330206355550792,0.0002946670964712461,-0.00032957231384830084],"end_effector_yaw_offset_degrees":-0.6285798708327739},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004003790041712128,-0.0008293725453177349,0.001975611195227802],"end_effector_yaw_offset_degrees":-0.11643198043854808},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009001516614731532,-0.0013587468948739838,0.0011679349633092772],"end_effector_yaw_offset_degrees":-0.0845830697239276}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015583995150512033,0.003570191986366122],"position_m":[0.2814583995150512,0.16057019198636613,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002944404770686484,-0.004808878448673203],"position_m":[0.3500555952293135,0.3055911215513268,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002254894513823072,-0.004400053392478971],"position_m":[0.29395489451382306,-0.047600053392478976,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006086992013810064,0.0027876971848880784],"position_m":[0.250608699201381,-0.33371230281511194,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1ead41aec44e6ad9eacca52df15b8905d0e236e475721136815c83e6ccc064a1","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6551/tex_ceiling_textures_6891/tex_floor_textures_5650/tex_table_textures_2451/tex_wall_textures_6011","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6641569651614621509,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6641569651614621509,"visual_seed":6641569651614621509,"scene_id":"lab_003","finished_at":"2026-09-02T04:44:09"}
+{"episode_id":"ep_000049","started_at":"2026-09-02T04:44:12","dimensions":{"distractor":{"count":35,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.35794707520301294,1.7237530649140687,0.71338606911949],"aabb_xy":[[0.3346652330048816,1.6387530636168406],[0.3812289174011443,1.8087530662112967]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.5118445783742429,0.037354977916939536,0.71338606911949],"aabb_xy":[[0.49937722026450726,0.02488965328361603],[0.5243119364839786,0.04982030255026304]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[-0.013675161286293203,1.1833373335829789,0.71338606911949],"aabb_xy":[[-0.1036751607046641,1.1499618367387892],[0.07632483813207769,1.2167128304271686]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.12835987515076863,-0.6271978194248993,0.71338606911949],"aabb_xy":[[-0.13811586465994252,-0.6369603534841335],[-0.11860388564159474,-0.6174352853656646]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.42020845274280577,-0.8586897233363471,0.71338606911949],"aabb_xy":[[-0.5002084513301253,-0.938005325274508],[-0.34020845415548634,-0.7793741213981862]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.4035295692747658,-0.6815028519470772,0.71338606911949],"aabb_xy":[[0.33852957139311807,-0.7326265156536181],[0.4685295671564137,-0.6303791882405364]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.5523680418885999,1.7783713414114177,0.71338606911949],"aabb_xy":[[0.5345745349536835,1.76057159581562],[0.5701615488235163,1.7961710870072154]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.28404769914480504,-1.4183523831972058,0.71338606911949],"aabb_xy":[[-0.36404769780169105,-1.4328572421214683],[-0.20404770048791904,-1.403847524272943]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[-0.3696541969913564,0.956979156727463,0.71338606911949],"aabb_xy":[[-0.3745534892979198,0.9293022374248942],[-0.3647549046847928,0.9846560760300317]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.003940139600647985,-1.0532718433162047,0.71338606911949],"aabb_xy":[[-0.06794013599622106,-1.117235131734938],[0.06005985679492509,-0.9893085548974709]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.10338051490730815,-1.9187785217255433,0.71338606911949],"aabb_xy":[[0.0878247454970429,-1.9343289549699507],[0.11893628431757344,-1.9032280884811363]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.33784530679443336,-2.4903480098909685,0.71338606911949],"aabb_xy":[[-0.42284530548650795,-2.5223338732858473],[-0.25284530810235867,-2.4583621464960896]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.6123906690885591,-1.8199040767459733,0.71338606911949],"aabb_xy":[[-0.6298906025225425,-1.8374040766662079],[-0.5948907356545757,-1.8024040768257388]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.12406786562898753,0.18284820525927525,0.71338606911949],"aabb_xy":[[-0.13135018200565113,0.09284820164976625],[-0.11678554925232383,0.2728482088687842]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.5582028406749364,0.6720540642580639,0.71338606911949],"aabb_xy":[[0.49420284208836396,0.6250471008585551],[0.6222028392615089,0.7190610276575725]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.013309744174823224,1.6519128203476927,0.71338606911949],"aabb_xy":[[-0.0025747490905019266,1.6375598800488687],[0.029194237440148374,1.6662657606465168]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[0.10554315400138714,-0.7515987953811356,0.71338606911949],"aabb_xy":[[0.09367107098988604,-0.836598795074786],[0.11741523701288827,-0.6665987956874853]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.5453777018064863,0.5096715335208741,0.71338606911949],"aabb_xy":[[-0.5678741232403504,0.4871715337141267],[-0.5228812803726222,0.5321715333276216]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[-0.15738981424717757,-0.9126863771283396,0.71338606911949],"aabb_xy":[[-0.20347490550190908,-0.9766863743808947],[-0.11130472299244613,-0.8486863798757844]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.5482012968753778,-2.2222522476533277,0.71338606911949],"aabb_xy":[[0.48420129660139954,-2.2723183478506157],[0.612201297149356,-2.1721861474560398]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.06833800853674243,-2.277364450224502,0.71338606911949],"aabb_xy":[[0.04945362476823223,-2.296250375004855],[0.08722239230525264,-2.2584785254441493]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.16879869390836244,-0.41085890326609276,0.71338606911949],"aabb_xy":[[-0.2327986971270003,-0.4575820151651011],[-0.10479869068972458,-0.3641357913670844]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.574974671629588,-0.2512963658340719,0.71338606911949],"aabb_xy":[[-0.6099746716060839,-0.26076098188168856],[-0.5399746716530922,-0.24183174978645533]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.1869870553099594,-2.2019059072784923,0.71338606911949],"aabb_xy":[[0.17030991931686393,-2.2186058312524226],[0.20366419130305494,-2.185205983304562]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.16594434922605839,1.2394429649648728,0.71338606911949],"aabb_xy":[[-0.17140229486307845,1.1594429616572137],[-0.16048640358903832,1.319442968272532]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[0.23564701784019693,-1.8798267526808714,0.71338606911949],"aabb_xy":[[0.2286055668894493,-1.8868535044186658],[0.2426884687909445,-1.872800000943077]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[0.5971020117635744,1.4144779557760034,0.71338606911949],"aabb_xy":[[0.5121020133461511,1.3296036603137185],[0.6821020101809976,1.4993522512382884]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[-0.12092727287193872,-2.5045650682381715,0.71338606911949],"aabb_xy":[[-0.20092109645049694,-2.584565070831013],[-0.04093344929338051,-2.42456506564533]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[0.23284930055347886,-1.6616295805990053,0.71338606911949],"aabb_xy":[[0.1688492988754815,-1.7101469720783196],[0.2968493022314762,-1.6131121891196911]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[-0.4396846336478335,-1.3591858840181361,0.71338606911949],"aabb_xy":[[-0.46218463346173594,-1.363660500388617],[-0.4171846338339312,-1.3547112676476556]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[0.310176659713699,0.5676837724269608,0.71338606911949],"aabb_xy":[[0.27267665954182707,0.5349830370440535],[0.34767665988557095,0.6003845078098679]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_31","position":[0.3194788779809876,-2.5107278887853024,0.71338606911949],"aabb_xy":[[0.29447887842924914,-2.520870372650437],[0.3444788775327261,-2.5005854049201677]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_32","position":[-0.6455523966920916,-0.8937663546822918,0.71338606911949],"aabb_xy":[[-0.6865703400784626,-0.943766355313249],[-0.6045344533057209,-0.8437663540513344]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_33","position":[-0.5257328100169238,-1.5020407100613156,0.71338606911949],"aabb_xy":[[-0.6154198863250393,-1.5920407103157663],[-0.4360457337088084,-1.4120407098068652]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_34","position":[-0.29862832332345035,-1.0968978427695166,0.71338606911949],"aabb_xy":[[-0.38862832005906056,-1.150081306086811],[-0.20862832658784014,-1.043714379452222]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966055334248177,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1370.png","name":"1370"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1370.png","name":"1370"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6515.png","name":"6515"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2770.png","name":"2770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3738.png","name":"3738"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2164.png","name":"2164"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":751.4836788457956,"rotation_z_degrees":251.27848105579605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019062737464290606,0.007707685786714911,0.016664345599780164]},{"name":"camera_2","offset_m":[0.003796430898697297,0.0035690042402910654,0.0006073896331251494]},{"name":"camera_3","offset_m":[0.004581660252018713,-0.004343913797997395,-0.01109906286679144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015210331010911827,0.0005934819342379369,-0.0013207478185173285],"end_effector_yaw_offset_degrees":-0.12424409270288361},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016991590214454066,-0.0004815797369068452,-0.0019175889633881176],"end_effector_yaw_offset_degrees":0.19993289040390216},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001007759212801493,-0.0014560798665743558,0.0013635958516795168],"end_effector_yaw_offset_degrees":-0.4769643772103087}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001287396517693864,0.0018847387230913207],"position_m":[0.2786126034823061,0.15888473872309133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008657587271197857,-0.0004794119468619828],"position_m":[0.3538657587271198,0.30992058805313805,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004878289214346104,0.004133045564042675],"position_m":[0.2868217107856539,-0.03906695443595733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042255679311807605,-0.0035906284261413794],"position_m":[0.24577443206881924,-0.3400906284261414,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e4cd963e5b47ae065eb388d9e39e287dd171e171856b50d44802775a7708fb57","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1370/tex_ceiling_textures_2164/tex_floor_textures_3738/tex_table_textures_6515/tex_wall_textures_2770","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1996517909142261153,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1996517909142261153,"visual_seed":1996517909142261153,"scene_id":"lab_003","finished_at":"2026-09-02T04:46:42"}
+{"episode_id":"ep_000050","started_at":"2026-09-02T04:46:46","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[0.3621221020376,-2.5483168107215817,0.71338606911949],"aabb_xy":[[0.3540084473642229,-2.5564226271756105],[0.3702357567109771,-2.540210994267553]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.45938417211614035,1.4412453109579801,0.71338606911949],"aabb_xy":[[-0.5143841703178851,1.4007233443315426],[-0.40438417391439546,1.4817672775844177]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.48608396637029605,-0.7530946261159777,0.71338606911949],"aabb_xy":[[0.4556858552711524,-0.783501528117647],[0.5164820774694395,-0.7226877241143079]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.6398825577257542,0.9920221607319744,0.71338606911949],"aabb_xy":[[-0.6617723053146949,0.9020221634427252],[-0.6179928101368133,1.0820221580212235]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.002818006511824178,-1.2239749543075584,0.71338606911949],"aabb_xy":[[-0.05779172854815706,-1.2789749538717918],[0.052155715524508706,-1.1689749547433255]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.6455263224913599,-2.0546486053671105,0.71338606911949],"aabb_xy":[[-0.6630262559253431,-2.0721486052873446],[-0.6280263890573764,-2.0371486054468755]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[-0.36261810580277726,-2.3183389353660435,0.71338606911949],"aabb_xy":[[-0.4426181044596632,-2.3328437942903064],[-0.2826181071458912,-2.3038340764417806]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.15469361240329682,1.5470740285627653,0.71338606911949],"aabb_xy":[[-0.23469360980689025,1.4670814573645825],[-0.07469361499970341,1.6270665997609481]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.3908183798523488,-1.7247602270354745,0.71338606911949],"aabb_xy":[[-0.40849401044094713,-1.742440443314877],[-0.37314274926375046,-1.7070800107560715]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.5089506643311972,-1.9951497963715612,0.71338606911949],"aabb_xy":[[0.49707858131969607,-2.0801497960652116],[0.5208227473426983,-1.9101497966779108]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.04546989899671938,-1.453064150883017,0.71338606911949],"aabb_xy":[[-0.054763517233869956,-1.490564149371151],[-0.036176280759568795,-1.4155641523948832]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.22459489505969926,-1.183461227561334,0.71338606911949],"aabb_xy":[[-0.2306895229478176,-1.1920306221130028],[-0.21850026717158097,-1.1748918330096654]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.49578668959050903,-1.293398958064303,0.71338606911949],"aabb_xy":[[-0.5457866909513962,-1.3433768626397184],[-0.4457866882296218,-1.2434210534888872]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.05749248900907922,1.3914499633914832,0.71338606911949],"aabb_xy":[[0.04434124303778986,1.3664499636347966],[0.07064373498036858,1.4164499631481697]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[-0.5627680626760271,0.3989468742224749,0.71338606911949],"aabb_xy":[[-0.5721855372458898,0.3895306970847559],[-0.5533505881061643,0.40836305136019396]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.19905295470306683,-0.9535513597743646,0.71338606911949],"aabb_xy":[[0.11905913112450861,-1.0335513623672061],[0.27904677828162505,-0.873551357181523]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.141964798451938,1.7777004941863432,0.71338606911949],"aabb_xy":[[0.11741858282918725,1.747451597637306],[0.16651101407468868,1.80794939073538]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.27594702427502027,0.4335740869625466,0.71338606911949],"aabb_xy":[[-0.29844702451853566,0.42136945230277467],[-0.2534470240315049,0.4457787216223186]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.5511208476993821,0.5523469131376766,0.71338606911949],"aabb_xy":[[0.4911208460564602,0.5003467638457324],[0.6111208493423039,0.6043470624296208]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.4643644846971289,-0.47735800600521694,0.71338606911949],"aabb_xy":[[0.3843644832670017,-0.5568751610178264],[0.5443644861272561,-0.39784085099260746]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[-0.15651096635788864,0.24428835632223445,0.71338606911949],"aabb_xy":[[-0.20660843033896223,0.18028835581242267],[-0.10641350237681499,0.30828835683204625]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.5693563899522947,-0.8322374947187425,0.71338606911949],"aabb_xy":[[-0.5763978409030421,-0.8392642464565372],[-0.5623149390015469,-0.8252107429809481]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946383512598603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4840.png","name":"4840"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4840.png","name":"4840"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/865.png","name":"865"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6797.png","name":"6797"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3883.png","name":"3883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1349.png","name":"1349"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":551.562924214079,"rotation_z_degrees":125.8344303913212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004964817854085094,-0.00930276085453857,-0.010657561735179542]},{"name":"camera_2","offset_m":[-0.00865021400145476,0.0005482429910249088,-0.0007333382627683245]},{"name":"camera_3","offset_m":[-0.0038134821366800423,-0.00014006354419729417,-0.009183831316272215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00019963107832715338,-0.0019453588932514415,-0.0017653282251527437],"end_effector_yaw_offset_degrees":0.3372084453216522},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018923488692765727,-0.0010016344355375307,0.001183294612680904],"end_effector_yaw_offset_degrees":-0.6837830472366799},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0001791107609006421,-0.001569917542381812,0.0013497093891397254],"end_effector_yaw_offset_degrees":0.30244341368103833}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003743853177813751,-0.0013115678634041394],"position_m":[0.27615614682218625,0.15568843213659586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005114892111311928,-0.0021298593445695235],"position_m":[0.3524885107888688,0.30827014065543046,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00019616153152693123,-0.0016793576962050882],"position_m":[0.2918961615315269,-0.04487935769620509,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003513861767314568,-0.002047817775012748],"position_m":[0.24648613823268542,-0.33854781777501275,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"43206c5b115ff5c2551ca99aa590ea88983c462f5a341ba553e0e6207eb1d215","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4840/tex_ceiling_textures_1349/tex_floor_textures_3883/tex_table_textures_865/tex_wall_textures_6797","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3654330900922554390,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3654330900922554390,"visual_seed":3654330900922554390,"scene_id":"lab_003","finished_at":"2026-09-02T04:49:22"}
+{"episode_id":"ep_000051","started_at":"2026-09-02T04:49:25","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.5845534055298053,0.7182798583247281,0.71338606911949],"aabb_xy":[[-0.622053404105426,0.70554356266117],[-0.5470534069541844,0.7310161539882859]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.6402207003279977,-0.9631050225035456,0.71338606911949],"aabb_xy":[[-0.6519888871226552,-1.0481050224087674],[-0.6284525135333402,-0.8781050225983242]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.5768003392902009,-0.24511237380815354,0.71338606911949],"aabb_xy":[[-0.6220789541713502,-0.3091123731563372],[-0.5315217244090517,-0.18111237445996983]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.2962132514924892,-1.372116430742969,0.71338606911949],"aabb_xy":[[0.27121325222052695,-1.388461794339131],[0.3212132507644515,-1.3557710671468064]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.11113439715988749,-1.9163855288405216,0.71338606911949],"aabb_xy":[[0.08922571502053643,-1.938286195660612],[0.13304307929923853,-1.8944848620204306]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.05999282949669971,-1.4668118962633265,0.71338606911949],"aabb_xy":[[0.05129486720598442,-1.478936870570801],[0.068690791787415,-1.4546869219558516]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.4538262999933702,-2.2489815309936727,0.71338606911949],"aabb_xy":[[0.43632630085900304,-2.2588611580312596],[0.4713262991277374,-2.239101903956084]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[0.41899413895454485,-1.917648245323191,0.71338606911949],"aabb_xy":[[0.32899414221893464,-1.970831708640485],[0.5089941356901551,-1.864464782005896]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.5224133832161919,-1.1507292788585322,0.71338606911949],"aabb_xy":[[0.4674133835944462,-1.205712971646005],[0.5774133828379379,-1.0957455860710597]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.5887116008385009,-0.0277636133727146,0.71338606911949],"aabb_xy":[[0.5804970557228167,-0.03644020367035588],[0.5969261459541847,-0.019087023075073314]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.5514216799341387,-0.614046380110095,0.71338606911949],"aabb_xy":[[0.4714216812772527,-0.6285512390343577],[0.6314216785910247,-0.5995415211858321]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.14230736061232252,-1.4430638226824763,0.71338606911949],"aabb_xy":[[-0.17980736110968076,-1.4470325062305947],[-0.10480736011496428,-1.4390951391343576]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.6561352745491504,-2.1863936340489643,0.71338606911949],"aabb_xy":[[-0.6790509874342003,-2.2092979311853878],[-0.6332195616641005,-2.1634893369125408]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[-0.3640504272372377,-0.7569188432749532,0.71338606911949],"aabb_xy":[[-0.45405042696041187,-0.7799921958101329],[-0.2740504275140635,-0.7338454907397732]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.016822734855141186,-0.8621913972098769,0.71338606911949],"aabb_xy":[[-0.039319156289005286,-0.8846913970166244],[0.005673686578722914,-0.8396913974031295]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.46385997353272046,-0.4346177930971642,0.71338606911949],"aabb_xy":[[0.4138599739563858,-0.48459837204927014],[0.5138599731090552,-0.38463721414505825]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[0.5746877814200986,0.46080911863541596,0.71338606911949],"aabb_xy":[[0.5709845200909596,0.45710710032669805],[0.5783910427492374,0.46451113694413376]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.35548308612660123,-0.6073941788474313,0.71338606911949],"aabb_xy":[[-0.4054618946369171,-0.65739417885315],[-0.30550427761628535,-0.5573941788417124]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.5251916216143044,1.277804188935106,0.71338606911949],"aabb_xy":[[0.4886958009870256,1.2413202465083484],[0.5616874422415831,1.3142881313618635]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.5437044333262099,0.5890600082393198,0.71338606911949],"aabb_xy":[[-0.6077044352385521,0.5331488589813094],[-0.4797044314138674,0.6449711574973302]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.04575635346992635,-0.7629472556298429,0.71338606911949],"aabb_xy":[[-0.0832563542619218,-0.769315096588033],[-0.0082563526779309,-0.7565794146716528]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.63307564543055,1.2911712061546998,0.71338606911949],"aabb_xy":[[-0.666554812691591,1.2576920927835928],[-0.5995964781695091,1.3246503195258068]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.5046330993660002,-2.3655466542728063,0.71338606911949],"aabb_xy":[[0.44463309850518734,-2.4169730842792916],[0.5646331002268129,-2.3141202242663192]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934969974271304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/525.png","name":"525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7909.png","name":"7909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7783.png","name":"7783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.2216894687942,"rotation_z_degrees":190.8239223621344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008701591087744527,-0.01320607861645796,-0.007331516825080469]},{"name":"camera_2","offset_m":[0.008500206200659437,-0.0006917683284291196,0.007960299246390929]},{"name":"camera_3","offset_m":[-0.008751271185306728,-0.01919670227655122,-0.00916651045914549]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007470439134135978,-0.00017336352561229387,-0.00015241003893054386],"end_effector_yaw_offset_degrees":0.2252528491150001},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00025964705628240105,-0.0006586513161248911,-0.00154757286449065],"end_effector_yaw_offset_degrees":0.91672694393847},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018527865625315209,0.0017150443541537356,0.00024888900299776737],"end_effector_yaw_offset_degrees":-0.27873289638675014}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027609801489505603,0.0012106601478990668],"position_m":[0.27713901985104944,0.15821066014789906,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005843954279145767,-0.004561991783197974],"position_m":[0.35241560457208543,0.305838008216802,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[5.112924049287433e-05,-0.004960244606179877],"position_m":[0.2917511292404929,-0.04816024460617988,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036245940591783645,0.00033380732552823825],"position_m":[0.25362459405917837,-0.3361661926744718,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"90e958fc7d33e1093ce9a05d0f848b958ad2b4fdb7cfad354df311d0a603a673","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6007/tex_ceiling_textures_1998/tex_floor_textures_7783/tex_table_textures_525/tex_wall_textures_7909","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1551363455610153510,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1551363455610153510,"visual_seed":1551363455610153510,"scene_id":"lab_003","finished_at":"2026-09-02T04:51:51"}
+{"episode_id":"ep_000052","started_at":"2026-09-02T04:51:54","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.14405940725499655,-0.7895255246621657,0.71338606911949],"aabb_xy":[[-0.16155940638936372,-0.7994051516997535],[-0.12655940812062938,-0.7796458976245778]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.5421759111095312,-0.20393466647543557,0.71338606911949],"aabb_xy":[[0.5078596339349133,-0.2539346664486133],[0.5764921882841492,-0.15393466650225782]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.41893697545534764,0.753837839767479,0.71338606911949],"aabb_xy":[[-0.4739292260908587,0.6988378380241663],[-0.36394472481983675,0.808837841510792]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.510807838338964,-1.498410065224393,0.71338606911949],"aabb_xy":[[-0.5458078382349829,-1.5067843007363326],[-0.4758078384429452,-1.490035829712453]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.10735004331011866,1.1424829083459582,0.71338606911949],"aabb_xy":[[-0.11178067266495884,1.1370345366112757],[-0.10291941395527848,1.1479312800806407]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.23384909588763153,-1.7072522516105355,0.71338606911949],"aabb_xy":[[-0.23796504599970417,-1.711367806643381],[-0.22973314577555884,-1.70313669657769]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.03506236885879521,1.0950773757512517,0.71338606911949],"aabb_xy":[[-0.04493145471976301,1.0150773731584104],[0.11505619243735343,1.1750773783440935]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.6051673626169831,-2.1482596522321913,0.71338606911949],"aabb_xy":[[0.5873738556820667,-2.166059397827989],[0.6229608695518996,-2.1304599066363936]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.3366620360393213,-2.202798990292696,0.71338606911949],"aabb_xy":[[0.3137463231542714,-2.2257032874291194],[0.3595777489243712,-2.1798946931562724]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.13067450048657503,-1.9267175601512219,0.71338606911949],"aabb_xy":[[0.09317449982199631,-1.942404618151444],[0.1681745011511537,-1.9110305021509997]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.015579256062692504,1.7306361321245336,0.71338606911949],"aabb_xy":[[0.0021327294286491716,1.7171662804714425],[0.029025782696735836,1.7441059837776252]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.12224764766079399,0.1454386651795776,0.71338606911949],"aabb_xy":[[-0.15568782285681354,0.1119950393486475],[-0.08880747246477436,0.17888229101050765]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.5700837064798909,0.5385497249113538,0.71338606911949],"aabb_xy":[[0.5646257608428709,0.45854972160369467],[0.575541652116911,0.6185497282190129]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.19867925606867542,-1.575016641977543,0.71338606911949],"aabb_xy":[[0.12867925425993001,-1.5963704107417305],[0.26867925787742086,-1.5536628732133557]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.27735413526688557,1.2136634440533514,0.71338606911949],"aabb_xy":[[0.21735413440607274,1.1622370140468645],[0.3373541361276983,1.2650898740598373]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.06540691885658345,0.8772349996914941,0.71338606911949],"aabb_xy":[[0.00040691621878996553,0.8257554009920471],[0.13040692149437694,0.9287145983909411]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.5691880722046989,0.8581808214164384,0.71338606911949],"aabb_xy":[[0.47918806987067986,0.7806984668313257],[0.659188074538718,0.935663176001551]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[0.404837099444318,-1.0753235406712762,0.71338606911949],"aabb_xy":[[0.3548596825790644,-1.1253235421605248],[0.4548145163095716,-1.0253235391820277]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.42920990173307283,-0.6310633405635795,0.71338606911949],"aabb_xy":[[0.37920990308715163,-0.6809828842230419],[0.479209900378994,-0.5811437969041171]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.3908226817548347,1.7193153248528046,0.71338606911949],"aabb_xy":[[-0.45482267905718105,1.6749488978849478],[-0.32682268445248824,1.7636817518206613]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[0.6126517397878457,0.2891458292001565,0.71338606911949],"aabb_xy":[[0.5226517403694747,0.2557703323559668],[0.7026517392062165,0.32252132604434625]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.4115335099983881,0.5271928125238552,0.71338606911949],"aabb_xy":[[0.3215335063214699,0.4657604059467507],[0.5015335136753062,0.5886252191009594]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.5618432671348548,1.507099410454765,0.71338606911949],"aabb_xy":[[-0.5785204031279503,1.4903994864808345],[-0.5451661311417593,1.523799334428695]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[0.1700968053791021,-1.2593381609948964,0.71338606911949],"aabb_xy":[[0.1475968053689538,-1.2734343806344994],[0.1925968053892504,-1.2452419413552929]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[-0.2636032176731827,0.6062852050617673,0.71338606911949],"aabb_xy":[[-0.2973787768638756,0.5922467098486023],[-0.22982765848248965,0.6203237002749323]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.2813764786726619,1.0506525778622353,0.71338606911949],"aabb_xy":[[-0.3453764790501955,1.000907311011423],[-0.21737647829512824,1.1003978447130476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947188043693809,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8409.png","name":"8409"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8409.png","name":"8409"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7779.png","name":"7779"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1614.png","name":"1614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3155.png","name":"3155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":641.0670512900003,"rotation_z_degrees":28.50076569751377,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016751590859064847,-0.01902933947166585,0.012215792880409474]},{"name":"camera_2","offset_m":[0.014498358546850689,-0.009302660831448227,-0.006982747650498751]},{"name":"camera_3","offset_m":[-0.003257730193090079,0.004390911388489179,0.01106364596400173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006371271283983977,-0.0009422559437768316,0.0017430430788761575],"end_effector_yaw_offset_degrees":-0.3363676283070085},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016700787890448483,-0.0019379099164798341,-0.0019548914563172768],"end_effector_yaw_offset_degrees":0.9552025685632897},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001386303862415208,0.0007955371182939686,-0.0017629876122088218],"end_effector_yaw_offset_degrees":0.7476503836853705}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002534232423243935,-0.004642692994047571],"position_m":[0.2773657675767561,0.15235730700595243,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001970332864307769,0.000978156516962916],"position_m":[0.3510296671356922,0.31137815651696293,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004118999679973683,0.0019741347834585097],"position_m":[0.2875810003200263,-0.041225865216541493,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004147273164357979,0.003476995291312947],"position_m":[0.254147273164358,-0.33302300470868706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8fd466e3aef232efcb6c9db6addf0d94b6afbc3c8981dc9f62e8461a1f059751","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8409/tex_ceiling_textures_2707/tex_floor_textures_3155/tex_table_textures_7779/tex_wall_textures_1614","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":969406870391811320,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":969406870391811320,"visual_seed":969406870391811320,"scene_id":"lab_003","finished_at":"2026-09-02T04:54:27"}
+{"episode_id":"ep_000053","started_at":"2026-09-02T04:54:30","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.1704347666962266,-1.0890588224971778,0.71338606911949],"aabb_xy":[[-0.2079347652718474,-1.1017951181607355],[-0.13293476812060578,-1.0763225268336196]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.3209677658289054,-1.9533690054627404,0.71338606911949],"aabb_xy":[[0.3129414951982794,-1.9621205004400932],[0.3289940364595314,-1.944617510485388]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.33181805263368797,0.4937862218765394,0.71338606911949],"aabb_xy":[[-0.35431805264383626,0.47969000223693614],[-0.3093180526235397,0.5078824415161427]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[0.6306847028066429,0.31853471308545256,0.71338606911949],"aabb_xy":[[0.6028396660260358,0.2877502143471409],[0.65852973958725,0.34931921182376424]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.17848471529926024,-1.958381276194473,0.71338606911949],"aabb_xy":[[0.16771174137789246,-1.993381274413512],[0.18925768922062802,-1.923381277975434]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.2520072003949023,0.47459450576182727,0.71338606911949],"aabb_xy":[[0.2459701873942376,0.4685678046928791],[0.25804421339556705,0.4806212068307755]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.6961135462956045,-0.4785843914977961,0.71338606911949],"aabb_xy":[[0.6711135463630866,-0.4854670597187194],[0.7211135462281224,-0.47170172327687276]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.1065452395233153,0.36468143353274707,0.71338606911949],"aabb_xy":[[-0.18654523999353126,0.35637072591839875],[-0.026545239053099363,0.3729921411470955]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[-0.563919364257854,-1.7928202140400442,0.71338606911949],"aabb_xy":[[-0.6137361437226889,-1.8428202125243476],[-0.5141025847930194,-1.7428202155557408]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.11707436372967639,0.46808070573401395,0.71338606911949],"aabb_xy":[[-0.13898304586902743,0.44618003891392316],[-0.09516568159032535,0.4899813725541046]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.4493593396741859,0.3738025225506578,0.71338606911949],"aabb_xy":[[-0.5133593400517196,0.32405725569984556],[-0.38535933929665234,0.4235477894014701]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.26529889490260616,-0.8322692909256664,0.71338606911949],"aabb_xy":[[0.23029889663248626,-0.8393434186206544],[0.30029889317272607,-0.8251951632306781]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.3596416489463657,1.5312325731671792,0.71338606911949],"aabb_xy":[[-0.39643628207127196,1.4943266980705967],[-0.3228470158214594,1.5681384482637613]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.6375848992669777,0.06004085794342551,0.71338606911949],"aabb_xy":[[0.6031224212538899,0.05337718076050268],[0.6720473772800655,0.06670453512634833]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.041564826066348703,-1.6934168072813711,0.71338606911949],"aabb_xy":[[0.03031977049573087,-1.7046586050054662],[0.05280988163696654,-1.6821750095572756]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.1401274986966582,-2.1332924192044276,0.71338606911949],"aabb_xy":[[0.13478992303065362,-2.158292420133568],[0.14546507436266276,-2.1082924182752882]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[0.13366369875207407,-0.6599090885440542,0.71338606911949],"aabb_xy":[[0.11675296631573227,-0.6733812941366687],[0.15057443118841582,-0.6464368829514396]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.29183094978631796,0.9737012386947574,0.71338606911949],"aabb_xy":[[-0.3818309492046888,0.9403257418505678],[-0.20183095036794702,1.0070767355389472]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.5972478999151314,0.039391891932781586,0.71338606911949],"aabb_xy":[[-0.6522478990917209,-0.015597782842176063],[-0.5422479007385419,0.09438156670773923]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.21989636676767293,1.2394518517521602,0.71338606911949],"aabb_xy":[[-0.3095834430757884,1.1494518514977097],[-0.13020929045955748,1.3294518520066108]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.29327363405982576,-1.037840807392278,0.71338606911949],"aabb_xy":[[0.2292736323818284,-1.0863581988715922],[0.3572736357378231,-0.9893234159129638]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.42624387717903944,-0.30503475351050513,0.71338606911949],"aabb_xy":[[-0.4322104161197752,-0.31099589816986917],[-0.4202773382383036,-0.2990736088511411]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.3525895088252613,-2.3338748541999053,0.71338606911949],"aabb_xy":[[0.31508950900822774,-2.338513065511047],[0.39008950864229486,-2.3292366428887634]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.46789266978059996,-1.091195841324962,0.71338606911949],"aabb_xy":[[-0.4759360297065551,-1.1761958424203285],[-0.4598493098546447,-1.0061958402295956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922874308478503,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5846.png","name":"5846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5846.png","name":"5846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8538.png","name":"8538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8291.png","name":"8291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9637.png","name":"9637"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3237.png","name":"3237"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":767.3287903812152,"rotation_z_degrees":71.36167453229673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012228493242092266,0.01513418852604818,0.015013653995489106]},{"name":"camera_2","offset_m":[-0.011404660055081242,-0.018633593843846347,-0.018754143773845135]},{"name":"camera_3","offset_m":[-0.017541096317054822,0.011809307510520058,0.007998055326542564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006536414026935972,0.0016954949785442947,-0.0019389154414537365],"end_effector_yaw_offset_degrees":-0.9887553316418207},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[1.623580497904639e-05,-0.0018326544682388938,6.094307869701325e-05],"end_effector_yaw_offset_degrees":-0.026632713909207073},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016496557948490437,-0.001391180388930568,0.0004525201983597584],"end_effector_yaw_offset_degrees":-0.4891822385701532}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001096093136179992,0.0022293886122407127],"position_m":[0.28099609313617996,0.1592293886122407,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022594640232924536,-0.0038986776772080576],"position_m":[0.3507405359767075,0.3065013223227919,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008780140949069719,-0.003100717498809397],"position_m":[0.29082198590509306,-0.0463007174988094,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024173380264149447,-0.002963486545610389],"position_m":[0.24758266197358506,-0.3394634865456104,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3651f458745ca48f1d4df489eaa7f26ea7d01146a4c9e63c161dc647ffe079ce","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5846/tex_ceiling_textures_3237/tex_floor_textures_9637/tex_table_textures_8538/tex_wall_textures_8291","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4000225886594159643,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4000225886594159643,"visual_seed":4000225886594159643,"scene_id":"lab_003","finished_at":"2026-09-02T04:57:04"}
+{"episode_id":"ep_000054","started_at":"2026-09-02T04:57:07","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[-0.13827681776795542,0.6860144037992786,0.71338606911949],"aabb_xy":[[-0.17175598502899636,0.6525352904281717],[-0.10479765050691447,0.7194935171703857]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.1420611649465442,-2.490508475531024,0.71338606911949],"aabb_xy":[[-0.15670457050057715,-2.5051671951878083],[-0.12741775939251118,-2.47584975587424]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.4893402341238636,-0.870020057489364,0.71338606911949],"aabb_xy":[[-0.5064423120822317,-0.8871268630206336],[-0.4722381561654954,-0.8529132519580941]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.3589660519715924,0.7862453902348836,0.71338606911949],"aabb_xy":[[-0.4229660533795831,0.7344564387109588],[-0.29496605056360176,0.8380343417588082]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[0.6918471077495385,-1.1882431196935859,0.71338606911949],"aabb_xy":[[0.6786958617782491,-1.2132431194502724],[0.7049983537208279,-1.1632431199368993]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.13416459053158547,-2.3929102465909686,0.71338606911949],"aabb_xy":[[0.09731404259459783,-2.430410247414003],[0.17101513846857305,-2.3554102457679353]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.15680407720458478,1.5734932986341916,0.71338606911949],"aabb_xy":[[-0.1792688471759899,1.5509932977553311],[-0.13433930723317966,1.5959932995130521]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.1585675282860569,-0.3470394054743706,0.71338606911949],"aabb_xy":[[-0.22356752684312975,-0.37679193888825324],[-0.09356752972898408,-0.317286872060488]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[0.4402053882219652,-1.6737357046276855,0.71338606911949],"aabb_xy":[[0.43199084310628116,-1.6824122949253262],[0.4484199333376491,-1.6650591143300435]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[0.425557907805576,-1.0221722155369786,0.71338606911949],"aabb_xy":[[0.41232696227089466,-1.0353996345589778],[0.43878885334025725,-1.008944796514979]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[-0.13444284449954458,-1.5463316548861712,0.71338606911949],"aabb_xy":[[-0.18444211966798077,-1.5963316561621184],[-0.08444356933110844,-1.496331653610224]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.07927524713604939,-0.9679417469011167,0.71338606911949],"aabb_xy":[[0.05543902949544434,-1.0579417477096034],[0.10311146477665448,-0.8779417460926304]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.33205507955374736,-0.6671284174634156,0.71338606911949],"aabb_xy":[[0.26805507787575,-0.7156458089427299],[0.3960550812317447,-0.6186110259841014]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.18274063917311434,-0.5785526021301903,0.71338606911949],"aabb_xy":[[-0.24037110806038517,-0.6385526010569008],[-0.12511017028584348,-0.5185526032034796]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.2086622561670317,1.1071891685623783,0.71338606911949],"aabb_xy":[[-0.2157025661005688,1.027189169162707],[-0.2016219462334948,1.1871891679620499]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.645922858782308,-1.9359757994169144,0.71338606911949],"aabb_xy":[[-0.6704364828793139,-1.960240392718951],[-0.6214092346853022,-1.911711206114878]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.6500583331406024,1.5802687056724918,0.71338606911949],"aabb_xy":[[-0.6875583339325978,1.5739008647143014],[-0.6125583323486069,1.5866365466306818]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.3281710896612195,-1.2418288298605331,0.71338606911949],"aabb_xy":[[-0.3631710896377153,-1.2512934459081497],[-0.29317108968472366,-1.2323642138129165]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.2688686640068045,-0.15569378902700404,0.71338606911949],"aabb_xy":[[-0.302308839202824,-0.18913741485793406],[-0.2354284888107848,-0.12225016319607392]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.46165293398644536,-2.1707474228217247,0.71338606911949],"aabb_xy":[[-0.5116477669143868,-2.2207474217169683],[-0.4116581010585037,-2.120747423926481]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.605199371872323,-1.9090675520281466,0.71338606911949],"aabb_xy":[[0.5151993753714511,-1.9549791944466046],[0.6951993683731946,-1.8631559096096881]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.4894283393931509,1.341646232647042,0.71338606911949],"aabb_xy":[[-0.501300422404652,1.2566462329533916],[-0.4775562563816498,1.4266462323406923]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.4787681332690624,0.2718589147335231,0.71338606911949],"aabb_xy":[[-0.4868817879424395,0.263753098279494],[-0.4706544785956853,0.27996473118755216]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[0.2961621643442405,-0.9703208387302058,0.71338606911949],"aabb_xy":[[0.2836948062345049,-0.9827861633635293],[0.3086295224539762,-0.9578555140968823]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.2124282429008586,1.6188064639963096,0.71338606911949],"aabb_xy":[[0.19732594143984047,1.6037049423652472],[0.22753054436187667,1.633907985627371]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[-0.3034518238440119,-2.033721190856801,0.71338606911949],"aabb_xy":[[-0.36845182172565977,-2.084844854563342],[-0.2384518259623642,-1.98259752715026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957564456508213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5186.png","name":"5186"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5186.png","name":"5186"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3126.png","name":"3126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1613.png","name":"1613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3222.png","name":"3222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8667.png","name":"8667"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":647.0128980502329,"rotation_z_degrees":348.82479321734513,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005644953764567525,0.015852970736628846,-0.015082464674189909]},{"name":"camera_2","offset_m":[-0.019191600898279808,-0.001299355274402357,0.0072802206996872044]},{"name":"camera_3","offset_m":[-0.018699139711642245,-0.018454261477744247,-0.003357575880132524]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-7.067581075151483e-05,-0.0012725757515648075,-0.00039919608208216625],"end_effector_yaw_offset_degrees":-0.2971620369887975},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008935944562279842,-0.0017610426766652965,0.0002609285273382322],"end_effector_yaw_offset_degrees":0.6399506608495977},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007195966974030722,0.0008867835015286679,0.000778739831878387],"end_effector_yaw_offset_degrees":-0.7358061035976813}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008029772739841477,-0.002367849087777937],"position_m":[0.28070297727398413,0.15463215091222207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002358288203573805,0.004053309611362827],"position_m":[0.35064171179642617,0.31445330961136286,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004826525615476681,0.0026447182259053863],"position_m":[0.2965265256154767,-0.04055528177409461,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004445658480416667,-0.001419917159736711],"position_m":[0.25444565848041667,-0.33791991715973674,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b48558f52fa1d6ddbe609029c830254829fe34a8919571efb5ba91598d3d3cf2","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5186/tex_ceiling_textures_8667/tex_floor_textures_3222/tex_table_textures_3126/tex_wall_textures_1613","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2522851847819147386,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2522851847819147386,"visual_seed":2522851847819147386,"scene_id":"lab_003","finished_at":"2026-09-02T04:59:48"}
+{"episode_id":"ep_000055","started_at":"2026-09-02T04:59:51","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.19797774015173775,-2.0122509274617455,0.71338606911949],"aabb_xy":[[0.1379777395557216,-2.067063400006969],[0.2579777407477539,-1.957438454916522]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.7034264886606605,0.2585603972944295,0.71338606911949],"aabb_xy":[[0.6974599497199248,0.25259925263506544],[0.7093930276013962,0.2645215419537935]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.0002920425281476291,-1.5834251019397727,0.71338606911949],"aabb_xy":[[-0.0902920462050658,-1.6448575085168766],[0.08970796114877054,-1.521992695362668]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.5356962936050069,0.6574740406562216,0.71338606911949],"aabb_xy":[[0.5022561184089871,0.6240304148252914],[0.5691364688010263,0.6909176664871516]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.40261824211779157,0.8531049499826895,0.71338606911949],"aabb_xy":[[-0.4202938727063899,0.8354247337032867],[-0.38494261152919323,0.8707851662620922]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.2815835614838344,-0.9832449266293184,0.71338606911949],"aabb_xy":[[-0.3515835636152638,-1.0060068922550138],[-0.21158355935240475,-0.9604829610036225]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.4390730643975209,1.5219566754712708,0.71338606911949],"aabb_xy":[[0.4145268487747702,1.4917077789222337],[0.46361928002027164,1.5522055720203078]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.6262602253617546,-0.32195983269392947,0.71338606911949],"aabb_xy":[[0.6037954553903495,-0.3444598335727899],[0.6487249953331597,-0.2994598318150689]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.06435746546826393,-2.536522950416949,0.71338606911949],"aabb_xy":[[-0.08464176819166268,-2.556805575559657],[-0.04407316274486516,-2.51624032527424]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[0.15966693949186195,1.030029231200241,0.71338606911949],"aabb_xy":[[0.10967382738267006,0.9800292305260456],[0.20966005160105386,1.080029231874437]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.09296537066984412,-2.258647290610382,0.71338606911949],"aabb_xy":[[-0.13046537101807187,-2.2704386861914654],[-0.055465370321616345,-2.2468558950292983]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.06315868174561279,-0.7103303076364222,0.71338606911949],"aabb_xy":[[-0.08506736388496383,-0.732230974456513],[-0.041249999606261745,-0.6884296408163315]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.31072801504534653,-2.0506598600036385,0.71338606911949],"aabb_xy":[[-0.39572801373742117,-2.0826457233985174],[-0.2257280163532719,-2.0186739966087597]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.21338966521368136,-0.15082824309757736,0.71338606911949],"aabb_xy":[[-0.2213831550089634,-0.15882637503805305],[-0.20539617541839936,-0.14283011115710173]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.6598710732345627,-2.4498982774785754,0.71338606911949],"aabb_xy":[[0.595871076122457,-2.498930647272986],[0.7238710703466684,-2.4008659076841647]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.51865050472753,0.529854770721621,0.71338606911949],"aabb_xy":[[-0.5536505046235489,0.521480535209681],[-0.48365050483151123,0.5382290062335608]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.4388391369250369,-0.0616479153093934,0.71338606911949],"aabb_xy":[[-0.4671688468735771,-0.06610865750311046],[-0.41050942697649667,-0.057187173115676344]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.40671354481907357,-1.669271122118542,0.71338606911949],"aabb_xy":[[-0.46168726685540645,-1.7242711216827753],[-0.3517398227827407,-1.614271122554309]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[-0.1529064897039779,0.8293178073014387,0.71338606911949],"aabb_xy":[[-0.2029064883498991,0.7793982636419764],[-0.10290649105805671,0.8792373509609012]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.3036041334950529,-2.4493990688894964,0.71338606911949],"aabb_xy":[[-0.31623092078224924,-2.458945142591069],[-0.29097734620785654,-2.439852995187923]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.013184537982393496,0.8765535466124978,0.71338606911949],"aabb_xy":[[0.0012518036205654282,0.8641713938046385],[0.025117272344221564,0.8889356994203572]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.21459743177689278,0.6652907957844367,0.71338606911949],"aabb_xy":[[-0.25209743020029307,0.652126581816606],[-0.1770974333534924,0.6784550097522672]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[0.1522928292709803,1.6108565847354925,0.71338606911949],"aabb_xy":[[0.10281240805702155,1.5468565868226407],[0.20177325048493913,1.6748565826483444]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.049174861436391826,1.7293094554117654,0.71338606911949],"aabb_xy":[[0.03657216229931537,1.7167140591869],[0.06177756057346828,1.741904851636631]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.18145638513576556,-1.89465689859022,0.71338606911949],"aabb_xy":[[0.17267515798852937,-1.9034366458787504],[0.19023761228300184,-1.8858771513016899]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[-0.09623657511197803,-1.3749141074726292,0.71338606911949],"aabb_xy":[[-0.13356785163722068,-1.4095671622674815],[-0.05890529858673542,-1.340261052677777]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.5957545875094596,1.2182312556131225,0.71338606911949],"aabb_xy":[[-0.675754589672222,1.1382760719869789],[-0.515754585346697,1.2981864392392661]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[0.6078976593265535,0.9394533228563229,0.71338606911949],"aabb_xy":[[0.5178976599081826,0.9060778260121333],[0.6978976587449244,0.9728288197005127]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[-0.5199375106702676,0.14489989341994525,0.71338606911949],"aabb_xy":[[-0.6099375071711393,0.09898825100148699],[-0.4299375141693958,0.19081153583840346]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[-0.12259426183629252,-0.3696395878963683,0.71338606911949],"aabb_xy":[[-0.1600942617800589,-0.37793267793120483],[-0.08509426189252609,-0.36134649786153167]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[0.6621380103317442,-1.4382588597039008,0.71338606911949],"aabb_xy":[[0.6470357088707259,-1.4533603813349623],[0.6772403117927621,-1.4231573380728384]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[-0.2923780841668839,1.4320717867595092,0.71338606911949],"aabb_xy":[[-0.34235689267719976,1.3820717867537902],[-0.242399275656568,1.4820717867652278]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_32","position":[-0.3771387080621746,-0.2027315935487466,0.71338606911949],"aabb_xy":[[-0.3960230918306848,-0.22161751832909937],[-0.3582543242936644,-0.1838456687683938]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[-0.10516683927451709,-2.0947830648829826,0.71338606911949],"aabb_xy":[[-0.11861336590856042,-2.108252916536074],[-0.09172031264047376,-2.0813132132298913]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_34","position":[0.3708292613324109,0.7487853442478811,0.71338606911949],"aabb_xy":[[0.2858292629149876,0.6639110487855961],[0.45582925974983407,0.8336596397101661]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6984580164374219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8998.png","name":"8998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8998.png","name":"8998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4180.png","name":"4180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9118.png","name":"9118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1338.png","name":"1338"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":684.4217782054873,"rotation_z_degrees":121.22481091108632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006972239867166823,0.008593793427445501,0.008312297674873834]},{"name":"camera_2","offset_m":[0.0199604570903326,-0.0053638484887160096,0.009048669126595358]},{"name":"camera_3","offset_m":[0.00460392712459164,0.010363309040703154,0.007843479505361284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009812461527834659,0.0005126337578713314,-0.0003761771311869527],"end_effector_yaw_offset_degrees":0.1648953169873708},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017812511293273637,-0.0006980563083824869,-0.0005286458445487518],"end_effector_yaw_offset_degrees":0.9135669336481211},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012150641999046684,0.0016675633739397172,0.0017088280836264395],"end_effector_yaw_offset_degrees":0.29116885986775776}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00398109113592594,-0.003690894840393143],"position_m":[0.27591890886407405,0.15330910515960686,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008037225674268822,0.003785459643413148],"position_m":[0.35380372256742687,0.31418545964341316,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00344170979153146,0.00041995331549318695],"position_m":[0.28825829020846855,-0.042780046684506814,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002071578071549416,-0.002081422418606993],"position_m":[0.24792842192845058,-0.338581422418607,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d758145cc8ca02be66e67d948883a87a112ebfe7af582c19432c641445d550f8","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8998/tex_ceiling_textures_1338/tex_floor_textures_9118/tex_table_textures_4180/tex_wall_textures_1463","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4129880179393543453,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4129880179393543453,"visual_seed":4129880179393543453,"scene_id":"lab_003","finished_at":"2026-09-02T05:02:24"}
+{"episode_id":"ep_000056","started_at":"2026-09-02T05:02:27","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.15380082822514152,0.5473662633622909,0.71338606911949],"aabb_xy":[[-0.16844423377917447,0.5327075437055067],[-0.1391574226711085,0.5620249830190751]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.2806612276633609,-1.0587491222005503,0.71338606911949],"aabb_xy":[[0.2733789112866971,-1.1487491258100588],[0.2879435440400244,-0.968749118591041]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.5404793119901721,0.39017693436658085,0.71338606911949],"aabb_xy":[[-0.5583484197446276,0.3763440263893699],[-0.5226102042357166,0.4040098423437918]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.16262748121773385,0.9289656997160209,0.71338606911949],"aabb_xy":[[0.0826274842034859,0.9088311480426097],[0.24262747823198186,0.9491002513894322]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.250774891894051,0.6672940594341163,0.71338606911949],"aabb_xy":[[-0.26213662654733716,0.6559255930278282],[-0.23941315724076484,0.6786625258404043]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.38420626874699426,0.9805956678881422,0.71338606911949],"aabb_xy":[[0.3342069935785581,0.9305956666121951],[0.4342055439154304,1.0305956691640894]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.023255989390321474,0.796175619980803,0.71338606911949],"aabb_xy":[[-0.057847072244366686,0.7311756196957718],[0.011335093463723743,0.8611756202658339]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.3293162401809348,0.1816674434262917,0.71338606911949],"aabb_xy":[[-0.3933162408844042,0.13564906095337073],[-0.26531623947746547,0.22768582589921277]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.3035408649644029,-2.3722217936247394,0.71338606911949],"aabb_xy":[[-0.3248188731078751,-2.4372217959508125],[-0.2822628568209306,-2.3072217912986663]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.48587860167284447,1.5934216859054007,0.71338606911949],"aabb_xy":[[-0.5408740794935039,1.5384216844714937],[-0.4308831238521851,1.6484216873393076]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.6174822097682677,-0.1367629617956574,0.71338606911949],"aabb_xy":[[0.5936459921276628,-0.2267629626041439],[0.6413184274088729,-0.0467629609871709]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.5901048330231646,0.8004033299573976,0.71338606911949],"aabb_xy":[[0.5682150854342238,0.7104033326681485],[0.6119945806121054,0.8904033272466467]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.3415821671365029,-2.044306998016965,0.71338606911949],"aabb_xy":[[-0.35921500273003043,-2.061929944032588],[-0.3239493315429753,-2.026684052001342]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.17670089178380577,0.8053119075920963,0.71338606911949],"aabb_xy":[[0.16877761154505744,0.7828119073540929],[0.1846241720225541,0.8278119078300996]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.15572424079035174,-2.3348251765126986,0.71338606911949],"aabb_xy":[[0.0917242388780094,-2.390736325770709],[0.21972424270269408,-2.278914027254688]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.4855725375853482,-0.9196814594340312,0.71338606911949],"aabb_xy":[[-0.5167194564289312,-0.9896814581208382],[-0.454425618741765,-0.8496814607472238]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.5640733058865581,-1.1063797761724283,0.71338606911949],"aabb_xy":[[0.49907330492943097,-1.1583279881061335],[0.6290733068436853,-1.0544315642387223]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.08377552559434509,-1.5200576163264927,0.71338606911949],"aabb_xy":[[0.03379671708402919,-1.5700576163322115],[0.13375433410466098,-1.470057616320774]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.33223233648598216,1.2643095069639654,0.71338606911949],"aabb_xy":[[-0.3547323367294976,1.2521048723041934],[-0.3097323362424668,1.2765141416237373]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.4700444401175907,-0.7224686936670863,0.71338606911949],"aabb_xy":[[0.41004443960973774,-0.7793154273530075],[0.5300444406254435,-0.6656219599811649]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.38319403779991834,-1.0403265936671906,0.71338606911949],"aabb_xy":[[-0.40819403735165677,-1.0504690775323253],[-0.3581940382481798,-1.0301841098020559]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.31787472220073876,-2.43735041378676,0.71338606911949],"aabb_xy":[[0.2803747220288668,-2.4700511491696666],[0.3553747223726107,-2.4046496784038522]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.48598461644809504,-0.5835777971154741,0.71338606911949],"aabb_xy":[[-0.5062689191714936,-0.6038604222581828],[-0.4657003137246962,-0.5632951719727651]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[-0.5288610878210461,-1.5630968393831584,0.71338606911949],"aabb_xy":[[-0.563861086091166,-1.5701709670781463],[-0.4938610895509262,-1.55602271168817]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.470150510216394,-1.3169143188199683,0.71338606911949],"aabb_xy":[[-0.5151505116826229,-1.361914175681449],[-0.4251505087501652,-1.2719144619584877]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[0.6101303969785292,-0.32312519828143227,0.71338606911949],"aabb_xy":[[0.5461303983919569,-0.37013216168094093],[0.6741303955651018,-0.2761182348819235]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[0.6972136801603928,-0.7021004117933787,0.71338606911949],"aabb_xy":[[0.6845868928731964,-0.7116464854949516],[0.7098404674475891,-0.6925543380918058]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[0.2710158766580666,-1.455067277688594,0.71338606911949],"aabb_xy":[[0.22493078540333514,-1.5190672749411491],[0.31710096791279807,-1.3910672804360389]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[0.41284169852764974,-1.1863003270257781,0.71338606911949],"aabb_xy":[[0.40268868297350024,-1.2223698685985185],[0.422994714081799,-1.1502307854530378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956483928239183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8281.png","name":"8281"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1741.png","name":"1741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9052.png","name":"9052"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3773.png","name":"3773"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":784.1372234804619,"rotation_z_degrees":130.8278469066538,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0098206652122572,0.004199427597380977,-0.008333448620429436]},{"name":"camera_2","offset_m":[-0.015365278276591145,0.0003008685249834518,0.0022666090105126976]},{"name":"camera_3","offset_m":[-0.0035502338602357818,0.018669350652744252,-0.016142132901396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015287948395697028,0.0016717802809018542,-0.0016133031746500537],"end_effector_yaw_offset_degrees":0.37675439461404037},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010830211088273724,-0.0004720432560674807,-0.0016406132876137952],"end_effector_yaw_offset_degrees":-0.8899002622793537},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011779617448212751,0.001662277043287655,-0.0010941546822690264],"end_effector_yaw_offset_degrees":0.6233194927472838}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005895597294547439,0.0017693322980191738],"position_m":[0.2804895597294547,0.15876933229801918,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007263362742249268,-0.0023543370006360097],"position_m":[0.3537263362742249,0.308045662999364,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007639501182292582,-0.0037543652254863917],"position_m":[0.2924639501182293,-0.04695436522548639,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00021253937374816987,-0.002155738033861029],"position_m":[0.25021253937374816,-0.33865573803386106,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"63e02848debc2c09e710f26006dbcb3bf98b76f884240325ecc08bd002fee7ac","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_529/tex_ceiling_textures_3773/tex_floor_textures_9052/tex_table_textures_8281/tex_wall_textures_1741","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":375176175935990172,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":375176175935990172,"visual_seed":375176175935990172,"scene_id":"lab_003","finished_at":"2026-09-02T05:05:01"}
+{"episode_id":"ep_000057","started_at":"2026-09-02T05:05:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.24548838022743585,-1.2619541661861782,0.71338606911949],"aabb_xy":[[-0.2589349068614792,-1.2754240178392693],[-0.23204185359339252,-1.248484314533087]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.13601964571550107,1.198019325051268,0.71338606911949],"aabb_xy":[[-0.15930148791363238,1.11301932375404],[-0.11273780351736971,1.2830193263484961]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.6292256666569205,-2.0706641204264087,0.71338606911949],"aabb_xy":[[-0.6542256665894384,-2.077546788647332],[-0.6042256667244026,-2.063781452205485]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.6561995522011888,0.05352992098043341,0.71338606911949],"aabb_xy":[[0.6418651270750252,0.04146970542589455],[0.6705339773273521,0.06559013653497224]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.5977893867048407,-1.0681196186744462,0.71338606911949],"aabb_xy":[[0.5477893854210006,-1.1180984730650683],[0.6477893879886806,-1.018140764283824]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[0.6871143991555999,-1.9225096123495853,0.71338606911949],"aabb_xy":[[0.6632781815149948,-2.0125096131580715],[0.710950616796205,-1.8325096115410988]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.2568703476524219,0.5620576645595796,0.71338606911949],"aabb_xy":[[-0.32087034906041256,0.5102687130356548],[-0.19287034624443125,0.6138466160835042]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.3413883574638301,-2.406071321215386,0.71338606911949],"aabb_xy":[[0.2613883588765107,-2.4853869231535466],[0.42138835605114955,-2.326755719277225]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.1666572322640234,1.525102803324399,0.71338606911949],"aabb_xy":[[-0.25165723068144663,1.440228507862114],[-0.08165723384660017,1.609977098786684]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.3006757746439488,-2.3161387003803666,0.71338606911949],"aabb_xy":[[-0.32284830162059963,-2.3383143675364892],[-0.27850324766729795,-2.293963033224243]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.5684667807360548,0.6435802950728937,0.71338606911949],"aabb_xy":[[-0.6324667800302232,0.5795941547040395],[-0.5044667814418867,0.7075664354417479]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.6136890335876917,-0.9261124098610385,0.71338606911949],"aabb_xy":[[0.5761890351642913,-0.9392766238288691],[0.651189032011092,-0.9129481958932079]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.2777909300760789,-1.6467360211906295,0.71338606911949],"aabb_xy":[[0.2695763849603949,-1.6554126114882706],[0.28600547519176284,-1.6380594308929879]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[-0.05808766077281091,-1.8575199237294469,0.71338606911949],"aabb_xy":[[-0.14808765936728085,-1.8737705100428677],[0.03191233782165903,-1.8412693374160256]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.4814269948078975,0.9538219704743729,0.71338606911949],"aabb_xy":[[0.42142699394708466,0.9023955404678865],[0.5414269956687102,1.005248400480859]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[0.2179872488180825,-2.0821639461816983,0.71338606911949],"aabb_xy":[[0.13798724854447555,-2.1551134940074146],[0.2979872490916895,-2.009214398355981]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.5465829006588534,-0.08894250277870741,0.71338606911949],"aabb_xy":[[-0.5678609088023256,-0.15394250510478047],[-0.5253048925153811,-0.023942500452634352]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.047471793680408325,-2.4902085965905156,0.71338606911949],"aabb_xy":[[0.03079465768731282,-2.506908520564446],[0.06414892967350383,-2.4735086726165854]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.1577135721487355,-1.7302765334309163,0.71338606911949],"aabb_xy":[[-0.2193043313727283,-1.7942765315399636],[-0.09612281292474267,-1.6662765353218698]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.5355745324008117,-2.467296967978211,0.71338606911949],"aabb_xy":[[0.5072448224522714,-2.4717577101719286],[0.5639042423493519,-2.4628362257844945]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.1644174146321734,-0.20983297494793396,0.71338606911949],"aabb_xy":[[-0.20191741480404532,-0.24253371033084115],[-0.12691741446030144,-0.17713223956502677]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.4453488217030528,0.5320058511926966,0.71338606911949],"aabb_xy":[[0.4392541938149345,0.5234364566410279],[0.45144344959117116,0.5405752457443653]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.4898070774978985,-2.5131650842137283,0.71338606911949],"aabb_xy":[[-0.5798070769162693,-2.546540581057918],[-0.3998070780795276,-2.4797895873695386]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.1396245876911043,-1.4002360119892856,0.71338606911949],"aabb_xy":[[-0.2036245879650825,-1.4503021121865736],[-0.07562458741712605,-1.3501699117919976]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.002944645207905272,-0.8598312185227568,0.71338606911949],"aabb_xy":[[-0.01257628142833489,-0.8694685313024658],[0.006686991012524346,-0.850193905743048]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.5691524364329756,-0.285581173717933,0.71338606911949],"aabb_xy":[[0.5428636121125349,-0.3118526073725842],[0.5954412607534162,-0.2593097400632817]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.561361207939078,0.3015315190311658,0.71338606911949],"aabb_xy":[[-0.6263612105768714,0.25005192033171886],[-0.49636120530128447,0.3530111177306128]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[-0.38909721401544706,1.4759848406473517,0.71338606911949],"aabb_xy":[[-0.4690972161782095,1.396029657021208],[-0.3090972118526845,1.5559400242734953]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.6553036721018194,0.4919995437621645,0.71338606911949],"aabb_xy":[[-0.664105727410792,0.48418821760723535],[-0.6465016167928466,0.4998108699170935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954790040571951,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1974.png","name":"1974"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1974.png","name":"1974"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4943.png","name":"4943"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6777.png","name":"6777"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":635.1086432823428,"rotation_z_degrees":91.77623108977932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013990040031740918,-0.004348017735275399,0.002654677478543581]},{"name":"camera_2","offset_m":[0.016722085422957857,0.0024127813769617736,-0.00853662603062968]},{"name":"camera_3","offset_m":[-0.016141585977219815,0.005686703124162348,-0.004148326907515494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000775001390609278,-0.000700485231652701,-0.00023627011685460803],"end_effector_yaw_offset_degrees":-0.278770161929063},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017780000566510652,-0.0014616567132919541,0.0014720496506751995],"end_effector_yaw_offset_degrees":-0.587521542354057},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007115824383172513,-9.81733485307995e-05,0.0018972350809335166],"end_effector_yaw_offset_degrees":-0.6917347490505206}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003391768080969757,0.0017051808761401012],"position_m":[0.28023917680809696,0.1587051808761401,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014635858097052745,0.001663323034178107],"position_m":[0.3515364141902947,0.3120633230341781,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003120132739577939,-0.0023849045312505624],"position_m":[0.29482013273957797,-0.04558490453125057,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002541360238661889,-0.0030822938708679384],"position_m":[0.2525413602386619,-0.33958229387086797,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b26a88106b32fe81a8b4008e3137e0df7ac3be1e8e90ae27c1f41a7ed450c5c4","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1974/tex_ceiling_textures_6777/tex_floor_textures_7276/tex_table_textures_4943/tex_wall_textures_8997","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3576517439408100941,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3576517439408100941,"visual_seed":3576517439408100941,"scene_id":"lab_003","finished_at":"2026-09-02T05:07:36"}
+{"episode_id":"ep_000058","started_at":"2026-09-02T05:07:40","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.6593675803218384,0.1257875912777915,0.71338606911949],"aabb_xy":[[0.6249052329236965,0.09129370887996878],[0.6938299277199801,0.16028147367561416]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.28390990087479445,-1.8756950147064162,0.71338606911949],"aabb_xy":[[-0.3339099004511292,-1.9256755936585224],[-0.2339099012984598,-1.8257144357543105]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.5617011742623212,-1.2096455195893485,0.71338606911949],"aabb_xy":[[0.49770117221258925,-1.2497400026786565],[0.6257011763120532,-1.1695510365000406]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.6238860345536192,-2.308155082363436,0.71338606911949],"aabb_xy":[[0.6013723427301619,-2.378155082964443],[0.6463997263770763,-2.238155081762428]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[-0.05721969961489004,-2.2534847241463667,0.71338606911949],"aabb_xy":[[-0.11721970012274296,-2.3103314578322878],[0.0027803008929628763,-2.1966379904604447]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.6701620420173273,1.119628958411163,0.71338606911949],"aabb_xy":[[0.6201778063091501,1.0696289595976674],[0.7201462777255045,1.1696289572246585]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.3348539183148335,-0.5171218065557768,0.71338606911949],"aabb_xy":[[-0.34732127642456917,-0.5295871311891003],[-0.32238656020509787,-0.5046564819224533]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.7147190883642254,-0.40714690152645483,0.71338606911949],"aabb_xy":[[0.7100839732119919,-0.4110142366036033],[0.7193542035164586,-0.403279566449306]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.3215469125623789,-0.18886068818547308,0.71338606911949],"aabb_xy":[[-0.37917738144964963,-0.24886068711218362],[-0.26391644367510797,-0.12886068925876246]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.3908721895036412,-2.1875829538724036,0.71338606911949],"aabb_xy":[[-0.44087219078748113,-2.2375618082630253],[-0.3408721882198012,-2.137604099481781]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.3671174467331043,0.23139794631771426,0.71338606911949],"aabb_xy":[[-0.3982643655766874,0.16139794763090706],[-0.33597052788952114,0.30139794500452144]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.6381795316011878,1.416318256621269,0.71338606911949],"aabb_xy":[[0.5781795299582658,1.364318107329325],[0.6981795332441095,1.4683184059132133]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.23008783447737857,1.0199206158833207,0.71338606911949],"aabb_xy":[[0.15008783649659352,1.0123190749214686],[0.3100878324581636,1.0275221568451725]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.5681830566345059,-0.801697614392709,0.71338606911949],"aabb_xy":[[0.557771497954022,-0.8070433477286074],[0.5785946153149895,-0.7963518810568104]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[0.42989938886716317,-2.2238911677954767,0.71338606911949],"aabb_xy":[[0.4164528622331198,-2.237361019448568],[0.44334591550120644,-2.2104213161423854]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.5110360481288997,-1.7325314408201462,0.71338606911949],"aabb_xy":[[-0.6010360504629189,-1.8100137954052589],[-0.42103604579488074,-1.6550490862350336]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.5465135077348173,-1.6971141339462754,0.71338606911949],"aabb_xy":[[0.5212926708749774,-1.722337884799162],[0.5717343445946568,-1.6718903830933884]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.5385414008675327,1.2482747660463454,0.71338606911949],"aabb_xy":[[0.521531303577482,1.2321402775480714],[0.5555514981575833,1.2644092545446193]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[0.20235436690625608,-1.1903540339919079,0.71338606911949],"aabb_xy":[[0.17735436774062296,-1.1973062796972644],[0.2273543660718892,-1.1834017882865513]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.15925823695997998,-1.5782070284088208,0.71338606911949],"aabb_xy":[[-0.1781426207284902,-1.5970929531891738],[-0.14037385319146978,-1.5593211036284682]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.2842842235205846,-1.0736939706486748,0.71338606911949],"aabb_xy":[[0.20428422486369857,-1.088198829572938],[0.3642842221774706,-1.059189111724412]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.3683057848997633,1.677013334548025,0.71338606911949],"aabb_xy":[[-0.4482996084783215,1.5970133319551834],[-0.28831196132120507,1.7570133371408665]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.2785223072869626,1.1264216587500595,0.71338606911949],"aabb_xy":[[-0.3235223087531915,1.081421801888579],[-0.2335223058207338,1.1714215156115404]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.1555359592065768,-1.5355726111081238,0.71338606911949],"aabb_xy":[[0.1180359585419981,-1.5512596691083458],[0.1930359598711555,-1.5198855531079014]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_24","position":[0.3007998327074597,-2.3479837137899855,0.71338606911949],"aabb_xy":[[0.2357998300696662,-2.3994633124894325],[0.3657998353452532,-2.2965041150905385]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.3209877278764027,-2.3922439910366426,0.71338606911949],"aabb_xy":[[-0.35778236100130895,-2.429149866133225],[-0.2841930947514964,-2.3553381159400604]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[-0.247300387118424,-1.1275404433708707,0.71338606911949],"aabb_xy":[[-0.33730038684159813,-1.1506137959060503],[-0.1573003873952498,-1.1044670908356906]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[-0.3127409021984376,0.4323350129783301,0.71338606911949],"aabb_xy":[[-0.33302520492183635,0.4120523878356212],[-0.2924565994750388,0.4526176381210389]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.6214426700973206,-2.0620586735615203,0.71338606911949],"aabb_xy":[[-0.6854426686838929,-2.109065636961029],[-0.557442671510748,-2.0150517101620116]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.2697319004685451,-1.6795528925430907,0.71338606911949],"aabb_xy":[[0.20573190404122327,-1.7267225163651874],[0.3337318968958671,-1.6323832687209945]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.009120440957444353,-0.9547527383502519,0.71338606911949],"aabb_xy":[[-0.016823631631521396,-0.9624621090489899],[-0.0014172502833673106,-0.9470433676515139]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_31","position":[-0.5136347526214088,-2.3240569382718492,0.71338606911949],"aabb_xy":[[-0.5232663888418384,-2.333694251051558],[-0.5040031164009792,-2.3144196254921403]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_32","position":[0.44686512795114686,-0.857573572489978,0.71338606911949],"aabb_xy":[[0.42680671633790657,-0.8776386593991354],[0.46692353956438715,-0.8375084855808204]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961185657596498,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9937.png","name":"9937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5854.png","name":"5854"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8140.png","name":"8140"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8145.png","name":"8145"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":542.1515386972632,"rotation_z_degrees":167.4229507617605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006589285979441702,0.009772023424425954,0.008074564310096649]},{"name":"camera_2","offset_m":[-0.006420613956732244,0.019213024480838444,-0.000911850358670422]},{"name":"camera_3","offset_m":[-0.018724466700760015,-0.012989838986661097,-0.01915712723180275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012548579019086904,0.0013813867735147992,0.0010952586988635317],"end_effector_yaw_offset_degrees":0.6295081651511256},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00037815773500553956,0.000370880730590288,0.0016833130510467672],"end_effector_yaw_offset_degrees":0.46037350794844367},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010860334416489346,0.0010373199153828833,-0.00023665382138698737],"end_effector_yaw_offset_degrees":-0.5329267766555765}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038298204236198166,-0.0036452367577106937],"position_m":[0.28372982042361977,0.1533547632422893,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013586282433111774,0.0028779104513389836],"position_m":[0.3516413717566888,0.313277910451339,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003667530497036631,-0.004472702533924773],"position_m":[0.2920667530497037,-0.04767270253392478,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025418379364953083,0.003300372396337515],"position_m":[0.24745816206350468,-0.3331996276036625,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3c03af2380fd981593ad9fa120006322de1cd9ed404faf644c92b4621e3f0fd6","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0068.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9417/tex_ceiling_textures_8145/tex_floor_textures_8140/tex_table_textures_9937/tex_wall_textures_5854","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2311674604874006347,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2311674604874006347,"visual_seed":2311674604874006347,"scene_id":"lab_003","finished_at":"2026-09-02T05:10:22"}
+{"episode_id":"ep_000059","started_at":"2026-09-02T05:10:25","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.22630687549204465,0.6490075919627061,0.71338606911949],"aabb_xy":[[0.13630687607367376,0.6156320951185164],[0.31630687491041554,0.6823830888068958]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.42486894452090773,-0.36503940419367664,0.71338606911949],"aabb_xy":[[0.3873689444153148,-0.3718615660466577],[0.4623689446265007,-0.35821724234069546]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.1648478298940832,-2.0351162316860725,0.71338606911949],"aabb_xy":[[-0.18936145399108906,-2.059380824988109],[-0.14033420579707734,-2.010851638384036]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.27753163365581224,1.508058908477842,0.71338606911949],"aabb_xy":[[-0.32252422037426265,1.463058909203393],[-0.23253904693736183,1.5530589077522905]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.09080846979584556,-0.22312734024356784,0.71338606911949],"aabb_xy":[[-0.13861463740961422,-0.2881273429506268],[-0.04300230218207691,-0.15812733753650887]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.2628157624901835,1.7216487346466267,0.71338606911949],"aabb_xy":[[-0.27797863546712065,1.7064832773515082],[-0.2476528895132465,1.7368141919417457]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[0.3831249658854352,-0.694562545602406,0.71338606911949],"aabb_xy":[[0.3488280548676945,-0.7288594318123472],[0.4174218769031758,-0.6602656593924646]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.04107844994236276,-1.1850443675513003,0.71338606911949],"aabb_xy":[[0.023578449683026137,-1.199135909740073],[0.05857845020169939,-1.1709528253625276]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.6726412077427613,-0.6058042950627767,0.71338606911949],"aabb_xy":[[-0.6799024553131687,-0.6185913053262861],[-0.6653799601723538,-0.5930172847992672]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.6216487256632345,-2.146645029965712,0.71338606911949],"aabb_xy":[[-0.6375332189285596,-2.160997970264536],[-0.6057642323979093,-2.1322920896668873]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.4901660534336041,-0.9632178745795266,0.71338606911949],"aabb_xy":[[0.47196022977235647,-0.9742432751615182],[0.5083718770948518,-0.9521924739975349]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.40701739578921814,-1.1266447669076927,0.71338606911949],"aabb_xy":[[-0.43486243256982526,-1.1574292656460046],[-0.379172359008611,-1.0958602681693812]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.03332508015087854,1.7824346188303326,0.71338606911949],"aabb_xy":[[0.02511053503519455,1.7737580285326908],[0.041539625266562505,1.7911112091279735]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.12877143869342478,1.6587202029453736,0.71338606911949],"aabb_xy":[[0.1074934305499525,1.5937202006193003],[0.150049446836897,1.7237202052714464]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.2657730859718558,1.1918490417612357,0.71338606911949],"aabb_xy":[[0.23145680879723785,1.1418490417880578],[0.3000893631464737,1.2418490417344132]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.45557088942263246,-1.4241295352065881,0.71338606911949],"aabb_xy":[[0.44678966227539624,-1.4329092824951182],[0.4643521165698687,-1.4153497879180577]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.5867573493590885,-0.026673958296461908,0.71338606911949],"aabb_xy":[[0.5786296611657753,-0.03558756670716956],[0.5948850375524017,-0.017760349885754256]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.24474914259155328,-1.6658307740102358,0.71338606911949],"aabb_xy":[[-0.28224914101495363,-1.6789949879780663],[-0.20724914416815293,-1.6526665600424053]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.08666666623824981,-1.5786106863367113,0.71338606911949],"aabb_xy":[[0.0817673739316863,-1.6062876056392799],[0.0915659585448133,-1.5509337670341423]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.10769037488672983,-1.0909084233797304,0.71338606911949],"aabb_xy":[[0.09001474429813147,-1.108588639659133],[0.1253660054753281,-1.0732282071003274]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[0.4682043988990907,0.5603585079431435,0.71338606911949],"aabb_xy":[[0.418226982033837,0.5103585064538947],[0.5181818157643441,0.6103585094323918]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.13307424905439136,-2.531427081933502,0.71338606911949],"aabb_xy":[[0.08308113694519949,-2.5814270826076977],[0.18306736116358327,-2.4814270812593064]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.4884933334038468,0.9032910147974049,0.71338606911949],"aabb_xy":[[0.42449333302631315,0.8535457479465927],[0.5524933337813804,0.9530362816482172]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972770343578779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/533.png","name":"533"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5173.png","name":"5173"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8981.png","name":"8981"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":558.6074435870455,"rotation_z_degrees":351.5578408321426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008539811897125191,0.013393955643312205,0.009802397621812533]},{"name":"camera_2","offset_m":[0.011582668744614309,-0.0057550274945044316,0.0024944157872757618]},{"name":"camera_3","offset_m":[0.019729991715139925,0.01921551867698267,-0.00020245126227498578]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010681856855545466,0.0008191080455597897,-0.0013074918574775922],"end_effector_yaw_offset_degrees":0.6813328478565766},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008500908497646833,0.001918297170201773,0.0008302097732285569],"end_effector_yaw_offset_degrees":-0.7722005651755066},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004773181420195166,0.0008160743039709131,0.0009568410097332554],"end_effector_yaw_offset_degrees":0.7128797581519546}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0025500850832186716,0.0014478149046595612],"position_m":[0.2773499149167813,0.15844781490465956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002704518065414936,-0.0026840509669972834],"position_m":[0.3557045180654149,0.3077159490330027,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027345565942627015,0.002004328293711174],"position_m":[0.2889654434057373,-0.04119567170628883,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.3776662638533112e-05,0.00014430966846607288],"position_m":[0.24997622333736147,-0.33635569033153395,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"28d835365335a5dee5ccdef77c5b9b1de1ecab6cc3869c3d25d095b06260b5e6","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7791/tex_ceiling_textures_8981/tex_floor_textures_5173/tex_table_textures_533/tex_wall_textures_3881","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":685752489416741566,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":685752489416741566,"visual_seed":685752489416741566,"scene_id":"lab_003","finished_at":"2026-09-02T05:12:52"}
+{"episode_id":"ep_000060","started_at":"2026-09-02T05:12:55","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.33682934319112046,0.8614088751238969,0.71338606911949],"aabb_xy":[[0.2718293453094727,0.8102852114173561],[0.40182934107276835,0.9125325388304378]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.1519624102396987,0.6034745776965953,0.71338606911949],"aabb_xy":[[-0.20177918970453346,0.5534745792122919],[-0.10214563077486394,0.6534745761808987]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.5844579740389977,-0.6287538760682849,0.71338606911949],"aabb_xy":[[-0.590552601927116,-0.6373232706199536],[-0.5783633461508794,-0.6201844815166162]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.5204979017586151,-0.2674305837593076,0.71338606911949],"aabb_xy":[[0.4604979019120483,-0.3242492059523463],[0.5804979016051819,-0.21061196156626893]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.47830088194425346,-2.322523145852217,0.71338606911949],"aabb_xy":[[-0.5033008811098866,-2.3294753915575734],[-0.45330088277862035,-2.3155709001468603]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.03717440673798089,1.742232106341579,0.71338606911949],"aabb_xy":[[-0.017950798891609884,1.6822321049002917],[0.09229961236757166,1.802232107782866]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.6518744210128373,-2.2748787886920687,0.71338606911949],"aabb_xy":[[0.6273282053900866,-2.3051276852411053],[0.676420636635588,-2.244629892143031]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[0.4687664947012258,-1.6711688308514878,0.71338606911949],"aabb_xy":[[0.39876649256979624,-1.6939307964771833],[0.5387664968326553,-1.648406865225792]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[-0.5058338174063458,1.4343659663507462,0.71338606911949],"aabb_xy":[[-0.5118003563470817,1.4284048216913818],[-0.49986727846561,1.4403271110101101]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[0.3982674543241065,-1.1008613947592003,0.71338606911949],"aabb_xy":[[0.34329373228777366,-1.1558613943234335],[0.4532411763604394,-1.0458613951949671]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.6668767379387666,1.6942369556487296,0.71338606911949],"aabb_xy":[[0.65530775719183,1.669236955531798],[0.6784457186857031,1.7192369557656615]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.41272815134312235,0.8828943468342039,0.71338606911949],"aabb_xy":[[-0.4927281516167294,0.809944799008487],[-0.3327281510695154,0.9558438946599205]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.48732392862767754,1.65560959440286,0.71338606911949],"aabb_xy":[[-0.5423239268294224,1.6150876277764221],[-0.4323239304259327,1.6961315610292973]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.26719817046779654,-1.8600958833113088,0.71338606911949],"aabb_xy":[[-0.2780386486943115,-1.8772821646019573],[-0.2563576922412817,-1.84290960202066]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.5365635854755593,-1.9811930609683057,0.71338606911949],"aabb_xy":[[0.5190635861974724,-1.9985311610346517],[0.5540635847536461,-1.9638549609019598]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.09618445482058069,-1.9280163552882028,0.71338606911949],"aabb_xy":[[0.0868908365834301,-1.9655163537763367],[0.10547807305773126,-1.890516356800069]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[-0.6416664596895839,1.7608707522265212,0.71338606911949],"aabb_xy":[[-0.6666664596221019,1.7539880840055981],[-0.6166664597570661,1.7677534204474448]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.3600588291376291,-1.7369606892425775,0.71338606911949],"aabb_xy":[[-0.37522170211456624,-1.7521261465376965],[-0.344895956160692,-1.721795231947459]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.3500049526421978,-0.49819490481469897,0.71338606911949],"aabb_xy":[[0.31250495406657697,-0.5109312004782568],[0.3875049512178186,-0.485458609151141]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.6451343762478459,-0.7716351339537537,0.71338606911949],"aabb_xy":[[0.6105432933938005,-0.8366351342387848],[0.679725459101891,-0.7066351336687227]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.05562322634955397,0.8281028518738913,0.71338606911949],"aabb_xy":[[-0.08808492723148141,0.7979700197589886],[-0.023161525467626506,0.8582356839887938]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.06555193262333647,-1.669138221166904,0.71338606911949],"aabb_xy":[[-0.0044480637866253355,-1.689576156818585],[0.1355519290332982,-1.6487002855152215]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.40183110625159846,-1.3233942096676594,0.71338606911949],"aabb_xy":[[0.3977151561395258,-1.327509764700505],[0.4059470563636711,-1.3192786546348139]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.070407015754403,-1.7212533069898965,0.71338606911949],"aabb_xy":[[-0.08355826172569236,-1.746253306746583],[-0.05725576978311364,-1.69625330723321]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.20754188642311827,-1.5462211677059403,0.71338606911949],"aabb_xy":[[-0.21688889400541347,-1.5605247899235843],[-0.198194878840823,-1.5319175454882963]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.350006642683501,-2.519746058654518,0.71338606911949],"aabb_xy":[[-0.40000664132942215,-2.5696656023139806],[-0.30000664403757976,-2.469826514995056]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[-0.26845938377966655,-0.9779477894751918,0.71338606911949],"aabb_xy":[[-0.28279380890583,-0.9900080050297305],[-0.2541249586535031,-0.9658875739206528]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[0.24129867985836229,-1.9996579541996486,0.71338606911949],"aabb_xy":[[0.23596110419235772,-2.024657955128789],[0.24663625552436685,-1.9746579532705093]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[-0.6535198440148153,1.0451196299798027,0.71338606911949],"aabb_xy":[[-0.6878361211894333,0.995119630006625],[-0.6192035668401974,1.0951196299529804]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_29","position":[0.5485688443012238,1.103805059653101,0.71338606911949],"aabb_xy":[[0.513568845171268,1.0980598385774367],[0.5835688434311793,1.109550280728765]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[-0.3438719050094979,-0.7997397294763702,0.71338606911949],"aabb_xy":[[-0.38137190567407653,-0.8154267874765923],[-0.3063719043449191,-0.7840526714761479]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_31","position":[0.5365385084933505,-0.945150643954598,0.71338606911949],"aabb_xy":[[0.5060542583663203,-0.9951506437360941],[0.5670227586203807,-0.8951506441731022]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_32","position":[-0.36124742082617745,-0.40112297995643154,0.71338606911949],"aabb_xy":[[-0.44496964632625985,-0.4911229834911275],[-0.27752519532609493,-0.3111229764217356]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_33","position":[-0.3542812674279561,1.0592840875193161,0.71338606911949],"aabb_xy":[[-0.35961378208256917,1.0539597592740806],[-0.3489487527733432,1.0646084157645517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924645166584866,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9182.png","name":"9182"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9182.png","name":"9182"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5222.png","name":"5222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4785.png","name":"4785"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":694.6714534500704,"rotation_z_degrees":317.76654894702676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00612554470885617,0.017205361822701184,-0.01386714443613677]},{"name":"camera_2","offset_m":[-0.013772847691488881,0.0013491029066798714,0.01335909315815383]},{"name":"camera_3","offset_m":[0.012652121714365559,-0.006128835873141876,0.007136685931911999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-4.552932978193211e-05,0.000451036953492846,0.0006515127566675025],"end_effector_yaw_offset_degrees":0.7047622083268372},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013223881372258091,-0.0016162006672071417,-0.0019113982177206715],"end_effector_yaw_offset_degrees":-0.4389209343702669},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005982667424242747,-0.000818457492734995,-0.0006161313821901543],"end_effector_yaw_offset_degrees":-0.1847384765101736}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001625712198765077,0.003498908944757192],"position_m":[0.28152571219876504,0.16049890894475718,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004856905612514248,0.001699677071642541],"position_m":[0.34814309438748575,0.31209967707164255,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004068774193794211,-0.002413094082473265],"position_m":[0.2876312258062058,-0.045613094082473264,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003169171077840053,-0.00251807974548948],"position_m":[0.24683082892215993,-0.3390180797454895,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b2fe3805469d3f0a8a3484660cd31bdcd89d95ff3e028dae71c0788343774b6c","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9182/tex_ceiling_textures_4785/tex_floor_textures_5222/tex_table_textures_5214/tex_wall_textures_3469","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":9055519048776937093,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":9055519048776937093,"visual_seed":9055519048776937093,"scene_id":"lab_003","finished_at":"2026-09-02T05:15:26"}
+{"episode_id":"ep_000061","started_at":"2026-09-02T05:15:29","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.6276671010540701,-2.373154901529968,0.71338606911949],"aabb_xy":[[-0.6401344591638058,-2.3856202261632915],[-0.6151997429443345,-2.3606895768966445]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.22114238095843114,-0.4521452419216927,0.71338606911949],"aabb_xy":[[-0.24614238012406428,-0.45909748762704927],[-0.19614238179279805,-0.4451929962163361]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.3896439838837711,-2.481233327006806,0.71338606911949],"aabb_xy":[[0.38333188434743265,-2.487000266260025],[0.3959560834201095,-2.4754663877535874]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.6356387506806411,1.708101755121732,0.71338606911949],"aabb_xy":[[-0.6856387516311739,1.6765526081182105],[-0.5856387497301083,1.7396509021252533]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.4445267293661249,-1.694119474552486,0.71338606911949],"aabb_xy":[[-0.5085267300695944,-1.740137857025407],[-0.38052672866265563,-1.648101092079565]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.24227312758597846,-1.7606665186578703,0.71338606911949],"aabb_xy":[[-0.2457138038260357,-1.7645279516322352],[-0.23883245134592135,-1.7568050856835062]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[0.5258534412728013,-0.09818706685062706,0.71338606911949],"aabb_xy":[[0.4958617785389309,-0.1281870661874276],[0.5558451040066715,-0.06818706751382651]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.3136361187188288,-1.7551074322022038,0.71338606911949],"aabb_xy":[[0.24963611550019094,-1.8018305441012124],[0.37763612193746665,-1.7083843203031956]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.3410180770395012,0.6966418546210793,0.71338606911949],"aabb_xy":[[-0.37851807721137315,0.6639411192381721],[-0.30351807686762927,0.7293425900039865]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.32248301734490625,-0.5161873809449169,0.71338606911949],"aabb_xy":[[0.25848302004255985,-0.5605538079127736],[0.38648301464725265,-0.47182095397706014]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.1975815657291099,1.0421886172134354,0.71338606911949],"aabb_xy":[[0.17508243000288293,1.0196886164351724],[0.22008070145533687,1.0646886179916983]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.09716186340405053,0.7584672272673023,0.71338606911949],"aabb_xy":[[0.012161864986627302,0.6735929318050174],[0.18216186182147376,0.8433415227295874]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.42762403914012936,1.2342202305888934,0.71338606911949],"aabb_xy":[[0.3376240405456595,1.2179696442754724],[0.5176240377345993,1.2504708169023144]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.09395076262730961,-1.560150857215775,0.71338606911949],"aabb_xy":[[-0.10950653203757489,-1.5757012904601824],[-0.07839499321704435,-1.544600423971368]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.38281813770548023,0.8886159888369187,0.71338606911949],"aabb_xy":[[0.35898192006487517,0.7986159880284324],[0.40665435534608535,0.9786159896454053]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.2299408475379502,1.7551471070823923,0.71338606911949],"aabb_xy":[[0.2180081131761221,1.7427649542745327],[0.24187358189977823,1.7675292598902514]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.17749159093710687,0.37504168072344646,0.71338606911949],"aabb_xy":[[-0.20249159048884532,0.36489919685831174],[-0.15249159138536836,0.3851841645885812]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.53923856197943,0.6778604503022039,0.71338606911949],"aabb_xy":[[0.5109088520308898,0.6733997081084868],[0.5675682719279702,0.6823211924959209]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.02554175354429533,1.3055271103023696,0.71338606911949],"aabb_xy":[[-0.047431501133236124,1.2155271130131204],[-0.003652005955354531,1.3955271075916187]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.21182510206264543,-0.5315039859863431,0.71338606911949],"aabb_xy":[[-0.2167243943692089,-0.5591809052889118],[-0.2069258097560819,-0.5038270666837743]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[-0.16359710048840503,0.811385782339832,0.71338606911949],"aabb_xy":[[-0.20876841833657403,0.7473857851952938],[-0.11842578264023607,0.8753857794843707]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.46988046307037074,-0.7442302377980092,0.71338606911949],"aabb_xy":[[-0.5073804637349494,-0.7599172957982314],[-0.432380462405792,-0.728543179797787]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.5885539190523548,-0.46521250992887975,0.71338606911949],"aabb_xy":[[0.5385539186917886,-0.5151924971384825],[0.6385539194129207,-0.4152325227192767]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.15341353297513816,1.276253960727038,0.71338606911949],"aabb_xy":[[-0.19618023985455832,1.2122539573052356],[-0.11064682609571794,1.3402539641488405]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[-0.5475099683057888,-2.121785590069047,0.71338606911949],"aabb_xy":[[-0.5641871042988843,-2.1384855140429773],[-0.5308328323126933,-2.1050856660951167]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.0856419492481455,-1.3773399484404096,0.71338606911949],"aabb_xy":[[0.030649698612634536,-1.4323399501837224],[0.14063419988365644,-1.3223399466970969]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[-0.11535829868353098,1.6523861136016769,0.71338606911949],"aabb_xy":[[-0.18035829683945004,1.6260898690517647],[-0.050358300527611935,1.678682358151589]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.34864531025161827,-1.3528764685331909,0.71338606911949],"aabb_xy":[[0.3117947623146306,-1.3903764693562246],[0.3854958581886058,-1.3153764677101571]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.46268217340785905,0.5778581588610647,0.71338606911949],"aabb_xy":[[-0.4706756632031412,0.5698600269205893],[-0.45468868361257714,0.5858562908015406]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[0.6718409034579509,-1.9373255580401916,0.71338606911949],"aabb_xy":[[0.6493444820240868,-1.9598255578469388],[0.694337324891815,-1.914825558233444]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[-0.3959325710930661,0.4574358018081428,0.71338606911949],"aabb_xy":[[-0.4324283917203449,0.4209518593813852],[-0.35943675046578744,0.4939197442349003]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[0.21789707950925463,-0.9690178903619779,0.71338606911949],"aabb_xy":[[0.1803970779936229,-0.980244663378123],[0.25539708102488634,-0.9577911173458329]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_32","position":[-0.03171596986984537,-2.471188073963269,0.71338606911949],"aabb_xy":[[-0.04248894379121315,-2.506188072182308],[-0.020942995948477594,-2.43618807574423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907572553706741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6026.png","name":"6026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8198.png","name":"8198"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":825.1368229638765,"rotation_z_degrees":310.4812224111452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00994606920762859,0.0030282726735525872,0.013142558302604138]},{"name":"camera_2","offset_m":[-0.019868125483438318,-0.0021037637222685,-0.008922617772105337]},{"name":"camera_3","offset_m":[-0.010784949935117312,0.019943931384739055,-0.005794201559567554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001182021455201388,0.0017449932992711944,0.00041918498806324143],"end_effector_yaw_offset_degrees":0.38188140069503573},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005129849431557392,0.0019300631426508877,0.0016842943521184223],"end_effector_yaw_offset_degrees":-0.3408441119865986},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014826534038710113,0.0008198375981908032,-0.00039918760992718565],"end_effector_yaw_offset_degrees":0.6841149779282854}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022375491959240467,-0.0021585168989590444],"position_m":[0.2776624508040759,0.15484148310104096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004843193165189959,-0.0021343114344187088],"position_m":[0.34815680683481004,0.3082656885655813,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003087179369745307,0.003235822984196962],"position_m":[0.2947871793697453,-0.03996417701580304,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001994744953343699,0.0002711298688727057],"position_m":[0.2519947449533437,-0.3362288701311273,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac9c72389d6816400a10ab4f421652d170930043addd4e94c0d08d0d702bc631","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3046/tex_ceiling_textures_8198/tex_floor_textures_6026/tex_table_textures_6685/tex_wall_textures_6551","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2144716255228177794,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2144716255228177794,"visual_seed":2144716255228177794,"scene_id":"lab_003","finished_at":"2026-09-02T05:18:12"}
+{"episode_id":"ep_000062","started_at":"2026-09-02T05:18:17","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.18552734375288238,-2.4562934273932666,0.71338606911949],"aabb_xy":[[-0.1914938826936182,-2.4622545720526308],[-0.17956080481214662,-2.4503322827339025]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.6599420104285644,-0.41076170122108513,0.71338606911949],"aabb_xy":[[-0.6640579605406369,-0.4148772562539305],[-0.6558260603164916,-0.4066461461882395]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.146183354832368,-1.0257567544360866,0.71338606911949],"aabb_xy":[[0.10868335472677502,-1.0325789162890675],[0.18368335493796092,-1.0189345925831053]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.020715638082775878,1.6443059639809925,0.71338606911949],"aabb_xy":[[-0.024284363383452974,1.5993061071195118],[0.06571563954900474,1.6893058208424732]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.12563955647339475,0.6918304458745608,0.71338606911949],"aabb_xy":[[0.11507207681529574,0.6812854157615521],[0.13620703613149376,0.7023754759875692]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.23748959430588112,0.8306394364540908,0.71338606911949],"aabb_xy":[[0.19998959380852288,0.8266707529059724],[0.27498959480323937,0.8346081200022092]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.3999781181249846,1.3381400528852123,0.71338606911949],"aabb_xy":[[0.3649781198548647,1.331065925190224],[0.43497811639510453,1.3452141805802003]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.31050227173029327,-1.0891996137268738,0.71338606911949],"aabb_xy":[[-0.3645178680121932,-1.1531996166191307],[-0.2564866754483932,-1.0251996108346164]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.10257804145934546,-2.053431766755783,0.71338606911949],"aabb_xy":[[-0.1577032470889362,-2.11343176819707],[-0.04745283582975467,-1.9934317653144957]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[-0.21881666604126537,-0.5573997630699878,0.71338606911949],"aabb_xy":[[-0.23144345332846172,-0.5669458367715607],[-0.20618987875406902,-0.5478536893684149]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.6928227861337104,-0.17718785690460015,0.71338606911949],"aabb_xy":[[0.6641734537732942,-0.20583341618167594],[0.7214721184941266,-0.14854229762752436]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.5682605107966692,-0.03974427594194152,0.71338606911949],"aabb_xy":[[-0.5735930254512823,-0.04506860418717712],[-0.5629279961420562,-0.03441994769670592]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[-0.6116836005485812,-2.4443673187660546,0.71338606911949],"aabb_xy":[[-0.6291835996829481,-2.454246945803642],[-0.5941836014142138,-2.4344876917284664]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.005346787407544573,1.2879258813245826,0.71338606911949],"aabb_xy":[[-0.025800131436038543,1.2179258826377752],[0.03649370625112769,1.3579258800113896]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[-0.10279486851167308,0.909080634244348,0.71338606911949],"aabb_xy":[[-0.16679486768144303,0.8623139471253857],[-0.03879486934190313,0.9558473213633106]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.25100795869167103,1.0617078862919365,0.71338606911949],"aabb_xy":[[0.22850795868152274,1.0476116666523332],[0.2735079587018193,1.0758041059315397]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.31790633961457243,0.6585799976756719,0.71338606911949],"aabb_xy":[[-0.3728995509517092,0.6035799973368784],[-0.2629131282774357,0.7135799980144656]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.4680358388195458,1.02692756160291,0.71338606911949],"aabb_xy":[[0.42526913194012567,0.9629275581811079],[0.510802545698966,1.0909275650247128]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.025623331117195947,-1.460608835560888,0.71338606911949],"aabb_xy":[[-0.07562260628563211,-1.5106088368368353],[0.024375944051240214,-1.410608834284941]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.09082929156635755,-1.87500812485372,0.71338606911949],"aabb_xy":[[-0.10850492215495587,-1.8926883411331226],[-0.0731536609777592,-1.857327908574317]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.41931497667476136,-0.0521217012064592,0.71338606911949],"aabb_xy":[[-0.4793149775355741,-0.10354813121294558],[-0.3593149758139485,-0.0006952711999728133]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.5303728671983949,-0.4419223911217358,0.71338606911949],"aabb_xy":[[-0.5438193938324383,-0.45539224277482704],[-0.5169263405643516,-0.4284525394686446]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[-0.542800647442645,0.7638694257400274,0.71338606911949],"aabb_xy":[[-0.6128006508342069,0.7285536520365965],[-0.47280064405108296,0.7991851994434582]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.005344499090283672,-1.1391237115730137,0.71338606911949],"aabb_xy":[[-0.0016958108432533216,-1.2191237109726853],[0.012384809023820668,-1.0591237121733426]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938038123497186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8870.png","name":"8870"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2791.png","name":"2791"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9662.png","name":"9662"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5298.png","name":"5298"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":691.4836026830405,"rotation_z_degrees":237.24384260471035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01541839483814077,0.017077728315223677,0.009586037346356262]},{"name":"camera_2","offset_m":[0.011026262653196756,0.0032481466883007674,0.005634668251685605]},{"name":"camera_3","offset_m":[0.007751134448869195,-0.010767609000804326,0.00483952434457189]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013947854073563136,0.0013595652030422693,-0.0002168820499406823],"end_effector_yaw_offset_degrees":0.2474917442536282},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014859946389187985,-0.0012057654496204653,0.0004316950713686603],"end_effector_yaw_offset_degrees":-0.9318968768643043},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00023634572445802027,-0.001662302671632241,-0.00015683040856984088],"end_effector_yaw_offset_degrees":-0.8758237568433862}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007354708714638648,-0.002111985793629243],"position_m":[0.2791645291285361,0.15488801420637074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014050362132504391,-0.0022062010877377416],"position_m":[0.35159496378674954,0.3081937989122623,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004008229219381286,0.002230967638351078],"position_m":[0.2921008229219381,-0.04096903236164892,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022074600579625758,-0.004567620318355479],"position_m":[0.24779253994203743,-0.3410676203183555,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9583c296131cc939c90bee61197981e3aecf0876f956eb32a241cff1f46eb620","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6237/tex_ceiling_textures_5298/tex_floor_textures_9662/tex_table_textures_8870/tex_wall_textures_2791","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4017767314590533292,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4017767314590533292,"visual_seed":4017767314590533292,"scene_id":"lab_003","finished_at":"2026-09-02T05:20:56"}
+{"episode_id":"ep_000063","started_at":"2026-09-02T05:20:59","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.6772151237181487,1.1829766468149705,0.71338606911949],"aabb_xy":[[0.6603043912818068,1.1695044412223556],[0.6941258561544904,1.196448852407585]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.5264555183165343,-1.7973165550205787,0.71338606911949],"aabb_xy":[[0.47243992203463414,-1.8613165579128357],[0.5804711145984341,-1.7333165521283214]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[0.5215944761714768,0.5591488344654696,0.71338606911949],"aabb_xy":[[0.44159447876788344,0.4791562632672867],[0.6015944735750702,0.6391414056636523]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.5770172792953745,-0.25059298455905,0.71338606911949],"aabb_xy":[[-0.5889500136572026,-0.26297513736690936],[-0.5650845449335464,-0.23821083175119062]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.1162484481260746,-0.9170656015182248,0.71338606911949],"aabb_xy":[[0.07096983324492534,-0.9810656008664086],[0.16152706300722386,-0.8530656021700412]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[0.23091491323382596,-1.468255822063269,0.71338606911949],"aabb_xy":[[0.22006330698495036,-1.4791151127909201],[0.24176651948270156,-1.457396531335618]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.3654908673799416,-2.4149473026681636,0.71338606911949],"aabb_xy":[[-0.39663778622352464,-2.4849473013549708],[-0.3343439485363584,-2.3449473039813564]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[0.6470189011392342,-1.9815487652279398,0.71338606911949],"aabb_xy":[[0.5854281419152414,-2.0455487633369867],[0.708609660363227,-1.9175487671188929]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.4286930743988878,-1.7586756789930957,0.71338606911949],"aabb_xy":[[-0.4836930735754773,-1.8136653537680532],[-0.37369307522229833,-1.7036860042181379]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.21494169739103663,-2.4914990309051435,0.71338606911949],"aabb_xy":[[0.1599494467555257,-2.5464990326484562],[0.2699339480265476,-2.4364990291618307]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.3270840726786095,1.1350336440191002,0.71338606911949],"aabb_xy":[[0.31779045444145887,1.097533645530966],[0.33637769091576003,1.172533642507234]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.6848606133856794,0.20387765738262198,0.71338606911949],"aabb_xy":[[-0.6936418405329157,0.19509791009409191],[-0.6760793862384431,0.2126574046711522]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.343867117197503,-1.2020889655515108,0.71338606911949],"aabb_xy":[[-0.39886711681924886,-1.2570726583389835],[-0.28886711757575717,-1.147105272764038]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.28805709292092524,0.6339270577214235,0.71338606911949],"aabb_xy":[[-0.30560378783704417,0.5964270561571723],[-0.2705103980048063,0.6714270592856748]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.1422421179442006,-2.0583211416791203,0.71338606911949],"aabb_xy":[[-0.20724211610011967,-2.0846173862290325],[-0.07724211978828155,-2.032024897129208]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.2218486750708743,1.4953103238468493,0.71338606911949],"aabb_xy":[[-0.28584867149819626,1.4481407000247528],[-0.15784867864355243,1.5424799476689457]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.17639205199299446,-1.1002768339172866,0.71338606911949],"aabb_xy":[[0.1123920503149971,-1.1487942253966008],[0.2403920536709918,-1.0517594424379724]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.6835112611765446,0.2147764751663903,0.71338606911949],"aabb_xy":[[0.6609975693530873,0.14477647456538276],[0.7060249530000017,0.28477647576739784]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.1684831698757746,0.8725685635465186,0.71338606911949],"aabb_xy":[[-0.1836460428527117,0.8574031062513999],[-0.15332029689883753,0.8877340208416374]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.43211092541230783,-0.1786369708086002,0.71338606911949],"aabb_xy":[[-0.46259517553933793,-0.22863697059009616],[-0.4016266752852776,-0.12863697102710428]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.6209512025062973,0.8009933198973802,0.71338606911949],"aabb_xy":[[0.5834512013215043,0.7965750972013196],[0.6584512036910899,0.8054115425934406]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.05905827951870546,-1.2460433283491374,0.71338606911949],"aabb_xy":[[-0.06786033482767816,-1.2538546545040663],[-0.05025622420973274,-1.2382320021942081]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.4653202691553897,-0.8124011324070917,0.71338606911949],"aabb_xy":[[-0.5153202701059225,-0.843950279410613],[-0.41532026820485685,-0.7808519854035701]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.5115207534759241,-2.2146516821986424,0.71338606911949],"aabb_xy":[[-0.5815207498858856,-2.2350896178503232],[-0.4415207570659621,-2.1942137465469598]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.5251049850464216,0.5951528357914015,0.71338606911949],"aabb_xy":[[-0.5476049848603239,0.5906782194209208],[-0.5026049852325192,0.5996274521618823]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.1855923925969838,0.14740039569517238,0.71338606911949],"aabb_xy":[[-0.21392210254552402,0.14293965350145532],[-0.15726268264844356,0.15186113788888944]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[0.45584302258012155,0.34778898053528673,0.71338606911949],"aabb_xy":[[0.4376371989188739,0.3367635799532951],[0.4740488462413693,0.35881438111727837]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[0.4345096154999759,-1.4355568531028713,0.71338606911949],"aabb_xy":[[0.4305491317302416,-1.4432247176883921],[0.4384700992697103,-1.427888988517351]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[0.1511464885716396,1.6698640725873584,0.71338606911949],"aabb_xy":[[0.08714648829766139,1.6197979723900704],[0.21514648884561785,1.7199301727846463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955917474701971,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4380.png","name":"4380"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4380.png","name":"4380"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8990.png","name":"8990"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8687.png","name":"8687"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3686.png","name":"3686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5754.png","name":"5754"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":623.7935398268821,"rotation_z_degrees":127.91433769994447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0056631711913846285,-0.019466864581866656,-0.0067717463248759685]},{"name":"camera_2","offset_m":[-0.010431963846455878,0.009919585306920768,-0.004843408654744393]},{"name":"camera_3","offset_m":[0.002756893141348103,0.016925636689266794,-0.0071176759298847165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-3.151019464995002e-05,-0.0019085762151921882,-0.0008369420160488983],"end_effector_yaw_offset_degrees":0.9191290669710415},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011682050260014105,-0.0011694549991976767,0.0016301289606049855],"end_effector_yaw_offset_degrees":0.1399514495421852},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005870746948380039,0.0018121866314437345,-0.00189784667340607],"end_effector_yaw_offset_degrees":0.9286146378119049}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031420358317786065,0.0008428304350083602],"position_m":[0.2830420358317786,0.15784283043500835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00060868484763121,-0.002244075263740024],"position_m":[0.3536086848476312,0.30815592473625997,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035830999712323053,-0.0011003854665265055],"position_m":[0.2881169000287677,-0.04430038546652651,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003041328010953405,0.004189610373730736],"position_m":[0.2530413280109534,-0.3323103896262693,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"da4bb980bd0c0f4f7e899a026cde13db0d7398a3d454471c1b1b9f3e8691c933","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4380/tex_ceiling_textures_5754/tex_floor_textures_3686/tex_table_textures_8990/tex_wall_textures_8687","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8645604812946978326,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8645604812946978326,"visual_seed":8645604812946978326,"scene_id":"lab_003","finished_at":"2026-09-02T05:23:41"}
+{"episode_id":"ep_000064","started_at":"2026-09-02T05:23:44","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.34741336145046264,-2.1470121492801977,0.71338606911949],"aabb_xy":[[-0.35467460902087006,-2.159799159543707],[-0.34015211388005523,-2.134225139016688]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.5313397922276794,-1.1494593647922882,0.71338606911949],"aabb_xy":[[-0.5490154228162776,-1.1671395810716907],[-0.5136641616390809,-1.1317791485128852]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.28654681806621507,0.9909140338431603,0.71338606911949],"aabb_xy":[[0.27783284901628047,0.968414033183972],[0.29526078711614945,1.0134140345023483]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.5656594445091497,-1.4604161495768,0.71338606911949],"aabb_xy":[[-0.5838652681703974,-1.4714415501587916],[-0.5474536208479021,-1.4493907489948084]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.5265235197379592,1.0467702687113665,0.71338606911949],"aabb_xy":[[0.48124490485680993,0.9827702693631828],[0.5718021346191084,1.1107702680595501]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.36057198058686246,-1.7263640455087654,0.71338606911949],"aabb_xy":[[-0.4405719820169896,-1.805881200521375],[-0.2805719791567352,-1.646846890496156]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.02272515481136883,-0.27423460850213344,0.71338606911949],"aabb_xy":[[-0.03357676106024443,-0.28509389922978445],[-0.01187354856249323,-0.2633753177744824]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.2586520660858921,-0.9300899076006985,0.71338606911949],"aabb_xy":[[0.23481584844528708,-1.0200899084091852],[0.2824882837264972,-0.8400899067922122]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.10243325607995313,1.161336078580117,0.71338606911949],"aabb_xy":[[-0.16643325319205882,1.1123037087857064],[-0.03843325896784744,1.2103684483745276]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.5233131208290835,-1.5311005631796122,0.71338606911949],"aabb_xy":[[0.4933214580952131,-1.5611005625164125],[0.5533047835629538,-1.5011005638428114]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[-0.511410628114724,0.48719338901195197,0.71338606911949],"aabb_xy":[[-0.5564032148331746,0.44219338973750316],[-0.46641804139627374,0.5321933882864007]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.5866215851289986,-0.44501175742105126,0.71338606911949],"aabb_xy":[[0.5795812751954617,-0.5250117568207228],[0.5936618950625356,-0.3650117580213799]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.07497478422709214,-2.3481738746759686,0.71338606911949],"aabb_xy":[[-0.01502521944982604,-2.409606281253072],[0.1649747879040103,-2.2867414680988634]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.30124932414642414,-2.373548990715611,0.71338606911949],"aabb_xy":[[0.2512762586139087,-2.423548990528144],[0.3512223896789396,-2.3235489909030784]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.113633018666223,-1.3347907166510875,0.71338606911949],"aabb_xy":[[-0.16360631266948344,-1.3847907172056348],[-0.06365972466296255,-1.2847907160965402]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.15589500156101255,-1.3216503325718558,0.71338606911949],"aabb_xy":[[0.14505452333449764,-1.3388366138625043],[0.16673547978752745,-1.304464051281207]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[-0.33367098279942986,-0.32270083290435814,0.71338606911949],"aabb_xy":[[-0.3430179903817251,-0.33700445512200217],[-0.32432397521713463,-0.3083972106867141]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.4515288193258489,1.4982615558212928,0.71338606911949],"aabb_xy":[[0.4354668918673312,1.4132615540087012],[0.46759074678436646,1.5832615576338849]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.48707318888215345,-0.395643456462043,0.71338606911949],"aabb_xy":[[-0.5370731899012888,-0.43210967219987106],[-0.43707318786301824,-0.35917724072421514]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.411886809849023,-1.510389153391936,0.71338606911949],"aabb_xy":[[-0.4468868081597184,-1.518104168315482],[-0.3768868115383275,-1.5026741384683906]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.27968335881516804,-1.5021071482473722,0.71338606911949],"aabb_xy":[[0.2551371431924173,-1.5323560447964093],[0.30422957443791876,-1.4718582516983352]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.489981075404801,1.3191942368897127,0.71338606911949],"aabb_xy":[[-0.512896788289851,1.2962899397532892],[-0.46706536251975117,1.3420985340261362]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.0891830059399713,1.7008967484757824,0.71338606911949],"aabb_xy":[[0.009183008536377877,1.6209041772775994],[0.1691830033435647,1.780889319673965]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.5871970352596265,1.3902217087619158,0.71338606911949],"aabb_xy":[[0.5752643008977983,1.3778395559540566],[0.5991297696214545,1.4026038615697753]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.05647007019751693,1.1711393159861152,0.71338606911949],"aabb_xy":[[0.026071959098373346,1.1407324139844455],[0.08686818129666052,1.2015462179877845]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.6049131282056146,1.786068368092637,0.71338606911949],"aabb_xy":[[-0.62741312844913,1.773863733432865],[-0.5824131279620992,1.798273002752409]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7018258294172728,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7106.png","name":"7106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3819.png","name":"3819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9760.png","name":"9760"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":624.7436432536321,"rotation_z_degrees":87.5774909710168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01963877867733218,0.005227543559366575,0.016427715477086952]},{"name":"camera_2","offset_m":[-0.0016066014788064069,-0.006492702006181222,-0.005474239428533166]},{"name":"camera_3","offset_m":[-0.003808296126641294,0.00791986723554678,-0.007726524829575587]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015323581947990121,-0.001981641663127236,0.0014404912949370352],"end_effector_yaw_offset_degrees":0.3990311661129964},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012258502749693538,0.0006475397391850083,0.0004948050744298105],"end_effector_yaw_offset_degrees":0.9162537458442668},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001701647794254699,-0.00015888302468428073,-0.0012859499746929438],"end_effector_yaw_offset_degrees":0.24744001197826448}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027153461829731197,-0.004345884408373071],"position_m":[0.27718465381702684,0.15265411559162692,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004746376901755248,0.0034374860560577826],"position_m":[0.3577463769017552,0.31383748605605777,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016794406251371737,0.004410006289259719],"position_m":[0.2933794406251372,-0.03878999371074028,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037695817386970603,-0.0008233770627240518],"position_m":[0.25376958173869707,-0.3373233770627241,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b4c61f8629496a222a75fe9dea6562e1d10d29bc2165fc9600262abea3b469cf","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0074.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8074/tex_ceiling_textures_9760/tex_floor_textures_9944/tex_table_textures_7106/tex_wall_textures_3819","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5613051265183840054,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5613051265183840054,"visual_seed":5613051265183840054,"scene_id":"lab_003","finished_at":"2026-09-02T05:26:27"}
+{"episode_id":"ep_000065","started_at":"2026-09-02T05:26:30","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.602411464658493,0.8625011279181374,0.71338606911949],"aabb_xy":[[-0.6148788227682287,0.8500358032848139],[-0.5899441065487574,0.8749664525514609]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.37544693404846036,-1.71403157257667,0.71338606911949],"aabb_xy":[[-0.41294693386549386,-1.7186697838878116],[-0.33794693423142674,-1.7093933612655279]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.05422215502590355,-0.7659064456541458,0.71338606911949],"aabb_xy":[[0.016722154854031605,-0.798607181037053],[0.09172215519777549,-0.7332057102712386]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.40056812391534913,1.1765543653246069,0.71338606911949],"aabb_xy":[[-0.4505673990837853,1.12655436404866],[-0.35056884874691296,1.2265543666005543]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.6145103917491797,-1.1958486669602004,0.71338606911949],"aabb_xy":[[0.5345103914755728,-1.2687982147859171],[0.6945103920227867,-1.1228991191344837]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[0.6701974597797244,0.4330915820694825,0.71338606911949],"aabb_xy":[[0.652521829191126,0.4154113657900797],[0.6878730903683227,0.4507717983488852]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.40154028004376574,1.0351985507724129,0.71338606911949],"aabb_xy":[[0.3934125918504525,1.026284942361705],[0.40966796823707896,1.0441121591831206]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.6491869578807616,0.8848550819030989,0.71338606911949],"aabb_xy":[[0.6291285462675213,0.8647899949939413],[0.6692453694940019,0.9049201688122563]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.22607799906075365,1.074851370218374,0.71338606911949],"aabb_xy":[[0.17619530218305743,1.0248513709720992],[0.27596069593844985,1.1248513694646487]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.4690118063898836,-1.1945181227272508,0.71338606911949],"aabb_xy":[[0.4465470364184785,-1.217018123606111],[0.4914765763612887,-1.17201812184839]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.021665690207826382,-2.2268277757359276,0.71338606911949],"aabb_xy":[[-0.0591656905000012,-2.230869251136531],[0.015834310084348435,-2.2227863003353234]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[0.21624500851218875,-0.974774531030016,0.71338606911949],"aabb_xy":[[0.15624500826078755,-1.0290558560664804],[0.2762450087635899,-0.9204932059935512]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.08715506983455723,0.7498144452376079,0.71338606911949],"aabb_xy":[[-0.17715506925292812,0.7164389483934182],[0.00284492958381366,0.7831899420817976]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.22258453686335933,1.1982887297847102,0.71338606911949],"aabb_xy":[[-0.2599158133886019,1.163635674989858],[-0.18525326033811673,1.2329417845795625]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.3412182295267057,0.73321359692505,0.71338606911949],"aabb_xy":[[-0.3862182309929347,0.6882137400635693],[-0.29621822806047693,0.7782134537865307]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.3926828390857559,1.4549076712297313,0.71338606911949],"aabb_xy":[[-0.4404890066995245,1.3899076685226723],[-0.34487667147198725,1.51990767393679]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.5481585285369768,-1.8736935399815686,0.71338606911949],"aabb_xy":[[0.5147183533409571,-1.9071371658124985],[0.5815987037329963,-1.8402499141506383]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.06524717954689341,-2.0128949104654503,0.71338606911949],"aabb_xy":[[-0.09639409839047652,-2.0828949091522575],[-0.03410026070331029,-1.9428949117786432]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.4345159960719336,-1.075078420914429,0.71338606911949],"aabb_xy":[[-0.5245159997488515,-1.1365108274915332],[-0.3445159923950153,-1.0136460143373245]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.6369177782507416,-1.454507025954838,0.71338606911949],"aabb_xy":[[-0.6869127892101936,-1.5045070249904302],[-0.5869227672912896,-1.4045070269192466]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.18197277900316722,-1.9016058753704401,0.71338606911949],"aabb_xy":[[-0.21947277910876015,-1.9084280372234215],[-0.14447277889757423,-1.8947837135174592]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[0.6569431260607002,1.3714861587584544,0.71338606911949],"aabb_xy":[[0.6194431257124723,1.3596947631773708],[0.6944431264089278,1.383277554339538]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[-0.009750344397916,-1.6058769651776204,0.71338606911949],"aabb_xy":[[-0.013866294509988662,-1.6099925202104657],[-0.005634394285843334,-1.6017614101447746]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[0.6084568902175576,-0.8385175831598595,0.71338606911949],"aabb_xy":[[0.5968879094706211,-0.8635175832767912],[0.6200258709644942,-0.8135175830429278]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[-0.17919032801034218,0.5173923194868837,0.71338606911949],"aabb_xy":[[-0.2431903273045104,0.4534061791180295],[-0.11519032871617396,0.5813784598557379]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.007034836876971595,-1.432345131343632,0.71338606911949],"aabb_xy":[[-0.041331747894712216,-1.4666420175535733],[0.027262074140769026,-1.3980482451336906]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[0.3247652529211691,1.3488989454803337,0.71338606911949],"aabb_xy":[[0.30713241732764146,1.3312759994647108],[0.3423980885146966,1.3665218914959567]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[-0.5353725879218444,-0.05794363959408333,0.71338606911949],"aabb_xy":[[-0.5696888650964623,-0.10794363956726105],[-0.5010563107472265,-0.007943639620905614]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.4595326521186789,-0.3260642603633661,0.71338606911949],"aabb_xy":[[0.37953264995591635,-0.4060194439895098],[0.5395326542814414,-0.24610907673722254]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.633738775739028,1.152134753525917,0.71338606911949],"aabb_xy":[[-0.6417322655343102,1.1441366215854414],[-0.6257452859437461,1.1601328854663926]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_30","position":[0.1265365136145442,-2.1693643951620665,0.71338606911949],"aabb_xy":[[0.11460377925271614,-2.181746547969926],[0.13846924797637228,-2.156982242354207]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_31","position":[0.6589368145953591,-2.3868643211573537,0.71338606911949],"aabb_xy":[[0.6428748871368415,-2.471864322969945],[0.6749987420538768,-2.3018643193447614]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_32","position":[-0.14247690197832896,1.5488125355002125,0.71338606911949],"aabb_xy":[[-0.20647690519696682,1.5020894236012041],[-0.0784768987596911,1.5955356473992208]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_33","position":[-0.2160316706563326,0.25947572219741044,0.71338606911949],"aabb_xy":[[-0.22365593874651088,0.2518424986608668],[-0.2084074025661544,0.2671089457339542]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928080231550903,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/524.png","name":"524"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/524.png","name":"524"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3805.png","name":"3805"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4588.png","name":"4588"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/148.png","name":"148"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4552.png","name":"4552"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":846.3816233181485,"rotation_z_degrees":294.3049944573318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005066248052054316,-0.015321436981353971,-0.005490438480637882]},{"name":"camera_2","offset_m":[0.0061486514963290245,-0.005981815772834449,0.014427346214614997]},{"name":"camera_3","offset_m":[-0.0006325188543515915,0.009742135843946554,0.004905839505153397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001839716399005161,0.0013630937348772872,-0.0005211189347612674],"end_effector_yaw_offset_degrees":0.342978837979083},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015602727565128135,8.739038144537194e-05,-6.781904094097955e-05],"end_effector_yaw_offset_degrees":-0.15108471896857},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019635934884391385,-0.00026107917223327083,0.0016819448034238048],"end_effector_yaw_offset_degrees":-0.36676930513353145}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008125975826319357,-0.0031264577375317948],"position_m":[0.27908740241736807,0.15387354226246822,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013449966582796602,-0.004576520801622429],"position_m":[0.35165500334172034,0.3058234791983776,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007575105925614932,0.0006510501420245651],"position_m":[0.2909424894074385,-0.042548949857975436,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00023650818002051138,0.0004280546781430935],"position_m":[0.2502365081800205,-0.3360719453218569,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e3b78a065b073511771e708287c5f9b7dd19007e68b0d82c8c5a402dd43a3ed8","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_524/tex_ceiling_textures_4552/tex_floor_textures_148/tex_table_textures_3805/tex_wall_textures_4588","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4605700516584402304,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4605700516584402304,"visual_seed":4605700516584402304,"scene_id":"lab_003","finished_at":"2026-09-02T05:29:15"}
+{"episode_id":"ep_000066","started_at":"2026-09-02T05:29:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.47775016882429955,1.375185351877029,0.71338606911949],"aabb_xy":[[0.4494204588757594,1.370724609683312],[0.5060798787728398,1.379646094070746]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.6043031891807418,1.0578969160894212,0.71338606911949],"aabb_xy":[[0.5693031892847228,1.049522680577481],[0.6393031890767605,1.0662711516013612]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.05932193226680782,-1.4899116385533857,0.71338606911949],"aabb_xy":[[-0.10062647533054381,-1.5539116381215026],[-0.018017389203071832,-1.4259116389852684]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.03685045098798223,-0.9988269214841685,0.71338606911949],"aabb_xy":[[-0.07809926201789695,-1.0538269209963858],[0.004398360041932502,-0.9438269219719511]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.24060881043187593,0.5597174913110714,0.71338606911949],"aabb_xy":[[-0.29558253246820887,0.5047174917468382],[-0.18563508839554307,0.6147174908753046]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.37014951736933666,-2.5650313359100703,0.71338606911949],"aabb_xy":[[-0.3766511538773414,-2.57479915793638],[-0.3636478808613321,-2.5552635138837605]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.29348321626626417,-0.3188516359739215,0.71338606911949],"aabb_xy":[[-0.33450115965263505,-0.3688516366048788],[-0.2524652728798933,-0.26885163534296413]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.29214362129691884,1.4228060423024895,0.71338606911949],"aabb_xy":[[-0.3221111782067445,1.3928060420046038],[-0.2621760643870932,1.4528060426003753]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.006725340211918174,1.4916231498985177,0.71338606911949],"aabb_xy":[[-0.00031496972161881945,1.4116231504988466],[0.01376565014545517,1.5716231492981896]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.3052799543490856,-0.5461678555760252,0.71338606911949],"aabb_xy":[[0.28921802689056797,-0.6311678573886169],[0.32134188180760326,-0.46116785376343333]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.1580491950567411,1.1952949902236818,0.71338606911949],"aabb_xy":[[-0.218049195564594,1.1384482565377603],[-0.09804919454888818,1.2521417239096029]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.4242625039843999,0.40238127193354023,0.71338606911949],"aabb_xy":[[0.38926250485444425,0.3966360508578761],[0.45926250311435557,0.40812649300920434]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.13949989097122162,-1.2279683899791733,0.71338606911949],"aabb_xy":[[0.08949989002068878,-1.2595175369826945],[0.1894998919217544,-1.1964192429756517]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.454990957835794,0.7625355044742257,0.71338606911949],"aabb_xy":[[-0.5049902330042302,0.7125355031982786],[-0.4049916826673579,0.812535505750173]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[0.25624122078096634,1.348132535136814,0.71338606911949],"aabb_xy":[[0.19224122161119636,1.3013658480178516],[0.32024121995073623,1.3948992222557766]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.5668467643697266,0.03727754987451748,0.71338606911949],"aabb_xy":[[0.5028467636662572,-0.008740832598403534],[0.6308467650731959,0.08329593234743848]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.13178302012588972,-0.988373311747299,0.71338606911949],"aabb_xy":[[0.12415875203571147,-0.9960065352838428],[0.13940728821606796,-0.9807400882107553]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[-0.43581819044052705,1.0002776664019137,0.71338606911949],"aabb_xy":[[-0.44385452514181184,0.9922395470974967],[-0.42778185573924216,1.0083157857063303]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.10658166052720042,1.406113492663685,0.71338606911949],"aabb_xy":[[0.07873662374659332,1.3753289939253732],[0.13442669730780757,1.4368979914019966]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.5023970363646585,-1.331213580987633,0.71338606911949],"aabb_xy":[[-0.5131700102860263,-1.366213579206672],[-0.4916240624432907,-1.296213582768594]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.4389542529779611,0.7211903024397759,0.71338606911949],"aabb_xy":[[0.41645425246592044,0.6986984440743774],[0.46145425349000163,0.7436821608051741]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.5584818518886974,1.0067829326803328,0.71338606911949],"aabb_xy":[[-0.6224818521626755,0.9567168324830446],[-0.494481851614719,1.0568490328776206]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.10297400110376764,1.3576364727834584,0.71338606911949],"aabb_xy":[[-0.14047400127563958,1.324935737400551],[-0.0654740009318957,1.3903372081663654]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.5468350427028699,-2.155689599953443,0.71338606911949],"aabb_xy":[[-0.5509509928149424,-2.1598051549862882],[-0.5427190925907971,-2.151574044920597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977723089370658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3321.png","name":"3321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3321.png","name":"3321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7448.png","name":"7448"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7612.png","name":"7612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3737.png","name":"3737"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":727.6481453417372,"rotation_z_degrees":158.77608792417698,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01852550883335384,-0.008928180042952944,-0.014684672685321285]},{"name":"camera_2","offset_m":[0.01703957012512702,0.007526881707576018,-0.002171609219757866]},{"name":"camera_3","offset_m":[0.004829892565056514,-0.016632326948717063,0.019176967020226778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004335870328020723,-0.00046364777084075687,0.001332064360656352],"end_effector_yaw_offset_degrees":-0.04934898237305618},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001499761588573662,-0.00092967143751138,-0.0015175716683175802],"end_effector_yaw_offset_degrees":0.9133008777104124},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001039765161738104,0.0005935594496896562,-0.0013159798795047248],"end_effector_yaw_offset_degrees":0.5460837424186236}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00044766679406188503,0.003547184235271612],"position_m":[0.2794523332059381,0.16054718423527162,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015521841316818987,0.000760330078038135],"position_m":[0.3545521841316819,0.3111603300780381,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022184185009607193,-0.0006043214673088692],"position_m":[0.2894815814990393,-0.04380432146730887,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001456023321572849,-0.002163344083609561],"position_m":[0.25145602332157285,-0.3386633440836096,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ead9ed5b7fbd5729d11e217e3fb71b09eb19bfc2fe39ab335c8dafa5c5dad99a","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3321/tex_ceiling_textures_3737/tex_floor_textures_7612/tex_table_textures_7448/tex_wall_textures_5162","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3420667414168319029,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3420667414168319029,"visual_seed":3420667414168319029,"scene_id":"lab_003","finished_at":"2026-09-02T05:31:23"}
+{"episode_id":"ep_000067","started_at":"2026-09-02T05:31:26","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.21825159775395814,-1.5874898128115262,0.71338606911949],"aabb_xy":[[-0.28225159813149175,-1.6372350796623385],[-0.15425159737642452,-1.537744545960714]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.5274306617022034,-2.0301216140966933,0.71338606911949],"aabb_xy":[[-0.5914306637519353,-2.0702160971860013],[-0.4634306596524713,-1.9900271310073854]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.5791501537479902,-1.7431955430115051,0.71338606911949],"aabb_xy":[[0.49415015533056705,-1.8280698384737903],[0.6641501521654135,-1.6583212475492204]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.6849479182334799,0.7212910923180651,0.71338606911949],"aabb_xy":[[0.6789109052328153,0.7152643912491169],[0.6909849312341447,0.7273177933870133]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.6566209297873813,-2.4449303900749344,0.71338606911949],"aabb_xy":[[0.6410651603771161,-2.4604808233193416],[0.6721766991976467,-2.429379956830527]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.021731060784816347,-1.9456984157541788,0.71338606911949],"aabb_xy":[[0.011975071275642454,-1.9554609498134132],[0.03148705029399024,-1.9359358816949443]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.15845511887056907,0.8444153440068294,0.71338606911949],"aabb_xy":[[-0.1836759557304087,0.8191915931539426],[-0.13323428201072937,0.8696390948597161]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.4036671256309503,-1.8817003605117175,0.71338606911949],"aabb_xy":[[0.3336671240286709,-1.8951331537133749],[0.47366712723322985,-1.8682675673100597]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.5539656422661925,-0.3981342603777449,0.71338606911949],"aabb_xy":[[0.5326876341227202,-0.4631342627038179],[0.5752436504096647,-0.3331342580516718]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.24452884689106785,1.4061202453632529,0.71338606911949],"aabb_xy":[[-0.2690750625138185,1.3758713488142156],[-0.2199826312683171,1.4363691419122897]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.5610743938858376,-0.2625475776296513,0.71338606911949],"aabb_xy":[[-0.5743053394205188,-0.27577499665165073],[-0.5478434483511562,-0.2493201586076519]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.5788713631451824,-0.6567454524943026,0.71338606911949],"aabb_xy":[[-0.584208938811187,-0.6817454534234424],[-0.5735337874791778,-0.6317454515651628]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.333709169443492,1.5772134307662111,0.71338606911949],"aabb_xy":[[-0.34099148582015554,1.4872134271567017],[-0.3264268530668282,1.6672134343757197]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.46687024460747173,1.7824861783841208,0.71338606911949],"aabb_xy":[[0.4560297663809568,1.7652998970934717],[0.47771072283398663,1.799672459674769]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.033558489651684176,1.315193594469748,0.71338606911949],"aabb_xy":[[0.011058489837781793,1.3107189780992672],[0.05605848946558656,1.3196682108402287]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.15497049236740457,-2.4219475020008105,0.71338606911949],"aabb_xy":[[0.07497049129428424,-2.431725548338195],[0.2349704934405249,-2.412169455663426]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.2388359564323818,0.558698958324769,0.71338606911949],"aabb_xy":[[-0.2763359567806095,0.5469075627436855],[-0.20133595608415403,0.5704903539058526]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.46180854613569977,-2.203770499126348,0.71338606911949],"aabb_xy":[[0.3978085442233575,-2.2596816483843587],[0.5258085480480421,-2.147859349868338]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.3387632213725325,-0.6477084390144261,0.71338606911949],"aabb_xy":[[-0.4027632245911704,-0.6944315509134344],[-0.2747632181538947,-0.6009853271154177]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.1484265169857557,-0.21737317555201496,0.71338606911949],"aabb_xy":[[-0.16105330427295203,-0.22691924925358786],[-0.13579972969855933,-0.20782710185044206]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.6737600591520285,-1.1053936539580898,0.71338606911949],"aabb_xy":[[-0.6790925738066417,-1.1107179822033253],[-0.6684275444974156,-1.1000693257128542]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.3359392160277501,-1.2845186935358313,0.71338606911949],"aabb_xy":[[-0.40593921783649556,-1.3058724623000189],[-0.2659392142190047,-1.263164924771644]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.19032533703035304,1.645432070755938,0.71338606911949],"aabb_xy":[[0.17331523974030236,1.6292975822576643],[0.20733543432040366,1.6615665592542121]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[-0.6080076781918543,-2.2788286366668205,0.71338606911949],"aabb_xy":[[-0.6720076753039601,-2.327861006461231],[-0.5440076810797487,-2.22979626687241]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.6324444305526883,0.04201549236860824,0.71338606911949],"aabb_xy":[[-0.6709901233778893,0.0034697213124195853],[-0.5938987377274872,0.0805612634247969]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.12460671980426097,-1.5895533068502345,0.71338606911949],"aabb_xy":[[0.07460672115833976,-1.639472850509697],[0.17460671845018216,-1.5396337631907722]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[-0.6656033616052149,-1.0214294969006725,0.71338606911949],"aabb_xy":[[-0.6844877453737251,-1.0403154216810255],[-0.6467189778367047,-1.00254357212032]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964999082381246,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1216.png","name":"1216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6855.png","name":"6855"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1938.png","name":"1938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/535.png","name":"535"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.8634882036215,"rotation_z_degrees":315.7484518931832,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0085905962403988,-0.015195525915239014,0.002720548345686899]},{"name":"camera_2","offset_m":[-0.010541189949853305,0.007985550623752627,0.01645334429451718]},{"name":"camera_3","offset_m":[-0.0033681148932399284,0.005987207062765329,-0.015855654590694917]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009475953368701222,-0.0004918911443044665,0.0011727763645978011],"end_effector_yaw_offset_degrees":-0.3337363355932701},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013281161349891963,-0.0004656213269861205,-0.0018598720390136246],"end_effector_yaw_offset_degrees":-0.7421742858867872},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015648067429333442,-8.2479343866157e-05,-0.0005101687064844596],"end_effector_yaw_offset_degrees":-0.08334805521685129}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007492902319521499,-0.003266067484734161],"position_m":[0.2806492902319521,0.15373393251526585,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001314492828990006,0.0036370026116607996],"position_m":[0.35168550717101,0.3140370026116608,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003547354834053859,0.0019452996497151855],"position_m":[0.2952473548340539,-0.04125470035028482,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037268718877752254,-0.0023604760220541565],"position_m":[0.2537268718877752,-0.33886047602205416,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a706ef0a3c78d8ee8469f0cdc4142dd8c5985e54327511c8edb5d3fa11192a1","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_645/tex_ceiling_textures_535/tex_floor_textures_1938/tex_table_textures_1216/tex_wall_textures_6855","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":214249891898708057,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":214249891898708057,"visual_seed":214249891898708057,"scene_id":"lab_003","finished_at":"2026-09-02T05:33:36"}
+{"episode_id":"ep_000068","started_at":"2026-09-02T05:33:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.4271965752839999,-1.9430548580054463,0.71338606911949],"aabb_xy":[[0.37318097900209984,-2.007054860897703],[0.48121217156589985,-1.8790548551131887]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.2131359336278036,-2.0421924081716005,0.71338606911949],"aabb_xy":[[0.13313593036379046,-2.055752440480514],[0.2931359368918167,-2.028632375862687]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.201413396274302,0.9735063661738081,0.71338606911949],"aabb_xy":[[-0.22358592325095278,0.9513306990176849],[-0.17924086929765112,0.9956820333299312]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.30244994985931606,0.5669510609815234,0.71338606911949],"aabb_xy":[[-0.39244994845378606,0.5507004746681025],[-0.21244995126484617,0.5832016472949445]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.523718378966883,1.2205450170019496,0.71338606911949],"aabb_xy":[[-0.546634091851933,1.1976407198655261],[-0.5008026660818332,1.2434493141383731]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.3331334740247977,0.21333780872659736,0.71338606911949],"aabb_xy":[[-0.3881334732013872,0.15834813395163969],[-0.2781334748482082,0.268327483501555]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.13938647122456316,-2.537405915333266,0.71338606911949],"aabb_xy":[[-0.1596707739479619,-2.557688540475975],[-0.11910216850116438,-2.5171232901905576]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.3600039262220138,0.6818180844682056,0.71338606911949],"aabb_xy":[[-0.3950039261985097,0.672353468420589],[-0.32500392624551805,0.6912827005158222]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.055432238168260484,1.357732203531325,0.71338606911949],"aabb_xy":[[0.03833016020989233,1.3406253980000553],[0.07253431612662864,1.3748390090625948]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.15750828314122534,1.0521024301860793,0.71338606911949],"aabb_xy":[[0.13499459131776811,0.9821024295850715],[0.1800219749646825,1.1221024307870866]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.3615187671860337,-1.3297173959490263,0.71338606911949],"aabb_xy":[[-0.3656546235187339,-1.3672173953933833],[-0.3573829108533335,-1.2922173965046693]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.33415839824875926,1.216978430349748,0.71338606911949],"aabb_xy":[[0.29915839993806376,1.2092634154262023],[0.36915839655945465,1.2246934452732936]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.5302950893929735,1.3647225094743187,0.71338606911949],"aabb_xy":[[-0.5852905672136328,1.3097225080404118],[-0.47529961157231404,1.4197225109082257]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.2857019899989046,1.5499640309959806,0.71338606911949],"aabb_xy":[[0.28162383209185493,1.5458830507477173],[0.2897801479059544,1.5540450112442439]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.4823080305316292,1.4702869994671155,0.71338606911949],"aabb_xy":[[0.4598080302881138,1.4580823648073438],[0.5048080307751446,1.4824916341268877]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.40320483408260444,1.3667705993000294,0.71338606911949],"aabb_xy":[[0.3532100011546629,1.316770600404786],[0.4531996670105461,1.4167705981952732]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.04785954507711565,-2.18557449536954,0.71338606911949],"aabb_xy":[[-0.07900646392069877,-2.2555744940563467],[-0.016712626233532528,-2.1155744966827323]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.05354652647305058,-2.0577881569498473,0.71338606911949],"aabb_xy":[[-0.05766247658512324,-2.0619037119826924],[-0.04943057636097791,-2.0536726019170013]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.4001496479902249,-2.4144002193137695,0.71338606911949],"aabb_xy":[[0.31014965125461463,-2.467583682631064],[0.49014964472583505,-2.361216755996475]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.20654771349419032,-1.803221612313052,0.71338606911949],"aabb_xy":[[0.15655460138499847,-1.8532216129872476],[0.25654082560338226,-1.7532216116388564]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.5926092806772407,-0.584761143910951,0.71338606911949],"aabb_xy":[[-0.6301092821928724,-0.595987916927096],[-0.555109279161609,-0.5735343708948059]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.03664884881677977,-0.9624759019459739,0.71338606911949],"aabb_xy":[[-0.0942793177040506,-1.0224759008726843],[0.020981620070491088,-0.9024759030192631]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.22873871092713421,1.4139630516342208,0.71338606911949],"aabb_xy":[[-0.29873870733709595,1.3935251159825386],[-0.15873871451717236,1.434400987285902]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[0.6224038378186947,-0.6763482132724226,0.71338606911949],"aabb_xy":[[0.5424038408044467,-0.6964827649458338],[0.7024038348329427,-0.6562136615990113]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.42052974942115506,-1.482576973947678,0.71338606911949],"aabb_xy":[[0.33084267311303955,-1.5725769742021283],[0.5102168257292705,-1.3925769736932272]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.3697318012008907,1.6343511595679536,0.71338606911949],"aabb_xy":[[-0.4597318048778087,1.572918752990849],[-0.27973179752397237,1.6957835661450578]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.4074528862115168,0.056748666505366696,0.71338606911949],"aabb_xy":[[-0.4424528844816367,0.04967453881037853],[-0.3724528879413969,0.06382279420035486]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[-0.49434600117917293,-0.2998623310966386,0.71338606911949],"aabb_xy":[[-0.506278735541001,-0.312244483904498],[-0.48241326681734487,-0.28748017828877925]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_28","position":[-0.10468904930048395,1.7858228799256621,0.71338606911949],"aabb_xy":[[-0.11280270397386105,1.7777170634716328],[-0.09657539462710685,1.793928696379691]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_29","position":[-0.303096831679054,1.2746245828231473,0.71338606911949],"aabb_xy":[[-0.3670968319530322,1.224558482625859],[-0.23909683140507576,1.324690683020435]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[-0.6093312416811828,-0.7411668266879559,0.71338606911949],"aabb_xy":[[-0.6180292039718981,-0.7532918009954308],[-0.6006332793904675,-0.7290418523804812]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[0.3172530651242096,-0.9593138935167442,0.71338606911949],"aabb_xy":[[0.3084510098152368,-0.9671252196716732],[0.32605512043318224,-0.951502567361815]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_32","position":[0.05337626457915534,-1.7624251989882933,0.71338606911949],"aabb_xy":[[0.039041839452991896,-1.7744854145428322],[0.0677106897053188,-1.7503649834337545]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_33","position":[0.5613985058773219,-0.7948527105524288,0.71338606911949],"aabb_xy":[[0.5531839607616378,-0.8035293008500699],[0.5696130509930057,-0.7861761202547872]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953967822316339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/796.png","name":"796"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/796.png","name":"796"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5656.png","name":"5656"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9121.png","name":"9121"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4271.png","name":"4271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5995.png","name":"5995"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":550.5410661378307,"rotation_z_degrees":317.3095472853786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013195820594775396,0.012110221291060073,-0.0057150191179554805]},{"name":"camera_2","offset_m":[-0.007093206168026684,0.008380723630577486,0.0026033990021252784]},{"name":"camera_3","offset_m":[-0.002184397017948675,-0.017064125703338765,0.013566011627847829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007354649135117941,0.0009002230740744305,-0.0007215842715414377],"end_effector_yaw_offset_degrees":-0.6139864646161857},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00024078774519094813,-0.0008359826501135657,-0.001171640833631919],"end_effector_yaw_offset_degrees":-0.6609311047264665},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010126495419474177,0.0008639153609001165,-0.0009974679466894698],"end_effector_yaw_offset_degrees":-0.7584784228072141}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020351823767388554,0.002158549745796168],"position_m":[0.27786481762326115,0.15915854974579616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002420116400833348,0.003379029723076709],"position_m":[0.35057988359916664,0.3137790297230767,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004217854701326659,-0.0037080028455927705],"position_m":[0.2959178547013267,-0.046908002845592774,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00047586414001480216,-0.0022526017780781825],"position_m":[0.2504758641400148,-0.3387526017780782,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ec21669f0107041bae95f4c6e2d69d36b329e6e8c744a918073f7088d82444d8","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_796/tex_ceiling_textures_5995/tex_floor_textures_4271/tex_table_textures_5656/tex_wall_textures_9121","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7137333687656316703,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7137333687656316703,"visual_seed":7137333687656316703,"scene_id":"lab_003","finished_at":"2026-09-02T05:36:16"}
+{"episode_id":"ep_000069","started_at":"2026-09-02T05:36:19","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.14623120538276857,1.2629464500237084,0.71338606911949],"aabb_xy":[[-0.23123120380019177,1.1780721545614234],[-0.061231206965345314,1.3478207454859934]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.12570612332200515,0.08480009141857625,0.71338606911949],"aabb_xy":[[-0.15070612248763826,0.07784784571321968],[-0.10070612415637203,0.09175233712393283]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.3999545023731961,1.7329620913088468,0.71338606911949],"aabb_xy":[[0.335954500152789,1.6885890071835585],[0.46395450459360305,1.777335175434135]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.15008339318507613,-1.9204859239113108,0.71338606911949],"aabb_xy":[[0.11258339268771789,-1.9244546074594295],[0.18758339368243437,-1.9165172403631925]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.5773500727740541,1.2088860224152698,0.71338606911949],"aabb_xy":[[-0.5833870857747189,1.202859321346322],[-0.5713130597733894,1.214912723484218]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.05565963965899223,0.7514208598577139,0.71338606911949],"aabb_xy":[[-0.06365362823669563,0.7434207797626234],[-0.04766565108128883,0.7594209399528041]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.4379585132250905,-1.6249780337045787,0.71338606911949],"aabb_xy":[[-0.4608742261101404,-1.6478823308410024],[-0.4150428003400406,-1.6020737365681554]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.20193961067171312,-1.422079133042296,0.71338606911949],"aabb_xy":[[-0.2394396121873448,-1.4333059060584408],[-0.16443960915608138,-1.4108523600261507]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.395926147196751,-1.0071070497173449,0.71338606911949],"aabb_xy":[[0.3734297257628869,-1.0296070495240925],[0.4184225686306151,-0.9846070499105977]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.36400385331636587,-1.9440809463902737,0.71338606911949],"aabb_xy":[[0.2990038523158653,-1.9948673115449485],[0.42900385431686633,-1.8932945812355986]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.37225910114842553,-0.7945235092334024,0.71338606911949],"aabb_xy":[[0.3628416265785627,-0.8039396863711215],[0.3816765757182882,-0.7851073320956834]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.6265341408602139,-0.5451444930332605,0.71338606911949],"aabb_xy":[[0.6095240435701632,-0.5612789815315343],[0.6435442381502645,-0.5290100045349865]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.16830700593335712,0.7739511990526431,0.71338606911949],"aabb_xy":[[-0.2183062811017933,0.7239511977766959],[-0.11830773076492096,0.8239512003285903]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[0.036486964318518056,-0.7036137497274801,0.71338606911949],"aabb_xy":[[0.03235110798581786,-0.7411137491718373],[0.04062282065121825,-0.6661137502831233]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[-0.14891991851473385,-0.3257280397107256,0.71338606911949],"aabb_xy":[[-0.1632543436408973,-0.3377882552652645],[-0.1345854933885704,-0.3136678241561868]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.12871522224812282,-1.5213267553154692,0.71338606911949],"aabb_xy":[[0.12109095415794457,-1.5289599788520132],[0.13633949033830106,-1.5136935317789257]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.19876469908715855,-2.2179196028019965,0.71338606911949],"aabb_xy":[[0.11504247358707606,-2.3079196063366925],[0.282486924587241,-2.1279195992673006]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.417908721757998,0.6464688398832132,0.71338606911949],"aabb_xy":[[0.39539502993454073,0.5764688392822057],[0.4404224135814551,0.7164688404842208]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.003068885744827554,-0.9662377655213701,0.71338606911949],"aabb_xy":[[-0.05693111450657362,-1.0205190905578347],[0.06306888599622873,-0.9119564404849054]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.38665555939079504,-0.516055042392312,0.71338606911949],"aabb_xy":[[-0.41780247823437816,-0.5860550410791192],[-0.35550864054721193,-0.44605504370550486]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.46419447175757667,-2.321496945466577,0.71338606911949],"aabb_xy":[[-0.5281944681531496,-2.385460233885311],[-0.40019447536200353,-2.2575336570478437]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.2953479860253069,0.5146226893582311,0.71338606911949],"aabb_xy":[[0.2649498749261633,0.4842157873565615],[0.32574609712445046,0.5450295913599005]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.6791374866902149,1.0052400650281537,0.71338606911949],"aabb_xy":[[0.6672047523283869,0.9928579122202941],[0.6910702210520431,1.0176222178360128]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[0.12764272703110935,-0.8627262909444531,0.71338606911949],"aabb_xy":[[0.11639767146049154,-0.8739680886685481],[0.1388877826017272,-0.8514844932203576]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.04110560055940182,-2.2505402376840187,0.71338606911949],"aabb_xy":[[0.03289105544371783,-2.259216827981659],[0.04932014567508579,-2.2418636473863764]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[-0.3993532200156513,0.916017929057332,0.71338606911949],"aabb_xy":[[-0.42983747014268153,0.866017929275836],[-0.3688689698886212,0.9660179288388279]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.18310513411038276,0.6019559342266101,0.71338606911949],"aabb_xy":[[0.1585915100133769,0.5776913409245736],[0.20761875820738862,0.6262205275286465]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[0.5735616279446192,-2.4546756493173034,0.71338606911949],"aabb_xy":[[0.523561626583732,-2.5046535538927186],[0.6235616293055064,-2.4046977447418874]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[0.24416956477711027,-1.550626661575245,0.71338606911949],"aabb_xy":[[0.1943527853122755,-1.6006266600595485],[0.29398634424194503,-1.5006266630909417]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[-0.18160465554154104,-2.525203795391896,0.71338606911949],"aabb_xy":[[-0.23160465720303577,-2.575202237647599],[-0.13160465388004625,-2.4752053531361935]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_30","position":[-0.10167043920356522,-1.105329292616244,0.71338606911949],"aabb_xy":[[-0.13917043762696557,-1.1184935065840746],[-0.06417044078016487,-1.0921650786484132]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_31","position":[0.2856074979879405,-0.6614912264391792,0.71338606911949],"aabb_xy":[[0.24810749732336176,-0.6771782844394013],[0.32310749865251914,-0.6458041684389569]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915385217228697,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7364.png","name":"7364"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7364.png","name":"7364"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2984.png","name":"2984"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/26.png","name":"26"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":704.7950001657168,"rotation_z_degrees":145.32225839238305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005061770744988179,0.017366144513904284,-0.0015229225006088767]},{"name":"camera_2","offset_m":[-0.019479429406738472,0.004394057220956826,-0.016923627701416994]},{"name":"camera_3","offset_m":[-0.006150623801864414,-0.004937293122742483,-0.017437981768804053]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002783728819735847,-0.0008176524825235943,0.0019186751802510978],"end_effector_yaw_offset_degrees":-0.20139207256476932},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007813104033193828,-0.0009026104139377873,0.0004713305319653605],"end_effector_yaw_offset_degrees":-0.6500000122860281},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00016797884617079754,0.0007382849589819859,0.0001800774469640663],"end_effector_yaw_offset_degrees":0.580520192163992}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001489163898303089,-0.0035256761990907015],"position_m":[0.2813891638983031,0.1534743238009093,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002813242312775924,-0.004468799714223132],"position_m":[0.35018675768722407,0.30593120028577686,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0046263123714510405,0.004191582034117459],"position_m":[0.28707368762854896,-0.039008417965882544,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004599883316265098,-0.002291328052092404],"position_m":[0.2504599883316265,-0.33879132805209244,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b8f764bd343713a89ba811a7a598b456010c81fb4a8d99da79f2f445d633c868","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7364/tex_ceiling_textures_4480/tex_floor_textures_4608/tex_table_textures_2984/tex_wall_textures_26","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4314826044303133842,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4314826044303133842,"visual_seed":4314826044303133842,"scene_id":"lab_003","finished_at":"2026-09-02T05:39:01"}
+{"episode_id":"ep_000070","started_at":"2026-09-02T05:39:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.5443113807706843,0.26556881438634194,0.71338606911949],"aabb_xy":[[0.5291485077937472,0.2504033570912232],[0.5594742537476214,0.2807342716814607]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.2079480782738367,-0.35127273741282883,0.71338606911949],"aabb_xy":[[-0.25792688678415254,-0.40127273741854763],[-0.1579692697635208,-0.30127273740711]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.07144466704295005,-1.4729442560471673,0.71338606911949],"aabb_xy":[[-0.012277558457132423,-1.5629442595818632],[0.1551668925430325,-1.3829442525124713]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.628864600955745,1.8118829654428228,0.71338606911949],"aabb_xy":[[-0.6466581078906615,1.794083219847025],[-0.6110710940208286,1.8296827110386202]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.3711674845777151,-2.291062016093921,0.71338606911949],"aabb_xy":[[0.3662114643928339,-2.3135620162960433],[0.3761235047625963,-2.2685620158917996]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.45083461065048036,0.9297484168785575,0.71338606911949],"aabb_xy":[[-0.5148346109109512,0.8847396175256294],[-0.38683461039000955,0.9747572162314854]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.23017258995865186,1.4691244416150222,0.71338606911949],"aabb_xy":[[0.21926681387108915,1.3891244452161928],[0.24107836604621458,1.5491244380138511]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.22279739381300045,1.1740214421049537,0.71338606911949],"aabb_xy":[[0.1577973959313527,1.1228977783984129],[0.2877973916946483,1.2251451058114946]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.05029748720119809,-2.45990236584423,0.71338606911949],"aabb_xy":[[0.030239075587957798,-2.4799674527533875],[0.07035589881443838,-2.4398372789350726]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.17929685895074088,-0.6358610316430304,0.71338606911949],"aabb_xy":[[-0.20762656889928113,-0.6403217738367475],[-0.15096714900220068,-0.6314002894493134]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.07266967897710674,-1.0288867315389807,0.71338606911949],"aabb_xy":[[-0.0901696781114739,-1.0387663585765683],[-0.055169679842739565,-1.0190071045013926]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.3452667950379112,-2.1720357415884246,0.71338606911949],"aabb_xy":[[-0.3577341531476469,-2.1845010662217486],[-0.3327994369281756,-2.1595704169551015]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.45362043181810696,-0.5836418450511864,0.71338606911949],"aabb_xy":[[0.3886204317838043,-0.6303425217315136],[0.5186204318524097,-0.536941168370859]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.17632341887772018,-2.1114517281832823,0.71338606911949],"aabb_xy":[[-0.18336372881125718,-2.191451727582954],[-0.1692831089441832,-2.0314517287836114]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.6644221720864126,-1.0456773144720148,0.71338606911949],"aabb_xy":[[-0.6685003299934625,-1.0497582947202782],[-0.660344014179363,-1.0415963342237515]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.14032821763045578,1.5406282375553837,0.71338606911949],"aabb_xy":[[-0.22032821459349494,1.4635525959116102],[-0.06032822066741661,1.6177038791991571]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[0.35951312407926617,0.7840649179775632,0.71338606911949],"aabb_xy":[[0.3095131254333449,0.7341453743181008],[0.4095131227251873,0.8339844616370256]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.5974362246967031,-2.336943317567237,0.71338606911949],"aabb_xy":[[0.589811956606525,-2.3445765411037813],[0.6050604927868815,-2.329310094030694]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.3714718549665178,1.492997015078657,0.71338606911949],"aabb_xy":[[-0.37705352660064656,1.4804970152608814],[-0.36589018333238904,1.5054970148964324]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.33007284805642123,-1.7016156030656877,0.71338606911949],"aabb_xy":[[0.28025606859158647,-1.7516156015499909],[0.379889627521256,-1.6516156045813841]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.2516151187897454,-2.149653206377603,0.71338606911949],"aabb_xy":[[0.19661511961315586,-2.20464288115256],[0.30661511796633484,-2.0946635316026447]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.28352795548425974,0.4197419488840124,0.71338606911949],"aabb_xy":[[-0.36352795691438694,0.34022479387140286],[-0.20352795405413254,0.4992591038966218]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.5093587480480497,1.3407309891998969,0.71338606911949],"aabb_xy":[[-0.5571649156618182,1.275730986492838],[-0.46155258043428093,1.4057309919069558]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.10196382485292943,-1.056243155544994,0.71338606911949],"aabb_xy":[[0.044333355965658565,-1.1162431544717042],[0.15959429374020026,-0.996243156618283]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.22986556081268195,1.8108302916806722,0.71338606911949],"aabb_xy":[[0.2210635055037092,1.8030189655257434],[0.23866761612165463,1.8186416178356015]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.1287919643000628,1.360718673279108,0.71338606911949],"aabb_xy":[[0.11111633371146444,1.343038456999705],[0.1464675948886611,1.3783988895585104]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[-0.5256993847095207,0.382117935228782,0.71338606911949],"aabb_xy":[[-0.5806925960466576,0.32711793488998836],[-0.4707061733723841,0.4371179355675756]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_27","position":[-0.15096881926060457,1.295480731725505,0.71338606911949],"aabb_xy":[[-0.18440899445662415,1.2620371058945747],[-0.11752864406458495,1.328924357556435]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[-0.22355054844909888,-1.701148479895136,0.71338606911949],"aabb_xy":[[-0.3035505517069418,-1.78114498768712],[-0.14355054519125587,-1.621151972103152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970759201331534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9508.png","name":"9508"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7063.png","name":"7063"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9406.png","name":"9406"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":513.1566821396414,"rotation_z_degrees":35.05519372803617,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007919224323011549,0.019421336534919866,-0.013366838159307726]},{"name":"camera_2","offset_m":[-0.01620257312361124,0.009413539600420785,0.002432492166067609]},{"name":"camera_3","offset_m":[-0.009296350075598304,0.004037569938360446,0.00297690800449215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000435011248646951,-0.00158329618608255,0.0013735479620770662],"end_effector_yaw_offset_degrees":0.9177105833663433},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001988124843066566,3.6063872283030336e-05,-0.0003134287943473968],"end_effector_yaw_offset_degrees":0.25962718141971974},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010126304026093227,-0.0002764095034142077,-0.0008402206920707185],"end_effector_yaw_offset_degrees":0.9611727163183166}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010623248498963147,0.003672373938365589],"position_m":[0.2809623248498963,0.1606723739383656,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020776600051617246,-0.00186678626241499],"position_m":[0.3550776600051617,0.308533213737585,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032847180993150838,0.00043327461133982077],"position_m":[0.28841528190068494,-0.04276672538866018,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005378212567952656,-0.003701789500326268],"position_m":[0.24946217874320473,-0.3402017895003263,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"796a4c9d2cda575e101b9450b0a83051dfbac1b28c0f9afc2dcdfd9a37ca3a71","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4040/tex_ceiling_textures_9406/tex_floor_textures_7063/tex_table_textures_9508/tex_wall_textures_33","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7050652800905549714,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7050652800905549714,"visual_seed":7050652800905549714,"scene_id":"lab_003","finished_at":"2026-09-02T05:41:41"}
+{"episode_id":"ep_000071","started_at":"2026-09-02T05:41:44","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.27901404935008783,1.1562137096159915,0.71338606911949],"aabb_xy":[[-0.31245422454610733,1.1227700837850612],[-0.24557387415406814,1.1896573354469213]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.5232890184249868,-1.334455192452154,0.71338606911949],"aabb_xy":[[-0.560789016848387,-1.3476194064199845],[-0.4857890200015863,-1.321290978484323]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[0.21479890710838834,1.1940606053551321,0.71338606911949],"aabb_xy":[[0.16480579499919643,1.1440606046809365],[0.2647920192175802,1.2440606060293278]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.45518273791371544,-2.058419694022936,0.71338606911949],"aabb_xy":[[0.44602285896983884,-2.0649509120664726],[0.46434261685759204,-2.051888475979399]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.4249603743612375,-0.33753112632988014,0.71338606911949],"aabb_xy":[[-0.43459201058166713,-0.34716843910958906],[-0.4153287381408079,-0.3278938135501712]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.17603407012368155,-0.9550588348902447,0.71338606911949],"aabb_xy":[[0.11203406844568417,-1.003576226369559],[0.24003407180167888,-0.9065414434109305]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.16034584653233097,-2.0249854785082846,0.71338606911949],"aabb_xy":[[-0.22434584570210095,-2.0717521656272466],[-0.09634584736256106,-1.9782187913893219]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.15050146286478872,-1.8376190343483743,0.71338606911949],"aabb_xy":[[-0.159199425155504,-1.8497440086558492],[-0.14180350057407343,-1.8254940600408998]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.5068487886525332,0.5046828504096301,0.71338606911949],"aabb_xy":[[0.45684878770200044,0.4731337034061087],[0.556848789603066,0.5362319974131515]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.4029307451164663,-0.9967170711308471,0.71338606911949],"aabb_xy":[[-0.40997219606721397,-1.0037438228686417],[-0.3958892941657188,-0.9896903193930526]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[0.3872783149322183,-1.4516843423161618,0.71338606911949],"aabb_xy":[[0.36538856734327757,-1.541684339605411],[0.40916806252115917,-1.3616843450269127]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.5849215806410457,-1.1985467199774504,0.71338606911949],"aabb_xy":[[-0.6749215829750648,-1.2760290745625629],[-0.49492157830702665,-1.1210643653923376]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.12238351507551215,-1.2436715127445517,0.71338606911949],"aabb_xy":[[-0.12772109074151672,-1.2686715136736915],[-0.1170459394095076,-1.218671511815412]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.25756098661932053,-1.3819050565844264,0.71338606911949],"aabb_xy":[[-0.3225609847752396,-1.4082013011343386],[-0.19256098846340147,-1.3556088120345142]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.6992697064472091,0.49960437415856607,0.71338606911949],"aabb_xy":[[0.6825925704541136,0.4829044501846358],[0.7159468424403046,0.5163042981324963]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.26831946718171107,-1.6256358255148537,0.71338606911949],"aabb_xy":[[0.25276369777144586,-1.6411862587592612],[0.2838752365919764,-1.6100853922704468]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.4439767957097861,1.671735518064081,0.71338606911949],"aabb_xy":[[-0.4989722735304455,1.6167355166301738],[-0.3889813178891267,1.7267355194979876]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.5549530598430734,1.5038608959601016,0.71338606911949],"aabb_xy":[[0.5455355852732106,1.4944447188223826],[0.564370534412936,1.5132770730978207]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.07650948077845066,-0.48211942720182943,0.71338606911949],"aabb_xy":[[-0.08042335397387318,-0.49086844260838614],[-0.07259560758302813,-0.4733704117952726]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.3570293034037469,-1.8106968969393737,0.71338606911949],"aabb_xy":[[-0.39202930171444234,-1.8184119118629196],[-0.32202930509305144,-1.8029818820158283]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.22975614878352307,-2.4912139075675013,0.71338606911949],"aabb_xy":[[-0.27975115974297515,-2.5412139066030934],[-0.17976113782407108,-2.44121390853191]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.18526236000073326,-1.9529886584856717,0.71338606911949],"aabb_xy":[[0.09526236349986146,-1.9989003009041297],[0.2752623565016049,-1.9070770160672132]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.6179342379193103,-2.2978203024752757,0.71338606911949],"aabb_xy":[[-0.6779342385153265,-2.352632775020499],[-0.5579342373232942,-2.243007829930052]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.49844988034275245,-0.4474834431578367,0.71338606911949],"aabb_xy":[[-0.5357811568679951,-0.48213649795268904],[-0.4611186038175098,-0.4128303883629844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920035734904806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4788.png","name":"4788"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6784.png","name":"6784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5445.png","name":"5445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9182.png","name":"9182"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1276.png","name":"1276"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":758.403808932422,"rotation_z_degrees":84.74993015347158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017109728228260998,-0.013898090398648092,0.006022104886220032]},{"name":"camera_2","offset_m":[0.0017588300770044404,0.0077743054637682135,-0.012128412395770352]},{"name":"camera_3","offset_m":[0.005921562743343468,0.01352828404829071,0.016598222068081644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.881099677585192e-05,-0.001585429567740099,5.9282198476477786e-05],"end_effector_yaw_offset_degrees":0.14855020586132195},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005283711548621595,0.0015968380830979757,-0.00027705917753561194],"end_effector_yaw_offset_degrees":-0.9278417858724584},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011783522953742196,0.0006453353659967389,0.000838454788809203],"end_effector_yaw_offset_degrees":-0.9870587669181901}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002155398314677488,0.004690900914398106],"position_m":[0.2777446016853225,0.1616909009143981,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003272506357258881,-0.002492926276495158],"position_m":[0.3497274936427411,0.30790707372350484,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001269117168300713,-0.0044373622816238825],"position_m":[0.2904308828316993,-0.047637362281623886,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005607815608635715,-0.0032500531311469086],"position_m":[0.2505607815608636,-0.3397500531311469,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"49fb68499fb7f4835ddc3d1760a51f15c2baa89386f412400a2cf65657953733","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4788/tex_ceiling_textures_1276/tex_floor_textures_9182/tex_table_textures_6784/tex_wall_textures_5445","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1172311481684429785,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1172311481684429785,"visual_seed":1172311481684429785,"scene_id":"lab_003","finished_at":"2026-09-02T05:44:30"}
+{"episode_id":"ep_000072","started_at":"2026-09-02T05:44:33","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[-0.19283037248872215,-1.7702342607332104,0.71338606911949],"aabb_xy":[[-0.1989250003768405,-1.7788036552848792],[-0.18673574460060385,-1.7616648661815417]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.2907233053414977,-1.3760808125726676,0.71338606911949],"aabb_xy":[[0.2007233016645794,-1.4375132191497717],[0.3807233090184157,-1.314648405995563]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.13649829508629308,-0.8950574751641565,0.71338606911949],"aabb_xy":[[0.08936891608445738,-0.9590574762085582],[0.18362767408812872,-0.8310574741197543]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.24550701814348586,-0.3153670842673848,0.71338606911949],"aabb_xy":[[-0.25873796367816715,-0.3285945032893842],[-0.23227607260880453,-0.3021396652453854]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[0.4662636234337356,-0.9484483493504399,0.71338606911949],"aabb_xy":[[0.4212636219675068,-0.9934482062119206],[0.5112636248999645,-0.9034484924889593]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.7091458260589523,-2.189605809473944,0.71338606911949],"aabb_xy":[[0.6939829530820152,-2.2047712667690633],[0.7243086990358893,-2.174440352178826]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.3210032276775916,-2.128920493562415,0.71338606911949],"aabb_xy":[[0.2711205307998954,-2.1789204928086896],[0.3708859245552878,-2.07892049431614]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.57978595738163,-1.7867902644393832,0.71338606911949],"aabb_xy":[[0.5157859566781607,-1.8328086469123044],[0.6437859580850994,-1.7407718819664624]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.06598405380755468,-0.7509756655819173,0.71338606911949],"aabb_xy":[[-0.07397804238525806,-0.7589757456770075],[-0.05799006522985127,-0.7429755854868269]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.24137167369926654,-1.5290255931293917,0.71338606911949],"aabb_xy":[[-0.26659251055910616,-1.554249343982278],[-0.21615083683942682,-1.5038018422765045]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.2709390410845512,1.676125774761735,0.71338606911949],"aabb_xy":[[-0.30593904106104697,1.6666611587141182],[-0.2359390411080553,1.6855903908093515]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.2658254903626969,-2.0801809818231205,0.71338606911949],"aabb_xy":[[-0.2711580050173099,-2.0855053100683567],[-0.26049297570808394,-2.074856653577885]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.16783799792399856,-1.4235749734803191,0.71338606911949],"aabb_xy":[[-0.19030276789540365,-1.4460749743591796],[-0.14537322795259341,-1.4010749726014586]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.39986014745480614,1.5601664888034805,0.71338606911949],"aabb_xy":[[-0.46486014601187897,1.5304139553895977],[-0.3348601488977333,1.589919022217363]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.3862363270240806,-0.31223281308233464,0.71338606911949],"aabb_xy":[[-0.4502363293668821,-0.35717366432646713],[-0.322236324681279,-0.26729196183820214]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.6177421600230402,-2.5128718451154612,0.71338606911949],"aabb_xy":[[0.6127861398381591,-2.535371845317583],[0.6226981802079214,-2.4903718449133403]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.5785943605842705,0.4696713962354564,0.71338606911949],"aabb_xy":[[0.5410943600869123,0.465702712687338],[0.6160943610816287,0.4736400797835748]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[-0.5173592748596713,0.44633025076999555,0.71338606911949],"aabb_xy":[[-0.5406411170578025,0.36133024947276743],[-0.49407743266153986,0.5313302520672235]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.6793191986566386,1.6836289735064418,0.71338606911949],"aabb_xy":[[-0.6894009057352121,1.603628975614327],[-0.6692374915780651,1.7636289713985562]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.566611807641908,-2.4085613481285306,0.71338606911949],"aabb_xy":[[0.561768212880678,-2.413413000607515],[0.571455402403138,-2.403709695649547]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.5505031710817354,-2.0126569504692196,0.71338606911949],"aabb_xy":[[-0.5755031703536976,-2.0290023140653815],[-0.525503171809773,-1.996311586873057]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[0.6121120566294007,1.0146634235902714,0.71338606911949],"aabb_xy":[[0.5621120579834795,0.964743879930809],[0.6621120552753219,1.0645829672497338]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[-0.22821625072130053,-0.6711699252894083,0.71338606911949],"aabb_xy":[[-0.29321625335909407,-0.7226495239888554],[-0.16321624808350707,-0.6196903265899615]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[0.6715327880340847,-1.9722258954416247,0.71338606911949],"aabb_xy":[[0.6490336523078577,-1.9947258962198875],[0.6940319237603116,-1.9497258946633615]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[-0.2709163807875456,0.8784404312524368,0.71338606911949],"aabb_xy":[[-0.2928061283764864,0.7884404339631876],[-0.24902663319860482,0.9684404285416859]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943108699954658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8320.png","name":"8320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8320.png","name":"8320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4244.png","name":"4244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2120.png","name":"2120"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3570.png","name":"3570"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/788.png","name":"788"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":542.7527991164557,"rotation_z_degrees":330.17480316009994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006234286164920687,0.017604292647960994,0.013641528439801775]},{"name":"camera_2","offset_m":[-0.009376195923725624,-0.01488810680415174,0.003464928001025838]},{"name":"camera_3","offset_m":[-0.008619212116669349,0.019526967800376948,-0.018086811485142566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008401141857111516,0.0006713785238869666,-4.102577893562659e-05],"end_effector_yaw_offset_degrees":0.7663230247505173},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013176660089918102,0.00032712416587343937,8.447631834142396e-05],"end_effector_yaw_offset_degrees":-0.10122337541488124},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019005172685107323,-0.0009824173866154423,0.0007953948358616243],"end_effector_yaw_offset_degrees":0.5541706182037596}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027444617780015643,-0.0025969217315918013],"position_m":[0.28264446177800157,0.1544030782684082,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017229383878000115,-0.0004284148874100632],"position_m":[0.35127706161219996,0.30997158511258993,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003932410420569663,3.8022411951381396e-05],"position_m":[0.29130675895794306,-0.04316197758804862,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029318939236647025,-0.0037479677305905625],"position_m":[0.2470681060763353,-0.3402479677305906,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9803e02fe9d448eb6b0393df267d90847dac4de27365c56c715bd3fb6ed4bc88","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8320/tex_ceiling_textures_788/tex_floor_textures_3570/tex_table_textures_4244/tex_wall_textures_2120","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":9023150457780373041,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":9023150457780373041,"visual_seed":9023150457780373041,"scene_id":"lab_003","finished_at":"2026-09-02T05:47:08"}
+{"episode_id":"ep_000073","started_at":"2026-09-02T05:51:39","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.32481249108848986,-1.5750038184865134,0.71338606911949],"aabb_xy":[[-0.3888124930008322,-1.630914967744524],[-0.2608124891761475,-1.5190926692285032]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[0.28476796782363867,-1.8959413338613955,0.71338606911949],"aabb_xy":[[0.19476796840526772,-1.9293168307055852],[0.3747679672420095,-1.8625658370172058]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.31039611847638615,-0.45463077878486136,0.71338606911949],"aabb_xy":[[0.3040840189400477,-0.46039771803808016],[0.3167082180127246,-0.44886383953164255]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.6207708827621735,1.7376901544376504,0.71338606911949],"aabb_xy":[[-0.6486159195427806,1.706905655699339],[-0.5929258459815664,1.7684746531759623]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.5605400702467056,0.922041805224882,0.71338606911949],"aabb_xy":[[0.5429617680577588,0.904467315650777],[0.5781183724356525,0.9396162947989868]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.11674892434325379,1.7956679335471404,0.71338606911949],"aabb_xy":[[-0.1492106252251812,1.7655351014322374],[-0.0842872234613263,1.8258007656620425]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.4315831479707757,-2.145030743477938,0.71338606911949],"aabb_xy":[[0.41648084650975753,-2.160132265108999],[0.4466854494317937,-2.1299292218468753]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.49455296038886665,-2.4574693322610965,0.71338606911949],"aabb_xy":[[-0.5049645190693504,-2.462815065596995],[-0.48414140170838293,-2.452123598925198]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.17426849230282782,1.7079300309849885,0.71338606911949],"aabb_xy":[[0.13676849387942747,1.6947658170171578],[0.21176849072622816,1.7210942449528193]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[-0.004383813392207059,1.5793845661724428,0.71338606911949],"aabb_xy":[[-0.06938381342650979,1.5326838894921155],[0.06061618664209567,1.6260852428527701]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.4553081061673665,-1.2296939356109855,0.71338606911949],"aabb_xy":[[0.4178081060617735,-1.2365160974639664],[0.4928081062729594,-1.2228717737580042]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[0.3524983414499483,-2.2753349291143543,0.71338606911949],"aabb_xy":[[0.28749834034400507,-2.3003003021824826],[0.41749834255589163,-2.250369556046226]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.02358907593985271,-0.991608298909552,0.71338606911949],"aabb_xy":[[-0.0835890768006655,-1.0430347289160382],[0.03641092492096009,-0.9401818689030657]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.591385875541552,0.7049200066454171,0.71338606911949],"aabb_xy":[[-0.671385874198438,0.6904151477211544],[-0.511385876884666,0.71942486556968]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.26313221056388914,1.4339145771584207,0.71338606911949],"aabb_xy":[[0.19913220888589178,1.3853971856791065],[0.3271322122418865,1.482431968637735]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[-0.35602254506693964,1.3311290997068017,0.71338606911949],"aabb_xy":[[-0.436022542470533,1.251136528508619],[-0.27602254766334616,1.4111216709049845]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.5730926772214857,1.326546198022252,0.71338606911949],"aabb_xy":[[-0.623065971224746,1.2765461974677046],[-0.5231193832182252,1.3765461985767993]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.47124268326423113,-0.07398262911693276,0.71338606911949],"aabb_xy":[[0.4536098476707035,-0.09160557513255572],[0.48887551885775865,-0.05635968310130978]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.6501832947662081,0.6754768746623454,0.71338606911949],"aabb_xy":[[0.6421399348402528,0.5904768735669789],[0.6582266546921631,0.7604768757577117]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.16023558024828755,-0.3286481294732151,0.71338606911949],"aabb_xy":[[-0.19523558159976925,-0.3490078654300359],[-0.12523557889680578,-0.30828839351639425]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.4432364050220192,-1.9144579392538508,0.71338606911949],"aabb_xy":[[0.4207716350506141,-1.9369579401327113],[0.46570117499342434,-1.8919579383749903]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.1165673526407861,-1.715348200103601,0.71338606911949],"aabb_xy":[[0.0665885441304702,-1.7653482001093195],[0.166546161151102,-1.6653482000978819]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[-0.3428848432065549,-2.4265718347175165,0.71338606911949],"aabb_xy":[[-0.38418938627029087,-2.4905718342856336],[-0.3015803001428189,-2.3625718351493994]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.5728423615392049,-2.0746689765765147,0.71338606911949],"aabb_xy":[[0.5527839499259646,-2.094734063485672],[0.5929007731524452,-2.0546038896673573]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.04008537891808184,0.9174964571485189,0.71338606911949],"aabb_xy":[[-0.05271216620527819,0.9079503834469459],[-0.027458591630885487,0.9270425308500917]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.49830874352905935,-0.5316163858950254,0.71338606911949],"aabb_xy":[[-0.507940379749489,-0.5412536986747343],[-0.48867710730862973,-0.5219790731153164]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.19892259548440777,-1.2617837678388488,0.71338606911949],"aabb_xy":[[-0.2789225957580147,-1.3347333156645653],[-0.1189225952108008,-1.1888342200131319]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.18577093425325863,1.613865150435862,0.71338606911949],"aabb_xy":[[-0.20905277645138998,1.528865149138634],[-0.1624890920551273,1.6988651517330902]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_28","position":[-0.5868306609037547,-0.30590687147841455,0.71338606911949],"aabb_xy":[[-0.6212930083018964,-0.3404007538762372],[-0.5523683135056128,-0.2714129890805918]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[-0.5131220409739743,1.6428137182284908,0.71338606911949],"aabb_xy":[[-0.5477131238280194,1.5778137179434595],[-0.478530958119929,1.7078137185135216]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[-0.2559271445636895,-0.673235931850408,0.71338606911949],"aabb_xy":[[-0.26852984370076594,-0.6858313280752736],[-0.24332444542661302,-0.6606405356255426]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[0.42527747869551913,1.0992881491171493,0.71338606911949],"aabb_xy":[[0.41063407314148614,1.0846294294603651],[0.4399208842495521,1.1139468687739336]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_32","position":[-0.06507311081887668,-0.2836858391814405,0.71338606911949],"aabb_xy":[[-0.07053105645589675,-0.3636858424890996],[-0.05961516518185661,-0.20368583587378136]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_33","position":[0.6512360397604893,0.4835131506731347,0.71338606911949],"aabb_xy":[[0.6012530895730099,0.43351315103057425],[0.7012189899479686,0.533513150315695]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_34","position":[-0.45157092680715594,0.9529992753292422,0.71338606911949],"aabb_xy":[[-0.4648018723418372,0.9397718563072427],[-0.4383399812724746,0.9662266943512415]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945732043941458,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6081.png","name":"6081"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6081.png","name":"6081"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5740.png","name":"5740"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5760.png","name":"5760"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":730.285788172507,"rotation_z_degrees":93.91238971396503,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012439828438901023,-0.012324543615146486,-0.013771217235499287]},{"name":"camera_2","offset_m":[0.008165577553318659,-0.01279664363054367,-0.014781968120922757]},{"name":"camera_3","offset_m":[0.0049062465456794525,-0.0005606007564936018,0.0006688918103502708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013582932261939039,0.0014747011903052617,-0.0003291819966021721],"end_effector_yaw_offset_degrees":-0.3826333949188365},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000560668444081423,-0.0019920574812730754,-0.0006437065291050583],"end_effector_yaw_offset_degrees":0.053763459539234004},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014811980149192217,2.6615003040766222e-05,0.0008977019447110489],"end_effector_yaw_offset_degrees":-0.7193660816944383}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001987379055667955,0.004721326528780577],"position_m":[0.277912620944332,0.16172132652878057,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002412455429820676,0.0015343239695549491],"position_m":[0.3505875445701793,0.31193432396955495,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002985546143070451,0.004715232590667786],"position_m":[0.29468554614307046,-0.03848476740933222,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004440308391862717,0.0023611176446583105],"position_m":[0.2544403083918627,-0.3341388823553417,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"86a5535fb000708720c337d7cedffc608899a942296c6215eeccb319e38b02a3","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6081/tex_ceiling_textures_5760/tex_floor_textures_6838/tex_table_textures_5900/tex_wall_textures_5740","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5279682548617809452,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5279682548617809452,"visual_seed":5279682548617809452,"scene_id":"lab_003","finished_at":"2026-09-02T05:54:20"}
+{"episode_id":"ep_000074","started_at":"2026-09-02T05:54:22","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.22566957587448594,0.8947593523756452,0.71338606911949],"aabb_xy":[[-0.2833000447617568,0.8347593534489344],[-0.1680391069872151,0.9547593513023556]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.17600329985253094,0.8926626013811538,0.71338606911949],"aabb_xy":[[0.1680098100572489,0.8846644694406783],[0.18399678964781296,0.9006607333216295]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.5771496593208396,1.0922547976171137,0.71338606911949],"aabb_xy":[[-0.5872313663994131,1.0122547997249989],[-0.5670679522422661,1.1722547955092282]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.6157160692255383,0.5545942891324827,0.71338606911949],"aabb_xy":[[0.5958250293451982,0.5419384778477859],[0.6356071091058787,0.5672501004171796]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.3766435078424437,-2.0096617060500828,0.71338606911949],"aabb_xy":[[0.3166435075910425,-2.0639430310865476],[0.43664350809384483,-1.955380381013618]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.37190495268273466,-1.3538989291018042,0.71338606911949],"aabb_xy":[[-0.39318296082620685,-1.418898931427877],[-0.35062694453926235,-1.288898926775731]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.5692487394906959,1.5602683528909043,0.71338606911949],"aabb_xy":[[-0.6242419508278327,1.5052683525521109],[-0.5142555281535592,1.615268353229698]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.3549072272155578,1.7452504984087276,0.71338606911949],"aabb_xy":[[0.33241080578169363,1.7227504986019802],[0.37740364864942183,1.767750498215475]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.35881249845469676,0.9991217250082447,0.71338606911949],"aabb_xy":[[0.3243501510565549,0.9646278426104219],[0.3932748458528385,1.0336156074060672]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.3611847901484639,0.4593418133640985,0.71338606911949],"aabb_xy":[[-0.3692281500744191,0.37434181226873203],[-0.35314143022250877,0.544341814459465]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.3615080853366155,1.3757591421321624,0.71338606911949],"aabb_xy":[[0.3440080850915661,1.3582593542925954],[0.3790080855816649,1.393258929971729]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.243018488391608,0.9000135875195201,0.71338606911949],"aabb_xy":[[0.2357747223453627,0.8200135893159177],[0.2502622544378533,0.9800135857231225]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.5965228520567377,-1.5481678411984152,0.71338606911949],"aabb_xy":[[-0.6665228538654832,-1.5695216099626026],[-0.5265228502479923,-1.5268140724342278]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.2852510243475729,1.1968501544648036,0.71338606911949],"aabb_xy":[[0.2477510236829941,1.1811630964645812],[0.32275102501215147,1.2125372124650255]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[-0.3576828383618444,-1.7487875774721475,0.71338606911949],"aabb_xy":[[-0.39112301355786394,-1.7822312033030772],[-0.32424266316582473,-1.715343951641217]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.5027165370689788,-1.4782238699434083,0.71338606911949],"aabb_xy":[[0.4227165400547308,-1.4983584216168193],[0.5827165340832268,-1.4580893182699968]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.639640250670565,-0.3132818609672259,0.71338606911949],"aabb_xy":[[0.5896402503099988,-0.36326184817682877],[0.6896402510311309,-0.2633018737576229]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.2692073517093054,-0.9982458187981362,0.71338606911949],"aabb_xy":[[-0.29279247517320023,-1.063245821043568],[-0.24562222824541052,-0.9332458165527044]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.1645961020446809,-0.2816326843566328,0.71338606911949],"aabb_xy":[[-0.2445961034748081,-0.3611498393692423],[-0.0845961006145537,-0.20211552934402333]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.42684451356455844,1.5256155859855745,0.71338606911949],"aabb_xy":[[0.356844511962279,1.512182792783917],[0.496844515166838,1.5390483791872323]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.11946980725697587,-1.6165293522442201,0.71338606911949],"aabb_xy":[[-0.18346980796044524,-1.6625477347171416],[-0.05546980655350654,-1.5705109697712996]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.6359981710718976,0.19219749257109253,0.71338606911949],"aabb_xy":[[-0.6484655291816332,0.17973216793776903],[-0.623530812962162,0.20466281720441604]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.5109066538346112,0.8128351915192678,0.71338606911949],"aabb_xy":[[0.45090665219168935,0.7608350422273236],[0.570906655477533,0.8648353408112119]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[-0.5184034457771539,-0.1277858079959051,0.71338606911949],"aabb_xy":[[-0.5824034479975608,-0.1721588921211934],[-0.4544034435567468,-0.08341272387061682]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[0.6589799295933372,1.1341115921706746,0.71338606911949],"aabb_xy":[[0.6091631501285023,1.0841115936863712],[0.7087967090581718,1.184111590654978]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[0.29957014965170203,-2.1625280783201424,0.71338606911949],"aabb_xy":[[0.26579459046100906,-2.1765665735333073],[0.333345708842395,-2.1484895831069775]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[-0.1270773027561164,-0.619605809291488,0.71338606911949],"aabb_xy":[[-0.1499930156411663,-0.6425101064279116],[-0.1041615898710665,-0.5967015121550646]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_27","position":[-0.08179158154532395,-1.097841387360593,0.71338606911949],"aabb_xy":[[-0.13177581725350118,-1.1478413861740886],[-0.03180734583714673,-1.0478413885470974]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[0.5709543325918363,0.9876247679812638,0.71338606911949],"aabb_xy":[[0.5209755240815203,0.937624767975545],[0.620933141102152,1.0376247679869826]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[-0.21793734592335884,-1.1775637451201755,0.71338606911949],"aabb_xy":[[-0.22205329603543145,-1.1816793001530208],[-0.21382139581128612,-1.1734481900873297]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[-0.5044285152746915,-1.2673324331416307,0.71338606911949],"aabb_xy":[[-0.5684285176174929,-1.3122732843857632],[-0.44042851293188984,-1.2223915818974982]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_31","position":[0.4641249724486438,0.014930981310488534,0.71338606911949],"aabb_xy":[[0.42912497331868815,0.009185760234824425],[0.4991249715785995,0.020676202386152642]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693847059408993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8578.png","name":"8578"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8578.png","name":"8578"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9852.png","name":"9852"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4253.png","name":"4253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7799.png","name":"7799"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9327.png","name":"9327"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":529.5959527371034,"rotation_z_degrees":216.3936709948415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008750556096607295,-0.017503383756078496,0.012597696893546003]},{"name":"camera_2","offset_m":[0.009407070126564453,-0.009874639814014574,0.016462872007057403]},{"name":"camera_3","offset_m":[0.002257413189675289,-0.0023444780370308095,0.007438119781493762]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019067222979935608,-0.0006706235357923709,-0.0009024822285715159],"end_effector_yaw_offset_degrees":0.750047741071973},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00029252545148963135,0.0019209007968329066,0.0009540752020824632],"end_effector_yaw_offset_degrees":0.6595223537173664},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006351178102430716,-0.00014019951753295283,-0.00157887374712706],"end_effector_yaw_offset_degrees":-0.8413226544372314}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015811851073499828,-0.0018586893229695024],"position_m":[0.28148118510735,0.1551413106770305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009437509376834649,-0.0030406801394354654],"position_m":[0.35205624906231653,0.30735931986056453,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004968486487663474,-0.0036579062823625286],"position_m":[0.28673151351233656,-0.046857906282362534,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003799655737353385,-0.002490492743864453],"position_m":[0.25379965573735336,-0.3389904927438645,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"78da301e82fbd8c68e19f37ca32eca1bf7221341f9fe976e737079bc63d8a64a","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8578/tex_ceiling_textures_9327/tex_floor_textures_7799/tex_table_textures_9852/tex_wall_textures_4253","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7298352842872053158,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7298352842872053158,"visual_seed":7298352842872053158,"scene_id":"lab_003","finished_at":"2026-09-02T05:57:00"}
+{"episode_id":"ep_000075","started_at":"2026-09-02T05:57:03","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.5598222032813567,-1.635271232445354,0.71338606911949],"aabb_xy":[[0.5248222050112368,-1.642345360140342],[0.5948222015514766,-1.6281971047503656]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.3388203078386785,-1.5085743334153856,0.71338606911949],"aabb_xy":[[-0.4028203082162121,-1.5583196002661979],[-0.2748203074611449,-1.4588290665645733]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5341037130765216,-0.690938659946724,0.71338606911949],"aabb_xy":[[0.46910371451944877,-0.7206911933606065],[0.5991037116335944,-0.6611861265328413]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.5043899348255212,-0.5697056260687958,0.71338606911949],"aabb_xy":[[0.4393899337195779,-0.5946709991369241],[0.5693899359314645,-0.5447402530006675]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.35277230163482515,-1.341420858317833,0.71338606911949],"aabb_xy":[[-0.414363060858818,-1.4054208564268802],[-0.2911815424108324,-1.2774208602087864]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.5493200659526143,0.49457962565318336,0.71338606911949],"aabb_xy":[[0.5247738503298635,0.46433072910414624],[0.5738662815753649,0.5248285222022203]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.23751727161074454,-0.34661453197332204,0.71338606911949],"aabb_xy":[[-0.2620308957077504,-0.3708791252753585],[-0.2130036475137387,-0.3223499386712856]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.5871555201778225,1.6865660347355917,0.71338606911949],"aabb_xy":[[0.5763150419513076,1.6693797534449428],[0.5979959984043374,1.7037523160262402]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.47046927527997834,-0.15957669768961447,0.71338606911949],"aabb_xy":[[-0.5554692736974016,-0.24445099315189942],[-0.3854692768625551,-0.07470240222732946]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.11321879624414255,-0.9744728816921948,0.71338606911949],"aabb_xy":[[0.10718178324347782,-0.980499582761143],[0.11925580924480728,-0.9684461806232466]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.08572747578104034,-1.2237457251570976,0.71338606911949],"aabb_xy":[[-0.13974307206294034,-1.2877457280493545],[-0.03171187949914034,-1.1597457222648402]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.25350027824714394,-0.7110232738756628,0.71338606911949],"aabb_xy":[[-0.3035002799086386,-0.7610217161313655],[-0.2035002765856491,-0.6610248316199601]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.3996808461300443,-0.7789675435286907,0.71338606911949],"aabb_xy":[[0.3957669729346217,-0.7877165589352475],[0.40359471932546676,-0.7702185281221339]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.32692611142700145,-1.1571108429237529,0.71338606911949],"aabb_xy":[[0.28192610996077266,-1.2021106997852335],[0.37192611289323035,-1.1121109860622722]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.4451830482470607,-2.0049868625077165,0.71338606911949],"aabb_xy":[[0.429121120788543,-2.089986864320308],[0.46124497570557826,-1.9199868606951245]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[0.30720258312721893,0.44547255437082045,0.71338606911949],"aabb_xy":[[0.30376190688716176,0.441611121396456],[0.3106432593672761,0.4493339873451849]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.38063170595017737,0.42321891631828734,0.71338606911949],"aabb_xy":[[0.37260543531955137,0.4144674213409347],[0.38865797658080337,0.43197041129563996]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.38090406611457933,-1.732604987365479,0.71338606911949],"aabb_xy":[[-0.4608978896931376,-1.8126049899583208],[-0.30091024253602117,-1.6526049847726376]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.2405683026937721,1.242548301168898,0.71338606911949],"aabb_xy":[[-0.24706993920177678,1.2327804791425883],[-0.23406666618576755,1.2523161231952078]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.33053101653601247,-1.8944885770075675,0.71338606911949],"aabb_xy":[[-0.36401018379705347,-1.9279676903786749],[-0.2970518492749716,-1.861009463636461]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.5298233227315705,1.1334621782437222,0.71338606911949],"aabb_xy":[[-0.5399763382857197,1.0973926366709816],[-0.5196703071774209,1.1695317198164623]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6949076808552185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1166.png","name":"1166"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1166.png","name":"1166"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9300.png","name":"9300"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2154.png","name":"2154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5402.png","name":"5402"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9244.png","name":"9244"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":689.0568806151344,"rotation_z_degrees":340.5813437492105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01661667225816583,0.011721270842792373,-0.016189058424029006]},{"name":"camera_2","offset_m":[0.010992199895254687,-0.006480526297079989,0.014088082197831333]},{"name":"camera_3","offset_m":[-0.009756684017574919,-0.0005484294525485815,-0.0028655597038119845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019379171110421175,0.0006828472006838743,-0.0018102035797611894],"end_effector_yaw_offset_degrees":0.42523084966128266},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[1.335993574519325e-05,-0.0002436457973594632,-0.00022063972308286627],"end_effector_yaw_offset_degrees":-0.3689659689362348},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012073224259327438,-0.0017122528538668273,0.00112287703652641],"end_effector_yaw_offset_degrees":0.44548272793896815}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031074733208479,0.0014767101322038555],"position_m":[0.2767925266791521,0.15847671013220385,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015030318610554992,0.0004668367159798093],"position_m":[0.3514969681389445,0.3108668367159798,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-4.0030152741774884e-05,-0.0036015721057110917],"position_m":[0.2916599698472582,-0.04680157210571109,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030152607377389863,-0.001517542020152315],"position_m":[0.24698473926226103,-0.33801754202015233,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"58c83374e2d0abd2e6e841b59668b784e6ea37e924ad235cc3fb3b3ef47bfbdb","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1166/tex_ceiling_textures_9244/tex_floor_textures_5402/tex_table_textures_9300/tex_wall_textures_2154","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":103596475084280891,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":103596475084280891,"visual_seed":103596475084280891,"scene_id":"lab_003","finished_at":"2026-09-02T05:59:50"}
+{"episode_id":"ep_000076","started_at":"2026-09-02T05:59:53","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.09059731359482981,1.8173614317076034,0.71338606911949],"aabb_xy":[[0.08256097889354495,1.8093233124031864],[0.09863364829611464,1.82539955101202]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.014959609195852597,-1.6734378763931836,0.71338606911949],"aabb_xy":[[-0.04004038998073689,-1.728427551168141],[0.06995960837244208,-1.6184482016182258]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.3950103380506733,-1.530086283663068,0.71338606911949],"aabb_xy":[[0.3895523924136532,-1.610086286970727],[0.4004682836876933,-1.4500862803554089]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.20796404620626474,-1.5979645355558985,0.71338606911949],"aabb_xy":[[0.18767974348286592,-1.6182471606986069],[0.22824834892966345,-1.5776819104131892]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.042993286471009196,1.1343227618550031,0.71338606911949],"aabb_xy":[[-0.048330862137013764,1.1093227609258633],[-0.03765571080500463,1.159322762784143]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.6566729027260986,0.04902179751142244,0.71338606911949],"aabb_xy":[[-0.6816729022778371,0.038879313646287716],[-0.6316729031743601,0.05916428137655716]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.37961353696621264,-1.8004719818555794,0.71338606911949],"aabb_xy":[[-0.3866538468997497,-1.880471981255251],[-0.37257322703267565,-1.7204719824559083]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.40741211087106066,1.4178149574831784,0.71338606911949],"aabb_xy":[[0.3622407930228917,1.35381496033864],[0.4525834287192297,1.4818149546277168]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.22141273024367353,-0.20283747206832548,0.71338606911949],"aabb_xy":[[-0.2854127309471429,-0.2488558545412465],[-0.1574127295402042,-0.15681908959540447]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.10651192091506145,0.6230760709060843,0.71338606911949],"aabb_xy":[[-0.11787365556834761,0.6117076044997962],[-0.0951501862617753,0.6344445373123724]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.17734594014539606,-1.825583800207579,0.71338606911949],"aabb_xy":[[-0.18818641837191094,-1.842770081498228],[-0.16650546191888113,-1.8083975189169301]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.2195510000787111,-2.2611606040118066,0.71338606911949],"aabb_xy":[[-0.26955027524714725,-2.311160605287754],[-0.16955172491027495,-2.2111606027358595]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.2515660077537818,-1.1139357071442968,0.71338606911949],"aabb_xy":[[0.2140660075819098,-1.146636442527204],[0.2890660079256537,-1.0812349717613896]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.4190062354654435,1.773354105248735,0.71338606911949],"aabb_xy":[[-0.43811854282342233,1.754219326371493],[-0.3998939281074646,1.792488884125977]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.022735339323100456,1.8043383415182572,0.71338606911949],"aabb_xy":[[-0.06023534050789325,1.7999201188221967],[0.014764661861692339,1.8087565642143177]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.49443585651372035,-0.005418326192277334,0.71338606911949],"aabb_xy":[[0.4444427444045286,-0.05541832686647298],[0.5444289686229123,0.044581674481918306]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.3428571204979429,-0.85545627349879,0.71338606911949],"aabb_xy":[[0.2878571208761971,-0.9104399662862628],[0.39785712011968877,-0.8004725807113173]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.08260062071280017,-2.5213142190709976,0.71338606911949],"aabb_xy":[[0.0347944530990315,-2.5863142217780566],[0.1304067883265688,-2.4563142163639387]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.15201833880354731,-1.2317442016320657,0.71338606911949],"aabb_xy":[[-0.18951833874731375,-1.2400372916669022],[-0.11451833885978094,-1.223451111597229]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.0019183540569382984,-0.9620031447872492,0.71338606911949],"aabb_xy":[[-0.03558164745869341,-0.9732299178033944],[0.03941835557257001,-0.9507763717711043]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.5412116416079866,0.45005898430352476,0.71338606911949],"aabb_xy":[[0.45121163927396757,0.3725766297184121],[0.6312116439420057,0.5275413388886374]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.03546650302590959,1.6956789306173063,0.71338606911949],"aabb_xy":[[-0.1154665016827956,1.681174071693044],[0.044533495630976416,1.7101837895415697]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.6047063144061342,1.1050865939741987,0.71338606911949],"aabb_xy":[[0.5247063111482912,1.0250900861822148],[0.6847063176639772,1.1850831017661827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6984869889987021,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7765.png","name":"7765"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7765.png","name":"7765"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6721.png","name":"6721"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9862.png","name":"9862"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/982.png","name":"982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5305.png","name":"5305"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":521.4423444281874,"rotation_z_degrees":132.78491824206796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017289548211628956,-0.0006880208078937113,0.013725620523828069]},{"name":"camera_2","offset_m":[-0.003512496285960308,0.0019090740267151095,-0.009988832430575951]},{"name":"camera_3","offset_m":[0.008279184533244718,0.018273233874865746,-0.016859641208934614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008656427202632982,0.0007463552602324009,-0.00044943096789761753],"end_effector_yaw_offset_degrees":-0.5238851549382773},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016275674187624309,0.0004332259534356028,-0.001480064381105437],"end_effector_yaw_offset_degrees":-0.011645386088782406},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008567342094083549,-0.0010638666267690385,0.0006242985474193188],"end_effector_yaw_offset_degrees":0.3791767193898341}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004218668816909431,-4.356348707342233e-05],"position_m":[0.27568133118309057,0.15695643651292657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004910867200888523,-0.0044392130059874415],"position_m":[0.3579108672008885,0.3059607869940126,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0039900188387057825,-0.0026128555408314238],"position_m":[0.28770998116129426,-0.04581285554083143,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00012309434497648555,0.0005257321213820287],"position_m":[0.24987690565502352,-0.335974267878618,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bd2138454938c21c775215ad8ceab81f8803062d5c9feda819c6afd870f91b72","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7765/tex_ceiling_textures_5305/tex_floor_textures_982/tex_table_textures_6721/tex_wall_textures_9862","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":2584337372379559068,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":2584337372379559068,"visual_seed":2584337372379559068,"scene_id":"lab_003","finished_at":"2026-09-02T06:02:26"}
+{"episode_id":"ep_000077","started_at":"2026-09-02T06:02:29","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.13810523807156472,-1.0329056439992501,0.71338606911949],"aabb_xy":[[0.08047476918429382,-1.0929056429259603],[0.1957357069588355,-0.9729056450725391]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.1652977415032908,-0.4924862493045614,0.71338606911949],"aabb_xy":[[-0.25529774518020887,-0.5539186558816657],[-0.07529773782637257,-0.43105384272745695]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.5748064010307938,-1.327919273625218,0.71338606911949],"aabb_xy":[[0.5523064010206455,-1.3420154932648214],[0.5973064010409421,-1.3138230539856148]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.1273604094516948,0.9134305792363269,0.71338606911949],"aabb_xy":[[-0.20736040972530176,0.8404810314106103],[-0.04736040917808781,0.9863801270620437]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.42666103371749714,-2.4102185505708285,0.71338606911949],"aabb_xy":[[-0.43316267022550187,-2.4199863725971387],[-0.42015939720949264,-2.400450728544519]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.33621760636864517,-0.9423691483501655,0.71338606911949],"aabb_xy":[[-0.3443452945619584,-0.9512827567608731],[-0.32808991817533195,-0.9334555399394578]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.4024688576336646,1.418457674961465,0.71338606911949],"aabb_xy":[[0.3524859074461853,1.3684576753189044],[0.45245180782114397,1.4684576746040252]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[0.051767171812161394,-2.4900067837574467,0.71338606911949],"aabb_xy":[[0.029267172288453994,-2.5125027312080666],[0.0742671713358688,-2.467510836306825]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.369619489053943,-0.36757759153711733,0.71338606911949],"aabb_xy":[[-0.3824913925548831,-0.4475775919509535],[-0.35674758555300284,-0.2875775911232812]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.3324854324176041,-0.11527513983305893,0.71338606911949],"aabb_xy":[[-0.3776567502657731,-0.17927513697759737],[-0.2873141145694351,-0.05127514268852053]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.6500911103067358,-0.9780234204958353,0.71338606911949],"aabb_xy":[[-0.6713691184502081,-1.0430234228219082],[-0.6288131021632636,-0.9130234181697621]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.3001622463429713,-1.4123629409983447,0.71338606911949],"aabb_xy":[[0.2626622479195709,-1.425527154966175],[0.3376622447663716,-1.399198727030514]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.407147168871632,-1.0601318113056342,0.71338606911949],"aabb_xy":[[-0.45213975559008235,-1.1051318105800827],[-0.3621545821531815,-1.0151318120311852]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.3801183752884896,1.4933074382581313,0.71338606911949],"aabb_xy":[[-0.3914801099417758,1.4819389718518432],[-0.36875664063520347,1.5046759046644194]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.16028309620828085,1.23498059036902,0.71338606911949],"aabb_xy":[[-0.16732340614181787,1.154980590969349],[-0.1532427862747439,1.3149805897686917]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.4455233184359604,-0.5953678981168182,0.71338606911949],"aabb_xy":[[-0.5055233189438132,-0.6522146318027394],[-0.3855233179281074,-0.5385211644308968]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.6005879511175745,-0.8006344411606756,0.71338606911949],"aabb_xy":[[-0.6078491986879819,-0.8134214514241852],[-0.593326703547167,-0.7878474308971662]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.1073810717206819,-1.0377127477150643,0.71338606911949],"aabb_xy":[[-0.16237428305781865,-1.0927127480538579],[-0.05238786038354515,-0.9827127473762707]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.03332617029484308,0.7252198529073133,0.71338606911949],"aabb_xy":[[-0.04416664852135798,0.7080335716166644],[-0.02248569206832817,0.742406134197962]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.4101934021921947,0.40766543267734656,0.71338606911949],"aabb_xy":[[0.40227012195344636,0.3851654324393432],[0.418116682430943,0.4301654329153499]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.3208509132078733,-1.2533372111458485,0.71338606911949],"aabb_xy":[[-0.38585091176494607,-1.2830897445597311],[-0.2558509146508004,-1.2235846777319659]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947144063507062,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3556.png","name":"3556"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3556.png","name":"3556"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8661.png","name":"8661"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1063.png","name":"1063"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7274.png","name":"7274"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":759.5442266558547,"rotation_z_degrees":244.7902878129944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019762335190345166,0.0036375432886762114,-0.00590587497330116]},{"name":"camera_2","offset_m":[-0.009681961173701766,-0.007251104545374129,-0.007147133642874311]},{"name":"camera_3","offset_m":[0.0036518322708924064,-0.011212527972845358,0.018949504469697186]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017289517696547128,-4.595461138403624e-05,-0.0014444803848517288],"end_effector_yaw_offset_degrees":0.2788366396022848},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000802439882207386,-0.0011523990999973495,0.0013967335748528123],"end_effector_yaw_offset_degrees":-0.5296831211190665},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001395442740391925,0.0011512486666418638,-0.0004689949737961233],"end_effector_yaw_offset_degrees":0.6928219881098348}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002114544457621148,0.004101489954084543],"position_m":[0.28201454445762114,0.16110148995408455,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037041068567914793,0.004402620444178536],"position_m":[0.3492958931432085,0.31480262044417856,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003900446460512523,0.004476227603834703],"position_m":[0.2877995535394875,-0.0387237723961653,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021449073416120665,-0.002310706847359525],"position_m":[0.25214490734161205,-0.33881070684735953,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e99c7ccbc62b5ae35518b2899e3211403eaf803daee23bd6baef61e1c1520b64","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3556/tex_ceiling_textures_7274/tex_floor_textures_6615/tex_table_textures_8661/tex_wall_textures_1063","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8117412681526897504,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8117412681526897504,"visual_seed":8117412681526897504,"scene_id":"lab_003","finished_at":"2026-09-02T06:05:18"}
+{"episode_id":"ep_000078","started_at":"2026-09-02T06:05:20","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.46135907131134024,-1.8599269903098472,0.71338606911949],"aabb_xy":[[-0.498859072496133,-1.8643452130059075],[-0.4238590701265474,-1.8555087676137865]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.4484661343429752,1.0478956028130053,0.71338606911949],"aabb_xy":[[-0.5084661349389914,0.9930831302677818],[-0.38846613374695904,1.1027080753582288]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.38557683218132727,-1.6927388980800653,0.71338606911949],"aabb_xy":[[-0.41186565650176793,-1.7190103317347163],[-0.3592880078608866,-1.6664674644254138]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.35487544745342503,-0.4039104431960423,0.71338606911949],"aabb_xy":[[-0.3709373749119427,-0.4889104450086341],[-0.3388135199949074,-0.3189104413834505]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.17001691245343298,-2.4507495323208723,0.71338606911949],"aabb_xy":[[-0.17772010312751002,-2.45845890301961],[-0.16231372177935594,-2.4430401616221338]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.5887229622821342,1.7922316671691925,0.71338606911949],"aabb_xy":[[0.5501772694569331,1.7536858961130037],[0.6272686551073352,1.8307774382253812]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.17340447145492544,-1.9820333776807137,0.71338606911949],"aabb_xy":[[0.13590447116275065,-1.9860748530813175],[0.21090447174710028,-1.9779919022801105]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[0.5328434477189901,-1.9255235245424336,0.71338606911949],"aabb_xy":[[0.5249201674802418,-1.948023524780437],[0.5407667279577385,-1.9030235243044302]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.0013770257873348957,0.8027481118739503,0.71338606911949],"aabb_xy":[[-0.03612297415643151,0.7944550218391138],[0.0388770257311013,0.8110412019087869]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.25380008085212175,0.13670238835569837,0.71338606911949],"aabb_xy":[[-0.2837676377619474,0.10670238805781265],[-0.22383252394229608,0.16670238865358414]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.08646835271825348,0.6134261713714846,0.71338606911949],"aabb_xy":[[-0.11431338949886062,0.5826416726331729],[-0.05862331593764637,0.6442106701097963]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[-0.339765511147808,0.4279882291140624,0.71338606911949],"aabb_xy":[[-0.40476550970488084,0.3982356957001798],[-0.2747655125907352,0.45774076252794504]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.6335425497812317,0.12319545557197165,0.71338606911949],"aabb_xy":[[0.6160425505031447,0.1058573555056257],[0.6510425490593185,0.1405335556383176]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.16015963918178922,-0.6525829320160601,0.71338606911949],"aabb_xy":[[0.14700839321049985,-0.6775829317727466],[0.17331088515307858,-0.6275829322593736]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[0.6794367026099939,0.8304528044817556,0.71338606911949],"aabb_xy":[[0.6720242470686053,0.8246015940601276],[0.6868491581513823,0.8363040149033835]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.2950464819419296,1.53817940166256,0.71338606911949],"aabb_xy":[[0.2836847472886434,1.526810935256272],[0.3064082165952157,1.5495478680688481]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.5896893964127983,-0.8223576189274404,0.71338606911949],"aabb_xy":[[0.5396893960522322,-0.8723376061370434],[0.6396893967733643,-0.7723776317178375]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.5603195157187513,1.2301496757172838,0.71338606911949],"aabb_xy":[[0.5253195143672695,1.2097899397604628],[0.595319517070233,1.2505094116741045]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.4658849630280095,-0.8645065465671895,0.71338606911949],"aabb_xy":[[-0.5130143420298452,-0.9285065476115913],[-0.4187555840261738,-0.8005065455227874]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[-0.35357220533000605,-1.2206271590359619,0.71338606911949],"aabb_xy":[[-0.4185722062871333,-1.2725753709696674],[-0.2885722043728789,-1.1686789471022563]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.41518137339364203,-2.0939171635457967,0.71338606911949],"aabb_xy":[[0.4008469482674785,-2.105977379100335],[0.4295157985198054,-2.0818569479912576]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[-0.16671051648023516,-1.9951329530424875,0.71338606911949],"aabb_xy":[[-0.23071051815823249,-2.0436503445218017],[-0.10271051480223778,-1.946615561563173]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.0662916097668228,1.146220405994682,0.71338606911949],"aabb_xy":[[0.0112916105902333,1.0912307312197242],[0.12129160894341227,1.2012100807696395]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.6039621810732649,-0.03392753269294069,0.71338606911949],"aabb_xy":[[0.5884064116629998,-0.04947796593734789],[0.6195179504835303,-0.0183770994485335]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[-0.565502163788692,-0.3692722296366546,0.71338606911949],"aabb_xy":[[-0.6295021644921613,-0.41529061210957574],[-0.5015021630852227,-0.3232538471637337]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.02511033826541742,-1.9049168184768543,0.71338606911949],"aabb_xy":[[-0.03888965884668827,-1.9539491882712652],[0.08911033537752311,-1.855884448682444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6996434810084775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3617.png","name":"3617"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3617.png","name":"3617"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9675.png","name":"9675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4069.png","name":"4069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4927.png","name":"4927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8975.png","name":"8975"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":631.2138308126832,"rotation_z_degrees":100.59049944247165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013303376329612131,-0.01464414922244914,-0.019659180527536343]},{"name":"camera_2","offset_m":[0.008031928600083144,0.008666308863184438,-0.013525473835912166]},{"name":"camera_3","offset_m":[-0.01089787269965171,-0.017630064735262376,-0.011581243401424936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009924352444606699,-0.0006046909406808333,-0.001236139545678785],"end_effector_yaw_offset_degrees":0.5534195001562054},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011164792907818453,0.0018757381407363887,0.0009107446408783532],"end_effector_yaw_offset_degrees":-0.8474266444041432},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018164996116249172,-0.0004947898650536162,-0.000794536487147342],"end_effector_yaw_offset_degrees":0.5368181588588579}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002014317935283276,0.004331802189929126],"position_m":[0.28191431793528327,0.16133180218992912,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004654477284418336,-0.0012870041643683805],"position_m":[0.3576544772844183,0.3091129958356316,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003082879382076652,0.0025030625299250113],"position_m":[0.2886171206179234,-0.04069693747007499,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016280604023246816,0.0034492376194091732],"position_m":[0.2483719395976753,-0.33305076238059084,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"16ef22011fc4df49bc3fdc08e6ef30499e3260877bd492679508837fc5a0fc9b","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3617/tex_ceiling_textures_8975/tex_floor_textures_4927/tex_table_textures_9675/tex_wall_textures_4069","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":511039272967661034,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":511039272967661034,"visual_seed":511039272967661034,"scene_id":"lab_003","finished_at":"2026-09-02T06:08:03"}
+{"episode_id":"ep_000079","started_at":"2026-09-02T06:08:06","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.5999125717696887,0.6314682438028232,0.71338606911949],"aabb_xy":[[0.5774125712576481,0.6089763854374247],[0.6224125722817293,0.6539601021682214]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.18597348257730306,-1.3023071807630497,0.71338606911949],"aabb_xy":[[-0.2034734160112864,-1.3198071806832843],[-0.16847354914331966,-1.2848071808428152]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.446820839980564,-1.0289648788562062,0.71338606911949],"aabb_xy":[[0.36682084199977893,-1.036566419818058],[0.526820837961349,-1.021363337894354]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.6247270491562283,1.2178459286415286,0.71338606911949],"aabb_xy":[[-0.6597270474263482,1.2107718009465402],[-0.5897270508861084,1.2249200563365166]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.37803196921620846,-0.8957849500335702,0.71338606911949],"aabb_xy":[[-0.4280319695767745,-0.945764937243173],[-0.32803196885564234,-0.8458049628239671]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[0.2369846734689094,0.8698236933787822,0.71338606911949],"aabb_xy":[[0.17298467704158751,0.8226540695566859],[0.3009846698962313,0.9169933172008787]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.2712931025783005,-1.831185545720187,0.71338606911949],"aabb_xy":[[-0.3512930997378758,-1.842733146678004],[-0.19129310541872524,-1.8196379447623698]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.40595546838571744,1.0272835795207738,0.71338606911949],"aabb_xy":[[-0.45543588959967624,0.9632835816079219],[-0.35647504717175865,1.0912835774336256]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.3812225316154101,1.1578146108270206,0.71338606911949],"aabb_xy":[[0.317222535219837,1.093851322408287],[0.44522252801098317,1.2217778992457542]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.574089658068907,0.9629969110223238,0.71338606911949],"aabb_xy":[[0.552180975929556,0.9410962442022329],[0.595998340208258,0.9848975778424144]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.368385714645608,-0.00608485822572602,0.71338606911949],"aabb_xy":[[-0.4058857154376034,-0.012452699183916116],[-0.3308857138536125,0.00028298273246407657]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.24476012721893164,0.7019787101117481,0.71338606911949],"aabb_xy":[[-0.274751789952802,0.6719787107749475],[-0.21476846448506132,0.7319787094485486]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.13120227714102228,-2.169362247016363,0.71338606911949],"aabb_xy":[[-0.19520227442667093,-2.2108689659692073],[-0.06720227985537364,-2.1278555280635194]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.587835854773304,-0.3094960149597479,0.71338606911949],"aabb_xy":[[0.49814877846518857,-0.3994960152141984],[0.6775229310814195,-0.21949601470529734]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[-0.45151525830867617,-0.7314132518425398,0.71338606911949],"aabb_xy":[[-0.48742876273366587,-0.7673267600592943],[-0.4156017538836865,-0.695499743625785]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.10751697891340439,-2.0491708571127742,0.71338606911949],"aabb_xy":[[-0.17751698072214983,-2.070524625876961],[-0.03751697710465894,-2.0278170883485864]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.281229247055219,1.7216344554283043,0.71338606911949],"aabb_xy":[[0.258730111328992,1.6991344546500413],[0.3037283827814459,1.7441344562065673]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.5074679032396151,-0.24471512358542613,0.71338606911949],"aabb_xy":[[-0.5138817168827999,-0.2511249438330944],[-0.50105408959643,-0.23830530333775776]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.07747341362271765,-2.501951973333395,0.71338606911949],"aabb_xy":[[0.022473414000971817,-2.556935666120868],[0.1324734132444635,-2.4469682805459225]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.36323246889330035,-2.0424892374066763,0.71338606911949],"aabb_xy":[[-0.3725794764755956,-2.0567928596243203],[-0.3538854613110051,-2.0281856151890323]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.5718536869712378,-2.5321778184704518,0.71338606911949],"aabb_xy":[[0.5677377368591651,-2.536293373503297],[0.5759696370833104,-2.5280622634376058]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.12145651218538112,-0.7473922905858952,0.71338606911949],"aabb_xy":[[0.0414565147817877,-0.827384861784078],[0.20145650958897454,-0.6673997193877124]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.5355081741516268,1.6886344509918199,0.71338606911949],"aabb_xy":[[0.498008173487048,1.6729473929915977],[0.5730081748162054,1.704321508992042]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.21063054212791504,-2.304521788138807,0.71338606911949],"aabb_xy":[[-0.26063054341175496,-2.3545006425294286],[-0.16063054084407505,-2.2545429337481844]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.3309138887068721,-2.0777233697326056,0.71338606911949],"aabb_xy":[[0.2896650776769573,-2.1327233692448226],[0.3721626997367868,-2.0227233702203877]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[-0.4945713751406253,-1.3906341379542217,0.71338606911949],"aabb_xy":[[-0.5184075927812305,-1.4806341387627084],[-0.4707351575000204,-1.3006341371457355]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.3872298569813051,-1.161521205428348,0.71338606911949],"aabb_xy":[[0.32722985713473823,-1.2183398276213864],[0.4472298568278718,-1.104702583235309]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.25308821746925525,-1.3854621889721959,0.71338606911949],"aabb_xy":[[-0.2682510904461924,-1.4006276462673146],[-0.23792534449231822,-1.370296731677077]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[-0.5326018660509888,-0.5861993709039974,0.71338606911949],"aabb_xy":[[-0.6026018624609505,-0.6066373065556789],[-0.46260186964102695,-0.5657614352523155]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_29","position":[0.33689174341666317,-0.7587305285563284,0.71338606911949],"aabb_xy":[[0.32885540871537833,-0.7667686478607452],[0.344928078117948,-0.7506924092519116]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[0.14764783016821414,-1.6441631460987982,0.71338606911949],"aabb_xy":[[0.1333134050420507,-1.656223361653337],[0.1619822552943776,-1.6321029305442594]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_31","position":[0.4869561987360236,1.3826411688630489,0.71338606911949],"aabb_xy":[[0.4370735018583274,1.3326411696167741],[0.5368388956137198,1.4326411681093236]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_32","position":[0.054578524903205694,-1.5303824892627147,0.71338606911949],"aabb_xy":[[-0.009421473683366766,-1.5773894526622232],[0.11857852348977815,-1.4833755258632058]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938047693538638,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5486.png","name":"5486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9176.png","name":"9176"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/416.png","name":"416"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4602.png","name":"4602"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":743.4405701692547,"rotation_z_degrees":63.70752885762167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0057975263777667214,0.019822964726869684,0.015233488026351435]},{"name":"camera_2","offset_m":[0.012814440102617997,-0.01971092344422006,-0.018138366189558726]},{"name":"camera_3","offset_m":[0.011090077741162684,-0.0028041500356985397,0.009879431180428739]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015552851645929552,0.0003970530087781367,-0.0003423457006682762],"end_effector_yaw_offset_degrees":-0.49700120771019596},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016475162549600963,-0.00034173079472274155,0.0002732561430971829],"end_effector_yaw_offset_degrees":0.018038781224266387},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00018324692753834276,0.0008754390490441281,0.000581803812202655],"end_effector_yaw_offset_degrees":0.5858669002302095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004368215745440457,-0.0030516162930338386],"position_m":[0.2842682157454404,0.15394838370696617,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009862794094828995,-0.0030500756005563947],"position_m":[0.35201372059051705,0.30734992439944364,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00412308364502102,-0.003700930839286908],"position_m":[0.287576916354979,-0.04690093083928691,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00046482103270093465,-0.0005369867211194824],"position_m":[0.25046482103270096,-0.3370369867211195,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"baf158d6a23deff919df9829c2ac55832fea7e17052c67b8dcc3ba13e667c0a9","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5466/tex_ceiling_textures_4602/tex_floor_textures_416/tex_table_textures_5486/tex_wall_textures_9176","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3386017294814570542,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3386017294814570542,"visual_seed":3386017294814570542,"scene_id":"lab_003","finished_at":"2026-09-02T06:10:50"}
+{"episode_id":"ep_000080","started_at":"2026-09-02T06:12:24","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.5662946926052191,0.8304290212602568,0.71338606911949],"aabb_xy":[[-0.5735559401756265,0.8176420109967473],[-0.5590334450348118,0.8432160315237662]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.2912465929849024,1.274984485979839,0.71338606911949],"aabb_xy":[[0.2814906034757285,1.2652219519206043],[0.3010025824940763,1.2847470200390732]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.1755850083026207,1.5921918701553808,0.71338606911949],"aabb_xy":[[0.14058500832612486,1.5827272541077642],[0.21058500827911653,1.6016564862029974]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.3496109593636755,-2.0701351940726216,0.71338606911949],"aabb_xy":[[-0.3996109607245627,-2.120113098648037],[-0.29961095800278825,-2.020157289497206]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.40868594360500277,-2.4913143996245273,0.71338606911949],"aabb_xy":[[0.3861859433614874,-2.5035190342842997],[0.4311859438485182,-2.4791097649647558]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.3485547678756906,1.1076436866656993,0.71338606911949],"aabb_xy":[[0.26855476461784766,1.0276471788737154],[0.4285547711335336,1.1876401944576833]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.15404525518518597,-1.324546051179925,0.71338606911949],"aabb_xy":[[-0.1890452543780042,-1.3355130971775873],[-0.11904525599236768,-1.3135790051822622]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.19646777609086052,-1.135986927671194,0.71338606911949],"aabb_xy":[[0.1892240100446152,-1.2159869258747964],[0.20371154213710585,-1.0559869294675917]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.030645229849469047,1.3369625850906361,0.71338606911949],"aabb_xy":[[-0.08063834195866094,1.2869625844164407],[0.01934788225972284,1.386962585764832]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.40550174966785896,0.6790597374172056,0.71338606911949],"aabb_xy":[[-0.41796910777759466,0.6665944127838821],[-0.39303439155812336,0.6915250620505291]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.5621641653485863,1.803994647760231,0.71338606911949],"aabb_xy":[[-0.573733146095523,1.7789946476432998],[-0.5505951846016498,1.8289946478771633]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.21808661360085357,-2.136957998328662,0.71338606911949],"aabb_xy":[[0.19425039596024854,-2.2269579991371486],[0.24192283124145866,-2.0469579975201757]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.13117786299993706,-1.3592134966650173,0.71338606911949],"aabb_xy":[[0.11359956081099018,-1.3767879862391221],[0.14875616518888388,-1.3416390070909125]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.10944711745218516,1.4899909808834484,0.71338606911949],"aabb_xy":[[0.06445453073373475,1.4449909816089994],[0.15443970417063557,1.534990980157897]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.5798976207309698,-2.3802306531646207,0.71338606911949],"aabb_xy":[[0.5719743404922215,-2.4027306534026245],[0.5878209009697182,-2.3577306529266178]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.2654168105896363,0.6407213292189051,0.71338606911949],"aabb_xy":[[0.24653242682112608,0.6218354044385523],[0.2843011943581465,0.6596072539992579]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.4556968959774988,-1.29521927987506,0.71338606911949],"aabb_xy":[[-0.4629792123541624,-1.3852192834845685],[-0.4484145796008351,-1.2052192762655505]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.06304114304192154,-1.4603153918615985,0.71338606911949],"aabb_xy":[[-0.09983577616682783,-1.4972212669581808],[-0.026246509917015284,-1.4234095167650163]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[0.15174122458637174,-1.8856657687107177,0.71338606911949],"aabb_xy":[[0.08674122348042845,-1.9106311417788457],[0.21674122569231502,-1.8607003956425892]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.44530757310252245,1.651008239567434,0.71338606911949],"aabb_xy":[[-0.4497382024573626,1.6455598678327514],[-0.44087694374768227,1.6564566113021164]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.18387944559816394,0.5914243349335337,0.71338606911949],"aabb_xy":[[0.16877714413714578,0.5763228133024717],[0.19898174705918198,0.6065258565645953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698129190969916,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7671.png","name":"7671"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7671.png","name":"7671"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8760.png","name":"8760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4454.png","name":"4454"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":659.3624851758518,"rotation_z_degrees":20.642937453401643,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017139768445364328,0.0036908997655107807,0.009785001390182901]},{"name":"camera_2","offset_m":[-0.011319403568256434,-0.007767957900384058,0.008796703456823384]},{"name":"camera_3","offset_m":[-0.00966276517172321,0.009362728473510402,0.01257726525385523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019144696237103666,-0.00041210403763878396,0.0006575429491403424],"end_effector_yaw_offset_degrees":0.36529757649827177},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018897905818388186,-0.0018523119914859883,0.0010422776354990881],"end_effector_yaw_offset_degrees":-0.13187162699641064},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00031912272615627706,-0.001803455799396751,-0.00011446709104442746],"end_effector_yaw_offset_degrees":-0.7864598597904762}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026086593160152974,0.00490429462330757],"position_m":[0.28250865931601526,0.16190429462330758,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010125981890237827,0.0026377472379898233],"position_m":[0.35401259818902375,0.3130377472379898,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015864099530823869,0.004931188057947826],"position_m":[0.2932864099530824,-0.03826881194205218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00026506428216699265,-0.0013388291036222446],"position_m":[0.250265064282167,-0.3378388291036223,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"16627fc000b065931a5b09fe583be6ea6f2d5dbfcfa9125e8443e55625e122d9","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7671/tex_ceiling_textures_8904/tex_floor_textures_1497/tex_table_textures_8760/tex_wall_textures_4454","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4204199576773716050,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4204199576773716050,"visual_seed":4204199576773716050,"scene_id":"lab_003","finished_at":"2026-09-02T06:14:55"}
+{"episode_id":"ep_000081","started_at":"2026-09-02T06:18:20","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.1026782185410331,0.9411213608111093,0.71338606911949],"aabb_xy":[[0.0880348129870001,0.9264626411543251],[0.11732162409506607,0.9557800804678935]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.29578245041815576,-1.577852542753176,0.71338606911949],"aabb_xy":[[-0.3132824506774924,-1.591944084941949],[-0.27828245015881914,-1.5637610005644038]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.6249260826086249,-1.1368870643046278,0.71338606911949],"aabb_xy":[[0.5349260789317065,-1.1983194708817317],[0.7149260862855429,-1.075454657727523]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.2903667161462481,0.4963925550255244,0.71338606911949],"aabb_xy":[[0.28405461660990966,0.49062561577230557],[0.2966788156825865,0.5021594942787432]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.5883651542952324,-1.6460809729937158,0.71338606911949],"aabb_xy":[[-0.6188494044222627,-1.6960809727752117],[-0.5578809041682024,-1.5960809732122199]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.47919311063738257,0.3955454094256874,0.71338606911949],"aabb_xy":[[0.45054377827696634,0.36689985014861154],[0.5078424429977988,0.4241909687027631]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.24454577518515808,-0.09138030544166176,0.71338606911949],"aabb_xy":[[-0.26365808254313694,-0.11051508431890378],[-0.22543346782717918,-0.07224552656441974]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.22021501874476346,-2.295264624686836,0.71338606911949],"aabb_xy":[[0.1707345975308047,-2.359264622599688],[0.26969543995872225,-2.231264626773984]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.3366659974879011,-0.594425350925297,0.71338606911949],"aabb_xy":[[-0.38194461236905036,-0.6584253502734806],[-0.29138738260675184,-0.5304253515771132]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.10922844481223337,-0.8548413010404208,0.71338606911949],"aabb_xy":[[0.08731976267288233,-0.8767419678605114],[0.13113712695158442,-0.8329406342203299]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.5966037707938066,1.4123257990807532,0.71338606911949],"aabb_xy":[[-0.6606037672211286,1.3651561752586567],[-0.5326037743664848,1.4594954229028496]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.615186304552745,-1.649944188997582,0.71338606911949],"aabb_xy":[[0.6092197656120094,-1.6559053336569463],[0.6211528434934809,-1.643983044338218]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.36646946819400306,1.1732653298114188,0.71338606911949],"aabb_xy":[[0.3024694662816607,1.1173541805534084],[0.4304694701063454,1.2291764790694293]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.2166009233612728,1.4201129771154153,0.71338606911949],"aabb_xy":[[-0.2806009255816798,1.375739892990127],[-0.15260092114086574,1.4644860612407036]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.4790563943280859,0.4235721571477904,0.71338606911949],"aabb_xy":[[-0.5290563952786187,0.39202301014426894],[-0.4290563933775531,0.45512130415131175]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.20302142722779143,-1.1884032773399895,0.71338606911949],"aabb_xy":[[-0.20911605511590972,-1.1969726718916582],[-0.19692679933967308,-1.1798338827883208]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.005116688286222804,-2.279264393087671,0.71338606911949],"aabb_xy":[[-0.019451113412386256,-2.29132460864221],[0.009217736839940649,-2.2672041775331317]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.4891576590723816,-0.5160067996121405,0.71338606911949],"aabb_xy":[[-0.4971511488676638,-0.5240049315526162],[-0.48116416927709976,-0.508008667671665]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.38463919654721157,-2.4114962731426193,0.71338606911949],"aabb_xy":[[0.33465496083903434,-2.461496271956115],[0.4346234322553888,-2.3614962743291237]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.07189304481785286,1.1081689196316002,0.71338606911949],"aabb_xy":[[0.06376535662453964,1.0992553112208927],[0.08002073301116608,1.1170825280423082]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.3866377561840333,-2.079760445017084,0.71338606911949],"aabb_xy":[[0.3641386204578064,-2.1022604457953467],[0.4091368919102603,-2.057260444238821]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.08253486729569837,-1.0267679148026336,0.71338606911949],"aabb_xy":[[0.01853486400599026,-1.070102833806551],[0.14653487058540648,-0.9834329957987159]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.318811858107148,0.41180575429349187,0.71338606911949],"aabb_xy":[[-0.3314145572442245,0.39921035806862637],[-0.30620915897007156,0.42440115051835736]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.03329371065097697,-0.9845848612121022,0.71338606911949],"aabb_xy":[[-0.044538766221594805,-0.9958266589361974],[-0.022048655080359136,-0.9733430634880068]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.471436905437888,0.5188915854728857,0.71338606911949],"aabb_xy":[[-0.5089369069535197,0.5076648124567407],[-0.4339369039222563,0.5301183584890308]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.3131874721698398,-1.7384984715703362,0.71338606911949],"aabb_xy":[[0.2331874741890547,-1.746100012532188],[0.3931874701506248,-1.730896930608484]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[-0.3563751322833211,-0.8753126938710007,0.71338606911949],"aabb_xy":[[-0.4140056011705919,-0.9353126927977111],[-0.2987446633960502,-0.8153126949442899]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.01900957557631755,0.8287717465212232,0.71338606911949],"aabb_xy":[[-0.029421134256801262,0.8234260131853247],[-0.008598016895833838,0.8341174798571217]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_28","position":[-0.5711726493551361,-2.258471396547771,0.71338606911949],"aabb_xy":[[-0.5784549657317996,-2.3484714001572793],[-0.5638903329784722,-2.1684713929382613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964971111733373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6900.png","name":"6900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6900.png","name":"6900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4347.png","name":"4347"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/240.png","name":"240"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3216.png","name":"3216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2223.png","name":"2223"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":757.5086670961467,"rotation_z_degrees":190.485231093465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007603644724891719,0.008552273482420585,0.00095563664934116]},{"name":"camera_2","offset_m":[0.004890542210479784,0.01808319379067305,-0.004497505406596854]},{"name":"camera_3","offset_m":[0.01048606728351742,-0.017705725376899056,0.01853018680824046]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009548404434293303,0.0009226344296447168,-0.0014330767323079514],"end_effector_yaw_offset_degrees":-0.16976161136319612},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013243339002904353,0.0019102852116000832,0.0018634837472503276],"end_effector_yaw_offset_degrees":0.780255756831431},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-1.670353203525902e-05,0.0011314855486449296,-0.00197679086342385],"end_effector_yaw_offset_degrees":0.036901094901747866}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008189618135565823,0.000873545049548642],"position_m":[0.28071896181355654,0.15787354504954865,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003844316371644308,0.00024459256332607857],"position_m":[0.35338443163716443,0.3106445925633261,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011698191923649424,-0.0017054241568287853],"position_m":[0.29286981919236493,-0.044905424156828785,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018341252336450888,-0.0009163759283425995],"position_m":[0.2481658747663549,-0.3374163759283426,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b95395c34c8f798c843b1b3fe30d0a367a63fba5d950ae06fce114c7e59b77dd","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6900/tex_ceiling_textures_2223/tex_floor_textures_3216/tex_table_textures_4347/tex_wall_textures_240","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":462476744342979223,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":462476744342979223,"visual_seed":462476744342979223,"scene_id":"lab_003","finished_at":"2026-09-02T06:20:58"}
+{"episode_id":"ep_000082","started_at":"2026-09-02T06:22:27","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.1770522035403581,0.6382501404028829,0.71338606911949],"aabb_xy":[[0.14706054080648776,0.6082501410660823],[0.2070438662742284,0.6682501397396834]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.0017753714794048747,-2.1632393331167177,0.71338606911949],"aabb_xy":[[-0.026775371031143358,-2.1733818169818524],[0.02322462807233361,-2.153096849251583]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.1568505503163602,-1.3665759676978435,0.71338606911949],"aabb_xy":[[-0.24685054681723193,-1.4124876101163015],[-0.06685055381548842,-1.320664325279385]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.24826232966514689,0.8302985041032871,0.71338606911949],"aabb_xy":[[-0.3122623303686163,0.7842801216303663],[-0.18426232896167755,0.8763168865762083]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.1664509572576658,-0.8986180953379521,0.71338606911949],"aabb_xy":[[0.11656826037996962,-0.948618094584227],[0.21633365413536204,-0.8486180960916775]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.443618879900018,-0.9914926592383306,0.71338606911949],"aabb_xy":[[-0.5236188820627805,-1.0714478428644743],[-0.3636188777372555,-0.9115374756121869]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.6334152054097313,-2.319075656455454,0.71338606911949],"aabb_xy":[[0.5873301141549997,-2.3830756537080093],[0.6795002966644627,-2.255075659202899]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[0.509705379706092,0.2926358515484142,0.71338606911949],"aabb_xy":[[0.47220537941391705,0.2885943761478106],[0.5472053799982667,0.2966773269490178]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.396620935286226,-1.3286386495606277,0.71338606911949],"aabb_xy":[[0.359120935180633,-1.3354608114136088],[0.4341209353918189,-1.3218164877076466]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.38250423496042263,0.5655311396606408,0.71338606911949],"aabb_xy":[[-0.42000423513229457,0.5328304042777336],[-0.3450042347885507,0.598231875043548]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.1819409321351677,1.2225383745539373,0.71338606911949],"aabb_xy":[[0.12194093153915153,1.1677259020087138],[0.2419409327311839,1.2773508470991608]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.3867199588933511,0.8043515903055769,0.71338606911949],"aabb_xy":[[-0.3921779045303711,0.7243515869979177],[-0.38126201325633097,0.8843515936132359]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.07135646603648971,1.7878488262707877,0.71338606911949],"aabb_xy":[[-0.080054428327205,1.7757238519633132],[-0.06265850374577442,1.7999738005782626]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.07442564460246048,-0.9948560433630931,0.71338606911949],"aabb_xy":[[-0.07854159471453312,-0.9989715983959385],[-0.07030969449038779,-0.9907404883302474]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.4935245785206117,1.3015470584004163,0.71338606911949],"aabb_xy":[[0.45789542262065197,1.2659143916435633],[0.5291537344205715,1.3371797251572692]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.40584567295869256,-2.4183581488889407,0.71338606911949],"aabb_xy":[[0.33584567032210616,-2.438463013884806],[0.47584567559527885,-2.398253283893075]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.1446250494254323,-1.951715992317795,0.71338606911949],"aabb_xy":[[0.06462505226585702,-1.9632635932756117],[0.2246250465850076,-1.9401683913599777]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[0.21837407325912495,0.8991387087724894,0.71338606911949],"aabb_xy":[[0.17124469425728928,0.8351387077280872],[0.2655034522609606,0.9631387098168911]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.6179404552880432,0.030658871500548024,0.71338606911949],"aabb_xy":[[0.5539404581759374,-0.01837349829386259],[0.6819404524001488,0.07969124129495864]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.5098124373281929,1.6270170019458203,0.71338606911949],"aabb_xy":[[-0.5330942795263243,1.542017000648592],[-0.48653059513006164,1.7120170032430482]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.3921907418106705,1.1271149824830813,0.71338606911949],"aabb_xy":[[-0.4721907432407977,1.0475978274704718],[-0.3121907403805433,1.2066321374956908]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.2802485347036624,1.7434830293160695,0.71338606911949],"aabb_xy":[[0.22524853650191753,1.7029610626896319],[0.3352485329054072,1.784004995942507]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.08643322092274663,-0.16060171282327973,0.71338606911949],"aabb_xy":[[-0.16643321832634006,-0.24059428402146255],[-0.006433223519153221,-0.08060914162509693]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980607389970189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2899.png","name":"2899"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2899.png","name":"2899"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3563.png","name":"3563"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7718.png","name":"7718"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6424.png","name":"6424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7634.png","name":"7634"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":724.6497878144345,"rotation_z_degrees":197.8220416625073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006512932841454169,-0.013497851896597824,0.017927547888128132]},{"name":"camera_2","offset_m":[0.0021068841263810756,0.013874156925998905,-0.0031864654083015413]},{"name":"camera_3","offset_m":[0.0017652026946122015,-0.01182158815024684,-0.005371180345120425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001963177953120711,-0.00013652038430139344,-0.00015458466610651514],"end_effector_yaw_offset_degrees":0.6751758129414254},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004354917657942621,0.0005006065850499701,0.0001238723996555926],"end_effector_yaw_offset_degrees":0.6962675034621826},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016885664039424802,0.0002053584360061111,7.601907606918142e-05],"end_effector_yaw_offset_degrees":-0.7654444003306382}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008467640692358799,0.0006912759479003154],"position_m":[0.2790532359307641,0.1576912759479003,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005090363929523365,0.0034873420294989138],"position_m":[0.35350903639295234,0.3138873420294989,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001967567042842442,-0.0029515724306930858],"position_m":[0.29366756704284247,-0.04615157243069309,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002814338771218619,0.0031940028789201784],"position_m":[0.2528143387712186,-0.33330599712107983,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7f70adf5f217f8b20a144bee8daa229ec28c2436208d29ccb88aed8216a902d7","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0097.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2899/tex_ceiling_textures_7634/tex_floor_textures_6424/tex_table_textures_3563/tex_wall_textures_7718","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":9014891757495998976,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":9014891757495998976,"visual_seed":9014891757495998976,"scene_id":"lab_003","finished_at":"2026-09-02T06:25:02"}
+{"episode_id":"ep_000083","started_at":"2026-09-02T06:25:05","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.07445520850858478,-2.229977505474331,0.71338606911949],"aabb_xy":[[-0.0973709213936347,-2.252881802610755],[-0.05153949562353488,-2.207073208337908]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.10829460005835856,-1.178716721713289,0.71338606911949],"aabb_xy":[[-0.17329459821427762,-1.2050129662632012],[-0.0432946019024395,-1.1524204771633768]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.2604801337676657,0.3324259298400136,0.71338606911949],"aabb_xy":[[-0.2979801349524584,0.328007707143953],[-0.22298013258287283,0.336844152536074]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.5365208730083735,-2.3279634223848302,0.71338606911949],"aabb_xy":[[0.5022239619906328,-2.362260308594771],[0.5708177840261139,-2.2936665361748885]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.5146823583421699,0.4006764099564939,0.71338606911949],"aabb_xy":[[-0.5723128272294407,0.34067641102978324],[-0.45705188945489894,0.4606764088832044]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[0.6956977313902784,-2.4024367677259577,0.71338606911949],"aabb_xy":[[0.6731977313801301,-2.4165329873655605],[0.7181977314004266,-2.388340548086354]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.3930118613496957,0.763851082037498,0.71338606911949],"aabb_xy":[[-0.47301186242281595,0.7540730357001136],[-0.3130118602765753,0.7736291283748825]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.3321042789446296,1.1955876583914753,0.71338606911949],"aabb_xy":[[-0.38210427930519564,1.1456076711818723],[-0.2821042785840635,1.2455676456010782]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.006255403334038401,1.4959321476430332,0.71338606911949],"aabb_xy":[[-0.038915914514130574,1.4319321504984948],[0.05142672118220738,1.5599321447875718]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[0.3764634512137377,0.6683022276233159,0.71338606911949],"aabb_xy":[[0.3730227749736806,0.6644407946489516],[0.379904127453795,0.6721636605976805]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.3273254731205346,-2.0760352393919446,0.71338606911949],"aabb_xy":[[-0.3433874005790522,-2.161035241204536],[-0.3112635456620169,-1.9910352375793525]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.2714671415349752,-1.2292505595144543,0.71338606911949],"aabb_xy":[[-0.2865694429959932,-1.2443520811455158],[-0.256364840073957,-1.214149037883392]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.5359109231338328,1.2457725260370003,0.71338606911949],"aabb_xy":[[0.48093720109749993,1.1907725264727673],[0.5908846451701657,1.3007725256012337]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.23500878643184503,-1.469062890203284,0.71338606911949],"aabb_xy":[[-0.24132088596818352,-1.474829829456503],[-0.22869668689550665,-1.4632959509500651]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.3185395066867772,0.21643295544062457,0.71338606911949],"aabb_xy":[[-0.35603950526239797,0.20369665977706664],[-0.28103950811115636,0.22916925110418251]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.5561810032259209,-0.4636156906494513,0.71338606911949],"aabb_xy":[[0.5250340843823378,-0.5336156893362585],[0.587327922069504,-0.39361569196264407]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.16905271447399117,-2.1232188017474907,0.71338606911949],"aabb_xy":[[0.10505271279599382,-2.171736193226805],[0.23305271615198853,-2.0747014102681764]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.04276608178184238,0.29543313048433584,0.71338606911949],"aabb_xy":[[-0.07722842917998417,0.26093924808651303],[-0.008303734383700577,0.3299270128821584]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[-0.37265286854957796,-0.5317181547306951,0.71338606911949],"aabb_xy":[[-0.3767887248822782,-0.5692181541750522],[-0.3685170122168778,-0.49421815528633817]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.06546456642721188,-1.7541579775895828,0.71338606911949],"aabb_xy":[[-0.10137807085220155,-1.7900714858063371],[-0.029551062002222184,-1.718244469372828]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947837538223499,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1794.png","name":"1794"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1794.png","name":"1794"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7700.png","name":"7700"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1816.png","name":"1816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1081.png","name":"1081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4757.png","name":"4757"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":580.6959268350241,"rotation_z_degrees":279.045611330608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009649789561397004,0.0010985852727158248,-0.014351346982491332]},{"name":"camera_2","offset_m":[-0.008656319584569734,0.011406157416549153,0.008603732515215016]},{"name":"camera_3","offset_m":[-0.013313669272561328,-0.012844270063884146,-0.01077880294567486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015439545098407817,-0.0012577787848339684,-0.0012917798323775972],"end_effector_yaw_offset_degrees":0.5567655909274116},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017097176281829665,0.0019229124970604125,-0.0011820948148914853],"end_effector_yaw_offset_degrees":-0.5817011012522679},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009366448910745979,-0.0003797445882129944,-0.0018916841831719724],"end_effector_yaw_offset_degrees":0.0038124956545393385}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007910710866985008,0.004380957104383244],"position_m":[0.2806910710866985,0.16138095710438324,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006385422231003366,-0.0015462043379426984],"position_m":[0.35236145777689964,0.3088537956620573,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017246379120906818,0.0013954738536576753],"position_m":[0.2899753620879093,-0.04180452614634233,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024990600955861406,0.001357625790184178],"position_m":[0.25249906009558615,-0.33514237420981585,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e6abcd1b2bc0fc3b4da91a6b164649b965904662fea8f3eb829eb0a01bd0c844","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1794/tex_ceiling_textures_4757/tex_floor_textures_1081/tex_table_textures_7700/tex_wall_textures_1816","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1236688056869566609,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1236688056869566609,"visual_seed":1236688056869566609,"scene_id":"lab_003","finished_at":"2026-09-02T06:27:46"}
+{"episode_id":"ep_000084","started_at":"2026-09-02T06:27:48","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.5178277018899926,-0.7292549694666868,0.71338606911949],"aabb_xy":[[0.49399148424938766,-0.8192549702751736],[0.5416639195305978,-0.6392549686582005]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.3517260268407661,-1.153573835921391,0.71338606911949],"aabb_xy":[[-0.3988554058426017,-1.2175738369657927],[-0.30459664783893037,-1.0895738348769888]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.053375191648801446,1.1389907381759934,0.71338606911949],"aabb_xy":[[-0.06854736093043479,1.12382188124779],[-0.03820302236716811,1.1541595951041967]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.42508669220196804,1.5690412099496194,0.71338606911949],"aabb_xy":[[0.3450866950423928,1.5574936089918023],[0.5050866893615433,1.5805888109074364]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.09313934747928188,-0.2634935825534752,0.71338606911949],"aabb_xy":[[-0.10055180302067036,-0.2693447929751031],[-0.08572689193789342,-0.2576423721318472]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.4271348563596453,0.5285705299939938,0.71338606911949],"aabb_xy":[[0.3671348561082441,0.47428920495752913],[0.48713485661104644,0.5828518550304584]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.5374119789629432,-0.19565293729954947,0.71338606911949],"aabb_xy":[[0.5024119806928232,-0.2027270649945376],[0.572411977233063,-0.18857880960456128]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.6069182267414555,-1.8507367435901514,0.71338606911949],"aabb_xy":[[0.5976246085043048,-1.888236742078285],[0.6162118449786059,-1.8132367451020173]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.43842920265297813,-2.0694140414114846,0.71338606911949],"aabb_xy":[[-0.45353150411399606,-2.0845155630425456],[-0.42332690119195987,-2.0543125197804217]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.34129797013830143,-2.3994153943023715,0.71338606911949],"aabb_xy":[[0.2712979737283396,-2.4198533299540523],[0.41129796654826317,-2.378977458650689]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.3736565767574159,0.5886636939315246,0.71338606911949],"aabb_xy":[[-0.4164232836368361,0.5246636905097222],[-0.33088986987799573,0.6526636973533271]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.5980516829176559,-1.2262374350699161,0.71338606911949],"aabb_xy":[[0.560551682253077,-1.241924493070138],[0.6355516835822345,-1.2105503770696937]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.5182719517051848,1.6426827006621996,0.71338606911949],"aabb_xy":[[0.4382719530482989,1.6281778417379371],[0.5982719503620709,1.657187559586463]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.14074987811141004,-0.7664269588402952,0.71338606911949],"aabb_xy":[[-0.17824987668703085,-0.7791632545038533],[-0.10324987953578925,-0.7536906631767374]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.043626858269028124,-2.2388691261356035,0.71338606911949],"aabb_xy":[[-0.0935999238015436,-2.288869125948137],[0.006346207263487337,-2.188869126323071]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.3657062591461353,0.7368115164416138,0.71338606911949],"aabb_xy":[[0.34381651155719456,0.6468115191523647],[0.38759600673507616,0.8268115137308629]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.42150954327768086,-0.1270831620199524,0.71338606911949],"aabb_xy":[[-0.4440095428013882,-0.14957910947057315],[-0.3990095437539734,-0.10458721456933161]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.1027177929714469,-0.517582055554954,0.71338606911949],"aabb_xy":[[-0.15271779463294166,-0.5675804978106566],[-0.05271779130995214,-0.4675836132992512]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.09635961630774925,-1.818839554505566,0.71338606911949],"aabb_xy":[[0.012637390807666779,-1.908839558040262],[0.1800818418078317,-1.72883955097087]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.17475741738961448,1.0974490511472847,0.71338606911949],"aabb_xy":[[-0.2387574194393465,1.0573545680579768],[-0.11075741533988251,1.1375435342365927]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[-0.16507413800036708,0.07072428805075459,0.71338606911949],"aabb_xy":[[-0.2200478600367,0.01572428848652141],[-0.11010041596403422,0.12572428761498777]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.14146310209244783,-2.14465072616757,0.71338606911949],"aabb_xy":[[0.09148015190496848,-2.1946507258101295],[0.19144605227992714,-2.0946507265250087]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.6153667728420624,-0.6400928843431029,0.71338606911949],"aabb_xy":[[0.5928676371158355,-0.6625928851213658],[0.6378659085682894,-0.6175928835648399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930726361293699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/166.png","name":"166"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/166.png","name":"166"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9397.png","name":"9397"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7741.png","name":"7741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8852.png","name":"8852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3053.png","name":"3053"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":672.9721321412338,"rotation_z_degrees":154.52656240981085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0047960109674323285,0.009360962469171067,0.003116592662970156]},{"name":"camera_2","offset_m":[-0.013576099550397918,0.004597621886460644,-0.0003965912225012587]},{"name":"camera_3","offset_m":[0.00011919831521386981,0.009924806708765884,-0.01691436270938691]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008556255526475376,0.0019240124170732623,0.00020916583205795713],"end_effector_yaw_offset_degrees":0.41781768270637465},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009188997829168181,-0.00040916454977483465,-0.0002169649109925822],"end_effector_yaw_offset_degrees":-0.6326758460760069},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014170205628081358,-0.00035618151821484876,0.0008734918562372613],"end_effector_yaw_offset_degrees":0.8986497281435339}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0041581414412044234,0.002547938439313729],"position_m":[0.2840581414412044,0.15954793843931372,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020415208004405626,-0.002568499439773634],"position_m":[0.3509584791995594,0.3078315005602264,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003031044372318204,0.0035430038131830975],"position_m":[0.2920031044372318,-0.0396569961868169,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004471742770834108,-0.0014778979431720575],"position_m":[0.2544717427708341,-0.33797789794317207,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eaad459c4969e53daa191f270c64c71413fcc887337e3fac18f48268ee9858ff","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0099.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_166/tex_ceiling_textures_3053/tex_floor_textures_8852/tex_table_textures_9397/tex_wall_textures_7741","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4790954553101260177,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4790954553101260177,"visual_seed":4790954553101260177,"scene_id":"lab_003","finished_at":"2026-09-02T06:30:30"}
+{"episode_id":"ep_000085","started_at":"2026-09-02T06:30:33","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.3570534880499687,0.8527720687506659,0.71338606911949],"aabb_xy":[[0.30205348842822294,0.7977883759631933],[0.4120534876717146,0.9077557615381388]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.3052150145876129,-2.28135628021929,0.71338606911949],"aabb_xy":[[0.29088058946144946,-2.2934164957738283],[0.31954943971377636,-2.269296064664751]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.3072689408587106,-1.4688609657966596,0.71338606911949],"aabb_xy":[[-0.3543983198605462,-1.532860966841061],[-0.26013956185687487,-1.4048609647522572]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.032469003686044995,-0.7694519541494089,0.71338606911949],"aabb_xy":[[0.012410592072804705,-0.7895170410585665],[0.052527415299285285,-0.7493868672402514]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.6726102490302996,1.5916254603729274,0.71338606911949],"aabb_xy":[[0.6226328321650461,1.5416254588836789],[0.7225876658955532,1.641625461862176]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.03364352314518948,-2.2564782090418296,0.71338606911949],"aabb_xy":[[-0.05614265887141645,-2.2789782098200924],[-0.01114438741896251,-2.233978208263567]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.4280526988704694,-0.7287491023347668,0.71338606911949],"aabb_xy":[[0.3383656225623539,-0.8187491025892172],[0.5177397751785848,-0.6387491020803161]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.5838506923154156,0.8128941675081287,0.71338606911949],"aabb_xy":[[0.5463506938920153,0.7997299535402981],[0.621350690738816,0.8260583814759593]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.22522296330813552,0.697441691159439,0.71338606911949],"aabb_xy":[[0.21709527511482232,0.6885280827487315],[0.23335065150144876,0.7063552995701468]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.18128914256435458,1.0698968073308164,0.71338606911949],"aabb_xy":[[0.09128914284118038,1.0468234547956363],[0.2712891422875287,1.092970159865996]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[0.044446303844475676,-1.1830036141617022,0.71338606911949],"aabb_xy":[[0.0022618896836449354,-1.2470036144389136],[0.08663071800530642,-1.1190036138844912]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.5149420565910623,1.1703157886606843,0.71338606911949],"aabb_xy":[[0.46713588897729363,1.1053157859536251],[0.562748224204831,1.235315791367743]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.509523227004431,-1.944279058732656,0.71338606911949],"aabb_xy":[[0.49911166832394727,-1.949624792068554],[0.5199347856849147,-1.9389333253967573]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.060065771021669434,-1.8481521441881745,0.71338606911949],"aabb_xy":[[-0.0039342310280625625,-1.8882466272774825],[0.12406577307140143,-1.8080576610988666]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.5124540008101648,-1.161431130823379,0.71338606911949],"aabb_xy":[[0.47495400051798997,-1.1654726062239824],[0.5499540011023396,-1.1573896554227754]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.14137408774480664,0.9433567774924878,0.71338606911949],"aabb_xy":[[-0.14865640412147024,0.8533567738829785],[-0.13409177136814293,1.0333567811019964]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.27472593712529425,-1.5224044956033007,0.71338606911949],"aabb_xy":[[0.2197259379487047,-1.5773941703782581],[0.3297259363018837,-1.4674148208283428]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.0346420786049938,-1.9529308979994584,0.71338606911949],"aabb_xy":[[-0.04535792246812653,-1.962708944336843],[0.11464207967811413,-1.9431528516620742]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.07667360574621418,-2.495899141897504,0.71338606911949],"aabb_xy":[[0.03812791292101315,-2.534444912953693],[0.11521929857141522,-2.4573533708413153]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.1270633699986311,-1.5418842294942847,0.71338606911949],"aabb_xy":[[-0.15952507088055853,-1.5720170616091869],[-0.09460166911670363,-1.5117513973793817]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.47989953058234214,-0.5483624935115992,0.71338606911949],"aabb_xy":[[0.42990641847315036,-0.5983624941857949],[0.5298926426915341,-0.49836249283740364]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[0.4049583460073629,0.6141042243147719,0.71338606911949],"aabb_xy":[[0.3550756491296667,0.5641042250684971],[0.45484104288505917,0.6641042235610466]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.5689021365718467,-0.0661351699083852,0.71338606911949],"aabb_xy":[[0.5148865402899466,-0.13013517280064235],[0.6229177328537466,-0.0021351670161280367]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[0.2379052006161908,-1.8889391100631856,0.71338606911949],"aabb_xy":[[0.1929126138977404,-1.9339391093376344],[0.2828977873346412,-1.8439391107887368]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.3023835489644973,0.4576965685649421,0.71338606911949],"aabb_xy":[[-0.30651940529719757,0.42019656912058506],[-0.2982476926317972,0.49519656800929907]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6940515996671363,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2233.png","name":"2233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2233.png","name":"2233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9237.png","name":"9237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6525.png","name":"6525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6645.png","name":"6645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/453.png","name":"453"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":514.7308798299338,"rotation_z_degrees":206.3305835965343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012928285507969069,-0.004149486234187046,0.009536959666347121]},{"name":"camera_2","offset_m":[0.009901992648311226,-0.019552759596403405,0.011216965410635375]},{"name":"camera_3","offset_m":[0.004751805130949825,0.01623911393127866,-0.0003200187310069061]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016077613904506723,-0.0005376489696951544,-0.001899264424967749],"end_effector_yaw_offset_degrees":0.8574041842923439},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00029287176701440695,0.0014733379584866823,0.0015055765090924889],"end_effector_yaw_offset_degrees":-0.8142405556991694},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005839357191145724,-0.0009078178705521735,0.0008621884324331664],"end_effector_yaw_offset_degrees":0.3444121973455909}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004511544377188123,0.0010912466927545973],"position_m":[0.27538845562281183,0.1580912466927546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004586703211904804,0.004675552981312946],"position_m":[0.3484132967880952,0.31507555298131296,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-1.9930789366300224e-05,0.003990427139238201],"position_m":[0.2916800692106337,-0.0392095728607618,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036523090833946907,-0.0012952832526486112],"position_m":[0.2536523090833947,-0.3377952832526486,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"797cd92059534e550a100a0a55703223f8e37b5a0aad79ebfb4e309784730bad","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2233/tex_ceiling_textures_453/tex_floor_textures_6645/tex_table_textures_9237/tex_wall_textures_6525","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4623005443428463282,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4623005443428463282,"visual_seed":4623005443428463282,"scene_id":"lab_003","finished_at":"2026-09-02T06:33:09"}
+{"episode_id":"ep_000086","started_at":"2026-09-02T06:33:13","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.5770687728454245,0.036200793475961834,0.71338606911949],"aabb_xy":[[0.5395687713297928,0.02497402045981678],[0.6145687743610562,0.04742756649210689]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.1555795579400382,-1.4627636648483056,0.71338606911949],"aabb_xy":[[-0.17337306487495466,-1.4805634104441032],[-0.13778605100512178,-1.444963919252508]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.19556948960816345,-2.4795771044497106,0.71338606911949],"aabb_xy":[[0.16517137850901986,-2.5099840064513796],[0.22596760070730704,-2.4491702024480406]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.6193103925479357,1.6058557476421744,0.71338606911949],"aabb_xy":[[0.5543103899101421,1.5543761489427277],[0.6843103951857291,1.6573353463416216]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.548724920829256,1.7271440415887036,0.71338606911949],"aabb_xy":[[0.5242112967322501,1.7028794482866672],[0.5732385449262618,1.75140863489074]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.1905048404994243,1.1828104705054914,0.71338606911949],"aabb_xy":[[0.10678261499934183,1.0928104669707952],[0.27422706599950675,1.272810474040187]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.480807542170258,-2.1261345857991163,0.71338606911949],"aabb_xy":[[-0.49848317275885623,-2.143814802078519],[-0.46313191158165956,-2.1084543695197135]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.1730763848920045,0.6148123869448012,0.71338606911949],"aabb_xy":[[-0.1794901985351894,0.6084025666971328],[-0.16666257124881953,0.6212222071924695]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.39272788901213906,1.3899411980106025,0.71338606911949],"aabb_xy":[[0.3127278885419232,1.3816304903962544],[0.4727278894823551,1.398251905624951]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.4998948144929749,-0.6410159157641346,0.71338606911949],"aabb_xy":[[0.4949387943080938,-0.6635159159662564],[0.5048508346778562,-0.6185159155620131]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[-0.06800684782831168,0.27309544804451313,0.71338606911949],"aabb_xy":[[-0.10902479121468256,0.2230954474135558],[-0.026988904441940798,0.32309544867547046]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.17038359003755532,-1.5751032015815682,0.71338606911949],"aabb_xy":[[0.11538811221689593,-1.6301032030154752],[0.2253790678582147,-1.5201032001476613]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.3485326082938233,-1.104462869204923,0.71338606911949],"aabb_xy":[[-0.41253261063662483,-1.1494037204490553],[-0.2845326059510217,-1.0595220179607903]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.3523980360433887,-1.5294616215793733,0.71338606911949],"aabb_xy":[[-0.41739803392503655,-1.5805852852859146],[-0.2873980381617409,-1.4783379578728326]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.13932527317603083,-0.8225792987921714,0.71338606911949],"aabb_xy":[[0.10182527300415886,-0.8552800341750786],[0.17682527334790274,-0.7898785634092642]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.2397693525734077,-2.3684143554459576,0.71338606911949],"aabb_xy":[[0.23563349624070754,-2.4059143548903146],[0.24390520890610792,-2.3309143560016006]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.6549101889088396,1.663860629495645,0.71338606911949],"aabb_xy":[[-0.6774101887227421,1.6593860131251643],[-0.6324101890949373,1.6683352458661258]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.005210489344035452,-2.1295930435345047,0.71338606911949],"aabb_xy":[[-0.0322895107615575,-2.1364152053874856],[0.0427104894496284,-2.122770881681523]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.05347710441681108,0.9263080120564231,0.71338606911949],"aabb_xy":[[-0.0846240232603942,0.856308013369616],[-0.02233018557322796,0.9963080107432304]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.5832762853147869,0.9099255783596276,0.71338606911949],"aabb_xy":[[-0.6191897897397766,0.874012070142873],[-0.5473627808897973,0.9458390865763823]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.23590967950991693,-1.1722426011692084,0.71338606911949],"aabb_xy":[[0.21068884265007726,-1.197466352022095],[0.2611305163697566,-1.1470188503163214]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.5832894982702632,0.7886531494191744,0.71338606911949],"aabb_xy":[[-0.5924493772141398,0.7821219313756373],[-0.5741296193263866,0.7951843674627115]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.6077264376222145,1.163368879326966,0.71338606911949],"aabb_xy":[[0.5577264363383744,1.1133900249363438],[0.6577264389060543,1.213347733717588]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.5593812440341366,1.490501705631647,0.71338606911949],"aabb_xy":[[-0.6233812442946074,1.4454929062787187],[-0.4953812437736658,1.5355105049845748]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[0.140240862797132,1.614794375703306,0.71338606911949],"aabb_xy":[[0.0762408642105595,1.5677874123037971],[0.20424086138370443,1.6618013391028146]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[-0.43954970448245706,0.35265498895512115,0.71338606911949],"aabb_xy":[[-0.5035497017681057,0.3111482700022772],[-0.3755497071968084,0.3941617079079651]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.06396437994131599,-1.8865167554237423,0.71338606911949],"aabb_xy":[[0.05518315279407977,-1.8952965027122728],[0.07274560708855222,-1.8777370081352127]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.14241331256131196,-1.9426173319653641,0.71338606911949],"aabb_xy":[[-0.22241330972088724,-1.9541649329231807],[-0.06241331540173667,-1.9310697310075466]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[0.3652223058603761,-2.468015304090826,0.71338606911949],"aabb_xy":[[0.35587529827808084,-2.48231892630847],[0.3745693134426713,-2.453711681873182]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[-0.5886628247050996,-0.7567168623050529,0.71338606911949],"aabb_xy":[[-0.6486628245516662,-0.8135354844980915],[-0.5286628248585327,-0.6998982401120142]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[0.5000153319444558,-1.7818538391613594,0.71338606911949],"aabb_xy":[[0.48491303048343753,-1.796955360792421],[0.5151176334054737,-1.766752317530297]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[-0.3782378002380596,-0.4233688224695009,0.71338606911949],"aabb_xy":[[-0.39288120579209257,-0.4380275421262852],[-0.3635943946840266,-0.40871010281271664]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_32","position":[-0.26414337959749157,1.6170770591067947,0.71338606911949],"aabb_xy":[[-0.34414338176025405,1.5371218754806508],[-0.18414337743472908,1.697032242732938]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_33","position":[0.3570029314453447,-0.6100588543669285,0.71338606911949],"aabb_xy":[[0.34564119679205846,-0.6214273207732166],[0.3683646660986308,-0.5986903879606404]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_34","position":[-0.6456638988780744,-1.4682558499273164,0.71338606911949],"aabb_xy":[[-0.6617258263365919,-1.553255851739908],[-0.6296019714195566,-1.3832558481147244]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929001752585119,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/746.png","name":"746"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/746.png","name":"746"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2585.png","name":"2585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9653.png","name":"9653"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3594.png","name":"3594"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":610.3953372844102,"rotation_z_degrees":332.26280177622505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002023995134812346,-0.0027390530965229233,0.012278802133954398]},{"name":"camera_2","offset_m":[0.006306988170351933,-0.009302853662618942,-0.009739335073184611]},{"name":"camera_3","offset_m":[-0.006679345021328307,6.823126301843535e-05,-0.0066740064964025785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014303564586366896,0.0004052365529663665,0.0018899054267109824],"end_effector_yaw_offset_degrees":-0.3923848549324944},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010639834767236706,0.00039163369513123963,0.0019775346097305347],"end_effector_yaw_offset_degrees":-0.29131000668984264},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017555724518294033,0.0013923658299310037,0.0013756583417878611],"end_effector_yaw_offset_degrees":-0.443177653497447}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012909490688139688,-0.0029861276553034242],"position_m":[0.281190949068814,0.15401387234469657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00380301502898338,0.0005754546416051852],"position_m":[0.3491969849710166,0.3109754546416052,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024034113320137466,-0.002083180855717558],"position_m":[0.2941034113320138,-0.04528318085571756,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022524255911479767,0.0011791369853148357],"position_m":[0.25225242559114797,-0.33532086301468517,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"41d300608798ea098170290fda1a5fa6ae5ca5900f7a549fba7f0e0fd529a84e","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0101.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_746/tex_ceiling_textures_3594/tex_floor_textures_9653/tex_table_textures_2585/tex_wall_textures_4136","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1775120590454267569,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1775120590454267569,"visual_seed":1775120590454267569,"scene_id":"lab_003","finished_at":"2026-09-02T06:35:51"}
+{"episode_id":"ep_000087","started_at":"2026-09-02T06:35:53","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.2770246061041759,-1.3091078951229116,0.71338606911949],"aabb_xy":[[0.267268616595002,-1.3188704291821458],[0.2867805956133498,-1.299345361063677]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.4017716349875903,0.47888664889194343,0.71338606911949],"aabb_xy":[[-0.41887371294595843,0.46177984336067374],[-0.3846695570292221,0.49599345442321324]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.14229973441621302,-1.4812475799839542,0.71338606911949],"aabb_xy":[[0.09953302753679283,-1.5452475834057566],[0.1850664412956332,-1.4172475765621517]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.5846741398379867,-1.0824857598931847,0.71338606911949],"aabb_xy":[[0.5503772288202459,-1.1167826461031258],[0.618971050855727,-1.0481888736832432]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.18915716479068445,-0.6767681907267882,0.71338606911949],"aabb_xy":[[-0.19708044502943278,-0.6992681909647915],[-0.18123388455193612,-0.6542681904887848]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.3192446093240047,-2.52222359901008,0.71338606911949],"aabb_xy":[[-0.324200629508886,-2.544723599212202],[-0.31428858913912355,-2.4997235988079582]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.6994313345106202,-0.7407129654976214,0.71338606911949],"aabb_xy":[[0.6921875684643749,-0.8207129637012238],[0.7066751005568656,-0.6607129672940191]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[0.46865047450504704,1.6243003625850752,0.71338606911949],"aabb_xy":[[0.4461504739930064,1.6018085042196766],[0.4911504750170876,1.6467922209504733]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.1083777700337486,-1.4762672444241902,0.71338606911949],"aabb_xy":[[-0.15337777149997744,-1.521267101285671],[-0.06337776856751975,-1.4312673875627095]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.3812114250398355,-1.6501730979893792,0.71338606911949],"aabb_xy":[[0.3724093697308628,-1.657984424144308],[0.39001348034880823,-1.6423617718344499]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.42295821819312096,0.7628837990601123,0.71338606911949],"aabb_xy":[[-0.4869582184535918,0.7178749997071843],[-0.35895821793265015,0.8078925984130403]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.29044715633219576,-0.9566447248339034,0.71338606911949],"aabb_xy":[[-0.32290885721412316,-0.9867775569488059],[-0.25798545545026824,-0.9265118927190007]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.5549141105449202,-2.1796185628426397,0.71338606911949],"aabb_xy":[[0.5475016550035317,-2.185469773264267],[0.5623265660863086,-2.1737673524210113]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.6705323876985905,-1.8268322146480385,0.71338606911949],"aabb_xy":[[0.6360700403004484,-1.8613260970458607],[0.704994735096732,-1.7923383322502153]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.3118664160349076,-1.0396711312183327,0.71338606911949],"aabb_xy":[[0.28071949719132444,-1.1096711299051396],[0.34301333487849067,-0.9696711325315253]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.004153722459365516,-1.9189763338282244,0.71338606911949],"aabb_xy":[[-0.012523413533729988,-1.9356762578021547],[0.02083085845246102,-1.9022764098542941]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.2841396254424813,-1.9498791298892737,0.71338606911949],"aabb_xy":[[0.24283508237874524,-2.013879129457391],[0.3254441685062172,-1.8858791303211564]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.1658419779624113,-0.16786027242264678,0.71338606911949],"aabb_xy":[[-0.2308419790683546,-0.19282564549077508],[-0.10084197685646804,-0.1428948993545185]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.602844857586612,1.2879320492205424,0.71338606911949],"aabb_xy":[[-0.6668448568807802,1.223945908851688],[-0.5388448582924438,1.3519181895893964]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.08322867462855543,-0.35733902963117226,0.71338606911949],"aabb_xy":[[-0.12072867457232185,-0.3656321196660088],[-0.04572867468478904,-0.3490459395963356]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.40825323678101644,-0.09245041921523534,0.71338606911949],"aabb_xy":[[-0.4332532359466495,-0.09940266492059191],[-0.38325323761538327,-0.08549817350987876]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.6365697552503078,0.024196607476067555,0.71338606911949],"aabb_xy":[[-0.6826548465050392,-0.03980338977648755],[-0.5904846639955762,0.08819660472862267]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.0562648398152753,-0.8706154657877774,0.71338606911949],"aabb_xy":[[-0.0037351600312914915,-0.927434087980816],[0.11626483966184209,-0.8137968435947386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948520598994301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2854.png","name":"2854"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2854.png","name":"2854"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4156.png","name":"4156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2599.png","name":"2599"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6717.png","name":"6717"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":581.3852418656097,"rotation_z_degrees":318.93639745614433,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007521375300409385,-0.011008354188319665,-0.0180119350745772]},{"name":"camera_2","offset_m":[-0.01849406807632793,-0.009371749290791875,-0.008242640756027994]},{"name":"camera_3","offset_m":[-0.0015763804635747156,0.01709678431360866,-0.01251674864418063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001168221057152165,-0.0013734569679069377,-0.0004922312726266997],"end_effector_yaw_offset_degrees":-0.31841155747966976},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006773065895706633,0.0012107048392588993,0.0019562779073025952],"end_effector_yaw_offset_degrees":0.6946195676906708},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004816648153467176,-0.0014691199134038411,-0.0006347998591102009],"end_effector_yaw_offset_degrees":-0.6424244663235303}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031579692493949865,0.002200113834569789],"position_m":[0.276742030750605,0.15920011383456978,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011720049289399136,-0.0003204677031948544],"position_m":[0.35182799507106005,0.3100795322968052,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002575411805532212,0.003051027691506828],"position_m":[0.29427541180553224,-0.040148972308493173,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00015147516924080874,0.0035898422043757023],"position_m":[0.2498485248307592,-0.33291015779562433,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2b48fd4b2a2027a0b91f5889d312adbbb44ecf9ce0df6a3ab44fdc7a73390861","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2854/tex_ceiling_textures_6717/tex_floor_textures_9314/tex_table_textures_4156/tex_wall_textures_2599","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":8453366395252811483,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":8453366395252811483,"visual_seed":8453366395252811483,"scene_id":"lab_003","finished_at":"2026-09-02T06:38:46"}
+{"episode_id":"ep_000088","started_at":"2026-09-02T06:38:49","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.17278719674719178,1.3040370354062607,0.71338606911949],"aabb_xy":[[-0.22278719803103172,1.2540581810156384],[-0.1227871954633518,1.3540158897968826]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.26136517493811606,-1.3816554036961588,0.71338606911949],"aabb_xy":[[-0.28636517421007834,-1.3980007672923211],[-0.2363651756661538,-1.3653100400999965]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.32371051290160624,-0.6797527573817039,0.71338606911949],"aabb_xy":[[-0.33631321203868275,-0.6923481536065695],[-0.31110781376452984,-0.6671573611568385]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.5954305482329401,-1.2855776566252002,0.71338606911949],"aabb_xy":[[-0.6319263688602188,-1.3220615990519575],[-0.5589347276056613,-1.2490937141984424]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.6344720073288028,-0.45684493987390473,0.71338606911949],"aabb_xy":[[-0.63791268356886,-0.46070637284826926],[-0.6310313310887457,-0.4529835068995403]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.27080595611415315,0.18744804117366165,0.71338606911949],"aabb_xy":[[-0.31793533511598876,0.12344804012925967],[-0.22367657711231742,0.2514480422180636]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.04814037198341159,0.9275557151291203,0.71338606911949],"aabb_xy":[[0.038846753746261,0.8900557166409863],[0.05743399022056216,0.9650557136172541]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.4794360842838392,-0.6583656534701852,0.71338606911949],"aabb_xy":[[0.4569713143124341,-0.6808656543490457],[0.5019008542552443,-0.6358656525913247]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.021926573787418246,1.3752758288100044,0.71338606911949],"aabb_xy":[[-0.03307342538917125,1.3202861540350466],[0.07692657296400773,1.4302655035849619]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.5464789309550522,-0.2116331013825521,0.71338606911949],"aabb_xy":[[-0.5965763949361258,-0.2756331018923639],[-0.49638146697397856,-0.14763310087274029]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.504368738226139,1.6066431008162803,0.71338606911949],"aabb_xy":[[-0.5116510546028025,1.5166430972067708],[-0.4970864218494752,1.6966431044257888]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.019577541826185763,-1.6244408506851888,0.71338606911949],"aabb_xy":[[-0.06457754329241462,-1.6694407075466697],[0.025422459640043093,-1.5794409938237084]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.3633174073237284,-1.973360609296428,0.71338606911949],"aabb_xy":[[0.30831740770198257,-2.028344302083901],[0.41831740694547426,-1.9183769165089557]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.10359711474790356,-1.034976110623344,0.71338606911949],"aabb_xy":[[-0.1885971131653268,-1.119850406085629],[-0.01859711633048035,-0.950101815161059]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[0.6065246676616769,1.7365133797335726,0.71338606911949],"aabb_xy":[[0.5866336277813367,1.7238575684488762],[0.6264157075420171,1.7491691910182698]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.28846111629012194,-2.5243962610377624,0.71338606911949],"aabb_xy":[[0.26346111712448883,-2.5313485067431185],[0.31346111545575506,-2.5174440153324054]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.30471724339025985,-1.754036369988734,0.71338606911949],"aabb_xy":[[-0.3222172436495965,-1.7681279121775069],[-0.2872172431309232,-1.7399448277999616]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[0.06704381067540177,-1.942922225084977,0.71338606911949],"aabb_xy":[[-0.022956186060208453,-1.9961056884022716],[0.15704380741101198,-1.8897387617676826]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.12082029519405668,0.7116908683986725,0.71338606911949],"aabb_xy":[[0.06584657315772381,0.6566908688344393],[0.17579401723038957,0.7666908679629056]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.3797449143518477,-0.9723697203004278,0.71338606911949],"aabb_xy":[[-0.4437449107474208,-1.0363330087191613],[-0.31574491795627463,-0.9084064318816942]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.14019405232038518,-1.9514583546924005,0.71338606911949],"aabb_xy":[[-0.17465639971852692,-1.9859522370902227],[-0.10573170492224333,-1.9169644722945773]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.31400469902892136,-1.6058857928694557,0.71338606911949],"aabb_xy":[[0.24400469563735935,-1.6412015665728865],[0.3840047024204833,-1.5705700191660248]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.48615653863780994,0.6430908208847077,0.71338606911949],"aabb_xy":[[0.4598677143173692,0.6168193872300564],[0.5124453629582505,0.6693622545393588]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.6018649447657665,-1.6600839842772257,0.71338606911949],"aabb_xy":[[0.5402741855417736,-1.7240839823862726],[0.6634557039897593,-1.5960839861681788]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.6429614156261363,0.2703768045362276,0.71338606911949],"aabb_xy":[[-0.6851458297869671,0.2063768042590164],[-0.6007770014653057,0.3343768048134388]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.6346820086893881,-1.5778618596150022,0.71338606911949],"aabb_xy":[[-0.684660817199704,-1.627861859620721],[-0.5847032001790722,-1.5278618596092834]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.40430118890533095,-1.2879946859666918,0.71338606911949],"aabb_xy":[[-0.44929377562378137,-1.3329946852411403],[-0.35930860218688054,-1.2429946866922428]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.5140428227275813,0.45817404534250183,0.71338606911949],"aabb_xy":[[-0.5373246649257125,0.3731740440452738],[-0.4907609805294499,0.5431740466397299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700142275779077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8236.png","name":"8236"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8236.png","name":"8236"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8867.png","name":"8867"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4782.png","name":"4782"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8698.png","name":"8698"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2869.png","name":"2869"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":679.4224045983433,"rotation_z_degrees":199.5248425290204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008829145300949765,-0.018762393847412642,-0.004973005182226861]},{"name":"camera_2","offset_m":[0.00010161104134079335,-0.00018428823843439843,-0.009081225380414715]},{"name":"camera_3","offset_m":[-0.00591559652539464,0.01660185873173622,-0.004886769873293249]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017174587451305326,-0.0006010807811696877,-0.0008304398309904508],"end_effector_yaw_offset_degrees":-0.3257112493308103},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004973552140761627,5.836767927040569e-05,-0.0013167334867095716],"end_effector_yaw_offset_degrees":-0.6609947982504736},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017943045133738656,-0.0006022062152893604,0.0019343210167049266],"end_effector_yaw_offset_degrees":0.8253014156741056}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001993302104815896,0.001502865303625145],"position_m":[0.2818933021048159,0.15850286530362515,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00483830302149382,-0.000531869789345032],"position_m":[0.3578383030214938,0.30986813021065496,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019715173732806736,0.0013534450510818783],"position_m":[0.28972848262671935,-0.041846554948918126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000507533698901076,0.004064962299458558],"position_m":[0.25050753369890105,-0.33243503770054145,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cfccaa60553d2eb15d21e63db3d4aa33a9733022c731f381fb32c1088d289188","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0103.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8236/tex_ceiling_textures_2869/tex_floor_textures_8698/tex_table_textures_8867/tex_wall_textures_4782","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7921493779894262578,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7921493779894262578,"visual_seed":7921493779894262578,"scene_id":"lab_003","finished_at":"2026-09-02T06:41:21"}
+{"episode_id":"ep_000089","started_at":"2026-09-02T06:42:46","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.48794825349926374,-0.6369804761935345,0.71338606911949],"aabb_xy":[[-0.49426035303560223,-0.6427474154467533],[-0.48163615396292536,-0.6312135369403157]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.6019059871263788,-1.0416485142907617,0.71338606911949],"aabb_xy":[[-0.6056092484555176,-1.0453505325994794],[-0.5982027257972398,-1.0379464959820435]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.3860959338095414,-0.5756446191973037,0.71338606911949],"aabb_xy":[[-0.4410881844450524,-0.6306446209406165],[-0.33110368317403044,-0.5206446174539909]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.6076599427032316,0.8183147054743602,0.71338606911949],"aabb_xy":[[0.5576599416840965,0.7818484897365325],[0.657659943722367,0.8547809212121884]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.19875456982080159,-1.515063333979764,0.71338606911949],"aabb_xy":[[-0.20755662512977427,-1.5228746601346927],[-0.18995251451182885,-1.5072520078248346]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.6634090961543084,-0.12543002834315642,0.71338606911949],"aabb_xy":[[0.6134090967141128,-0.17539795282747273],[0.713409095594504,-0.07546210385884011]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.43562207761616867,-2.1827513856549428,0.71338606911949],"aabb_xy":[[-0.49962207472827436,-2.231783755449353],[-0.371622080504063,-2.1337190158605317]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.618642975170393,-1.577308655553343,0.71338606911949],"aabb_xy":[[0.5827294707454033,-1.6132221637700974],[0.6545564795953825,-1.5413951473365883]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.40346983905589767,0.38458728370551,0.71338606911949],"aabb_xy":[[-0.4253785211952486,0.3626866168854192],[-0.3815611569165465,0.40648795052560066]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.3596674734687857,-0.3300599080330686,0.71338606911949],"aabb_xy":[[-0.4236674756891927,-0.3744329921583569],[-0.29566747124837867,-0.28568682390778033]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.43240212406027895,-0.8487211896169722,0.71338606911949],"aabb_xy":[[-0.4964021272789168,-0.8954443015159805],[-0.3684021208416411,-0.8019980777179638]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[0.01075317351950933,1.4396352326501511,0.71338606911949],"aabb_xy":[[-0.03423941319894108,1.3946352333757026],[0.05574576023795974,1.4846352319246001]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.0026723486493485105,-1.7910608863097757,0.71338606911949],"aabb_xy":[[-0.03713482666243628,-1.7977245634926984],[0.03179012936373926,-1.784397209126853]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.3518161832469222,-0.5350169449414941,0.71338606911949],"aabb_xy":[[0.34252256500977163,-0.572516943429628],[0.3611098014840728,-0.4975169464533602]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.5843132250983551,1.8121411409006218,0.71338606911949],"aabb_xy":[[-0.6218132249153887,1.8075029295894798],[-0.5468132252813216,1.8167793522117635]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.09788190328609037,-1.2596033393848844,0.71338606911949],"aabb_xy":[[-0.13467653641099664,-1.2965092144814667],[-0.06108727016118408,-1.2226974642883022]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.4000980488648832,-1.9511309868764704,0.71338606911949],"aabb_xy":[[-0.41759804814297,-1.9684690869428163],[-0.3825980495867963,-1.9337928868101244]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.6203351039272162,-1.1843369776187507,0.71338606911949],"aabb_xy":[[0.5703351035666501,-1.2343169648283534],[0.6703351042877822,-1.1343569904091475]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.7037434780656253,-2.4349216631720396,0.71338606911949],"aabb_xy":[[0.7003028018255681,-2.438783096146404],[0.7071841543056825,-2.431060230197675]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.1490470231844241,-0.8376302578672103,0.71338606911949],"aabb_xy":[[-0.15394631549098756,-0.8653071771697791],[-0.14414773087786056,-0.8099533385646416]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[0.04170892846921792,-2.4500594514083334,0.71338606911949],"aabb_xy":[[-0.01341627716037285,-2.51005945284962],[0.0968341340988087,-2.390059449967046]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.2687825184539121,-1.5023814005969867,0.71338606911949],"aabb_xy":[[0.20478251986733959,-1.5493883639964954],[0.3327825170404845,-1.455374437197478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970026894850399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5371.png","name":"5371"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3118.png","name":"3118"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/872.png","name":"872"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":649.4332784271594,"rotation_z_degrees":350.42086663199944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007682001185632399,-0.010409697515518061,-0.0022648274525751584]},{"name":"camera_2","offset_m":[0.010664792819759805,-0.01407425308622937,0.01485094607491953]},{"name":"camera_3","offset_m":[0.005735033101898348,-0.016099215421274505,-0.014805125416702865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.309539968161142e-05,0.001348698246595897,0.000854508192605579],"end_effector_yaw_offset_degrees":0.2438400108717742},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[9.003758237703273e-05,0.00010284332304199249,-0.0009369945596496524],"end_effector_yaw_offset_degrees":0.8095657407540635},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0002672657513349188,0.0018859193087243345,-0.00015881633111567957],"end_effector_yaw_offset_degrees":0.8258700071819078}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016180496272805434,-0.0020545292910530157],"position_m":[0.28151804962728055,0.154945470708947,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029935942444359563,0.002739981501028387],"position_m":[0.3527006405755564,0.3131399815010284,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015232402878059903,0.004259353680192274],"position_m":[0.29017675971219403,-0.03894064631980773,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002490302077038737,-0.001131184825757272],"position_m":[0.25249030207703876,-0.33763118482575727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7e55912ee9142d6f6c94f3e87d22098d9fa7112095712add757b3ca6f42aa478","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_818/tex_ceiling_textures_2390/tex_floor_textures_872/tex_table_textures_5371/tex_wall_textures_3118","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7791383138598560796,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7791383138598560796,"visual_seed":7791383138598560796,"scene_id":"lab_003","finished_at":"2026-09-02T06:45:23"}
+{"episode_id":"ep_000090","started_at":"2026-09-02T06:45:26","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.07943816419644278,0.7835687770209878,0.71338606911949],"aabb_xy":[[-0.08747449889772761,0.775530657716571],[-0.07140182949515793,0.7916068963254046]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.012076155177415226,-1.4333991609542673,0.71338606911949],"aabb_xy":[[-0.07607615434718516,-1.4801658480732296],[0.05192384399235471,-1.3866324738353046]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.4799798610621832,0.18938827013153414,0.71338606911949],"aabb_xy":[[-0.5299798624230705,0.1394103655561185],[-0.429979859701296,0.23936617470694974]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.4423711561874959,-1.8017197094748938,0.71338606911949],"aabb_xy":[[0.4256940201944004,-1.8184196334488238],[0.4590482921805914,-1.7850197855009633]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.6723317678139427,0.18986891445599063,0.71338606911949],"aabb_xy":[[0.6504420202250019,0.0998689171667415],[0.6942215154028835,0.2798689117452397]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.6139911261995441,-0.826061271175317,0.71338606911949],"aabb_xy":[[0.5589988755640332,-0.8810612729186299],[0.668983376835055,-0.7710612694320044]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.09623732121209583,-2.130036034216302,0.71338606911949],"aabb_xy":[[0.04910794221026013,-2.1940360352607033],[0.14336670021393147,-2.0660360331718994]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[-0.33960005809675,-1.2918665583890991,0.71338606911949],"aabb_xy":[[-0.3771000580405164,-1.3001596484239357],[-0.3021000581529836,-1.2835734683542626]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.3270692880736572,-1.2051022281303514,0.71338606911949],"aabb_xy":[[-0.33149991742849744,-1.210550599865034],[-0.3226386587188171,-1.1996538563956687]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.033474395755146547,-2.2831334983921714,0.71338606911949],"aabb_xy":[[-0.07097439592701849,-2.315834233775078],[0.004025604416725399,-2.2504327630092638]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.6053328224495825,-1.6741703663677838,0.71338606911949],"aabb_xy":[[-0.670332823450083,-1.7249567315224588],[-0.540332821449082,-1.6233840012131089]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.03037423643808934,-0.8638974957242358,0.71338606911949],"aabb_xy":[[-0.08037423587828496,-0.9138654202085519],[0.01962576300210628,-0.8139295712399193]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.1224904848946019,-0.5900823327124183,0.71338606911949],"aabb_xy":[[-0.20249048185764107,-0.6671579743561917],[-0.04249048793156272,-0.5130066910686448]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.2530132045777458,-2.0243218727770813,0.71338606911949],"aabb_xy":[[-0.28298076148757145,-2.054321873074967],[-0.22304564766792012,-1.9943218724791956]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[0.6708072398507772,0.42101982558368745,0.71338606911949],"aabb_xy":[[0.6589351568392761,0.33601982589003715],[0.6826793228622783,0.5060198252773378]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.2559713691289567,0.7645016047371138,0.71338606911949],"aabb_xy":[[-0.31997136938942744,0.7194928053841858],[-0.19197136886848584,0.8095104040900418]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.11359472012661653,-0.03984771112636176,0.71338606911949],"aabb_xy":[[-0.19359472339062966,-0.053407743435275094],[-0.03359471686260339,-0.026287678817448416]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.07750266332482214,-0.646764413315301,0.71338606911949],"aabb_xy":[[0.07358879012939962,-0.6555134287218578],[0.08141653652024466,-0.6380153979087442]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.39361490065474697,-1.8542255715506246,0.71338606911949],"aabb_xy":[[-0.4124992844232572,-1.8731114963309774],[-0.37473051688623676,-1.8353396467702718]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.14360868629909307,-1.6278493669903882,0.71338606911949],"aabb_xy":[[0.08360868604769187,-1.6821306920268526],[0.20360868655049422,-1.5735680419539233]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[-0.328050989777204,-0.8576891116761713,0.71338606911949],"aabb_xy":[[-0.3630509889700222,-0.8686561576738339],[-0.29305099058438566,-0.8467220656785086]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.6403460374930945,0.11670290765708335,0.71338606911949],"aabb_xy":[[-0.6504990530472439,0.08063336608434299],[-0.6301930219389451,0.15277244922982364]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.06557792079900437,1.3039046622013024,0.71338606911949],"aabb_xy":[[0.015577921222669655,1.2539240832491965],[0.1155779203753391,1.3538852411534084]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.40918027207005414,-1.2245372330608486,0.71338606911949],"aabb_xy":[[0.4028681725337157,-1.2303041723140675],[0.4154923716063926,-1.2187702938076297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903519412712424,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3701.png","name":"3701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3701.png","name":"3701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7315.png","name":"7315"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1277.png","name":"1277"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5280.png","name":"5280"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7995.png","name":"7995"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":840.5674583049313,"rotation_z_degrees":17.350582839473798,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010131315122163084,0.005689045975243792,0.0005973262969688163]},{"name":"camera_2","offset_m":[-0.0035931519818152985,0.007377860515261864,0.019362445980040218]},{"name":"camera_3","offset_m":[0.005922188263726643,-0.007795081293281481,-0.006739258449659382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012388732289077943,-0.0019944893014879196,0.0006153349961650558],"end_effector_yaw_offset_degrees":-0.2771895721563844},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018056619735691993,0.0015125786165140365,-0.0011193375867367416],"end_effector_yaw_offset_degrees":-0.8736214959723756},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008935725483700187,-0.0009014985990644301,-0.001196302778004975],"end_effector_yaw_offset_degrees":-0.043008608971890405}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003695512463719316,0.001784424312366575],"position_m":[0.28026955124637193,0.15878442431236658,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004333990228287735,-0.004069854740040123],"position_m":[0.34866600977171225,0.3063301452599599,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021626879689553924,0.0024677540632931892],"position_m":[0.2895373120310446,-0.04073224593670681,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002868155227519017,-0.0005360137460755357],"position_m":[0.24713184477248099,-0.33703601374607556,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"833d44eaf31897ed180bee8d6cc24a8951eb359b9cbde15ab17deb5a444ee5b7","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0106.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3701/tex_ceiling_textures_7995/tex_floor_textures_5280/tex_table_textures_7315/tex_wall_textures_1277","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":6385230110212017909,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":6385230110212017909,"visual_seed":6385230110212017909,"scene_id":"lab_003","finished_at":"2026-09-02T06:48:09"}
+{"episode_id":"ep_000091","started_at":"2026-09-02T06:49:41","dimensions":{"distractor":{"count":35,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.0955687507540417,-1.7126890274644264,0.71338606911949],"aabb_xy":[[-0.18556875047721585,-1.735762379999606],[-0.005568751030867513,-1.6896156749292464]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.1846945819140201,-0.6149195277893089,0.71338606911949],"aabb_xy":[[0.17540096367686953,-0.6524195262774427],[0.1939882001511707,-0.5774195293011749]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.2224389516803238,-1.1656310631287825,0.71338606911949],"aabb_xy":[[0.18493895016469208,-1.1768578361449276],[0.2599389531959555,-1.1544042901126375]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.14538362671623128,-1.2837334485843388,0.71338606911949],"aabb_xy":[[-0.1903762134346817,-1.3287334478587876],[-0.10039103999778087,-1.23873344930989]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[0.4915613637776699,-0.9958562468123577,0.71338606911949],"aabb_xy":[[0.42656136113987636,-1.0473358455118045],[0.5565613664154634,-0.9443766481129107]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.4999678732672612,1.379662929219728,0.71338606911949],"aabb_xy":[[-0.5080955614605744,1.3707493208090202],[-0.491840185073948,1.3885765376304358]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.41363834963283325,-2.4321241151622157,0.71338606911949],"aabb_xy":[[-0.45880966748100227,-2.496124112306754],[-0.3684670317846643,-2.3681241180176773]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.3269299013918414,-0.395944109546579,0.71338606911949],"aabb_xy":[[-0.4069299018620574,-0.4042548171609275],[-0.24692990092162548,-0.3876334019322307]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.6864590395238488,0.34430871947425024,0.71338606911949],"aabb_xy":[[0.6811214638578442,0.3193087185451105],[0.6917966151898534,0.3693087204033901]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.6069013029390229,0.4655813150506818,0.71338606911949],"aabb_xy":[[0.5960496966901473,0.4547220243230307],[0.6177529091878985,0.47644060577833275]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.19424188256641417,0.8119639904970994,0.71338606911949],"aabb_xy":[[-0.24421929943166773,0.7619639890078508],[-0.14426446570116055,0.8619639919863479]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.07615097685259042,1.1436794397351946,0.71338606911949],"aabb_xy":[[0.034846433788854436,1.0796794401670775],[0.11745551991632641,1.2076794393033117]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.4384541916981498,-0.20100587494798372,0.71338606911949],"aabb_xy":[[-0.48845419034407095,-0.2509254186074461],[-0.38845419305222856,-0.15108633128852134]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.5047484555611311,1.0699831702790248,0.71338606911949],"aabb_xy":[[-0.5422484539845314,1.0568189563111938],[-0.46724845713773067,1.0831473842468553]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.22735921023067046,-0.1693424329877562,0.71338606911949],"aabb_xy":[[-0.2346415266073341,-0.25934243659726514],[-0.22007689385400678,-0.07934242937824719]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.3662355011638776,-1.8209610219609098,0.71338606911949],"aabb_xy":[[0.33123550118738176,-1.8304256380085264],[0.40123550114037343,-1.8114964059132932]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[0.45637368986228366,-1.6245211959823405,0.71338606911949],"aabb_xy":[[0.4285286530816766,-1.6553056947206521],[0.48421872664289084,-1.5937366972440288]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.4569435975144208,0.14522599263677938,0.71338606911949],"aabb_xy":[[-0.5169435980222736,0.08837925895085806],[-0.3969435970065679,0.20207272632270065]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[-0.023156163535702157,-0.9640455223026536,0.71338606911949],"aabb_xy":[[-0.08815616464164544,-0.9890108953707818],[0.04184383757024113,-0.9390801492345252]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.02931370708940062,0.7357241127690441,0.71338606911949],"aabb_xy":[[-0.07931370837324057,0.6857452583784219],[0.02068629419443934,0.7857029671596661]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.49477202318969316,-1.0446932339037815,0.71338606911949],"aabb_xy":[[-0.5116827556260348,-1.0581654394963957],[-0.4778612907533513,-1.031221028311167]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.6069298377272865,1.178668958255046,0.71338606911949],"aabb_xy":[[0.5569350047993449,1.1286689593598025],[0.6569246706552281,1.2286689571502896]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.5124017916588595,-0.7678431343585701,0.71338606911949],"aabb_xy":[[-0.562374857191375,-0.8178431341711031],[-0.4624287261263441,-0.7178431345460372]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[-0.5450881568793665,-1.98075460646247,0.71338606911949],"aabb_xy":[[-0.5825881570512382,-2.0134553418453773],[-0.5075881567074944,-1.9480538710795627]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[0.6011268451899845,-2.280620500186507,0.71338606911949],"aabb_xy":[[0.5897651105366982,-2.2919889665927946],[0.6124885798432705,-2.269252033780219]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.1242690505269789,-0.5298053302027088,0.71338606911949],"aabb_xy":[[-0.14176905077202828,-0.5473051180422757],[-0.10676905028192953,-0.512305542363142]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.17405349307156093,1.6715371829607233,0.71338606911949],"aabb_xy":[[0.15625998613664446,1.6537374373649256],[0.19184700000647734,1.689336928556521]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[0.005901642378791538,-2.158526634149032,0.71338606911949],"aabb_xy":[[-0.0162708845978593,-2.1807023013051547],[0.028074169355442373,-2.1363509669929086]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[-0.13551437294283342,-2.342217888825879,0.71338606911949],"aabb_xy":[[-0.15579867566623215,-2.362500513968587],[-0.11523007021943464,-2.32193526368317]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[0.6086171157188585,-1.275805273202848,0.71338606911949],"aabb_xy":[[0.5836171157863406,-1.2826879414237713],[0.6336171156513764,-1.2689226049819247]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_30","position":[-0.04584138875879573,-1.554775411321652,0.71338606911949],"aabb_xy":[[-0.10984139197743359,-1.6014985232206604],[0.018158614459842126,-1.5080522994226437]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_31","position":[-0.4505596128256769,0.48765443370919614,0.71338606911949],"aabb_xy":[[-0.4874101607626646,0.45015443288616247],[-0.41370906488868936,0.5251544345322299]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_32","position":[0.35915360508577865,-2.1243717691730257,0.71338606911949],"aabb_xy":[[0.2694665287776632,-2.2143717694274763],[0.4488406813938941,-2.034371768918575]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_33","position":[-0.18632013715375917,0.46572874056993063,0.71338606911949],"aabb_xy":[[-0.24632013774977535,0.4109162680247071],[-0.126320136557743,0.5205412131151541]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_34","position":[0.06539469084310368,-2.409974116527887,0.71338606911949],"aabb_xy":[[0.02789469089933727,-2.4182672065627235],[0.10289469078687008,-2.4016810264930504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936497989207581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7319.png","name":"7319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7319.png","name":"7319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9404.png","name":"9404"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3898.png","name":"3898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1137.png","name":"1137"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8830.png","name":"8830"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":527.993722802676,"rotation_z_degrees":51.484795575481684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0062141018037629656,0.0021159773068355793,-0.011472916349155034]},{"name":"camera_2","offset_m":[-0.009999027252354442,0.011875284425865416,0.00022606507874982362]},{"name":"camera_3","offset_m":[0.001484023458915757,0.01456587891832484,0.0011990862429086743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001248078424702591,-0.00195668672537833,-0.0014189144386244146],"end_effector_yaw_offset_degrees":-0.6017068210331582},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00036779402216760874,-0.00148844789801979,0.001218779104707292],"end_effector_yaw_offset_degrees":-0.32011816296366447},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006070400031792979,0.0008786071603993466,0.001417915777352818],"end_effector_yaw_offset_degrees":0.6933849534009497}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012714391537048376,-0.0049899896370393815],"position_m":[0.27862856084629517,0.1520100103629606,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015477709882014434,-0.0022650340124364212],"position_m":[0.3514522290117985,0.30813496598756357,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014301205959999386,-0.001719455300476391],"position_m":[0.29313012059599997,-0.04491945530047639,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037386107006085875,0.003505508191946143],"position_m":[0.2537386107006086,-0.3329944918080539,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af07877696031d821058c899faee2fdfc142a1e89e106c3281c53328c82efbde","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0108.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7319/tex_ceiling_textures_8830/tex_floor_textures_1137/tex_table_textures_9404/tex_wall_textures_3898","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4724497212040056165,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4724497212040056165,"visual_seed":4724497212040056165,"scene_id":"lab_003","finished_at":"2026-09-02T06:52:12"}
+{"episode_id":"ep_000092","started_at":"2026-09-02T06:53:40","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.13591045934046098,-1.4970849179783694,0.71338606911949],"aabb_xy":[[0.11341045981675359,-1.51958086542899],[0.15841045886416838,-1.4745889705277484]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.2537785021463267,1.2544894802114017,0.71338606911949],"aabb_xy":[[0.2478119632055909,1.2485283355520376],[0.2597450410870625,1.2604506248707659]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.6686733977588407,-1.1405328524903378,0.71338606911949],"aabb_xy":[[-0.6855841301951823,-1.1540050580829522],[-0.6517626653224987,-1.127060646897723]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.4258885927651983,-0.011565914558177681,0.71338606911949],"aabb_xy":[[-0.5058885960292114,-0.02512594686709102],[-0.3458885895011851,0.0019941177507356578]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.23937085124358137,1.3696904788165165,0.71338606911949],"aabb_xy":[[0.2171983242669305,1.3475148116603937],[0.2615433782202322,1.3918661459726398]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.6743364899122595,0.7626441909764208,0.71338606911949],"aabb_xy":[[0.6569057748332529,0.74537207631257],[0.6917672049912659,0.7799163056402716]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.4428754541726323,-1.7702149396180256,0.71338606911949],"aabb_xy":[[0.3928823420634405,-1.8202149402922216],[0.4928685662818243,-1.7202149389438304]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[0.26102630787039494,-2.4265299126287534,0.71338606911949],"aabb_xy":[[0.1970263105847463,-2.4680366315815974],[0.3250263051560436,-2.3850231936759094]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.11714880984309839,0.654325921836187,0.71338606911949],"aabb_xy":[[-0.12792178376446617,0.619325923617148],[-0.10637583592173062,0.689325920055226]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.12992731037296312,1.2322831929483447,0.71338606911949],"aabb_xy":[[-0.16492730956578136,1.221316146950682],[-0.09492731118014483,1.243250238946007]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.2796183300670767,-2.2697959984667992,0.71338606911949],"aabb_xy":[[-0.343618331745074,-2.318313389946113],[-0.2156183283890793,-2.2212786069874846]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.0048322363703910964,-1.392650832934277,0.71338606911949],"aabb_xy":[[-0.08483223338463908,-1.4127853846076883],[0.07516776064385688,-1.3725162812608658]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.5320905031340388,-1.6129084737836532,0.71338606911949],"aabb_xy":[[0.5229306241901622,-1.61943969182719],[0.5412503820779154,-1.606377255740116]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[0.4340480918487486,-2.1490132118336547,0.71338606911949],"aabb_xy":[[0.42993214173667593,-2.1531287668664993],[0.43816404196082126,-2.1448976568008082]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.5380483301423884,1.4855575408853245,0.71338606911949],"aabb_xy":[[0.5300220595117624,1.4768060459079722],[0.5460746007730144,1.4943090358626774]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.05143485106523449,-0.5809019644424191,0.71338606911949],"aabb_xy":[[-0.06653715252625257,-0.5960034860734807],[-0.036332549604216384,-0.5658004428113571]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.30387955463603966,-0.3199721003297302,0.71338606911949],"aabb_xy":[[-0.3412108311612822,-0.3546251551245825],[-0.266548278110797,-0.28531904553487786]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[0.17001792399161042,-2.0061290948688817,0.71338606911949],"aabb_xy":[[0.11238745510433953,-2.0661290937955914],[0.22764839287888122,-1.9461290959421702]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.4702918411288475,-1.3340218345584274,0.71338606911949],"aabb_xy":[[-0.4752478613137287,-1.3565218347605492],[-0.46533582094396636,-1.311521834356306]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.541949784285065,-0.37622110578200374,0.71338606911949],"aabb_xy":[[-0.5919446172130067,-0.4262211046772473],[-0.4919549513571235,-0.3262211068867602]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.23509892029352386,-1.789616468677882,0.71338606911949],"aabb_xy":[[-0.2502710895751572,-1.8047853256060855],[-0.21992675101189055,-1.7744476117496788]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.5242856801560518,-1.5679284595309892,0.71338606911949],"aabb_xy":[[-0.5882856793258218,-1.614695146649952],[-0.4602856809862819,-1.521161772412027]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.029163235079209926,1.3660222312456831,0.71338606911949],"aabb_xy":[[-0.07416323654543878,1.3210223743842027],[0.015836766387018923,1.411022088107164]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.05269161937772049,-2.415442163655653,0.71338606911949],"aabb_xy":[[0.047792327071156986,-2.443119082958222],[0.05759091168428398,-2.3877652443530843]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[0.5018201172212133,-2.4014877514217097,0.71338606911949],"aabb_xy":[[0.43782012010910776,-2.4505201212161203],[0.5658201143333191,-2.352455381627299]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.3940689167261843,-1.7300922237300553,0.71338606911949],"aabb_xy":[[-0.44406891616637995,-1.7800601482143716],[-0.3440689172859887,-1.680124299245739]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.14577796825770473,-0.2006240845569307,0.71338606911949],"aabb_xy":[[-0.19577796783403947,-0.25060466350903665],[-0.09577796868137003,-0.15064350560482476]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[-0.6358177160566384,1.0762088822497553,0.71338606911949],"aabb_xy":[[-0.6540235397178862,1.0651834816677637],[-0.6176118923953908,1.087234282831747]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[-0.12368577988552576,-1.0352739515950358,0.71338606911949],"aabb_xy":[[-0.1876857817978681,-1.0911851008530464],[-0.059685777973183404,-0.9793628023370256]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_29","position":[0.46777673636512906,1.407270598577052,0.71338606911949],"aabb_xy":[[0.44998322943021263,1.3894708529812543],[0.4855702433000455,1.4250703441728496]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_30","position":[0.28066915696525785,-1.4561967191824414,0.71338606911949],"aabb_xy":[[0.25067749423138747,-1.486196718519242],[0.3106608196991281,-1.426196719845641]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[0.18272350487612088,-0.8610564350433774,0.71338606911949],"aabb_xy":[[0.17509923678594264,-0.8686896585799213],[0.19034777296629915,-0.8534232115068339]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_32","position":[-0.13053095947521176,-2.407690899637855,0.71338606911949],"aabb_xy":[[-0.15344667236026166,-2.430595196774279],[-0.10761524659016186,-2.384786602501432]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_33","position":[-0.5854208816928034,-0.9902330701337878,0.71338606911949],"aabb_xy":[[-0.620420880822759,-0.9959782912094517],[-0.5504208825628477,-0.9844878490581235]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_34","position":[0.47649645147965414,-1.4561136040000016,0.71338606911949],"aabb_xy":[[0.4164964506188413,-1.507540034006488],[0.5364964523404668,-1.4046871739935152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941755164705312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9025.png","name":"9025"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9025.png","name":"9025"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1134.png","name":"1134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1593.png","name":"1593"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4609.png","name":"4609"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2945.png","name":"2945"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":561.6129083894642,"rotation_z_degrees":244.67727455494415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003466520466704877,-0.007175626450681448,0.014752471693619328]},{"name":"camera_2","offset_m":[0.003055549455207262,0.006010092845740854,0.018378298585248826]},{"name":"camera_3","offset_m":[0.007068495753988886,-0.015119952072210476,0.001464039804536424]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013475060862640042,0.00030695308680875333,0.001904954538992862],"end_effector_yaw_offset_degrees":0.9963802983585042},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018911311235870372,-0.0006013577189969679,-0.0017441656232687862],"end_effector_yaw_offset_degrees":0.05347825756009872},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017466208313489627,-0.0008214884964469907,0.0007647920536750417],"end_effector_yaw_offset_degrees":-0.17405580748707972}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016366315775595852,-0.0010549211435615623],"position_m":[0.27826336842244037,0.15594507885643843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005452242904013718,-0.00310586320755895],"position_m":[0.3524547757095986,0.30729413679244105,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027740512716210963,0.004142975132536164],"position_m":[0.2889259487283789,-0.03905702486746384,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037037536409373776,-9.213156695063972e-05],"position_m":[0.2462962463590626,-0.33659213156695067,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8af1a73b290edd015edc7aacd39d3ab50c051e1cb9514dc5300e1adf6df0c74c","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9025/tex_ceiling_textures_2945/tex_floor_textures_4609/tex_table_textures_1134/tex_wall_textures_1593","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1964537252400001803,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1964537252400001803,"visual_seed":1964537252400001803,"scene_id":"lab_003","finished_at":"2026-09-02T06:56:22"}
+{"episode_id":"ep_000093","started_at":"2026-09-02T06:56:25","dimensions":{"distractor":{"count":26,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.5798988474588315,-1.68322619740995,0.71338606911949],"aabb_xy":[[-0.5871811638354949,-1.7732262010194586],[-0.5726165310821676,-1.5932261938004406]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.5855857014451771,-0.3656567813501166,0.71338606911949],"aabb_xy":[[0.5776624212064289,-0.38815678158812],[0.5935089816839255,-0.3431567811121133]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.30111558572131414,1.724120429217097,0.71338606911949],"aabb_xy":[[0.2361155878396664,1.6729967655105564],[0.366115583602962,1.7752440929236382]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.4710349938928273,-0.7779367339117693,0.71338606911949],"aabb_xy":[[0.4367187167182093,-0.8279367338849469],[0.5053512710674452,-0.7279367339385915]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.06270573103200083,-1.2466880016870348,0.71338606911949],"aabb_xy":[[-0.08770573019763395,-1.253640247392391],[-0.03770573186636772,-1.239735755981678]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.5718058848341081,-1.557330029102926,0.71338606911949],"aabb_xy":[[0.541321634707078,-1.607330028884422],[0.6022901349611383,-1.50733002932143]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.3643901562782652,-0.9573113567818037,0.71338606911949],"aabb_xy":[[0.2843901592640172,-0.9774459084552148],[0.44439015329251313,-0.9371768051083923]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.07193644347496553,1.0388116711269988,0.71338606911949],"aabb_xy":[[-0.16193644715188366,0.9773792645498942],[0.018063560201952666,1.100244077704103]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.19168501012482564,-1.1311237577435012,0.71338606911949],"aabb_xy":[[0.1566850118141302,-1.1388387726670468],[0.22668500843552108,-1.1234087428199555]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.17624923736360143,-1.508181952273306,0.71338606911949],"aabb_xy":[[-0.22624923772416747,-1.5581619394829087],[-0.12624923700303534,-1.4582019650637028]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.298707940570602,1.2710829508544013,0.71338606911949],"aabb_xy":[[-0.340012483634338,1.2070829512862842],[-0.257403397506866,1.3350829504225183]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[0.5788933465930526,0.41033195091956154,0.71338606911949],"aabb_xy":[[0.5413933460956943,0.4063632673714431],[0.6163933470904108,0.41430063446767995]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.3715222184606358,1.760243202657009,0.71338606911949],"aabb_xy":[[-0.3965222177325981,1.7438978390608466],[-0.34652221918867354,1.7765885662531713]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.6135645569692878,0.4757214220560084,0.71338606911949],"aabb_xy":[[0.6053500118536036,0.46704483175836703],[0.6217791020849716,0.4843980123536496]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.03890410832154512,-1.473057894854453,0.71338606911949],"aabb_xy":[[-0.06218595051967646,-1.558057896151681],[-0.01562226612341378,-1.388057893557225]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.3562261808335412,-2.2211038802412357,0.71338606911949],"aabb_xy":[[-0.38077239645629196,-2.251352776790273],[-0.3316799652107905,-2.1908549836921987]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.4805792736601804,-0.4860277754589495,0.71338606911949],"aabb_xy":[[-0.5605792750903076,-0.565544930471559],[-0.4005792722300532,-0.40651062044634]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[-0.05203012824536446,1.7904542032672164,0.71338606911949],"aabb_xy":[[-0.06218314379951383,1.7543846616944758],[-0.04187711269121508,1.8265237448399565]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.346372007246459,-0.9973096990793986,0.71338606911949],"aabb_xy":[[-0.43009423274654146,-1.0873097026140948],[-0.26264978174637654,-0.9073096955447028]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[0.41895151588399715,-2.180074977107051,0.71338606911949],"aabb_xy":[[0.40931987966356753,-2.18971228988676],[0.42858315210442677,-2.170437664327342]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.3495459080735363,0.951068357164822,0.71338606911949],"aabb_xy":[[-0.39953902018272824,0.9010683564906264],[-0.2995527959643444,1.0010683578390176]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.2201679342978492,-0.5472251283143579,0.71338606911949],"aabb_xy":[[0.20693698876316788,-0.5604525473363573],[0.23339887983253046,-0.5339977092923585]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.23716866808246273,-1.7284297473084766,0.71338606911949],"aabb_xy":[[0.17216866804816003,-1.7751304239888037],[0.30216866811676546,-1.6817290706281491]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.18270139318545953,-0.7683804664058103,0.71338606911949],"aabb_xy":[[0.14415570036025846,-0.8069262374619988],[0.22124708601066054,-0.7298346953496215]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[-0.2894576150109576,0.12387006888023411,0.71338606911949],"aabb_xy":[[-0.3232331742016506,0.10983157366706907],[-0.25568205582026465,0.13790856409339913]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.1818135383953451,-2.1838147360830695,0.71338606911949],"aabb_xy":[[-0.245813537565115,-2.2305814232020325],[-0.11781353922557512,-2.1370480489641075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968855424254043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8879.png","name":"8879"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8879.png","name":"8879"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9319.png","name":"9319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1495.png","name":"1495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8866.png","name":"8866"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":776.1012210218419,"rotation_z_degrees":237.1580495666764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017639599836116637,-0.010049511870879076,0.011800539299496402]},{"name":"camera_2","offset_m":[-0.01800351386867481,-0.013972851020751818,-0.013945279319118176]},{"name":"camera_3","offset_m":[0.010336376710134796,-0.0013530724750653762,0.00923153476421439]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014378657504999404,-0.0007214360598112165,-0.001736768439562339],"end_effector_yaw_offset_degrees":0.6869312686111879},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014570333804741656,0.0003334822953220645,-0.0009660594511408812],"end_effector_yaw_offset_degrees":-0.9013078784196515},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012047977785221852,0.0012532654618214191,-0.0003150989527120759],"end_effector_yaw_offset_degrees":0.6931927799286026}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005680098627826183,0.0032977499720035592],"position_m":[0.2793319901372174,0.16029774997200355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005739338660641757,0.003025011897214232],"position_m":[0.3524260661339358,0.3134250118972142,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027517347065523293,-0.00027302889343981847],"position_m":[0.29445173470655234,-0.04347302889343982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022519334496884126,-0.004903710264805106],"position_m":[0.25225193344968844,-0.34140371026480515,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f3c59e79a2a9a233951fe7a35dc9fbfe3a00cc22bd52def49f4c2dc1df1364fa","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0111.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8879/tex_ceiling_textures_8866/tex_floor_textures_6028/tex_table_textures_9319/tex_wall_textures_1495","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":3909703756687498156,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":3909703756687498156,"visual_seed":3909703756687498156,"scene_id":"lab_003","finished_at":"2026-09-02T06:59:02"}
+{"episode_id":"ep_000094","started_at":"2026-09-02T07:00:33","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.5100602452298406,-1.010182682743748,0.71338606911949],"aabb_xy":[[-0.5900602422440885,-1.0303172344171592],[-0.4300602482155925,-0.9900481310703366]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[0.13280733971151437,-2.466378741253693,0.71338606911949],"aabb_xy":[[0.11030733989761199,-2.4708533576241734],[0.15530733952541675,-2.4619041248832123]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.5038236534292171,-1.739211914599088,0.71338606911949],"aabb_xy":[[0.4138236497522987,-1.8006443211761922],[0.593823657106135,-1.6777795080219835]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.4857472573875068,0.3257050326331967,0.71338606911949],"aabb_xy":[[-0.5507472583880073,0.2749186674785217],[-0.42074725638700633,0.3764913977878716]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.39627948327016366,-1.2385059419658204,0.71338606911949],"aabb_xy":[[-0.4602794824399336,-1.285272629084783],[-0.3322794841003937,-1.191739254846858]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.13517520004348438,0.6080747313521369,0.71338606911949],"aabb_xy":[[-0.19917519734583075,0.5637083043842801],[-0.07117520274113795,0.6524411583199936]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.09965250921858948,-1.8492392444384325,0.71338606911949],"aabb_xy":[[0.09165852064088609,-1.8572393245335224],[0.10764649779629287,-1.8412391643433417]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[-0.028906972528795816,1.136026426465599,0.71338606911949],"aabb_xy":[[-0.09890697433754125,1.1146726577014114],[0.04109302927994962,1.1573801952297862]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.10424077668556875,0.8195735081032405,0.71338606911949],"aabb_xy":[[-0.11940364966250584,0.8044080508081217],[-0.08907790370863167,0.8347389653983592]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[0.19844343220982963,-1.396612078475799,0.71338606911949],"aabb_xy":[[0.1344434299894226,-1.440985162601087],[0.26244343443023666,-1.3522389943505104]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.4640962105854863,-1.7117825943553904,0.71338606911949],"aabb_xy":[[-0.4815962108305357,-1.729282382194957],[-0.44659621034043695,-1.6942828065158233]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.6567664806307818,0.34751398843438297,0.71338606911949],"aabb_xy":[[0.6342700591969177,0.32501398862763553],[0.6792629020646459,0.3700139882411304]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.2593676271963675,-1.445137561023451,0.71338606911949],"aabb_xy":[[-0.2685275061402441,-1.451668779066988],[-0.2502077482524909,-1.4386063429799139]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.4209428496924877,-1.835785408960462,0.71338606911949],"aabb_xy":[[-0.4849385470875842,-1.8997854072611704],[-0.35694715229739105,-1.771785410659753]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.4977177954269041,-0.03475345826589038,0.71338606911949],"aabb_xy":[[0.4890198331361888,-0.04687843257336511],[0.5064157577176194,-0.022628483958415654]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.49113182447778514,-1.5452805465669839,0.71338606911949],"aabb_xy":[[-0.4983755905240304,-1.6252805447705863],[-0.48388805843153976,-1.4652805483633815]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.20845321728718458,1.4864495349635614,0.71338606911949],"aabb_xy":[[0.20214111775084612,1.4806825957103424],[0.21476531682352298,1.4922164742167803]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.3997458353841954,1.0927916133125333,0.71338606911949],"aabb_xy":[[0.344750357563536,1.0377916118786261],[0.4547413132048548,1.14779161474644]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.6384896534839304,-0.8756963378705453,0.71338606911949],"aabb_xy":[[0.5963052393230996,-0.9396963381477565],[0.6806740676447611,-0.8116963375933341]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[0.4721044002371566,-1.0326009239561162,0.71338606911949],"aabb_xy":[[0.41697919460756583,-1.0926009253974032],[0.5272296058667474,-0.972600922514829]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.09369872263306522,-1.5874971456832023,0.71338606911949],"aabb_xy":[[-0.13224441545826626,-1.626042916739391],[-0.05515302980786419,-1.5489513746270136]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.39236328041075197,0.5687443224325488,0.71338606911949],"aabb_xy":[[0.34736327894452307,0.5237444655710682],[0.4373632818769808,0.6137441792940296]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.6344590288463703,-0.5891434775946767,0.71338606911949],"aabb_xy":[[-0.692089497733641,-0.649143476521387],[-0.5768285599590993,-0.5291434786679658]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.4303659082511988,-2.204476343810536,0.71338606911949],"aabb_xy":[[0.36036590485963677,-2.239792117513967],[0.5003659116427607,-2.1691605701071053]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.4358093826569137,0.5953071023564394,0.71338606911949],"aabb_xy":[[-0.4518713101154314,0.5103071005438474],[-0.4197474551983961,0.6803071041690311]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.6823152007136557,0.3984114156877685,0.71338606911949],"aabb_xy":[[-0.6904288553870328,0.39030559923373936],[-0.6742015460402786,0.4065172321417975]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.04165992114611683,-0.42951460464070523,0.71338606911949],"aabb_xy":[[-0.05129155736654644,-0.4391519174204142],[-0.032028284925687205,-0.41987729186099637]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[-0.3635012288968672,1.7218289016021635,0.71338606911949],"aabb_xy":[[-0.42750122748343966,1.6748219382026548],[-0.29950123031029474,1.7688358650016722]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[-0.3609904172752574,-0.8268732414734821,0.71338606911949],"aabb_xy":[[-0.36803072720879443,-0.9068732408731538],[-0.35395010734172044,-0.7468732420738109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980896293449796,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8438.png","name":"8438"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8438.png","name":"8438"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2964.png","name":"2964"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7450.png","name":"7450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":664.1652227771009,"rotation_z_degrees":335.3950606658359,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011472657605832135,-0.015869399258523702,-0.008551425516732238]},{"name":"camera_2","offset_m":[0.013264964648763106,0.0136072150504933,0.01554621513900398]},{"name":"camera_3","offset_m":[0.007664252436565384,-0.009043744117112151,0.002029719835402323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004204269447209371,0.001118966908019334,0.0017897182303310325],"end_effector_yaw_offset_degrees":0.1971992577252386},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001188687741209339,0.0012767976127663438,-0.001594688943652451],"end_effector_yaw_offset_degrees":0.8283341152818335},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004536772729968753,-0.00040188534756186996,0.001720433466926398],"end_effector_yaw_offset_degrees":0.7462922715478684}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004215124439777525,0.0006671688615742773],"position_m":[0.2756848755602225,0.15766716886157428,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020627165231650634,0.00044677511484914403],"position_m":[0.35506271652316507,0.31084677511484915,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004206700810900331,0.004896688585251124],"position_m":[0.29590670081090037,-0.03830331141474888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046262807396314385,-0.004633365795127619],"position_m":[0.25462628073963145,-0.34113336579512765,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2ac030d4ebb8293d2d441b04f626d409fa392916165acbbb245904e141947aa7","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0113.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8438/tex_ceiling_textures_6570/tex_floor_textures_7450/tex_table_textures_2964/tex_wall_textures_5045","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":7197053014535813423,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":7197053014535813423,"visual_seed":7197053014535813423,"scene_id":"lab_003","finished_at":"2026-09-02T07:03:12"}
+{"episode_id":"ep_000095","started_at":"2026-09-02T07:03:17","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.22886890355045492,1.2542667351268189,0.71338606911949],"aabb_xy":[[-0.2575182359108711,1.225621175849743],[-0.20021957119003866,1.2829122944038946]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.051475469249016026,-1.9813757150331397,0.71338606911949],"aabb_xy":[[-0.03852452748659419,-2.034559178350434],[0.14147546598462624,-1.9281922517158452]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.39717705743070475,0.4462304286333376,0.71338606911949],"aabb_xy":[[0.38284263230454135,0.4341702130787988],[0.41151148255686826,0.45829064418787646]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.30840196824959687,-0.85046449659925,0.71338606911949],"aabb_xy":[[0.24340197036794903,-0.9015881603057909],[0.3734019661312446,-0.7993408328927092]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.4237876506632718,-0.9409670014752685,0.71338606911949],"aabb_xy":[[-0.4937876540548337,-0.9762827751786993],[-0.35378764727170975,-0.9056512277718376]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.6135498035136222,-0.1675267511093046,0.71338606911949],"aabb_xy":[[0.5335498020834949,-0.24704390612191404],[0.6935498049437493,-0.08800959609669509]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[-0.12718727617247294,0.5359693149486788,0.71338606911949],"aabb_xy":[[-0.13518076596775497,0.5279711830082033],[-0.11919378637719091,0.5439674468891545]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.48764610788944185,-2.3011233497924426,0.71338606911949],"aabb_xy":[[-0.5027484093504598,-2.3162248714235036],[-0.4725438064284237,-2.2860218281613798]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.4889598865976712,-1.6878374252636794,0.71338606911949],"aabb_xy":[[0.43895988564713834,-1.7193865722672006],[0.538959887548204,-1.6562882782601578]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.5152674135928192,-2.0804710884936286,0.71338606911949],"aabb_xy":[[0.49759178300422086,-2.0981513047730314],[0.5329430441814175,-2.062790872214226]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.25798960568096474,1.0537773833393453,0.71338606911949],"aabb_xy":[[-0.28298960561348263,1.046894715118422],[-0.23298960574844685,1.0606600515602687]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[0.0724466388175401,-1.22114873005508,0.71338606911949],"aabb_xy":[[0.02245352670834822,-1.2711487307292757],[0.12243975092673201,-1.1711487293808844]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.5975103847062164,1.3788259010375943,0.71338606911949],"aabb_xy":[[0.5375103841102004,1.324013428492371],[0.6575103853022327,1.433638373582818]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.45699444428727776,1.3842599770124,0.71338606911949],"aabb_xy":[[-0.464238210333523,1.3042599788087974],[-0.4497506782410324,1.4642599752160022]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.23887150890665143,-1.8410190664624095,0.71338606911949],"aabb_xy":[[-0.24528532254983634,-1.8474288867100779],[-0.23245769526346646,-1.8346092462147412]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.37688261056515926,0.929129377342004,0.71338606911949],"aabb_xy":[[-0.42688261092572527,0.879149390132401],[-0.32688261020459314,0.9791093645516069]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.5337763667615609,1.1111248855856868,0.71338606911949],"aabb_xy":[[0.510860653876511,1.0882205884492635],[0.5566920796466108,1.1340291827221105]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[-0.1670524294031387,-1.581515428488314,0.71338606911949],"aabb_xy":[[-0.20205242767325857,-1.588589556183302],[-0.13205243113301876,-1.5744413007933258]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.20687812754450374,1.3240808645587294,0.71338606911949],"aabb_xy":[[0.12688430396594552,1.2440808619658879],[0.28687195112306196,1.404080867151571]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.43433337197391597,-2.237033888086126,0.71338606911949],"aabb_xy":[[0.423492893747401,-2.2542201693767745],[0.4451738502004308,-2.219847606795477]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.47707944042422956,1.6455041522431615,0.71338606911949],"aabb_xy":[[0.38707943674731127,1.5840717456660565],[0.5670794441011476,1.7069365588202652]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.42658447661371324,1.298354675064998,0.71338606911949],"aabb_xy":[[0.3565844744822837,1.275592709439302],[0.4965844787451428,1.3211166406906933]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[-0.2729285529279384,-2.025799317326741,0.71338606911949],"aabb_xy":[[-0.3224089741418971,-2.089799315239593],[-0.22344813171397954,-1.9617993194138892]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.6614813652639355,-1.8831815386810042,0.71338606911949],"aabb_xy":[[0.6513996581853619,-1.963181536573119],[0.6715630723425089,-1.8031815407888896]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933031314801437,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3355.png","name":"3355"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4030.png","name":"4030"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1782.png","name":"1782"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2444.png","name":"2444"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":683.9255799929931,"rotation_z_degrees":158.58554648697415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010417061400612458,-0.0005276964822920095,0.015075245872714135]},{"name":"camera_2","offset_m":[-0.004612622990896069,0.01361000237160533,-0.008131517898101346]},{"name":"camera_3","offset_m":[-0.006466403591418209,0.013365136705476868,-0.014193522234182647]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009262460393807755,-0.0010550095747366229,-0.001036883303646193],"end_effector_yaw_offset_degrees":0.2567673645112334},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001589888001199778,-0.0005169776113817814,0.0005305649926380615],"end_effector_yaw_offset_degrees":0.20306076405032436},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015783551410045629,0.0012293942627404747,0.0014551847483765773],"end_effector_yaw_offset_degrees":-0.4207762110055313}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030563952185318323,-0.0014585326852182847],"position_m":[0.28295639521853183,0.15554146731478172,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00390692593436351,0.0016784908958603125],"position_m":[0.34909307406563644,0.3120784908958603,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00394560840873118,0.0038106701484911026],"position_m":[0.2956456084087312,-0.0393893298515089,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009489521693017734,0.001106967703172557],"position_m":[0.2509489521693018,-0.3353930322968275,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5681b2128628c8b44f2884c0e03de9bde896f2b100afff2a593527c0073f76d8","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0114.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6945/tex_ceiling_textures_2444/tex_floor_textures_1782/tex_table_textures_3355/tex_wall_textures_4030","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1251195557904658856,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1251195557904658856,"visual_seed":1251195557904658856,"scene_id":"lab_003","finished_at":"2026-09-02T07:06:09"}
+{"episode_id":"ep_000096","started_at":"2026-09-02T07:06:12","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.27001267906367626,-0.8677231235761516,0.71338606911949],"aabb_xy":[[-0.30751267900744267,-0.8760162136109882],[-0.23251267911990986,-0.8594300335413151]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.6265805267346999,-2.1111649775373738,0.71338606911949],"aabb_xy":[[-0.6321621983688285,-2.1236649773551495],[-0.6209988551005711,-2.098664977719598]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.10325270809406373,-0.638958438400834,0.71338606911949],"aabb_xy":[[0.09584025255267524,-0.6448096488224621],[0.11066516363545219,-0.6331072279792062]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.4563078383496403,-0.36922946141643376,0.71338606911949],"aabb_xy":[[-0.4639321064398186,-0.37686268495297753],[-0.4486835702594621,-0.36159623787989004]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.656888410176771,-1.3515671530307742,0.71338606911949],"aabb_xy":[[-0.6925175660767308,-1.3871998197876272],[-0.6212592542768113,-1.3159344862739213]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.6497153488893372,-2.209107394240855,0.71338606911949],"aabb_xy":[[0.5857153472113398,-2.2576247857201692],[0.7137153505673345,-2.160590002761541]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.4572730169297953,-1.0590934874410949,0.71338606911949],"aabb_xy":[[-0.5072460824623108,-1.109093487253628],[-0.40729995139727987,-1.0090934876285622]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.3903416099684416,-0.6307600781483886,0.71338606911949],"aabb_xy":[[0.35602533279382365,-0.6807600781215664],[0.4246578871430595,-0.5807600781752109]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.37741902588111015,-1.2970029380182573,0.71338606911949],"aabb_xy":[[-0.42739231988437054,-1.3470029385728044],[-0.32744573187784964,-1.2470029374637097]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.4656870176460546,1.2949393418035107,0.71338606911949],"aabb_xy":[[-0.5156699678335337,1.24493934216095],[-0.41570406745857513,1.3449393414460709]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.6877259782060126,0.3719214915531732,0.71338606911949],"aabb_xy":[[0.6763642435527263,0.3605530251468851],[0.6990877128592986,0.38328995795946125]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.2540582994922086,-2.419724902560921,0.71338606911949],"aabb_xy":[[-0.32405830130095403,-2.4410786713251085],[-0.18405829768346316,-2.3983711337967337]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.058914629625900106,-0.08057375613857287,0.71338606911949],"aabb_xy":[[-0.09391462960239594,-0.09003837218618949],[-0.023914629649404273,-0.07110914009095626]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.49324826177767545,1.6097328101955397,0.71338606911949],"aabb_xy":[[-0.5432482613540102,1.5597522312434338],[-0.4432482622013408,1.6597133891476457]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.04479124533364276,-1.911154872281623,0.71338606911949],"aabb_xy":[[0.025906861565132562,-1.930040797061976],[0.06367562910215296,-1.8922689475012704]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.3209107406817402,-1.7776852495976694,0.71338606911949],"aabb_xy":[[0.26578553505214936,-1.8376852510389563],[0.3760359463113309,-1.717685248156382]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.4133803743722029,1.009876672102766,0.71338606911949],"aabb_xy":[[0.3662509953703671,0.9458766710583639],[0.46050975337403843,1.0738766731471678]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.04876806053208804,-2.1506696565894607,0.71338606911949],"aabb_xy":[[-0.05366735283865153,-2.1783465758920295],[-0.04386876822552454,-2.122992737286892]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.3476458642557786,-2.2556965315864317,0.71338606911949],"aabb_xy":[[-0.37011063422718365,-2.2781965324652917],[-0.3251810942843734,-2.2331965307075707]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.2670178014015002,-1.1682938434323238,0.71338606911949],"aabb_xy":[[-0.30451780189885846,-1.1722625269804423],[-0.22951780090414198,-1.1643251598842053]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.30949237120413214,-0.1293496006582746,0.71338606911949],"aabb_xy":[[-0.39949237062250303,-0.16272509750246433],[-0.21949237178576125,-0.09597410381408489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976855929540141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3173.png","name":"3173"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3173.png","name":"3173"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8429.png","name":"8429"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2704.png","name":"2704"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2721.png","name":"2721"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.316427373315,"rotation_z_degrees":166.8166429857002,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019911187544405316,-0.004748224623629312,0.01257559831948608]},{"name":"camera_2","offset_m":[0.0038961533231646993,-0.0027961581009535927,-0.016163840518336917]},{"name":"camera_3","offset_m":[0.012263343382775845,0.009741473874640253,-0.011394810185830325]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006879568268123456,-0.0010010128618411968,-0.0007995389163648037],"end_effector_yaw_offset_degrees":0.011796734103383777},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014458102809415535,-0.000107820255954214,0.0002416215996293579],"end_effector_yaw_offset_degrees":-0.09179458498786808},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013003170448505387,0.000878431267150431,0.0014900665124386358],"end_effector_yaw_offset_degrees":0.07590733387402016}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033452949417230107,-0.003293770214205738],"position_m":[0.27655470505827695,0.15370622978579426,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010118489213192406,0.001648691122954832],"position_m":[0.3540118489213192,0.31204869112295486,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004198373350907028,-0.003393126339757917],"position_m":[0.295898373350907,-0.04659312633975792,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044600569152137125,-0.0021217550173859736],"position_m":[0.2455399430847863,-0.338621755017386,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5858c516ec8aa7f8f09bacdadcb0a48d06564ddcfc3b5fba6df0a47ee4e3bd63","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0115.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3173/tex_ceiling_textures_2721/tex_floor_textures_2704/tex_table_textures_1560/tex_wall_textures_8429","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":5678466389396193538,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":5678466389396193538,"visual_seed":5678466389396193538,"scene_id":"lab_003","finished_at":"2026-09-02T07:08:56"}
+{"episode_id":"ep_000097","started_at":"2026-09-02T07:08:59","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[-0.6301955433685932,1.699737540534541,0.71338606911949],"aabb_xy":[[-0.6527092351920503,1.6297375399335332],[-0.6076818515451359,1.7697375411355483]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[0.4409456514078478,-2.2771976405062437,0.71338606911949],"aabb_xy":[[0.4337018853616024,-2.3571976387098466],[0.4481894174540931,-2.197197642302642]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.5930857961198197,-2.501890823258815,0.71338606911949],"aabb_xy":[[0.5891719229243972,-2.5106398386653717],[0.5969996693152422,-2.493141807852258]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.04154707428141735,-1.3074714429274337,0.71338606911949],"aabb_xy":[[-0.07904707494599604,-1.3231585009276556],[-0.004047073616838647,-1.2917843849272113]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.6430752736066871,0.6122252863929982,0.71338606911949],"aabb_xy":[[0.5830752727458742,0.5607988563865117],[0.7030752744674998,0.6636517163994845]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.6483381802368227,-2.5286635296807374,0.71338606911949],"aabb_xy":[[0.6395569530895865,-2.537443276969268],[0.657119407384059,-2.5198837823922076]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.3292124346742804,-1.4412038898898938,0.71338606911949],"aabb_xy":[[-0.3521281475593303,-1.4641081870263175],[-0.3062967217892305,-1.4182995927534705]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.15038044123508598,-1.6296070470517794,0.71338606911949],"aabb_xy":[[0.1282079142584351,-1.6517827142079022],[0.1725529682117368,-1.607431379895656]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[-0.07873375920701686,0.8153244028626947,0.71338606911949],"aabb_xy":[[-0.08848974871619074,0.8055618688034601],[-0.06897776969784296,0.825086936921929]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.20141082734685323,1.5552347540865452,0.71338606911949],"aabb_xy":[[0.13641082624090997,1.5302693810184171],[0.2664108284527965,1.5802001271546737]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.450677154244292,-0.812220679473024,0.71338606911949],"aabb_xy":[[-0.4745133718848971,-0.9022206802815106],[-0.426840936603687,-0.7222206786645375]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.07719630838342995,-2.4742402293100128,0.71338606911949],"aabb_xy":[[-0.11469630989906165,-2.485467002326158],[-0.03969630686779824,-2.4630134562938677]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.23092359114031002,1.3393924241724822,0.71338606911949],"aabb_xy":[[-0.2427956741518111,1.2543924244788316],[-0.21905150812880889,1.4243924238661323]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.5645071047340577,1.2435938668707762,0.71338606911949],"aabb_xy":[[0.5574656537833101,1.2365671151329816],[0.5715485556848053,1.2506206186085704]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.16697854420280367,-0.9139446522786194,0.71338606911949],"aabb_xy":[[0.15181567122586662,-0.9291101095737384],[0.18214141717974078,-0.8987791949835009]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.6520946033482198,-0.21710280498466528,0.71338606911949],"aabb_xy":[[-0.6608966586571924,-0.22491413113959438],[-0.643292548039247,-0.20929147882973623]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.3690697453170335,-0.6328537442038917,0.71338606911949],"aabb_xy":[[0.3320356358889737,-0.6672309515376011],[0.4061038547450932,-0.5984765368701823]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.1234439568686565,0.44262601838565185,0.71338606911949],"aabb_xy":[[-0.1834439573765094,0.3857792846997305],[-0.06344395636080356,0.4994727520715731]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.560137723105399,-0.9770948595770319,0.71338606911949],"aabb_xy":[[0.5514237540554643,-0.9995948602362201],[0.5688516921553333,-0.9545948589178437]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[0.314838081170423,-2.434820799493228,0.71338606911949],"aabb_xy":[[0.23483808070020706,-2.4431315071075765],[0.394838081640639,-2.42651009187888]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.39668527864317116,-1.269815271399781,0.71338606911949],"aabb_xy":[[0.39260712073612136,-1.2738962516480443],[0.40076343655022084,-1.2657342911515177]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[-0.4482065760145154,-2.5003101832441823,0.71338606911949],"aabb_xy":[[-0.4832065773659971,-2.520669919201003],[-0.4132065746630336,-2.4799504472873615]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.6529614570204714,-0.16401586963265347,0.71338606911949],"aabb_xy":[[0.6154614572034378,-0.1686540809437953],[0.6904614568375049,-0.15937765832151157]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.15461220329680736,-1.9996491055798882,0.71338606911949],"aabb_xy":[[-0.2045964390049846,-2.0496491043933838],[-0.10462796758863013,-1.9496491067663926]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.6420598410825736,0.782971920159099,0.71338606911949],"aabb_xy":[[-0.6833086521124883,0.7279719206468814],[-0.6008110300526588,0.8379719196713163]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.5452659775491402,-0.5699733319183116,0.71338606911949],"aabb_xy":[[-0.6102659785062674,-0.621921543852017],[-0.48026597659201303,-0.5180251199846059]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963834688166941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8013.png","name":"8013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5173.png","name":"5173"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4976.png","name":"4976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5747.png","name":"5747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5684.png","name":"5684"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":679.078609996199,"rotation_z_degrees":8.129444736101682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014827450306628392,-0.019369086090221824,-0.001695605813731245]},{"name":"camera_2","offset_m":[0.004781192443078248,0.01951907572265837,-0.01843008298887912]},{"name":"camera_3","offset_m":[-0.014760920395311392,0.0053937162476630045,0.013088397773662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019711248581004465,-0.0005540736730395572,-0.0016112772471878261],"end_effector_yaw_offset_degrees":-0.9106551393921811},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003258203835816826,0.0006806627193451879,0.0012400964090567871],"end_effector_yaw_offset_degrees":-0.11523972766773416},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0019197111121466396,0.0002632392030148139,-0.0019857078047833265],"end_effector_yaw_offset_degrees":0.4292799794025113}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012720014756049062,-0.00011509915627592494],"position_m":[0.2811720014756049,0.15688490084372408,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013264318670193386,-0.0019094349631165863],"position_m":[0.35432643186701934,0.30849056503688344,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0034555245040442297,0.0020620371248820423],"position_m":[0.2882444754959558,-0.04113796287511796,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002761021192407613,0.002688972984960937],"position_m":[0.2527610211924076,-0.33381102701503906,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bed5f2225fff83cba9b289f2eba9bde0b1b0d0e9f7954ec8fc15606a4567b983","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0116.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8013/tex_ceiling_textures_5684/tex_floor_textures_5747/tex_table_textures_5173/tex_wall_textures_4976","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":4822243039238140338,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":4822243039238140338,"visual_seed":4822243039238140338,"scene_id":"lab_003","finished_at":"2026-09-02T07:11:37"}
+{"episode_id":"ep_000098","started_at":"2026-09-02T07:11:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.09959552057588195,1.449894832914978,0.71338606911949],"aabb_xy":[[0.05682881369646174,1.3858948294931752],[0.14236222745530214,1.5138948363367801]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.6052671776768599,-2.362919854618172,0.71338606911949],"aabb_xy":[[-0.6133948658701731,-2.3718334630288798],[-0.5971394894835467,-2.3540062462074642]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.16303850606132964,0.8762766174968939,0.71338606911949],"aabb_xy":[[0.09903850465333898,0.8244876659729691],[0.2270385074693203,0.9280655690208185]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.3459209617198248,1.6453896633367102,0.71338606911949],"aabb_xy":[[-0.37838266260175213,1.6152568312218072],[-0.3134592608378972,1.6755224954516124]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.2544899897903936,-0.85629288995188,0.71338606911949],"aabb_xy":[[-0.299482576508844,-0.9012928892263287],[-0.2094974030719432,-0.8112928906774312]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.5364264170610102,-0.4615975151448164,0.71338606911949],"aabb_xy":[[0.5195156846246684,-0.47506972073743087],[0.5533371494973519,-0.4481253095522018]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.13294245189429288,-0.7786056962828181,0.71338606911949],"aabb_xy":[[0.08294245023279813,-0.8286041385385207],[0.18294245355578764,-0.7286072540271152]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.2687435776442645,0.5114827316289174,0.71338606911949],"aabb_xy":[[-0.2767375662219678,0.5034826515338271],[-0.26074958906656104,0.5194828117240078]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.24640733278046278,-1.206996388916547,0.71338606911949],"aabb_xy":[[-0.2572478110069777,-1.2241826702071958],[-0.23556685455394788,-1.189810107625898]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.5910843772130732,-2.4409910598612248,0.71338606911949],"aabb_xy":[[-0.6132569041897239,-2.4631667270173474],[-0.5689118502364222,-2.4188153927051013]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[0.2608220478051807,1.6235204528647684,0.71338606911949],"aabb_xy":[[0.23453322348474,1.597249019210117],[0.2871108721256213,1.6497918865194194]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.011510221416626054,1.2518489839561182,0.71338606911949],"aabb_xy":[[-0.005989712017357318,1.2343489840358834],[0.029010154850609426,1.2693489838763525]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[0.4892518031962738,1.240703520996755,0.71338606911949],"aabb_xy":[[0.43925180283570764,1.1907235337871518],[0.5392518035568397,1.2906835082063577]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.39040625518472805,-2.0223042647770275,0.71338606911949],"aabb_xy":[[0.3748504857744628,-2.037854698021435],[0.40596202459499336,-2.0067538315326208]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.6115346024153159,0.026692812735793048,0.71338606911949],"aabb_xy":[[0.5890346024051676,0.012596593096189768],[0.6340346024254642,0.04078903237539633]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.14433558436620053,-1.069030705862231,0.71338606911949],"aabb_xy":[[0.09433630919776437,-1.1190307071381784],[0.1943348595346367,-1.019030704586284]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.5443505035489891,-2.141061012694516,0.71338606911949],"aabb_xy":[[0.5318831454392534,-2.15352633732784],[0.5568178616587247,-2.128595688061193]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.11720586415559231,1.3399161588252007,0.71338606911949],"aabb_xy":[[-0.12897405095024986,1.2549161589199793],[-0.10543767736093482,1.4249161587304224]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.29579844813926376,0.6805463322710352,0.71338606911949],"aabb_xy":[[-0.37952067363934616,0.5905463287363392],[-0.21207622263918124,0.7705463358057311]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.5869590038900899,-2.054362310703233,0.71338606911949],"aabb_xy":[[-0.6509590062328914,-2.099303161947365],[-0.5229590015472882,-2.0094214594591002]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[-0.37596806277966044,1.3623814392789635,0.71338606911949],"aabb_xy":[[-0.3936436933682587,1.3447012229995605],[-0.35829243219106205,1.380061655558366]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.30975856512652966,-0.23979406917701906,0.71338606911949],"aabb_xy":[[-0.38975856378341567,-0.25429892810128185],[-0.22975856646964365,-0.22528921025275628]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[-0.012939127109320658,-0.7825206828004423,0.71338606911949],"aabb_xy":[[-0.04740147450746245,-0.8170145651982648],[0.021523220288821143,-0.7480268004026194]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.6593483771391209,0.29925662748087767,0.71338606911949],"aabb_xy":[[0.597757617915128,0.23525662937183084],[0.7209391363631137,0.3632566255899246]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.3383034165992136,-1.9152268487291448,0.71338606911949],"aabb_xy":[[0.2733034155987131,-1.9660132138838198],[0.4033034175997141,-1.86444048357447]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.605921893288309,-1.45107522244911,0.71338606911949],"aabb_xy":[[-0.6659218938843251,-1.5058876949943332],[-0.5459218926922927,-1.3962627499038862]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.06156726692388148,-2.2281939765983876,0.71338606911949],"aabb_xy":[[-0.09906726534728183,-2.241358190566218],[-0.024067268500481125,-2.2150297626305564]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[0.11660548253005465,-2.4570326147872708,0.71338606911949],"aabb_xy":[[0.06660548295371996,-2.5070131937393767],[0.1666054821063894,-2.407052035835165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701412793457465,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/73.png","name":"73"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/73.png","name":"73"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4532.png","name":"4532"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/92.png","name":"92"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8317.png","name":"8317"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/623.png","name":"623"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":550.2847141374015,"rotation_z_degrees":71.81435620706273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017170873950861854,0.01736695963011761,-0.015351195588797384]},{"name":"camera_2","offset_m":[0.012273560058440002,0.017236367719665076,-0.011381497358193783]},{"name":"camera_3","offset_m":[0.014374214356553842,0.01590583150136624,-0.0033119701330455442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014860726731142013,-0.001867915369125993,-0.0006193974229103088],"end_effector_yaw_offset_degrees":-0.09216364553604528},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017872651511098903,-0.001279494052491617,-0.0012447548495654517],"end_effector_yaw_offset_degrees":0.40525530859467995},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00119560648019714,0.00021471318094187265,-0.0003069357547374296],"end_effector_yaw_offset_degrees":-0.21674182018593036}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0023532138884919795,0.0011145543507047788],"position_m":[0.277546786111508,0.1581145543507048,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042885781738639705,0.003429464930021885],"position_m":[0.35728857817386395,0.3138294649300219,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00293057674544396,0.002596737315702471],"position_m":[0.29463057674544396,-0.04060326268429753,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035344599469314423,-0.0033522531313449743],"position_m":[0.25353445994693147,-0.339852253131345,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"281d024054b86d8304741f4a334acb327c251d2d2133944af966999077a50010","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0117.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_73/tex_ceiling_textures_623/tex_floor_textures_8317/tex_table_textures_4532/tex_wall_textures_92","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":550097057902843507,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":550097057902843507,"visual_seed":550097057902843507,"scene_id":"lab_003","finished_at":"2026-09-02T07:14:23"}
+{"episode_id":"ep_000099","started_at":"2026-09-02T07:15:48","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.46779423678042953,-1.2252699784363952,0.71338606911949],"aabb_xy":[[0.4475099340570307,-1.2455526035791038],[0.48807853950382823,-1.2049873532936861]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.32282921978944495,-0.32151070381320546,0.71338606911949],"aabb_xy":[[-0.3868292201669785,-0.3712559706640178],[-0.2588292194119113,-0.27176543696239325]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.37569807782750786,-1.1346661253465302,0.71338606911949],"aabb_xy":[[0.30569808141754595,-1.1551040609982115],[0.44569807423746954,-1.114228189694848]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.620311486171611,-1.0027549162509186,0.71338606911949],"aabb_xy":[[0.5846823302716513,-1.0383875830077716],[0.6559406420715708,-0.9671222494940657]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.21563957740603346,-0.5031181906542641,0.71338606911949],"aabb_xy":[[-0.2238541225217174,-0.5117947809519052],[-0.20742503229034945,-0.49444160035662266]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.29165048695426704,-1.7361763196716895,0.71338606911949],"aabb_xy":[[-0.2990629424956555,-1.7420275300933175],[-0.28423803141287857,-1.7303251092500616]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[0.4337004376538047,0.6853135815277658,0.71338606911949],"aabb_xy":[[0.40123873677187716,0.655180749412863],[0.4661621385357321,0.7154464136426681]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.2924870593934109,-2.5229114491916147,0.71338606911949],"aabb_xy":[[0.24248705773191612,-2.572909891447317],[0.3424870610549056,-2.4729130069359115]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.2866695445473385,0.9278302791811326,0.71338606911949],"aabb_xy":[[-0.29429381263751675,0.920197055644589],[-0.27904527645716026,0.9354635027176764]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.4115829763460501,-0.43946709092244385,0.71338606911949],"aabb_xy":[[0.3740829765290165,-0.44410530223358563],[0.4490829761630836,-0.43482887961130195]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.11508840492122185,0.8299697670440325,0.71338606911949],"aabb_xy":[[-0.1850884067299673,0.8086159982798452],[-0.045088403112476416,0.85132353580822]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[-0.3411237255065452,1.6651859694613251,0.71338606911949],"aabb_xy":[[-0.4111237281431315,1.6450811044654596],[-0.2711237228699588,1.6852908344571906]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[0.05837819505312736,1.2149892230750674,0.71338606911949],"aabb_xy":[[0.04752658880425176,1.2041299323474164],[0.06922980130200296,1.2258485138027184]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.2375565345746068,-2.4568330384814927,0.71338606911949],"aabb_xy":[[-0.2750565352391855,-2.4725200964817144],[-0.2000565339100281,-2.44114598048127]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.3940160273244758,1.2820236263642957,0.71338606911949],"aabb_xy":[[-0.43900861404292624,1.2370236270898467],[-0.3490234406060254,1.3270236256387442]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.6442963473541115,0.33315467136140864,0.71338606911949],"aabb_xy":[[0.5802963470936406,0.2881458720084806],[0.7082963476145823,0.3781634707143366]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.4601723029805359,-1.238100552792471,0.71338606911949],"aabb_xy":[[-0.4976723031524078,-1.270801288175378],[-0.4226723028086639,-1.2053998174095637]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.5016177623386558,-0.7856284590990377,0.71338606911949],"aabb_xy":[[-0.5096117509163591,-0.793628539194128],[-0.49362377376095234,-0.7776283790039473]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.18319911979896142,-2.540487760381992,0.71338606911949],"aabb_xy":[[0.1726316401408624,-2.5510327904950008],[0.19376659945706043,-2.5299427302689836]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.25105554684815756,1.1196776217073974,0.71338606911949],"aabb_xy":[[0.2391228124863295,1.107295468899538],[0.26298828120998563,1.1320597745152567]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.24478382160918183,-2.085925533917716,0.71338606911949],"aabb_xy":[[-0.29478382262831715,-2.122391749655544],[-0.1947838205900466,-2.049459318179888]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[0.6475022990432793,-0.4817656734495399,0.71338606911949],"aabb_xy":[[0.597502300397358,-0.5316852171090023],[0.6975022976892004,-0.4318461297900775]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[-0.472706693061428,-0.3777174448587788,0.71338606911949],"aabb_xy":[[-0.5077066921913836,-0.3834626659344429],[-0.4377066939314723,-0.3719722237831147]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.44182944162545584,1.4772848181695042,0.71338606911949],"aabb_xy":[[-0.4793294431410875,1.4660580451533591],[-0.4043294401098241,1.4885115911856492]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[0.44443692811736435,-1.991081502896535,0.71338606911949],"aabb_xy":[[0.43501945354750166,-2.000497680034254],[0.45385440268722715,-1.981665325758816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966562112425461,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8591.png","name":"8591"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8591.png","name":"8591"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9664.png","name":"9664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1131.png","name":"1131"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3997.png","name":"3997"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":680.2817548028861,"rotation_z_degrees":53.02850314515689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0178229727797351,-0.003233952810297737,0.011810451075789003]},{"name":"camera_2","offset_m":[0.01964476467796739,-0.011008210206417074,0.013685522187565313]},{"name":"camera_3","offset_m":[-0.018606764162633224,-0.01048636251317765,0.013472996027158676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013047980284254935,0.0015603019218307702,0.001351403582999179],"end_effector_yaw_offset_degrees":0.29227155210235134},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001434324007756992,-0.001139222422054699,-0.0004269146583116617],"end_effector_yaw_offset_degrees":-0.6317528936887777},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0003443713713216802,0.0005436845944088416,-0.00028301937481980044],"end_effector_yaw_offset_degrees":0.7058722897474967}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00023","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004678905783935479,0.0035355748417558027],"position_m":[0.2752210942160645,0.1605355748417558,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024281099826391084,-0.003529436918215432],"position_m":[0.3554281099826391,0.30687056308178456,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0032825583465220963,-0.0020188072393921798],"position_m":[0.28841744165347794,-0.04521880723939218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004359749535646548,-0.0011189229711517233],"position_m":[0.25435974953564655,-0.33761892297115176,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f4d1ab00a3960430a6294da646e3ef3ef72912d0f8785c3012555c11abf617e1","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/dataset/episode_0119.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8591/tex_ceiling_textures_3997/tex_floor_textures_1131/tex_table_textures_7925/tex_wall_textures_9664","seeds":{"action_seed":816907636393322120,"physical_seed":4771965213701459969,"visual_seed":1642546444649159611,"layout_id":"layout_00023","physical_randomization_enabled":true},"episode_seed":1642546444649159611,"visual_seed":1642546444649159611,"scene_id":"lab_003","finished_at":"2026-09-02T07:18:30"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d83b3bb0063c1b3fc5abb0e6a2d9b05e526e6df2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_gqr_00023
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b at inspection platform.
+  layout_id: layout_00023
+  reproducibility:
+    enabled: true
+    layout_id: layout_00023
+    action_seed: 816907636393322120
+    step_seeds:
+    - 6025886195317364167
+    - 912408632159906142
+    - 5099940445753200938
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2917
+      - 0.2917
+      'y':
+      - -0.0432
+      - -0.0432
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2799
+      - 0.2799
+      'y':
+      - 0.157
+      - 0.157
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.353
+      - 0.353
+      'y':
+      - 0.3104
+      - 0.3104
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.25
+      - 0.25
+      'y':
+      - -0.3365
+      - -0.3365
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b64bdaaa714f5700bd5512d1885cc99186bb8be3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3095127904720441,
+              0.16377384246902396,
+              1.0486705446416198
+            ],
+            "current_z": 1.0486705446416198,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.19208397762840967,
+            "gripper_z": 1.050682769390526,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3041967982762065,
+              0.15877329068897628,
+              1.050682769390526
+            ],
+            "object_minus_gripper": [
+              0.0053159921958376155,
+              0.005000551780047685,
+              -0.0020122247489062772
+            ],
+            "object_to_gripper_xy": 0.007298307415500152,
+            "object_to_gripper_z": -0.0020122247489062772,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3095127904720441,
+              0.13919275104990703,
+              1.0486705446416198
+            ],
+            "finger_b": [
+              0.29742673386933616,
+              0.16377384246902396,
+              1.0486705446416198
+            ],
+            "finger_midpoint": [
+              0.3034697621706901,
+              0.15148329675946548,
+              1.0486705446416198
+            ],
+            "object_minus_finger_midpoint": [
+              0.006043028301354003,
+              0.012290545709558481,
+              0.0
+            ],
+            "finger_gap": 0.027391656020745527,
+            "fingertip_max_gap": 0.09239875400358935,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013695828010372788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486705446416198,
+            "object_top_z": 1.095099829056739,
+            "finger_top_clearance": 0.04642928441511929,
+            "fingertip_min_top_clearance": 0.013928785324535786,
+            "object_projection_between_fingers": 0.805314920328106,
+            "object_to_finger_line_xy": 0.010845947467461668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869937700179468,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8320796236027979,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.309528423576651,
+              0.16176505335020852,
+              1.24297736854996
+            ],
+            "held_position": [
+              0.3152085638059526,
+              0.16629776815641584,
+              1.2408391345971792
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007575060460205334,
+            "max_held_gripper_dist": 0.007577853766716951,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002138233952780899,
+            "max_held_gripper_z_dist": 0.0021757514675571077,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658079740673899,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3152085638059526,
+              0.14072141522261955,
+              1.2408391345971792
+            ],
+            "held_grasp_finger_b": [
+              0.3051919022712343,
+              0.16629776815641584,
+              1.2408391345971792
+            ],
+            "held_grasp_midpoint": [
+              0.31020023303859345,
+              0.1535095916895177,
+              1.2408391345971792
+            ],
+            "held_grasp_object_position": [
+              0.3152085638059526,
+              0.16629776815641584,
+              1.2408391345971792
+            ],
+            "held_grasp_finger_gap": 0.02746786008583876,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02463942367481167,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0836414499253653,
+              -0.9961244996475564,
+              0.027204577855351568
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039370679031284495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204270503422947,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35084081887562757,
+              0.3074326620880745,
+              0.7625885967040358
+            ],
+            "target_position": [
+              0.3561286046261984,
+              0.307395967961374,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005287913066879418,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1706624557717006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625885967040358,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535225158301598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594030302571319,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13952467664598053,
+            "release_required_pad_clearance": 0.0529701515128566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9747725445369965,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d593e8268d2d45357b19eeeaf59f3cbee69b60a46481a3e02b619b14193b5fc",
+    "visual_seed": 3736032182674392049,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e8c1fd4ef474d9ff0358a0599f564fc061f1ca4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_100_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3000690742042264,
+              0.16102980470517542,
+              1.0448780574078875
+            ],
+            "current_z": 1.0448780574078875,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18829154999932185,
+            "gripper_z": 1.0473864702475029,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2947985568071374,
+              0.15597530489904282,
+              1.0473864702475029
+            ],
+            "object_minus_gripper": [
+              0.005270517397089003,
+              0.005054499806132595,
+              -0.002508412839615337
+            ],
+            "object_to_gripper_xy": 0.007302487379188839,
+            "object_to_gripper_z": -0.002508412839615337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3000690742042264,
+              0.1366049768145651,
+              1.0448780574078875
+            ],
+            "finger_b": [
+              0.2877523667971925,
+              0.16102980470517542,
+              1.0448780574078875
+            ],
+            "finger_midpoint": [
+              0.29391072050070943,
+              0.14881739075987027,
+              1.0448780574078875
+            ],
+            "object_minus_finger_midpoint": [
+              0.006158353703516972,
+              0.012212413945305145,
+              0.0
+            ],
+            "finger_gap": 0.027354588259310707,
+            "fingertip_max_gap": 0.09266571917196323,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013677294129655354,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0448780574078875,
+            "object_top_z": 1.0912237370457072,
+            "finger_top_clearance": 0.04634567963781966,
+            "fingertip_min_top_clearance": 0.01390370389134588,
+            "object_projection_between_fingers": 0.7972649284167058,
+            "object_to_finger_line_xy": 0.010997550237058054,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883285958598162,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.94019003457381,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998862171673029,
+              0.15905574953870896,
+              1.2392594541300903
+            ],
+            "held_position": [
+              0.30555791968321105,
+              0.16358872132229554,
+              1.2366290139524505
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007722386816774505,
+            "max_held_gripper_dist": 0.007729066245020656,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026304401776398034,
+            "max_held_gripper_z_dist": 0.002664342175329848,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743368848794683,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30555791968321105,
+              0.13805056594008527,
+              1.2366290139524505
+            ],
+            "held_grasp_finger_b": [
+              0.2954811436909785,
+              0.16358872132229554,
+              1.2366290139524505
+            ],
+            "held_grasp_midpoint": [
+              0.3005195316870948,
+              0.1508196436311904,
+              1.2366290139524505
+            ],
+            "held_grasp_object_position": [
+              0.30555791968321105,
+              0.16358872132229554,
+              1.2366290139524505
+            ],
+            "held_grasp_finger_gap": 0.027454303755942343,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02466433320048724,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07811372016793945,
+              -0.9966055605671837,
+              0.025992371344194964
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004039633445030222,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208092390551489,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3427219393002718,
+              0.31481906951270555,
+              0.7625849849639286
+            ],
+            "target_position": [
+              0.3484132967880952,
+              0.31507555298131296,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00569713382534344,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17036684166326801,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849849639286,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566698988566378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500865013068791,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13855933643671858,
+            "release_required_pad_clearance": 0.05250432506534396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07911872813413262,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "797cd92059534e550a100a0a55703223f8e37b5a0aad79ebfb4e309784730bad",
+    "visual_seed": 4623005443428463282,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..052b198ed47780eef84408afb272806c3261901b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30585539219761015,
+              0.1577925414103651,
+              1.0489035416379855
+            ],
+            "current_z": 1.0489035416379855,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19231697462477515,
+            "gripper_z": 1.0511072622478421,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3005141112463864,
+              0.15286865611310735,
+              1.0511072622478421
+            ],
+            "object_minus_gripper": [
+              0.00534128095122377,
+              0.004923885297257763,
+              -0.0022037206098566298
+            ],
+            "object_to_gripper_xy": 0.007264566650561964,
+            "object_to_gripper_z": -0.0022037206098566298,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30585539219761015,
+              0.13304625549285862,
+              1.0489035416379855
+            ],
+            "finger_b": [
+              0.2940727078469326,
+              0.1577925414103651,
+              1.0489035416379855
+            ],
+            "finger_midpoint": [
+              0.2999640500222714,
+              0.14541939845161186,
+              1.0489035416379855
+            ],
+            "object_minus_finger_midpoint": [
+              0.005891342175338765,
+              0.012373142958753247,
+              0.0
+            ],
+            "finger_gap": 0.027408216235623242,
+            "fingertip_max_gap": 0.09522734961599241,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013704108117811621,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489035416379855,
+            "object_top_z": 1.0962679391951444,
+            "finger_top_clearance": 0.04736439755715893,
+            "fingertip_min_top_clearance": 0.014209319267147646,
+            "object_projection_between_fingers": 0.8151893719701316,
+            "object_to_finger_line_xy": 0.01063833097750535,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05011367480799621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.658878051322493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.305560939084825,
+              0.15600549659397778,
+              1.2440190797765063
+            ],
+            "held_position": [
+              0.3111794242688922,
+              0.16054289739824615,
+              1.2416989352391188
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007585410502835496,
+            "max_held_gripper_dist": 0.007589064751402495,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002320144537387492,
+            "max_held_gripper_z_dist": 0.0023536236298400404,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08741908270936691,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3111794242688922,
+              0.1350433221636552,
+              1.2416989352391188
+            ],
+            "held_grasp_finger_b": [
+              0.3010710456690049,
+              0.16054289739824615,
+              1.2416989352391188
+            ],
+            "held_grasp_midpoint": [
+              0.30612523496894856,
+              0.14779310978095067,
+              1.2416989352391188
+            ],
+            "held_grasp_object_position": [
+              0.3111794242688922,
+              0.16054289739824615,
+              1.2416989352391188
+            ],
+            "held_grasp_finger_gap": 0.027430050219845105,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02499506281428481,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045662988562910685,
+              -0.998316299643624,
+              0.035769502951055854
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044903649090816105,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032241114782272144,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3412217597720191,
+              0.3095148636793683,
+              0.7625851944590708
+            ],
+            "target_position": [
+              0.3491969849710166,
+              0.3109754546416052,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008107869198111982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1668756394203661,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851944590708,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753584136192799,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674217106888553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1358334508508197,
+            "release_required_pad_clearance": 0.053371085534442766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7462324315349138,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 127,
+            "max_placed_release_frames": 127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41d300608798ea098170290fda1a5fa6ae5ca5900f7a549fba7f0e0fd529a84e",
+    "visual_seed": 1775120590454267569,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_102_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1807d9f5f0363239c8a6ec3536a16c50525e42b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_102_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30159527380060297,
+              0.1614951145324759,
+              1.0459787853972573
+            ],
+            "current_z": 1.0459787853972573,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18939227798869174,
+            "gripper_z": 1.048890061883568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2960153042675071,
+              0.15644681245063755,
+              1.048890061883568
+            ],
+            "object_minus_gripper": [
+              0.005579969533095863,
+              0.005048302081838346,
+              -0.002911276486310621
+            ],
+            "object_to_gripper_xy": 0.0075247201874735145,
+            "object_to_gripper_z": -0.002911276486310621,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30159527380060297,
+              0.1366563080248585,
+              1.0459787853972573
+            ],
+            "finger_b": [
+              0.2895402216931709,
+              0.1614951145324759,
+              1.0459787853972573
+            ],
+            "finger_midpoint": [
+              0.29556774774688693,
+              0.1490757112786672,
+              1.0459787853972573
+            ],
+            "object_minus_finger_midpoint": [
+              0.006027526053716037,
+              0.012419403253808692,
+              0.0
+            ],
+            "finger_gap": 0.027609610465121708,
+            "fingertip_max_gap": 0.09496526875518099,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013804805232560854,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459787853972573,
+            "object_top_z": 1.0925676006308123,
+            "finger_top_clearance": 0.04658881523355496,
+            "fingertip_min_top_clearance": 0.013976644570066487,
+            "object_projection_between_fingers": 0.8093584215619328,
+            "object_to_finger_line_xy": 0.01084524923355995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0499826343775905,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.349701141661985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.300715067473169,
+              0.16024140244869098,
+              1.2412869923273862
+            ],
+            "held_position": [
+              0.30654379535597315,
+              0.16493165906643267,
+              1.2382699479391237
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008066915935646915,
+            "max_held_gripper_dist": 0.008069417759516964,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030170443882624465,
+            "max_held_gripper_z_dist": 0.003054795964122947,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08724289100830507,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30654379535597315,
+              0.1394496336610414,
+              1.2382699479391237
+            ],
+            "held_grasp_finger_b": [
+              0.2959440177618685,
+              0.16493165906643267,
+              1.2382699479391237
+            ],
+            "held_grasp_midpoint": [
+              0.30124390655892086,
+              0.15219064636373703,
+              1.2382699479391237
+            ],
+            "held_grasp_object_position": [
+              0.30654379535597315,
+              0.16493165906643267,
+              1.2382699479391237
+            ],
+            "held_grasp_finger_gap": 0.027598711995408202,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025286551858244945,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017340136397593898,
+              -0.9995419532908119,
+              0.02480329174326823
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005088055452589615,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03237314744742237,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3457277427551408,
+              0.30972955420374626,
+              0.7625840202477212
+            ],
+            "target_position": [
+              0.35182799507106005,
+              0.3100795322968052,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006110283379966881,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16856092597035688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625840202477212,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528583723128551,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705355460537349,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13772924209289247,
+            "release_required_pad_clearance": 0.05352677730268675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.052422428527722,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b48fd4b2a2027a0b91f5889d312adbbb44ecf9ce0df6a3ab44fdc7a73390861",
+    "visual_seed": 8453366395252811483,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6a1491d7f94656ebe28794abdf682438db9ac6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_103_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3068930223236866,
+              0.16150267091951417,
+              1.04553387372293
+            ],
+            "current_z": 1.04553387372293,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18894748552365404,
+            "gripper_z": 1.0485089909186047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3012170113651409,
+              0.1563465609441463,
+              1.0485089909186047
+            ],
+            "object_minus_gripper": [
+              0.005676010958545696,
+              0.005156109975367862,
+              -0.0029751171956746703
+            ],
+            "object_to_gripper_xy": 0.007668283411534736,
+            "object_to_gripper_z": -0.0029751171956746703,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3068930223236866,
+              0.1365462882625962,
+              1.04553387372293
+            ],
+            "finger_b": [
+              0.2947411552865553,
+              0.16150267091951417,
+              1.04553387372293
+            ],
+            "finger_midpoint": [
+              0.3008170888051209,
+              0.1490244795910552,
+              1.04553387372293
+            ],
+            "object_minus_finger_midpoint": [
+              0.006075933518565668,
+              0.012478191328458982,
+              0.0
+            ],
+            "finger_gap": 0.027757681960254417,
+            "fingertip_max_gap": 0.09233784354561805,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01387884098012722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04553387372293,
+            "object_top_z": 1.0910591056625059,
+            "finger_top_clearance": 0.045525231939575805,
+            "fingertip_min_top_clearance": 0.013657569581872775,
+            "object_projection_between_fingers": 0.8083452324985614,
+            "object_to_finger_line_xy": 0.01092550322497667,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866892177280903,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.452721533903852,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30623891924695656,
+              0.1594820132131568,
+              1.2368336677835547
+            ],
+            "held_position": [
+              0.3121897764841111,
+              0.16421480900983149,
+              1.2337009710632303
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008223493579467783,
+            "max_held_gripper_dist": 0.008226655432969195,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003132696720324457,
+            "max_held_gripper_z_dist": 0.0031695712119184094,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874537249404091,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3121897764841111,
+              0.13848563776407344,
+              1.2337009710632303
+            ],
+            "held_grasp_finger_b": [
+              0.30185756124151664,
+              0.16421480900983149,
+              1.2337009710632303
+            ],
+            "held_grasp_midpoint": [
+              0.30702366886281385,
+              0.15135022338695248,
+              1.2337009710632303
+            ],
+            "held_grasp_object_position": [
+              0.3121897764841111,
+              0.16421480900983149,
+              1.2337009710632303
+            ],
+            "held_grasp_finger_gap": 0.027726249743029518,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02528720058066662,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04054739423351352,
+              -0.9991050523888045,
+              0.01204172379836643
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046428608952067945,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213768027073047,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3545456929690357,
+              0.3111397220566124,
+              0.7625858855336751
+            ],
+            "target_position": [
+              0.3578383030214938,
+              0.30986813021065496,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003529621336666774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17139553706817845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858855336751,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758699872592388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866870090170163,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1395433442682515,
+            "release_required_pad_clearance": 0.05334350450850815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.700835640932427,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfccaa60553d2eb15d21e63db3d4aa33a9733022c731f381fb32c1088d289188",
+    "visual_seed": 7921493779894262578,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aba12656941077fb7f9a24a5836c9e476e71527
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_105_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3061260106366051,
+              0.1596205123063411,
+              1.047866215269632
+            ],
+            "current_z": 1.047866215269632,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19127970786106652,
+            "gripper_z": 1.0501592250226808,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3008842610860576,
+              0.15467888132687468,
+              1.0501592250226808
+            ],
+            "object_minus_gripper": [
+              0.005241749550547514,
+              0.004941630979466427,
+              -0.0022930097530486915
+            ],
+            "object_to_gripper_xy": 0.0072038638998725806,
+            "object_to_gripper_z": -0.0022930097530486915,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3061260106366051,
+              0.13508396963798439,
+              1.047866215269632
+            ],
+            "finger_b": [
+              0.2941347857313368,
+              0.1596205123063411,
+              1.047866215269632
+            ],
+            "finger_midpoint": [
+              0.3001303981839709,
+              0.14735224097216276,
+              1.047866215269632
+            ],
+            "object_minus_finger_midpoint": [
+              0.005995612452634191,
+              0.012268271334178349,
+              0.0
+            ],
+            "finger_gap": 0.027309913966265392,
+            "fingertip_max_gap": 0.09375891318673782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013654956983132696,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047866215269632,
+            "object_top_z": 1.0947741036559746,
+            "finger_top_clearance": 0.04690788838634252,
+            "fingertip_min_top_clearance": 0.014072366515902789,
+            "object_projection_between_fingers": 0.8072091432918294,
+            "object_to_finger_line_xy": 0.010773494266493022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04937945659336891,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2281972157736052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3060357718560859,
+              0.1575658465666076,
+              1.239987019105651
+            ],
+            "held_position": [
+              0.31160981529618353,
+              0.16205752985053173,
+              1.23755005049107
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007562009985687168,
+            "max_held_gripper_dist": 0.007564716281585735,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002436968614581092,
+            "max_held_gripper_z_dist": 0.0024711385004345665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08688004298482048,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31160981529618353,
+              0.1365391226892608,
+              1.23755005049107
+            ],
+            "held_grasp_finger_b": [
+              0.3017012628280269,
+              0.16205752985053173,
+              1.23755005049107
+            ],
+            "held_grasp_midpoint": [
+              0.3066555390621052,
+              0.14929832626989625,
+              1.23755005049107
+            ],
+            "held_grasp_object_position": [
+              0.31160981529618353,
+              0.16205752985053173,
+              1.23755005049107
+            ],
+            "held_grasp_finger_gap": 0.02737459618081364,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024782937865900675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06718812373918653,
+              -0.9972673746592867,
+              0.03071708756671953
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004105057971888386,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032143018983553706,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34630749689493134,
+              0.3125182132313484,
+              0.7625844192194846
+            ],
+            "target_position": [
+              0.3527006405755564,
+              0.3131399815010284,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006423307707271765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16861836450018586,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844192194846,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587086117335169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877384365945889,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13631862836620873,
+            "release_required_pad_clearance": 0.05386921829729445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7394683601251355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e55912ee9142d6f6c94f3e87d22098d9fa7112095712add757b3ca6f42aa478",
+    "visual_seed": 7791383138598560796,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_106_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6169c45ab0413b4bfad20c13b82b30bdfc37f7aa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_106_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3050108443032116,
+              0.16015219385301518,
+              1.0476944430663215
+            ],
+            "current_z": 1.0476944430663215,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19110799526240074,
+            "gripper_z": 1.0498358306262205,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29963757390304285,
+              0.15519883365371273,
+              1.0498358306262205
+            ],
+            "object_minus_gripper": [
+              0.0053732704001687726,
+              0.004953360199302453,
+              -0.0021413875598990106
+            ],
+            "object_to_gripper_xy": 0.0073080648640637775,
+            "object_to_gripper_z": -0.0021413875598990106,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3050108443032116,
+              0.13541454590011182,
+              1.0476944430663215
+            ],
+            "finger_b": [
+              0.2931419361217422,
+              0.16015219385301518,
+              1.0476944430663215
+            ],
+            "finger_midpoint": [
+              0.2990763902124769,
+              0.1477833698765635,
+              1.0476944430663215
+            ],
+            "object_minus_finger_midpoint": [
+              0.005934454090734731,
+              0.012368823976451698,
+              0.0
+            ],
+            "finger_gap": 0.027437605720287177,
+            "fingertip_max_gap": 0.0941748334004621,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013718802860143613,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476944430663215,
+            "object_top_z": 1.09454670421783,
+            "finger_top_clearance": 0.046852261151508534,
+            "fingertip_min_top_clearance": 0.014055678345452594,
+            "object_projection_between_fingers": 0.8128761612151971,
+            "object_to_finger_line_xy": 0.010700965498656179,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958741670023105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3739161066010297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3048002884304536,
+              0.15832867571643888,
+              1.2394609156808774
+            ],
+            "held_position": [
+              0.3104648932281812,
+              0.16287398870998784,
+              1.23717196503344
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076149138399700484,
+            "max_held_gripper_dist": 0.0076184275742490135,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022889506474372823,
+            "max_held_gripper_z_dist": 0.0023233249971645886,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08684848805370685,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3104648932281812,
+              0.13730119201516364,
+              1.23717196503344
+            ],
+            "held_grasp_finger_b": [
+              0.300473551742937,
+              0.16287398870998784,
+              1.23717196503344
+            ],
+            "held_grasp_midpoint": [
+              0.3054692224855591,
+              0.15008759036257574,
+              1.23717196503344
+            ],
+            "held_grasp_object_position": [
+              0.3104648932281812,
+              0.16287398870998784,
+              1.23717196503344
+            ],
+            "held_grasp_finger_gap": 0.027455324355570344,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02501682241589315,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05121520738209936,
+              -0.9982690335645666,
+              0.028912612453300672
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043503089973082115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218010513167204,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3419439600140838,
+              0.30560294672219135,
+              0.7625859573764365
+            ],
+            "target_position": [
+              0.34866600977171225,
+              0.3063301452599599,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006761269899757415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1685624175958476,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859573764365,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551000691258569,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843975256364299,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13697692210526752,
+            "release_required_pad_clearance": 0.0542198762818215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.454967894692524,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "833d44eaf31897ed180bee8d6cc24a8951eb359b9cbde15ab17deb5a444ee5b7",
+    "visual_seed": 6385230110212017909,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_108_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce11fa71a8b3f2edb9c220524702708f39bcce8b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_108_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3034522304467827,
+              0.15355252831252042,
+              1.0448155886244959
+            ],
+            "current_z": 1.0448155886244959,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1882290812159303,
+            "gripper_z": 1.0478915253097765,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2979661924193111,
+              0.148545629983664,
+              1.0478915253097765
+            ],
+            "object_minus_gripper": [
+              0.005486038027471607,
+              0.005006898328856424,
+              -0.0030759366852806114
+            ],
+            "object_to_gripper_xy": 0.007427357815156734,
+            "object_to_gripper_z": -0.0030759366852806114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3034522304467827,
+              0.12864780595707762,
+              1.0448155886244959
+            ],
+            "finger_b": [
+              0.29162575894614073,
+              0.15355252831252042,
+              1.0448155886244959
+            ],
+            "finger_midpoint": [
+              0.2975389946964617,
+              0.141100167134799,
+              1.0448155886244959
+            ],
+            "object_minus_finger_midpoint": [
+              0.005913235750320989,
+              0.012452361177721416,
+              0.0
+            ],
+            "finger_gap": 0.02757010380388854,
+            "fingertip_max_gap": 0.09260738674288146,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013785051901944284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0448155886244959,
+            "object_top_z": 1.090350663700878,
+            "finger_top_clearance": 0.0455350750763821,
+            "fingertip_min_top_clearance": 0.013660522522914614,
+            "object_projection_between_fingers": 0.8159933254660368,
+            "object_to_finger_line_xy": 0.010683129496469407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048803693371440734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6914794663807744,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3029260740161336,
+              0.15194184815430123,
+              1.2395643342208724
+            ],
+            "held_position": [
+              0.30866564405119007,
+              0.15656828469906645,
+              1.236361787121077
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008037592128023498,
+            "max_held_gripper_dist": 0.008039372748038094,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003202547099795394,
+            "max_held_gripper_z_dist": 0.003233321473243178,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680306243636525,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30866564405119007,
+              0.13098469519405678,
+              1.236361787121077
+            ],
+            "held_grasp_finger_b": [
+              0.2984404971063766,
+              0.15656828469906645,
+              1.236361787121077
+            ],
+            "held_grasp_midpoint": [
+              0.30355307057878333,
+              0.14377648994656161,
+              1.236361787121077
+            ],
+            "held_grasp_object_position": [
+              0.30866564405119007,
+              0.15656828469906645,
+              1.236361787121077
+            ],
+            "held_grasp_finger_gap": 0.027551291839111078,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025259095862527683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030375819443045356,
+              -0.9994568226985898,
+              0.012781594360768533
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004724517333352157,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032260079817172674,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3475286134504983,
+              0.3090489379797876,
+              0.7625844210088465
+            ],
+            "target_position": [
+              0.3514522290117985,
+              0.30813496598756357,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004028660307775677,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17132578054356304,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844210088465,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581240724223164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696818739682825,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13945276639472495,
+            "release_required_pad_clearance": 0.05348409369841413,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.971511594610428,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af07877696031d821058c899faee2fdfc142a1e89e106c3281c53328c82efbde",
+    "visual_seed": 4724497212040056165,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55edc189b08e09d400676b5237715c5cd379c03a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30546502180180535,
+              0.16007039941778622,
+              1.046852348993345
+            ],
+            "current_z": 1.046852348993345,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19026584158477944,
+            "gripper_z": 1.049051105412649,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30019019730234864,
+              0.15509001504997177,
+              1.049051105412649
+            ],
+            "object_minus_gripper": [
+              0.0052748244994567095,
+              0.00498038436781445,
+              -0.0021987564193040043
+            ],
+            "object_to_gripper_xy": 0.0072545159694661415,
+            "object_to_gripper_z": -0.0021987564193040043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30546502180180535,
+              0.13554553634527902,
+              1.046852348993345
+            ],
+            "finger_b": [
+              0.29337750834905524,
+              0.16007039941778622,
+              1.046852348993345
+            ],
+            "finger_midpoint": [
+              0.2994212650754303,
+              0.1478079678815326,
+              1.046852348993345
+            ],
+            "object_minus_finger_midpoint": [
+              0.006043756726375027,
+              0.012262431536253615,
+              0.0
+            ],
+            "finger_gap": 0.027341852354872416,
+            "fingertip_max_gap": 0.09344405495792998,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013670926177436208,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046852348993345,
+            "object_top_z": 1.0934503204376653,
+            "finger_top_clearance": 0.04659797144432032,
+            "fingertip_min_top_clearance": 0.013979391433296096,
+            "object_projection_between_fingers": 0.8045579212164008,
+            "object_to_finger_line_xy": 0.010842155405866546,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049222027478964994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1731113957614703,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051947730220563,
+              0.15835893753943167,
+              1.2415046070745022
+            ],
+            "held_position": [
+              0.31080821108316353,
+              0.1628942897262735,
+              1.2391882674322325
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075792833211939265,
+            "max_held_gripper_dist": 0.007580740327389864,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002316339642269627,
+            "max_held_gripper_z_dist": 0.002351776511360759,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728240888763288,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31080821108316353,
+              0.13742381017963212,
+              1.2391882674322325
+            ],
+            "held_grasp_finger_b": [
+              0.300668040042134,
+              0.1628942897262735,
+              1.2391882674322325
+            ],
+            "held_grasp_midpoint": [
+              0.3057381255626488,
+              0.15015904995295282,
+              1.2391882674322325
+            ],
+            "held_grasp_object_position": [
+              0.31080821108316353,
+              0.1628942897262735,
+              1.2391882674322325
+            ],
+            "held_grasp_finger_gap": 0.027414747802546196,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024787147022733352,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06165890176094833,
+              -0.9977188998839386,
+              0.02748047757985827
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004289849329772088,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218141964438605,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.350393025176235,
+              0.3087825236656055,
+              0.7625861293247193
+            ],
+            "target_position": [
+              0.3569324203686525,
+              0.3093768019497662,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006566342677749805,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17061268611286395,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861293247193,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524537234010924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08760488091175476,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13981441163018674,
+            "release_required_pad_clearance": 0.053802440455877384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.609524749449339,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e763373dc44cba2f8d830fc6435e82967d3ed4429f9cf9174609e3f8be9cd91",
+    "visual_seed": 8956450824714163023,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_110_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8c2c218c3dbedaf4e778467f3b92542d1d38a9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_110_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30269310070136524,
+              0.15956846040077102,
+              1.0491383065285744
+            ],
+            "current_z": 1.0491383065285744,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19255173951536408,
+            "gripper_z": 1.0513264940928086,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2976886283732,
+              0.15465813050378874,
+              1.0513264940928086
+            ],
+            "object_minus_gripper": [
+              0.005004472328165255,
+              0.004910329896982285,
+              -0.002188187564234223
+            ],
+            "object_to_gripper_xy": 0.007011139920196275,
+            "object_to_gripper_z": -0.002188187564234223,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30269310070136524,
+              0.13533717377329585,
+              1.0491383065285744
+            ],
+            "finger_b": [
+              0.29057139700792045,
+              0.15956846040077102,
+              1.0491383065285744
+            ],
+            "finger_midpoint": [
+              0.29663224885464284,
+              0.14745281708703345,
+              1.0491383065285744
+            ],
+            "object_minus_finger_midpoint": [
+              0.006060851846722393,
+              0.012115643313737573,
+              0.0
+            ],
+            "finger_gap": 0.02709411286708849,
+            "fingertip_max_gap": 0.09301152809482757,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013547056433544234,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491383065285744,
+            "object_top_z": 1.0956354980528367,
+            "finger_top_clearance": 0.04649719152426224,
+            "fingertip_min_top_clearance": 0.013949157457278672,
+            "object_projection_between_fingers": 0.7998399244392838,
+            "object_to_finger_line_xy": 0.010840896620238702,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900576404741379,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0496625002649604,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3029277149099737,
+              0.1576366963269092,
+              1.2405673434143145
+            ],
+            "held_position": [
+              0.3083214740825922,
+              0.162040764791052,
+              1.2382292550947316
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007345414490635184,
+            "max_held_gripper_dist": 0.007347209000032556,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023380883195829316,
+            "max_held_gripper_z_dist": 0.0023682751909754884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08750931055944584,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3083214740825922,
+              0.13658973130660956,
+              1.2382292550947316
+            ],
+            "held_grasp_finger_b": [
+              0.29864120176672376,
+              0.162040764791052,
+              1.2382292550947316
+            ],
+            "held_grasp_midpoint": [
+              0.303481337924658,
+              0.14931524804883078,
+              1.2382292550947316
+            ],
+            "held_grasp_object_position": [
+              0.3083214740825922,
+              0.162040764791052,
+              1.2382292550947316
+            ],
+            "held_grasp_finger_gap": 0.02722981412965537,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024582574663947674,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08028145238134865,
+              -0.9964122282269714,
+              0.02678730750380187
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038186039651466413,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213179131287206,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34637198261627494,
+              0.30689035547995136,
+              0.7625852027796739
+            ],
+            "target_position": [
+              0.3524547757095986,
+              0.30729413679244105,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006096180046922982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16825056622259604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852027796739,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754593996324011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500338352741875,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13707223517771386,
+            "release_required_pad_clearance": 0.05250169176370938,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06834854825086038,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8af1a73b290edd015edc7aacd39d3ab50c051e1cb9514dc5300e1adf6df0c74c",
+    "visual_seed": 1964537252400001803,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_111_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd67d1a858e64277cffd940eb1895c3ebe91ada
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_111_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30392887363763266,
+              0.16301205853732528,
+              1.0453798670508014
+            ],
+            "current_z": 1.0453798670508014,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18879335964223587,
+            "gripper_z": 1.0476889022098335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2987124506759701,
+              0.15801393131313113,
+              1.0476889022098335
+            ],
+            "object_minus_gripper": [
+              0.005216422961662581,
+              0.004998127224194154,
+              -0.0023090351590320246
+            ],
+            "object_to_gripper_xy": 0.00722442691596997,
+            "object_to_gripper_z": -0.0023090351590320246,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30392887363763266,
+              0.13858079482605865,
+              1.0453798670508014
+            ],
+            "finger_b": [
+              0.2917501758550941,
+              0.16301205853732528,
+              1.0453798670508014
+            ],
+            "finger_midpoint": [
+              0.2978395247463634,
+              0.15079642668169196,
+              1.0453798670508014
+            ],
+            "object_minus_finger_midpoint": [
+              0.006089348891269275,
+              0.012215631855633319,
+              0.0
+            ],
+            "finger_gap": 0.027298485785989365,
+            "fingertip_max_gap": 0.09287368332601656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013649242892994682,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453798670508014,
+            "object_top_z": 1.091926606600435,
+            "finger_top_clearance": 0.04654673954963351,
+            "fingertip_min_top_clearance": 0.013964021864890036,
+            "object_projection_between_fingers": 0.80096722823007,
+            "object_to_finger_line_xy": 0.010899541444079933,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893684166300828,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.961434173265098,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3038099115929478,
+              0.16100858896401427,
+              1.2375934955828907
+            ],
+            "held_position": [
+              0.3093952273883925,
+              0.16551586754744732,
+              1.2351413477476119
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007584480322974064,
+            "max_held_gripper_dist": 0.007589866914363696,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002452147835278806,
+            "max_held_gripper_z_dist": 0.00248683593067911,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08738301398812343,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3093952273883925,
+              0.13999339789730925,
+              1.2351413477476119
+            ],
+            "held_grasp_finger_b": [
+              0.2994598275413427,
+              0.16551586754744732,
+              1.2351413477476119
+            ],
+            "held_grasp_midpoint": [
+              0.30442752746486756,
+              0.15275463272237827,
+              1.2351413477476119
+            ],
+            "held_grasp_object_position": [
+              0.3093952273883925,
+              0.16551586754744732,
+              1.2351413477476119
+            ],
+            "held_grasp_finger_gap": 0.02738811105503583,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0246677468113346,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07736962884468011,
+              -0.9966294546964708,
+              0.027270323867745527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00398117748236137,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209765336155374,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34656036430918713,
+              0.3130968654247599,
+              0.7625865148783514
+            ],
+            "target_position": [
+              0.3524260661339358,
+              0.3134250118972142,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005874873445806638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16806412370836382,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625865148783514,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581342227228427,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556172177449915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13600482259981472,
+            "release_required_pad_clearance": 0.05278086088724958,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6039157376613566,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3c59e79a2a9a233951fe7a35dc9fbfe3a00cc22bd52def49f4c2dc1df1364fa",
+    "visual_seed": 3909703756687498156,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_113_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6e7336ff98aea03ab7be55497c2c0297b14b15
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_113_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30036827928264553,
+              0.16217177858975965,
+              1.0486867657859216
+            ],
+            "current_z": 1.0486867657859216,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.19210013916806645,
+            "gripper_z": 1.0510790648915376,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29506176937344925,
+              0.1572019230120898,
+              1.0510790648915376
+            ],
+            "object_minus_gripper": [
+              0.005306509909196289,
+              0.004969855577669852,
+              -0.0023922991056160026
+            ],
+            "object_to_gripper_xy": 0.007270385951192312,
+            "object_to_gripper_z": -0.0023922991056160026,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30036827928264553,
+              0.13759103054236835,
+              1.0486867657859216
+            ],
+            "finger_b": [
+              0.28833468869892526,
+              0.16217177858975965,
+              1.0486867657859216
+            ],
+            "finger_midpoint": [
+              0.29435148399078537,
+              0.149881404566064,
+              1.0486867657859216
+            ],
+            "object_minus_finger_midpoint": [
+              0.006016795291860166,
+              0.01229037402369565,
+              0.0
+            ],
+            "finger_gap": 0.02736823846918052,
+            "fingertip_max_gap": 0.09285683940117892,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013684119234590272,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486867657859216,
+            "object_top_z": 1.0951927233364143,
+            "finger_top_clearance": 0.046505957550492694,
+            "fingertip_min_top_clearance": 0.013951787265147841,
+            "object_projection_between_fingers": 0.8066711033925614,
+            "object_to_finger_line_xy": 0.010807953846828115,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892841970058946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8768671813350744,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3001489756852072,
+              0.1603777616520183,
+              1.23965819344474
+            ],
+            "held_position": [
+              0.3057710388308275,
+              0.1649083838305672,
+              1.2371176359488598
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00765431667283068,
+            "max_held_gripper_dist": 0.007656499742283874,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025405574958801136,
+            "max_held_gripper_z_dist": 0.002575058753638837,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734774900084005,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3057710388308275,
+              0.13938844766533676,
+              1.2371176359488598
+            ],
+            "held_grasp_finger_b": [
+              0.2957652791450666,
+              0.1649083838305672,
+              1.2371176359488598
+            ],
+            "held_grasp_midpoint": [
+              0.30076815898794707,
+              0.15214841574795196,
+              1.2371176359488598
+            ],
+            "held_grasp_object_position": [
+              0.3057710388308275,
+              0.1649083838305672,
+              1.2371176359488598
+            ],
+            "held_grasp_finger_gap": 0.02741135474154158,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477639352169534,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06763746837795967,
+              -0.9973832854142105,
+              0.02552948976724989
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004141543898500109,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213526395061999,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3495258749671566,
+              0.31075037827491847,
+              0.762585431279891
+            ],
+            "target_position": [
+              0.35506271652316507,
+              0.31084677511484915,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005537680630651336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17021577263178797,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585431279891,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583576697777615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578515499750204,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13813972037412778,
+            "release_required_pad_clearance": 0.05289257749875102,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8194686001621393,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ac030d4ebb8293d2d441b04f626d409fa392916165acbbb245904e141947aa7",
+    "visual_seed": 7197053014535813423,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_114_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66b6f0b42e3a2d1f4b9f297d5127f68b06468da0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_114_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30746659679960947,
+              0.15781523032420713,
+              1.046042631337698
+            ],
+            "current_z": 1.046042631337698,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1894560643244877,
+            "gripper_z": 1.0482195259147569,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3023090345386711,
+              0.15292438306022405,
+              1.0482195259147569
+            ],
+            "object_minus_gripper": [
+              0.005157562260938386,
+              0.004890847263983089,
+              -0.00217689457705883
+            ],
+            "object_to_gripper_xy": 0.007107801026693611,
+            "object_to_gripper_z": -0.00217689457705883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30746659679960947,
+              0.1333346519631658,
+              1.046042631337698
+            ],
+            "finger_b": [
+              0.29555036908127624,
+              0.15781523032420713,
+              1.046042631337698
+            ],
+            "finger_midpoint": [
+              0.30150848294044286,
+              0.14557494114368646,
+              1.046042631337698
+            ],
+            "object_minus_finger_midpoint": [
+              0.005958113859166614,
+              0.01224028918052067,
+              0.0
+            ],
+            "finger_gap": 0.02722673685784359,
+            "fingertip_max_gap": 0.09442481286669005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013613368428921795,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046042631337698,
+            "object_top_z": 1.093281076586986,
+            "finger_top_clearance": 0.047238445249288,
+            "fingertip_min_top_clearance": 0.014171533574786382,
+            "object_projection_between_fingers": 0.8084481282904591,
+            "object_to_finger_line_xy": 0.010714326433967475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971240643334503,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.449198926190553,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3073948074494598,
+              0.15598013432389296,
+              1.2395267852748257
+            ],
+            "held_position": [
+              0.3128827499283207,
+              0.16043450610250704,
+              1.2372217613042669
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00743451922441866,
+            "max_held_gripper_dist": 0.0074355834791737345,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023050239705588726,
+            "max_held_gripper_z_dist": 0.0023375475947506885,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874006230661544,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3128827499283207,
+              0.13498626991075158,
+              1.2372217613042669
+            ],
+            "held_grasp_finger_b": [
+              0.302979282692742,
+              0.16043450610250704,
+              1.2372217613042669
+            ],
+            "held_grasp_midpoint": [
+              0.3079310163105313,
+              0.1477103880066293,
+              1.2372217613042669
+            ],
+            "held_grasp_object_position": [
+              0.3128827499283207,
+              0.16043450610250704,
+              1.2372217613042669
+            ],
+            "held_grasp_finger_gap": 0.027307350449239005,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024731407902431574,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06529048576603473,
+              -0.997240433395235,
+              0.035336531665109416
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041355454435537285,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218791882801605,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3417414614055411,
+              0.31094279917412393,
+              0.762585847163299
+            ],
+            "target_position": [
+              0.34909307406563644,
+              0.3120784908958603,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00743881740540083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1679362379909655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585847163299,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536696726261985,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749538332583072,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13689741002951,
+            "release_required_pad_clearance": 0.05374769166291536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4988940698028372,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5681b2128628c8b44f2884c0e03de9bde896f2b100afff2a593527c0073f76d8",
+    "visual_seed": 1251195557904658856,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_115_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec3ba4fb0e2886e33996e7fa3779858f81017913
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_115_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3012297836346769,
+              0.15621316485238806,
+              1.0463077942581216
+            ],
+            "current_z": 1.0463077942581216,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.18972140605884547,
+            "gripper_z": 1.0487562015680842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29589825020404337,
+              0.15124760062379747,
+              1.0487562015680842
+            ],
+            "object_minus_gripper": [
+              0.005331533430633528,
+              0.0049655642285905965,
+              -0.0024484073099626524
+            ],
+            "object_to_gripper_xy": 0.007285744768396807,
+            "object_to_gripper_z": -0.0024484073099626524,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3012297836346769,
+              0.13157237545510647,
+              1.0463077942581216
+            ],
+            "finger_b": [
+              0.2892625086901825,
+              0.15621316485238806,
+              1.0463077942581216
+            ],
+            "finger_midpoint": [
+              0.2952461461624297,
+              0.14389277015374727,
+              1.0463077942581216
+            ],
+            "object_minus_finger_midpoint": [
+              0.005983637472247172,
+              0.012320394698640796,
+              0.0
+            ],
+            "finger_gap": 0.027393140961165963,
+            "fingertip_max_gap": 0.09261447521189284,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01369657048058297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463077942581216,
+            "object_top_z": 1.0926023718630338,
+            "finger_top_clearance": 0.04629457760491218,
+            "fingertip_min_top_clearance": 0.013888373281473654,
+            "object_projection_between_fingers": 0.8091435360780956,
+            "object_to_finger_line_xy": 0.010764851755579757,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880723760594642,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8201020262466788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3008237138851638,
+              0.1544851860024517,
+              1.2392979897193157
+            ],
+            "held_position": [
+              0.3064493413907178,
+              0.15904068479211494,
+              1.236721264576603
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007683733891472045,
+            "max_held_gripper_dist": 0.007688019549290004,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002576725142712677,
+            "max_held_gripper_z_dist": 0.0026087127488434447,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872672711042968,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3064493413907178,
+              0.1335589286042353,
+              1.236721264576603
+            ],
+            "held_grasp_finger_b": [
+              0.2963025344838133,
+              0.15904068479211494,
+              1.236721264576603
+            ],
+            "held_grasp_midpoint": [
+              0.3013759379372655,
+              0.1462998066981751,
+              1.236721264576603
+            ],
+            "held_grasp_object_position": [
+              0.3064493413907178,
+              0.15904068479211494,
+              1.236721264576603
+            ],
+            "held_grasp_finger_gap": 0.027427679246056307,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024827242700609004,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05939935728084322,
+              -0.9979671856929415,
+              0.023091397418365082
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004317918043919177,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218388980678333,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34873437996895107,
+              0.31209037475772317,
+              0.762584820897151
+            ],
+            "target_position": [
+              0.3540118489213192,
+              0.31204869112295486,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005277633567103454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1698772510387625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584820897151,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555795543250429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503914957901725,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13851336442116868,
+            "release_required_pad_clearance": 0.052519574789508625,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10461681146181423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5858c516ec8aa7f8f09bacdadcb0a48d06564ddcfc3b5fba6df0a47ee4e3bd63",
+    "visual_seed": 5678466389396193538,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_116_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..731a9cdc52f29a5a606cb7b300c757d3a1d7fd61
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_116_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30600770019762513,
+              0.16004356032342393,
+              1.0444228489247742
+            ],
+            "current_z": 1.0444228489247742,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18783640112085342,
+            "gripper_z": 1.047777623463181,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30035517647938154,
+              0.15502477045177682,
+              1.047777623463181
+            ],
+            "object_minus_gripper": [
+              0.005652523718243596,
+              0.005018789871647111,
+              -0.003354774538406824
+            ],
+            "object_to_gripper_xy": 0.0075590525967910846,
+            "object_to_gripper_z": -0.003354774538406824,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30600770019762513,
+              0.13502607621195906,
+              1.0444228489247742
+            ],
+            "finger_b": [
+              0.29416667896678106,
+              0.16004356032342393,
+              1.0444228489247742
+            ],
+            "finger_midpoint": [
+              0.3000871895822031,
+              0.1475348182676915,
+              1.0444228489247742
+            ],
+            "object_minus_finger_midpoint": [
+              0.005920510615422037,
+              0.012508742055732436,
+              0.0
+            ],
+            "finger_gap": 0.027678227816402865,
+            "fingertip_max_gap": 0.09355294183615845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013839113908201433,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444228489247742,
+            "object_top_z": 1.090479238132342,
+            "finger_top_clearance": 0.04605638920756783,
+            "fingertip_min_top_clearance": 0.013816916762270315,
+            "object_projection_between_fingers": 0.8169786475273936,
+            "object_to_finger_line_xy": 0.01070272860210379,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049276470918079227,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.773509994005884,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3048398441799056,
+              0.15922719080935333,
+              1.2382404734388062
+            ],
+            "held_position": [
+              0.3106533586599584,
+              0.16397746859901638,
+              1.234780636649684
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008266351087155222,
+            "max_held_gripper_dist": 0.008271433744196156,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003459836789122095,
+            "max_held_gripper_z_dist": 0.0035008167588677086,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08689758476778113,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3106533586599584,
+              0.13853763299363075,
+              1.234780636649684
+            ],
+            "held_grasp_finger_b": [
+              0.2999087583026936,
+              0.16397746859901638,
+              1.234780636649684
+            ],
+            "held_grasp_midpoint": [
+              0.30528105848132603,
+              0.15125755079632358,
+              1.234780636649684
+            ],
+            "held_grasp_object_position": [
+              0.3106533586599584,
+              0.16397746859901638,
+              1.234780636649684
+            ],
+            "held_grasp_finger_gap": 0.027615786653042883,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025331060658089623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009670101341551095,
+              -0.9998084274976308,
+              0.017017562832533306
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005253525681812328,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032430793262436745,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34983509747651986,
+              0.30913301769865753,
+              0.7625848112294643
+            ],
+            "target_position": [
+              0.35432643186701934,
+              0.30849056503688344,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0045370508075074445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1677751305170815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848112294643,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757011928526491,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08842940556265926,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13612929431701165,
+            "release_required_pad_clearance": 0.05421470278132963,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.436561050574409,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bed5f2225fff83cba9b289f2eba9bde0b1b0d0e9f7954ec8fc15606a4567b983",
+    "visual_seed": 4822243039238140338,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_117_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaff3c64dcd7c88e3bad481a1751450f66d3d4b9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_117_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3021023637209982,
+              0.15965459380313637,
+              1.0465153207800741
+            ],
+            "current_z": 1.0465153207800741,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18992881337150858,
+            "gripper_z": 1.0487829041421302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2968833245427582,
+              0.15477111004250205,
+              1.0487829041421302
+            ],
+            "object_minus_gripper": [
+              0.005219039178240015,
+              0.004883483760634327,
+              -0.0022675833620560137
+            ],
+            "object_to_gripper_xy": 0.007147501912163676,
+            "object_to_gripper_z": -0.0022675833620560137,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3021023637209982,
+              0.13505731140182214,
+              1.0465153207800741
+            ],
+            "finger_b": [
+              0.2902953851352663,
+              0.15965459380313637,
+              1.0465153207800741
+            ],
+            "finger_midpoint": [
+              0.29619887442813225,
+              0.14735595260247925,
+              1.0465153207800741
+            ],
+            "object_minus_finger_midpoint": [
+              0.005903489292865938,
+              0.012298641200657129,
+              0.0
+            ],
+            "finger_gap": 0.027284263685390775,
+            "fingertip_max_gap": 0.09401934645933233,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0136421318426954,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465153207800741,
+            "object_top_z": 1.0935751348418785,
+            "finger_top_clearance": 0.04705981406180437,
+            "fingertip_min_top_clearance": 0.01411794421854131,
+            "object_projection_between_fingers": 0.8127365263880364,
+            "object_to_finger_line_xy": 0.010644215652226667,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049509673229666165,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2423234378261971,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3017945240205393,
+              0.1580391035660793,
+              1.2378346506846758
+            ],
+            "held_position": [
+              0.30728837986952906,
+              0.16253667009865433,
+              1.2354284242629643
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007496698099627626,
+            "max_held_gripper_dist": 0.007499292283213142,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024062264217115104,
+            "max_held_gripper_z_dist": 0.0024390556414219944,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862908674787102,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30728837986952906,
+              0.1371056141017007,
+              1.2354284242629643
+            ],
+            "held_grasp_finger_b": [
+              0.29730614098206615,
+              0.16253667009865433,
+              1.2354284242629643
+            ],
+            "held_grasp_midpoint": [
+              0.30229726042579763,
+              0.1498211421001775,
+              1.2354284242629643
+            ],
+            "held_grasp_object_position": [
+              0.30728837986952906,
+              0.16253667009865433,
+              1.2354284242629643
+            ],
+            "held_grasp_finger_gap": 0.027320023834663257,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024801703001161034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057555950814366555,
+              -0.997844535225942,
+              0.0315213585617492
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004270270757451534,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032224836214806186,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.351193019698892,
+              0.3133724562701772,
+              0.7625851088100799
+            ],
+            "target_position": [
+              0.35728857817386395,
+              0.3138294649300219,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006112666360678902,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17010020443267793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851088100799,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754445545467226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570224011119042,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387197184978593,
+            "release_required_pad_clearance": 0.05285112005559521,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.734849320572605,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "281d024054b86d8304741f4a334acb327c251d2d2133944af966999077a50010",
+    "visual_seed": 550097057902843507,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_119_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f081fd68912e31d06f8c2f0b39b28ef9ba2ea5a0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_119_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2998866953547524,
+              0.16540352626881727,
+              1.0483267434823957
+            ],
+            "current_z": 1.0483267434823957,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19174023607383017,
+            "gripper_z": 1.0506782922902114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2946265062267441,
+              0.16044620234370563,
+              1.0506782922902114
+            ],
+            "object_minus_gripper": [
+              0.005260189128008297,
+              0.00495732392511164,
+              -0.002351548807815629
+            ],
+            "object_to_gripper_xy": 0.007228046081819136,
+            "object_to_gripper_z": -0.002351548807815629,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2998866953547524,
+              0.14086696734202211,
+              1.0483267434823957
+            ],
+            "finger_b": [
+              0.28785291711026617,
+              0.16540352626881727,
+              1.0483267434823957
+            ],
+            "finger_midpoint": [
+              0.29386980623250925,
+              0.15313524680541968,
+              1.0483267434823957
+            ],
+            "object_minus_finger_midpoint": [
+              0.00601688912224313,
+              0.012268279463397591,
+              0.0
+            ],
+            "finger_gap": 0.027328639607663612,
+            "fingertip_max_gap": 0.09065596897300013,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013664319803831832,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483267434823957,
+            "object_top_z": 1.0938199387782501,
+            "finger_top_clearance": 0.04549319529585438,
+            "fingertip_min_top_clearance": 0.013647958588756282,
+            "object_projection_between_fingers": 0.8061043877520199,
+            "object_to_finger_line_xy": 0.010804325178521541,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047827984486500066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21854499860529422,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29986568837734334,
+              0.16357696662348825,
+              1.24115404743067
+            ],
+            "held_position": [
+              0.30546879873707755,
+              0.16806907237398452,
+              1.2386610618466996
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007601896927667897,
+            "max_held_gripper_dist": 0.0076040764983466074,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002492985583970375,
+            "max_held_gripper_z_dist": 0.002527390500381088,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678548103741882,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30546879873707755,
+              0.14253957082032712,
+              1.2386610618466996
+            ],
+            "held_grasp_finger_b": [
+              0.29554584893479646,
+              0.16806907237398452,
+              1.2386610618466996
+            ],
+            "held_grasp_midpoint": [
+              0.30050732383593703,
+              0.15530432159715582,
+              1.2386610618466996
+            ],
+            "held_grasp_object_position": [
+              0.30546879873707755,
+              0.16806907237398452,
+              1.2386610618466996
+            ],
+            "held_grasp_finger_gap": 0.027390151192660226,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024686087304326507,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07702978265582618,
+              -0.9969035203217593,
+              0.01580454852502622
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003968752346104906,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209281864707313,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3514473150884068,
+              0.30773992854794624,
+              0.7625852824153352
+            ],
+            "target_position": [
+              0.3554281099826391,
+              0.30687056308178456,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004074619528704501,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17052553857063377,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852824153352,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581779126082872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512315730939161,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13856072841054187,
+            "release_required_pad_clearance": 0.05256157865469581,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1855518474126771,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4d1ab00a3960430a6294da646e3ef3ef72912d0f8785c3012555c11abf617e1",
+    "visual_seed": 1642546444649159611,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..186ebae44b8afe35f52fb3d92d1d242b5b07eb54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3033224719193836,
+              0.1569540982029121,
+              1.0467457133635942
+            ],
+            "current_z": 1.0467457133635942,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.19015932516431844,
+            "gripper_z": 1.0492138070737254,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2981759698475759,
+              0.15196347556824977,
+              1.0492138070737254
+            ],
+            "object_minus_gripper": [
+              0.005146502071807724,
+              0.004990622634662323,
+              -0.002468093710131125
+            ],
+            "object_to_gripper_xy": 0.007168877028986137,
+            "object_to_gripper_z": -0.002468093710131125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3033224719193836,
+              0.13261015871005422,
+              1.0467457133635942
+            ],
+            "finger_b": [
+              0.2911061199964001,
+              0.1569540982029121,
+              1.0467457133635942
+            ],
+            "finger_midpoint": [
+              0.29721429595789184,
+              0.14478212845648314,
+              1.0467457133635942
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061081759614917686,
+              0.012171969746428951,
+              0.0
+            ],
+            "finger_gap": 0.027237229013578227,
+            "fingertip_max_gap": 0.09270834525216379,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013618614506789138,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467457133635942,
+            "object_top_z": 1.0931237466813442,
+            "finger_top_clearance": 0.04637803331774992,
+            "fingertip_min_top_clearance": 0.013913409995324977,
+            "object_projection_between_fingers": 0.7988327748050551,
+            "object_to_finger_line_xy": 0.010918663271080634,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048854172626081896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9534928013774736,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3033681455009779,
+              0.15503919695580515,
+              1.2387596915199868
+            ],
+            "held_position": [
+              0.3089060359257388,
+              0.15951554854581365,
+              1.236152633423125
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007583053859392175,
+            "max_held_gripper_dist": 0.007589233390413667,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002607058096861792,
+            "max_held_gripper_z_dist": 0.0026378520346106438,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08677737599274529,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3089060359257388,
+              0.13400654678780005,
+              1.236152633423125
+            ],
+            "held_grasp_finger_b": [
+              0.2990413350272809,
+              0.15951554854581365,
+              1.236152633423125
+            ],
+            "held_grasp_midpoint": [
+              0.3039736854765098,
+              0.14676104766680687,
+              1.236152633423125
+            ],
+            "held_grasp_object_position": [
+              0.3089060359257388,
+              0.15951554854581365,
+              1.236152633423125
+            ],
+            "held_grasp_finger_gap": 0.027349981618026296,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02463423417302895,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07961689670069173,
+              -0.9964965029436782,
+              0.02560994691075169
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003915290740498458,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209771100688056,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3524489869697008,
+              0.3090807335067014,
+              0.7625855796690912
+            ],
+            "target_position": [
+              0.35779142121241114,
+              0.30907555153613103,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005342436755873035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17150204898972604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855796690912,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572194939744432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533684195167117,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1395969507897216,
+            "release_required_pad_clearance": 0.052668420975835586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.39366360913607584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e74e0c3658ed74969a452598d427fd1558ddb878cbd851267c66d7914ba3fc3b",
+    "visual_seed": 8696217759854555234,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fa30700156cde764c58b94a1b650670b66b420e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3071763097498974,
+              0.15696883307505533,
+              1.0458883216630628
+            ],
+            "current_z": 1.0458883216630628,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18930193346378676,
+            "gripper_z": 1.0480339348905818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30214562634365083,
+              0.15203757609078222,
+              1.0480339348905818
+            ],
+            "object_minus_gripper": [
+              0.005030683406246572,
+              0.0049312569842731024,
+              -0.00214561322751905
+            ],
+            "object_to_gripper_xy": 0.0070445064396895025,
+            "object_to_gripper_z": -0.00214561322751905,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3071763097498974,
+              0.1327066884546715,
+              1.0458883216630628
+            ],
+            "finger_b": [
+              0.29504639595854,
+              0.15696883307505533,
+              1.0458883216630628
+            ],
+            "finger_midpoint": [
+              0.3011113528542187,
+              0.14483776076486343,
+              1.0458883216630628
+            ],
+            "object_minus_finger_midpoint": [
+              0.006064956895678708,
+              0.012131072310191893,
+              0.0
+            ],
+            "finger_gap": 0.027125384239973117,
+            "fingertip_max_gap": 0.0928797216986749,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013562692119986548,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458883216630628,
+            "object_top_z": 1.092322367532096,
+            "finger_top_clearance": 0.046434045869033325,
+            "fingertip_min_top_clearance": 0.013930213760709964,
+            "object_projection_between_fingers": 0.8000305597457759,
+            "object_to_finger_line_xy": 0.010849531937874341,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893986084933745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0241567808907674,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30737583589502715,
+              0.15497529177690716,
+              1.2389513723443082
+            ],
+            "held_position": [
+              0.3128086097691516,
+              0.15939378528495493,
+              1.2366735410279561
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007363873461282692,
+            "max_held_gripper_dist": 0.007367298217642947,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022778313163520636,
+            "max_held_gripper_z_dist": 0.0023086611368234866,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666536688435106,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3128086097691516,
+              0.13393003959828348,
+              1.2366735410279561
+            ],
+            "held_grasp_finger_b": [
+              0.3030586855064861,
+              0.15939378528495493,
+              1.2366735410279561
+            ],
+            "held_grasp_midpoint": [
+              0.30793364763781883,
+              0.1466619124416192,
+              1.2366735410279561
+            ],
+            "held_grasp_object_position": [
+              0.3128086097691516,
+              0.15939378528495493,
+              1.2366735410279561
+            ],
+            "held_grasp_finger_gap": 0.027266524668963437,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02458813600636858,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08041480906566627,
+              -0.9964038526207928,
+              0.026698707185437424
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038508411361757064,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212211866463953,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3522436533102583,
+              0.3065385964833983,
+              0.7625860286264678
+            ],
+            "target_position": [
+              0.35799659113528653,
+              0.30675299214647966,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00575693139780114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17099644803017558,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860286264678,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549687663088023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502138059571289,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1395828957620563,
+            "release_required_pad_clearance": 0.05251069029785645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08841823596085356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e450cdf402345ac5cee87d602ee56dd66046a1c0ef4e4d69ff1660c6f14ad558",
+    "visual_seed": 7112423022061621209,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bcb1d4becf4100849c5213a24732ba27d36e05
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30739267408105375,
+              0.15606215535896364,
+              1.0480113552704677
+            ],
+            "current_z": 1.0480113552704677,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1914247882572574,
+            "gripper_z": 1.050173867884989,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30239958219627006,
+              0.1512278508337539,
+              1.050173867884989
+            ],
+            "object_minus_gripper": [
+              0.004993091884783696,
+              0.004834304525209748,
+              -0.0021625126145212725
+            ],
+            "object_to_gripper_xy": 0.006949925669556204,
+            "object_to_gripper_z": -0.0021625126145212725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30739267408105375,
+              0.131704832056126,
+              1.0480113552704677
+            ],
+            "finger_b": [
+              0.2955563963834589,
+              0.15606215535896364,
+              1.0480113552704677
+            ],
+            "finger_midpoint": [
+              0.3014745352322563,
+              0.14388349370754483,
+              1.0480113552704677
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059181388487974385,
+              0.012178661651418815,
+              0.0
+            ],
+            "finger_gap": 0.027080928126885537,
+            "fingertip_max_gap": 0.09422067488480165,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013540464063442757,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480113552704677,
+            "object_top_z": 1.0952839638856728,
+            "finger_top_clearance": 0.0472726086152051,
+            "fingertip_min_top_clearance": 0.01418178258456153,
+            "object_projection_between_fingers": 0.8089692843980835,
+            "object_to_finger_line_xy": 0.010645870083613035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961033744240083,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4232348565613486,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30764650843471425,
+              0.1543287181663866,
+              1.2424448662480434
+            ],
+            "held_position": [
+              0.3129936753954608,
+              0.15870807850585636,
+              1.240165478738952
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072778155311619495,
+            "max_held_gripper_dist": 0.007282273731788715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022793875090914018,
+            "max_held_gripper_z_dist": 0.002309785979837775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661831931989726,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3129936753954608,
+              0.13331367826482662,
+              1.240165478738952
+            ],
+            "held_grasp_finger_b": [
+              0.3032583202478637,
+              0.15870807850585636,
+              1.240165478738952
+            ],
+            "held_grasp_midpoint": [
+              0.3081259978216623,
+              0.1460108783853415,
+              1.240165478738952
+            ],
+            "held_grasp_object_position": [
+              0.3129936753954608,
+              0.15870807850585636,
+              1.240165478738952
+            ],
+            "held_grasp_finger_gap": 0.027196556830809605,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024587950002194513,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07393610564707512,
+              -0.9965875944575104,
+              0.03669630574236826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039439809619003655,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218645571800899,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34942250819103005,
+              0.31015003241862155,
+              0.7625858741300815
+            ],
+            "target_position": [
+              0.35610924751762707,
+              0.3109356916713002,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006732736686012516,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16682913231697852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858741300815,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551667400706584,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594941471517635,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1353522330559358,
+            "release_required_pad_clearance": 0.05297470735758818,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9779702799162248,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 127,
+            "max_placed_release_frames": 127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00dc1f2a5bd1c1934140a7dc50727bfca0260df87be8840b653ab9ab11a53aeb",
+    "visual_seed": 3750593090819569572,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c27c6284ab0e5020e5513e22c1f4d021eaa1051
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3066324474135448,
+              0.16065493311411175,
+              1.0223806278368361
+            ],
+            "current_z": 1.0223806278368361,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.16579418003291535,
+            "gripper_z": 1.0505865085635828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30151039958974357,
+              0.15576063398120393,
+              1.0505865085635828
+            ],
+            "object_minus_gripper": [
+              0.005122047823801212,
+              0.0048942991329078145,
+              -0.02820588072674668
+            ],
+            "object_to_gripper_xy": 0.007084457488875836,
+            "object_to_gripper_z": -0.02820588072674668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3066324474135448,
+              0.1356877236031031,
+              1.0370196837241386
+            ],
+            "finger_b": [
+              0.2952510165437606,
+              0.16065493311411175,
+              1.0371083734200384
+            ],
+            "finger_midpoint": [
+              0.3009417319786527,
+              0.1481713283586074,
+              1.0370640285720885
+            ],
+            "object_minus_finger_midpoint": [
+              0.00569071543489208,
+              0.012483604755504335,
+              -0.014683400735252317
+            ],
+            "finger_gap": 0.0274391396598442,
+            "fingertip_max_gap": 0.10225552478911085,
+            "finger_z_skew": 8.86896958998129e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013719498163291885,
+            "object_to_finger_midpoint_z": 0.014683400735252317,
+            "finger_midpoint_minus_object_z": 0.014683400735252317,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0223806278368361,
+            "object_top_z": 1.0711585869414177,
+            "finger_top_clearance": 0.034094558369329286,
+            "fingertip_min_top_clearance": 0.014633387731374464,
+            "object_projection_between_fingers": 0.8279489661566364,
+            "object_to_finger_line_xy": 0.010356157553243206,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.053627762394555425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.4015106357014,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 201,
+            "max_stable_success_frames": 201,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30969747522996083,
+              0.15066273305851258,
+              1.214005492511618
+            ],
+            "held_position": [
+              0.3146211900184181,
+              0.15352973178793264,
+              1.1854859743378185
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.029083080405937788,
+            "max_held_gripper_dist": 0.02909987606875314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.028519518173799385,
+            "max_held_gripper_z_dist": 0.028535383158267313,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08870159547375256,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3146211900184181,
+              0.12728543950927695,
+              1.2006086749622906
+            ],
+            "held_grasp_finger_b": [
+              0.30977895074970285,
+              0.16213921943903062,
+              1.19911742034671
+            ],
+            "held_grasp_midpoint": [
+              0.3122000703840605,
+              0.1447123294741538,
+              1.1998630476545005
+            ],
+            "held_grasp_object_position": [
+              0.3146211900184181,
+              0.15352973178793264,
+              1.1854859743378185
+            ],
+            "held_grasp_finger_gap": 0.03522012346451496,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.03410486363029858,
+            "held_grasp_world_z_skew": 0.0014912546155805284,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11285091524379316,
+              -0.9912802817152877,
+              0.06802994936862759
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.013801169887785113,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03520841077975616,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33731595181304447,
+              0.3014093942381699,
+              0.7625861552235527
+            ],
+            "target_position": [
+              0.35010670491801943,
+              0.30668289671896426,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.013835215697898267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1646653799347554,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861552235527,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521392599195172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638647482711313,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13314126998258313,
+            "release_required_pad_clearance": 0.05319323741355657,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4044117575539588,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 126,
+            "max_placed_release_frames": 126
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afbb6fcedfe0c5fe77f3e365c59e9d020c3dca4e6d4dc7b1cec55f40a1d47929",
+    "visual_seed": 8028435736292744858,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f9c29e034bb44b9fb050b663d3f13578b58de0d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3000827617682747,
+              0.16402097314661446,
+              1.0461127607814786
+            ],
+            "current_z": 1.0461127607814786,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18952625337291307,
+            "gripper_z": 1.0485349942519127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29495082994283484,
+              0.15913032415770334,
+              1.0485349942519127
+            ],
+            "object_minus_gripper": [
+              0.005131931825439862,
+              0.004890648988911117,
+              -0.002422233470434021
+            ],
+            "object_to_gripper_xy": 0.007089088220194459,
+            "object_to_gripper_z": -0.002422233470434021,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3000827617682747,
+              0.13956581717506272,
+              1.0461127607814786
+            ],
+            "finger_b": [
+              0.2881621850490331,
+              0.16402097314661446,
+              1.0461127607814786
+            ],
+            "finger_midpoint": [
+              0.29412247340865394,
+              0.1517933951608386,
+              1.0461127607814786
+            ],
+            "object_minus_finger_midpoint": [
+              0.005960288359620758,
+              0.012227577985775867,
+              0.0
+            ],
+            "finger_gap": 0.027205786202796026,
+            "fingertip_max_gap": 0.09434458224882639,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013602893101398,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461127607814786,
+            "object_top_z": 1.0933006047727345,
+            "finger_top_clearance": 0.04718784399125586,
+            "fingertip_min_top_clearance": 0.014156353197376757,
+            "object_projection_between_fingers": 0.8080129335644239,
+            "object_to_finger_line_xy": 0.010715351534665083,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049672291124413195,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3946074152580321,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998636308074505,
+              0.16277626636726472,
+              1.2398169954840554
+            ],
+            "held_position": [
+              0.30530860134496923,
+              0.16724691667613834,
+              1.2372779307581045
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007488742753042528,
+            "max_held_gripper_dist": 0.00749093153135658,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025390647259508903,
+            "max_held_gripper_z_dist": 0.002573514864008919,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08731615559318973,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30530860134496923,
+              0.14187538082111276,
+              1.2372779307581045
+            ],
+            "held_grasp_finger_b": [
+              0.2952874156076312,
+              0.16724691667613834,
+              1.2372779307581045
+            ],
+            "held_grasp_midpoint": [
+              0.3002980084763002,
+              0.15456114874862553,
+              1.2372779307581045
+            ],
+            "held_grasp_object_position": [
+              0.30530860134496923,
+              0.16724691667613834,
+              1.2372779307581045
+            ],
+            "held_grasp_finger_gap": 0.02727891118107677,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024686781579945968,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06192547538494503,
+              -0.9974700946469739,
+              0.034909107455010184
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004239169169239359,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0322362674851323,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34455936953727023,
+              0.3124331568514369,
+              0.7625849283064796
+            ],
+            "target_position": [
+              0.3518538826666243,
+              0.31359780163218554,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073869018715320795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17025387478295745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849283064796,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583488974083946,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684271573908091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13789533549063507,
+            "release_required_pad_clearance": 0.053421357869540456,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8460280278012378,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c7a0c671ccbc094e833d3b8c61d574e2c2fefa388d66a10c013947c8efa046b",
+    "visual_seed": 6821041248182861614,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaef47d61cd8112deecf79253a0186560521bb8e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3020706036077927,
+              0.15508466886889413,
+              1.04667562065938
+            ],
+            "current_z": 1.04667562065938,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.19008911325081457,
+            "gripper_z": 1.049102621147222,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2970329511722425,
+              0.15023980302306855,
+              1.049102621147222
+            ],
+            "object_minus_gripper": [
+              0.005037652435550211,
+              0.00484486584582558,
+              -0.002427000487842168
+            ],
+            "object_to_gripper_xy": 0.006989325226762036,
+            "object_to_gripper_z": -0.002427000487842168,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3020706036077927,
+              0.13065301029522947,
+              1.04667562065938
+            ],
+            "finger_b": [
+              0.290274613513291,
+              0.15508466886889413,
+              1.04667562065938
+            ],
+            "finger_midpoint": [
+              0.29617260856054184,
+              0.1428688395820618,
+              1.04667562065938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005897995047250859,
+              0.01221582928683232,
+              0.0
+            ],
+            "finger_gap": 0.027130265810892912,
+            "fingertip_max_gap": 0.09464826685534763,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013565132905446442,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04667562065938,
+            "object_top_z": 1.0941548537722687,
+            "finger_top_clearance": 0.04747923311288882,
+            "fingertip_min_top_clearance": 0.014243769933866628,
+            "object_projection_between_fingers": 0.8109569564413245,
+            "object_to_finger_line_xy": 0.0106226604831673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04982413342767382,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.618434670609904,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020050050569265,
+              0.1533653081125208,
+              1.2398931748798474
+            ],
+            "held_position": [
+              0.3073571765060552,
+              0.1577912365536722,
+              1.2373418131093767
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007398920777443175,
+            "max_held_gripper_dist": 0.0074000196740572,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025513617704706615,
+            "max_held_gripper_z_dist": 0.0025804123799149092,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08674091577846042,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3073571765060552,
+              0.13240816384853932,
+              1.2373418131093767
+            ],
+            "held_grasp_finger_b": [
+              0.2975316093215981,
+              0.1577912365536722,
+              1.2373418131093767
+            ],
+            "held_grasp_midpoint": [
+              0.30244439291382663,
+              0.14509970020110574,
+              1.2373418131093767
+            ],
+            "held_grasp_object_position": [
+              0.3073571765060552,
+              0.1577912365536722,
+              1.2373418131093767
+            ],
+            "held_grasp_finger_gap": 0.027218415649158233,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024667132336241432,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06531894077056738,
+              -0.9970789695639305,
+              0.03958490154012828
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004104938919894738,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222486315673127,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3499708641104456,
+              0.3053426729180906,
+              0.7625855640376327
+            ],
+            "target_position": [
+              0.35710730815948816,
+              0.3063059398750195,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007201160801942012,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16926208115129188,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855640376327,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550115444710144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749391412244077,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13771555164369753,
+            "release_required_pad_clearance": 0.05374695706122039,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4963857109960017,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa86016ba3c5ebda51e075293bdd91d6dd03777d8aee5aaef208439fbecef27e",
+    "visual_seed": 7780438097947798735,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..510696d3753bc9788d5a8b0d49bf529b1d7af41e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30776097520568835,
+              0.1592266706014499,
+              1.0486353069473398
+            ],
+            "current_z": 1.0486353069473398,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19204879953877418,
+            "gripper_z": 1.0507067874696479,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3025463830651638,
+              0.15432676000098114,
+              1.0507067874696479
+            ],
+            "object_minus_gripper": [
+              0.005214592140524554,
+              0.004899910600468765,
+              -0.0020714805223081
+            ],
+            "object_to_gripper_xy": 0.007155494048953338,
+            "object_to_gripper_z": -0.0020714805223081,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30776097520568835,
+              0.13466691313419663,
+              1.0486353069473398
+            ],
+            "finger_b": [
+              0.29588107341613146,
+              0.1592266706014499,
+              1.0486353069473398
+            ],
+            "finger_midpoint": [
+              0.3018210243109099,
+              0.14694679186782328,
+              1.0486353069473398
+            ],
+            "object_minus_finger_midpoint": [
+              0.005939950894778445,
+              0.012279878733626626,
+              0.0
+            ],
+            "finger_gap": 0.02728211416624123,
+            "fingertip_max_gap": 0.09321216900474824,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0136410570831206,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486353069473398,
+            "object_top_z": 1.0953372074919818,
+            "finger_top_clearance": 0.04670190054464207,
+            "fingertip_min_top_clearance": 0.01401057016339262,
+            "object_projection_between_fingers": 0.8103863244651105,
+            "object_to_finger_line_xy": 0.010694461027046697,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910608450237412,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0610561341477103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3078084650912499,
+              0.15722559326833918,
+              1.240772721328228
+            ],
+            "held_position": [
+              0.31335109907338266,
+              0.16168568347933265,
+              1.2385601353501754
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007450418301032997,
+            "max_held_gripper_dist": 0.007454172089519092,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002212585978052628,
+            "max_held_gripper_z_dist": 0.002245798557747758,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662320735480497,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31335109907338266,
+              0.13616778908228983,
+              1.2385601353501754
+            ],
+            "held_grasp_finger_b": [
+              0.30351849111578977,
+              0.16168568347933265,
+              1.2385601353501754
+            ],
+            "held_grasp_midpoint": [
+              0.3084347950945862,
+              0.14892673628081124,
+              1.2385601353501754
+            ],
+            "held_grasp_object_position": [
+              0.31335109907338266,
+              0.16168568347933265,
+              1.2385601353501754
+            ],
+            "held_grasp_finger_gap": 0.027346720346439146,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024774471004736096,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06841962045069142,
+              -0.9972301755502221,
+              0.029167319202435538
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040494113141013475,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214024615894377,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3507162433898285,
+              0.3110071920768537,
+              0.7625856456847208
+            ],
+            "target_position": [
+              0.356498769724994,
+              0.3112995038861567,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005789909931142343,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16900101116329427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856456847208,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558572274036096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532742484174487,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374131315334422,
+            "release_required_pad_clearance": 0.052663712420872436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37947225553984676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5382ff7ac5844cecf893c5d726bd8d3106d7d816653d596175fab4498114b693",
+    "visual_seed": 2445528267985117331,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7d1dc51c76d7567112921f257a7af342d9f507
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3068503762520378,
+              0.16461358288815248,
+              1.0490740118330917
+            ],
+            "current_z": 1.0490740118330917,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1924875640291709,
+            "gripper_z": 1.0510755572041426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30174458696585627,
+              0.15965299427498453,
+              1.0510755572041426
+            ],
+            "object_minus_gripper": [
+              0.00510578928618155,
+              0.004960588613167949,
+              -0.0020015453710509057
+            ],
+            "object_to_gripper_xy": 0.007118744525826013,
+            "object_to_gripper_z": -0.0020015453710509057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3068503762520378,
+              0.14029925343680444,
+              1.0490740118330917
+            ],
+            "finger_b": [
+              0.2946716250269731,
+              0.16461358288815248,
+              1.0490740118330917
+            ],
+            "finger_midpoint": [
+              0.30076100063950545,
+              0.15245641816247846,
+              1.0490740118330917
+            ],
+            "object_minus_finger_midpoint": [
+              0.006089375612532366,
+              0.012157164725674019,
+              0.0
+            ],
+            "finger_gap": 0.027193907370414907,
+            "fingertip_max_gap": 0.09281878661030177,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013596953685207453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490740118330917,
+            "object_top_z": 1.0955491555004018,
+            "finger_top_clearance": 0.04647514366731009,
+            "fingertip_min_top_clearance": 0.013942543100193027,
+            "object_projection_between_fingers": 0.7994317012824855,
+            "object_to_finger_line_xy": 0.01088913650983414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048909393305150886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9430096993832614,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30698440486273687,
+              0.16251844320551534,
+              1.240897049610811
+            ],
+            "held_position": [
+              0.3124840763740549,
+              0.16697377270401328,
+              1.2387554940267453
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007394768961382876,
+            "max_held_gripper_dist": 0.007396775461532639,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002141555584065591,
+            "max_held_gripper_z_dist": 0.0021766297540837254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680657113457224,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3124840763740549,
+              0.14148403452002278,
+              1.2387554940267453
+            ],
+            "held_grasp_finger_b": [
+              0.30265551212054875,
+              0.16697377270401328,
+              1.2387554940267453
+            ],
+            "held_grasp_midpoint": [
+              0.3075697942473018,
+              0.15422890361201802,
+              1.2387554940267453
+            ],
+            "held_grasp_object_position": [
+              0.3124840763740549,
+              0.16697377270401328,
+              1.2387554940267453
+            ],
+            "held_grasp_finger_gap": 0.02731899390485825,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024597334504719105,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08127758045024253,
+              -0.9963294343483906,
+              0.026862858507059932
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003877771321981126,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321027157916265,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34666655585447403,
+              0.31376260742342155,
+              0.7625860130182363
+            ],
+            "target_position": [
+              0.35224005587657137,
+              0.3139400205578914,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005576322974559614,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16882721503871706,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860130182363,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552830289069429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546551224762942,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13745446620181362,
+            "release_required_pad_clearance": 0.052732756123814714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5173757612717557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fc37249a2c8d5f0339052c5d19fc51209d8ad79cf6edb4076d32c95f542e5c0",
+    "visual_seed": 1643902412429131948,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b91a3c63c425cb7fb5184644f35056eaa8e9574c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30957772856543503,
+              0.1643774130021169,
+              1.0465005643446426
+            ],
+            "current_z": 1.0465005643446426,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.18991399733143244,
+            "gripper_z": 1.049302298415725,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3039319911097156,
+              0.1592604182741556,
+              1.049302298415725
+            ],
+            "object_minus_gripper": [
+              0.005645737455719446,
+              0.005116994727961288,
+              -0.002801734071082418
+            ],
+            "object_to_gripper_xy": 0.007619579152741777,
+            "object_to_gripper_z": -0.002801734071082418,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30957772856543503,
+              0.1394157272373448,
+              1.0465005643446426
+            ],
+            "finger_b": [
+              0.29751857480198773,
+              0.1643774130021169,
+              1.0465005643446426
+            ],
+            "finger_midpoint": [
+              0.3035481516837114,
+              0.15189657011973084,
+              1.0465005643446426
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060295768817236195,
+              0.012480842882386045,
+              0.0
+            ],
+            "finger_gap": 0.027721993898521993,
+            "fingertip_max_gap": 0.09249051344034795,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013860996949260984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465005643446426,
+            "object_top_z": 1.0920801065497914,
+            "finger_top_clearance": 0.045579542205148815,
+            "fingertip_min_top_clearance": 0.013673862661544644,
+            "object_projection_between_fingers": 0.8107722879449738,
+            "object_to_finger_line_xy": 0.010858411120575607,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874525672017398,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5016421166009057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30903861695163737,
+              0.16233568248864205,
+              1.2395975304851161
+            ],
+            "held_position": [
+              0.31496857055696165,
+              0.16704484301656533,
+              1.2366578577457579
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008122943952384202,
+            "max_held_gripper_dist": 0.00812381627118202,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029396727393582456,
+            "max_held_gripper_z_dist": 0.002980997676214292,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747776133636996,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31496857055696165,
+              0.14133053127317863,
+              1.2366578577457579
+            ],
+            "held_grasp_finger_b": [
+              0.3046498953015061,
+              0.16704484301656533,
+              1.2366578577457579
+            ],
+            "held_grasp_midpoint": [
+              0.3098092329292339,
+              0.15418768714487197,
+              1.2366578577457579
+            ],
+            "held_grasp_object_position": [
+              0.31496857055696165,
+              0.16704484301656533,
+              1.2366578577457579
+            ],
+            "held_grasp_finger_gap": 0.027707415748561358,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025292620861073558,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038810915756039996,
+              -0.9991750257027516,
+              0.011957459181749064
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004659029238888328,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215343729922058,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35349962878178104,
+              0.30813871698981865,
+              0.7625850924079625
+            ],
+            "target_position": [
+              0.3568420894331455,
+              0.30694134459438865,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035504568521892302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17320531873276376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850924079625,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562512827141779,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650830213448578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1416733106451877,
+            "release_required_pad_clearance": 0.05325415106724289,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.521573707271858,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63f66dcfa732f0b2db9cd579269100ee91e6d4687132b1a5c3be1f9843d47b0c",
+    "visual_seed": 5903520164798161428,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ff007804067f6f79f4bdbeb92200f2e3eae748
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30544888127345604,
+              0.16261466049774978,
+              1.0479500881382073
+            ],
+            "current_z": 1.0479500881382073,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.191363521124997,
+            "gripper_z": 1.0502317527347023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3001107388055919,
+              0.15758671457036105,
+              1.0502317527347023
+            ],
+            "object_minus_gripper": [
+              0.0053381424678641265,
+              0.005027945927388727,
+              -0.0022816645964949256
+            ],
+            "object_to_gripper_xy": 0.007333212478577134,
+            "object_to_gripper_z": -0.0022816645964949256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30544888127345604,
+              0.13805217512625392,
+              1.0479500881382073
+            ],
+            "finger_b": [
+              0.2932881413020531,
+              0.16261466049774978,
+              1.0479500881382073
+            ],
+            "finger_midpoint": [
+              0.29936851128775455,
+              0.15033341781200185,
+              1.0479500881382073
+            ],
+            "object_minus_finger_midpoint": [
+              0.006080369985701495,
+              0.012281242685747928,
+              0.0
+            ],
+            "finger_gap": 0.02740801496418566,
+            "fingertip_max_gap": 0.09282122382931537,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013704007482092842,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479500881382073,
+            "object_top_z": 1.0943227937287174,
+            "finger_top_clearance": 0.0463727055905101,
+            "fingertip_min_top_clearance": 0.013911811677152996,
+            "object_projection_between_fingers": 0.8031366646010528,
+            "object_to_finger_line_xy": 0.010898198867902721,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891061191465769,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8921294266432893,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051018861368633,
+              0.16107896569722413,
+              1.2406062630432484
+            ],
+            "held_position": [
+              0.3107681560216874,
+              0.1656700254592133,
+              1.2381913630851271
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007682199291449995,
+            "max_held_gripper_dist": 0.007690879153553633,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002414899958121275,
+            "max_held_gripper_z_dist": 0.0024519230163493333,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08740376744598304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3107681560216874,
+              0.14017061460508826,
+              1.2381913630851271
+            ],
+            "held_grasp_finger_b": [
+              0.3005644958668114,
+              0.1656700254592133,
+              1.2381913630851271
+            ],
+            "held_grasp_midpoint": [
+              0.30566632594424936,
+              0.15292032003215078,
+              1.2381913630851271
+            ],
+            "held_grasp_object_position": [
+              0.3107681560216874,
+              0.1656700254592133,
+              1.2381913630851271
+            ],
+            "held_grasp_finger_gap": 0.027465153093760002,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024788350049313512,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06391063714360717,
+              -0.9976886374570085,
+              0.02308274570054381
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004286931485017607,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215392751945906,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3519748491991793,
+              0.31266163339061515,
+              0.7625860463171166
+            ],
+            "target_position": [
+              0.3573708607140276,
+              0.3126901286001075,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005396086752947876,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16729923312150394,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860463171166,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544333088165737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624076783896549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361732123687145,
+            "release_required_pad_clearance": 0.05312038391948275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2642186243317635,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 127,
+            "max_placed_release_frames": 127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb2d7e32e0a80d37bc38f25e8027189f1ec9d61cba8dd656fb2c390828eace09",
+    "visual_seed": 6841735508172024196,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..854ce2cb731cc18f65432d8bdb5ba06227a38cb5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30737364018107505,
+              0.16062488261324742,
+              1.0474266847813642
+            ],
+            "current_z": 1.0474266847813642,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19084017737279868,
+            "gripper_z": 1.0506416354734052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3016434817936221,
+              0.15556515779398747,
+              1.0506416354734052
+            ],
+            "object_minus_gripper": [
+              0.005730158387452944,
+              0.005059724819259953,
+              -0.0032149506920409188
+            ],
+            "object_to_gripper_xy": 0.007644313598481716,
+            "object_to_gripper_z": -0.0032149506920409188,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30737364018107505,
+              0.13560643686762844,
+              1.0474266847813642
+            ],
+            "finger_b": [
+              0.2954001096143649,
+              0.16062488261324742,
+              1.0474266847813642
+            ],
+            "finger_midpoint": [
+              0.30138687489772,
+              0.14811565974043794,
+              1.0474266847813642
+            ],
+            "object_minus_finger_midpoint": [
+              0.005986765283355067,
+              0.012509222872809478,
+              0.0
+            ],
+            "finger_gap": 0.0277360426477611,
+            "fingertip_max_gap": 0.09352341193143174,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013868021323880536,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474266847813642,
+            "object_top_z": 1.0935703304836284,
+            "finger_top_clearance": 0.04614364570226415,
+            "fingertip_min_top_clearance": 0.013843093710679244,
+            "object_projection_between_fingers": 0.8136388157327696,
+            "object_to_finger_line_xy": 0.010800355648102134,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926170596571587,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6394974631141532,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.306355190508394,
+              0.1593803510725748,
+              1.2401845444172281
+            ],
+            "held_position": [
+              0.3122693927285004,
+              0.16413735491405135,
+              1.2368409611250357
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00829375805530656,
+            "max_held_gripper_dist": 0.008295408201164573,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033435832921924202,
+            "max_held_gripper_z_dist": 0.0033838117800115697,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728129364536831,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3122693927285004,
+              0.13859017367169077,
+              1.2368409611250357
+            ],
+            "held_grasp_finger_b": [
+              0.3016168464154776,
+              0.16413735491405135,
+              1.2368409611250357
+            ],
+            "held_grasp_midpoint": [
+              0.306943119571989,
+              0.15136376429287107,
+              1.2368409611250357
+            ],
+            "held_grasp_object_position": [
+              0.3122693927285004,
+              0.16413735491405135,
+              1.2368409611250357
+            ],
+            "held_grasp_finger_gap": 0.027679147609366805,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025333170274019986,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01924535741071369,
+              -0.9996477534203513,
+              0.018275264697907415
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005084858765409064,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03232862776767248,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3511655062447543,
+              0.3070699281916722,
+              0.7625836762489078
+            ],
+            "target_position": [
+              0.3561228158267449,
+              0.30678184469339614,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004965673206492215,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17198535343744753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625836762489078,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751863854597181,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604174025995608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14144253830965756,
+            "release_required_pad_clearance": 0.05302087012997804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.058636027215673,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "742f4ff62795b8af735bca903f3671e7ec19d871e6bbeb501481faf32254d4ea",
+    "visual_seed": 4329743217596759955,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03fb0a0208f449f003c1340e47dbb0e6448c1447
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30723090773972317,
+              0.16150456099290367,
+              1.0477882826769063
+            ],
+            "current_z": 1.0477882826769063,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19120183487298548,
+            "gripper_z": 1.049871776598176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020303378902387,
+              0.15651681129719558,
+              1.049871776598176
+            ],
+            "object_minus_gripper": [
+              0.005200569849484471,
+              0.004987749695708088,
+              -0.002083493921269719
+            ],
+            "object_to_gripper_xy": 0.007205801397929522,
+            "object_to_gripper_z": -0.002083493921269719,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30723090773972317,
+              0.13708042990355657,
+              1.0477882826769063
+            ],
+            "finger_b": [
+              0.2950720707271288,
+              0.16150456099290367,
+              1.0477882826769063
+            ],
+            "finger_midpoint": [
+              0.301151489233426,
+              0.14929249544823012,
+              1.0477882826769063
+            ],
+            "object_minus_finger_midpoint": [
+              0.006079418506297174,
+              0.01221206554467355,
+              0.0
+            ],
+            "finger_gap": 0.02728324571909372,
+            "fingertip_max_gap": 0.09213231737339903,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01364162285954686,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477882826769063,
+            "object_top_z": 1.0938619301723336,
+            "finger_top_clearance": 0.046073647495427306,
+            "fingertip_min_top_clearance": 0.013822094248628191,
+            "object_projection_between_fingers": 0.8013941645031055,
+            "object_to_finger_line_xy": 0.010884666441345758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048566158686699515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7652283487737815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30721570634089446,
+              0.15935424934407166,
+              1.239095509065356
+            ],
+            "held_position": [
+              0.3127900198341631,
+              0.16385009890562138,
+              1.2368645560689313
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007500852316475754,
+            "max_held_gripper_dist": 0.007505618748052133,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022309529964246178,
+            "max_held_gripper_z_dist": 0.0022651578494419233,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08685189381798067,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3127900198341631,
+              0.1383181115005093,
+              1.2368645560689313
+            ],
+            "held_grasp_finger_b": [
+              0.30290601364200576,
+              0.16385009890562138,
+              1.2368645560689313
+            ],
+            "held_grasp_midpoint": [
+              0.30784801673808443,
+              0.15108410520306534,
+              1.2368645560689313
+            ],
+            "held_grasp_object_position": [
+              0.3127900198341631,
+              0.16385009890562138,
+              1.2368645560689313
+            ],
+            "held_grasp_finger_gap": 0.02737838489139575,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024698972317806083,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07617781196169124,
+              -0.9968638116218239,
+              0.02143553226626249
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003964891810602863,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209779684177338,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3484594785386961,
+              0.3155063662949526,
+              0.7625846156394722
+            ],
+            "target_position": [
+              0.35289201492868494,
+              0.31506734042645657,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004454225248209186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1694173706827121,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846156394722,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562113472504418,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529947667317099,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1377984867701876,
+            "release_required_pad_clearance": 0.0526497383365855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34937428115214986,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "447662a7c42d3803de3e7159033d6239c39a16d66a7f2cf5d291dc5ab5aa5391",
+    "visual_seed": 2061527086001362373,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88356e562cb00598f22471224905be121ee754c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3077996149290138,
+              0.15942305827108144,
+              1.0488747780492194
+            ],
+            "current_z": 1.0488747780492194,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19228838984994334,
+            "gripper_z": 1.051063476218549,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30243283926106457,
+              0.1543926236282021,
+              1.051063476218549
+            ],
+            "object_minus_gripper": [
+              0.005366775667949242,
+              0.005030434642879333,
+              -0.0021886981693295393
+            ],
+            "object_to_gripper_xy": 0.007355783694914673,
+            "object_to_gripper_z": -0.0021886981693295393,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3077996149290138,
+              0.13484064311685004,
+              1.0488747780492194
+            ],
+            "finger_b": [
+              0.2956256998467155,
+              0.15942305827108144,
+              1.0488747780492194
+            ],
+            "finger_midpoint": [
+              0.3017126573878647,
+              0.14713185069396573,
+              1.0488747780492194
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060869575411491295,
+              0.012291207577115715,
+              0.0
+            ],
+            "finger_gap": 0.027431721477989602,
+            "fingertip_max_gap": 0.09241957182643287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013715860738994801,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488747780492194,
+            "object_top_z": 1.0951578738683232,
+            "finger_top_clearance": 0.04628309581910384,
+            "fingertip_min_top_clearance": 0.01388492874573115,
+            "object_projection_between_fingers": 0.8030507139159567,
+            "object_to_finger_line_xy": 0.010909422321363873,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870978591321644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7904096664260101,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30764026942658584,
+              0.15722146743458057,
+              1.2412905072280818
+            ],
+            "held_position": [
+              0.3133607455054689,
+              0.16177638093209484,
+              1.238958811712301
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007675147393843536,
+            "max_held_gripper_dist": 0.007679316353543496,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023316955157808295,
+            "max_held_gripper_z_dist": 0.0023667573803227704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08677897316794753,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3133607455054689,
+              0.1361881130594735,
+              1.238958811712301
+            ],
+            "held_grasp_finger_b": [
+              0.30330746949764265,
+              0.16177638093209484,
+              1.238958811712301
+            ],
+            "held_grasp_midpoint": [
+              0.30833410750155577,
+              0.14898224699578416,
+              1.238958811712301
+            ],
+            "held_grasp_object_position": [
+              0.3133607455054689,
+              0.16177638093209484,
+              1.238958811712301
+            ],
+            "held_grasp_finger_gap": 0.027492322768557766,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024780787587743474,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07282319635016721,
+              -0.9970545645147733,
+              0.02406195032828462
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004093507366311952,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032077719479258686,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.343502774932557,
+              0.3109882056889804,
+              0.7625859607217291
+            ],
+            "target_position": [
+              0.34885458523853297,
+              0.3109892760058537,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005351810413003147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1705144735858604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859607217291,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575266746984086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546169547439585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13843479176247903,
+            "release_required_pad_clearance": 0.052730847737197925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5066525919351097,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec03990f6c70b88f2551816c99ca154f9ced779daa4a5f1cf9e22f3afcff5e1b",
+    "visual_seed": 7110799683029688197,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5998e6dd1b9ec1a77e6e0c4527d63bba7c42e339
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30460868021408527,
+              0.163800290514627,
+              1.0464590993109497
+            ],
+            "current_z": 1.0464590993109497,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.1898727111116736,
+            "gripper_z": 1.0488204321927936,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2993106675373437,
+              0.15880852072736978,
+              1.0488204321927936
+            ],
+            "object_minus_gripper": [
+              0.00529801267674157,
+              0.004991769787257211,
+              -0.002361332881843925
+            ],
+            "object_to_gripper_xy": 0.007279196654294228,
+            "object_to_gripper_z": -0.002361332881843925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30460868021408527,
+              0.13923227389437345,
+              1.0464590993109497
+            ],
+            "finger_b": [
+              0.2925340705307661,
+              0.163800290514627,
+              1.0464590993109497
+            ],
+            "finger_midpoint": [
+              0.2985713753724257,
+              0.15151628220450022,
+              1.0464590993109497
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060373048416595965,
+              0.01228400831012677,
+              0.0
+            ],
+            "finger_gap": 0.027374872413539388,
+            "fingertip_max_gap": 0.09388088512300527,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013687436206769694,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464590993109497,
+            "object_top_z": 1.0936172719584807,
+            "finger_top_clearance": 0.04715817264753097,
+            "fingertip_min_top_clearance": 0.01414745179425929,
+            "object_projection_between_fingers": 0.8054451801601528,
+            "object_to_finger_line_xy": 0.010836551378268323,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944044256150264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3657918923883443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3044945483385838,
+              0.1615918630751969,
+              1.2402612511238997
+            ],
+            "held_position": [
+              0.31014885703430545,
+              0.16610691980027206,
+              1.237768158118171
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076532644533149,
+            "max_held_gripper_dist": 0.007656587615873297,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024930930057287526,
+            "max_held_gripper_z_dist": 0.0025268786208489935,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867198737465585,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31014885703430545,
+              0.14054187858790212,
+              1.237768158118171
+            ],
+            "held_grasp_finger_b": [
+              0.30017214160734973,
+              0.16610691980027206,
+              1.237768158118171
+            ],
+            "held_grasp_midpoint": [
+              0.30516049932082756,
+              0.15332439919408708,
+              1.237768158118171
+            ],
+            "held_grasp_object_position": [
+              0.31014885703430545,
+              0.16610691980027206,
+              1.237768158118171
+            ],
+            "held_grasp_finger_gap": 0.02744278015982764,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02473509495235538,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07440149045888332,
+              -0.9965709516508622,
+              0.03620437187953829
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004050790513282062,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209039499198345,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3460826019715672,
+              0.3140305509005278,
+              0.7625844416921196
+            ],
+            "target_position": [
+              0.3528507315779053,
+              0.31489413324655213,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006823001746779439,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17022265926568655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844416921196,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569931567939218,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747936546136602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13826227394817794,
+            "release_required_pad_clearance": 0.05373968273068301,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4882238387233824,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2780d6bb0cc6bf6f21cfdd95580ffc4ac7f917404ee1424adef608dbd7534543",
+    "visual_seed": 7375165587245264713,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3dda7d144b72cbd8a678dd71ce1efb1eeb976a1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30834101989721696,
+              0.15663266907796192,
+              1.046045327030705
+            ],
+            "current_z": 1.046045327030705,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1894588196221394,
+            "gripper_z": 1.0480789281098968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3032142546843233,
+              0.15171076629664398,
+              1.0480789281098968
+            ],
+            "object_minus_gripper": [
+              0.00512676521289368,
+              0.004921902781317933,
+              -0.0020336010791917047
+            ],
+            "object_to_gripper_xy": 0.007106957755388868,
+            "object_to_gripper_z": -0.0020336010791917047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30834101989721696,
+              0.1322439102968182,
+              1.046045327030705
+            ],
+            "finger_b": [
+              0.29629195107476536,
+              0.15663266907796192,
+              1.046045327030705
+            ],
+            "finger_midpoint": [
+              0.30231648548599116,
+              0.14443828968739006,
+              1.046045327030705
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060245344112258015,
+              0.012194379390571858,
+              0.0
+            ],
+            "finger_gap": 0.027202786886144404,
+            "fingertip_max_gap": 0.09155822492080565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013601393443072202,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046045327030705,
+            "object_top_z": 1.0918791970626625,
+            "finger_top_clearance": 0.04583387003195738,
+            "fingertip_min_top_clearance": 0.013750161009587213,
+            "object_projection_between_fingers": 0.8038085071934372,
+            "object_to_finger_line_xy": 0.01080263703414333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048279112460402826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5400641510810543,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3083595788880749,
+              0.1545540087441003,
+              1.236832643242355
+            ],
+            "held_position": [
+              0.3138447714215175,
+              0.15899568344428477,
+              1.2346449047701702
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073893173496522085,
+            "max_held_gripper_dist": 0.007391888257237699,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002187738472184897,
+            "max_held_gripper_z_dist": 0.00221899074227494,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08760846762533703,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3138447714215175,
+              0.13349629688917597,
+              1.2346449047701702
+            ],
+            "held_grasp_finger_b": [
+              0.3040922746551368,
+              0.15899568344428477,
+              1.2346449047701702
+            ],
+            "held_grasp_midpoint": [
+              0.3089685230383271,
+              0.14624599016673037,
+              1.2346449047701702
+            ],
+            "held_grasp_object_position": [
+              0.3138447714215175,
+              0.15899568344428477,
+              1.2346449047701702
+            ],
+            "held_grasp_finger_gap": 0.02730073090349653,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024655847121842878,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07802871914790756,
+              -0.9967620945738168,
+              0.019412516811441183
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003874689129164189,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211132657371454,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3534477931250485,
+              0.3105266002410888,
+              0.7625861109673725
+            ],
+            "target_position": [
+              0.35777417198159,
+              0.3099263913895817,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0043678146338594764,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1701993861986542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861109673725,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553796430377545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576134911924942,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13895171842770926,
+            "release_required_pad_clearance": 0.05288067455962471,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.802101738703358,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20703b0fd8ea4906203a902c43c616610a5d0a72556eff3634543e59a81f2c93",
+    "visual_seed": 6544127937514607088,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..426c87f7ad37d8f942e15e363604bd51762e980f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3088172402895747,
+              0.1632822231822804,
+              1.047468209082817
+            ],
+            "current_z": 1.047468209082817,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.19088164206960678,
+            "gripper_z": 1.0494720604852281,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30352095909453414,
+              0.15824352185575236,
+              1.0494720604852281
+            ],
+            "object_minus_gripper": [
+              0.005296281195040553,
+              0.005038701326528033,
+              -0.0020038514024112164
+            ],
+            "object_to_gripper_xy": 0.007310205575419583,
+            "object_to_gripper_z": -0.0020038514024112164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3088172402895747,
+              0.13877828404395662,
+              1.047468209082817
+            ],
+            "finger_b": [
+              0.2965999071447066,
+              0.1632822231822804,
+              1.047468209082817
+            ],
+            "finger_midpoint": [
+              0.30270857371714066,
+              0.1510302536131185,
+              1.047468209082817
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061086665724340294,
+              0.012251969569161886,
+              0.0
+            ],
+            "finger_gap": 0.02738076446097458,
+            "fingertip_max_gap": 0.09204863615501627,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013690382230487278,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047468209082817,
+            "object_top_z": 1.0932740851289577,
+            "finger_top_clearance": 0.045805876046140837,
+            "fingertip_min_top_clearance": 0.01374176281384225,
+            "object_projection_between_fingers": 0.8009043852969151,
+            "object_to_finger_line_xy": 0.010933689899022584,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048524318077508136,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8518886415445136,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3087522033595077,
+              0.16105519101431803,
+              1.2387481034904488
+            ],
+            "held_position": [
+              0.3144312795103145,
+              0.1655955771000638,
+              1.2365868088003429
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007585394285848088,
+            "max_held_gripper_dist": 0.007586065626054395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021612946901059527,
+            "max_held_gripper_z_dist": 0.0021996687751548727,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876095392297479,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3144312795103145,
+              0.13998578572296327,
+              1.2365868088003429
+            ],
+            "held_grasp_finger_b": [
+              0.30451140874886,
+              0.1655955771000638,
+              1.2365868088003429
+            ],
+            "held_grasp_midpoint": [
+              0.30947134412958727,
+              0.15279068141151353,
+              1.2365868088003429
+            ],
+            "held_grasp_object_position": [
+              0.3144312795103145,
+              0.1655955771000638,
+              1.2365868088003429
+            ],
+            "held_grasp_finger_gap": 0.027463889933921834,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0248284618882348,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07174841206896745,
+              -0.9972825036808295,
+              0.016726422740022003
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040342696072695056,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207425904662963,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34832286920372013,
+              0.3097700981296886,
+              0.7625852987070241
+            ],
+            "target_position": [
+              0.3524975922455619,
+              0.3090842405862725,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004230687065471181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17194112844107087,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852987070241,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561643991075051,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558795115748578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14043587102143038,
+            "release_required_pad_clearance": 0.052793975578742894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6293031810853533,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49f9d379422dff09a5f243dd40f428325541c4c186faa13b37d17939cb3242cc",
+    "visual_seed": 835429932132483509,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df684b7dfedd354039438acd84c03752a3253de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3072710339931841,
+              0.1613889119310049,
+              1.0489730344257067
+            ],
+            "current_z": 1.0489730344257067,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19238646741249632,
+            "gripper_z": 1.0510786698098946,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018852410307541,
+              0.1563255843468307,
+              1.0510786698098946
+            ],
+            "object_minus_gripper": [
+              0.005385792962430025,
+              0.005063327584174215,
+              -0.002105635384187954
+            ],
+            "object_to_gripper_xy": 0.007392161528187833,
+            "object_to_gripper_z": -0.002105635384187954,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3072710339931841,
+              0.13679800379998383,
+              1.0489730344257067
+            ],
+            "finger_b": [
+              0.29504698922566186,
+              0.1613889119310049,
+              1.0489730344257067
+            ],
+            "finger_midpoint": [
+              0.301159011609423,
+              0.14909345786549438,
+              1.0489730344257067
+            ],
+            "object_minus_finger_midpoint": [
+              0.006112022383761129,
+              0.012295454065510525,
+              0.0
+            ],
+            "finger_gap": 0.027461610171049818,
+            "fingertip_max_gap": 0.09164003947015478,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013730805085524897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489730344257067,
+            "object_top_z": 1.094717505037678,
+            "finger_top_clearance": 0.0457444706119714,
+            "fingertip_min_top_clearance": 0.013723341183591453,
+            "object_projection_between_fingers": 0.8018573953076515,
+            "object_to_finger_line_xy": 0.010946203081147927,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048320019735077394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5878218949825624,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30718197322139046,
+              0.15929162500591537,
+              1.2420157829028609
+            ],
+            "held_position": [
+              0.3129381413358928,
+              0.16386376195091612,
+              1.239772093636846
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007685834315719082,
+            "max_held_gripper_dist": 0.007687696904574195,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022436892660149255,
+            "max_held_gripper_z_dist": 0.0022791322224731125,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866690392577536,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3129381413358928,
+              0.13824841977078828,
+              1.239772093636846
+            ],
+            "held_grasp_finger_b": [
+              0.30285727575392996,
+              0.16386376195091612,
+              1.239772093636846
+            ],
+            "held_grasp_midpoint": [
+              0.3078977085449114,
+              0.1510560908608522,
+              1.239772093636846
+            ],
+            "held_grasp_object_position": [
+              0.3129381413358928,
+              0.16386376195091612,
+              1.239772093636846
+            ],
+            "held_grasp_finger_gap": 0.0275276153323647,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024804830232686287,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0731941743133763,
+              -0.997163757786456,
+              0.01752292794532584
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004095797201089566,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032059949216831723,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3525283543589548,
+              0.314848095035825,
+              0.762583100757568
+            ],
+            "target_position": [
+              0.35648099464440286,
+              0.31449588341313844,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003968301683756218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1729358919278556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762583100757568,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557356612946146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08839468032156077,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14128128459451622,
+            "release_required_pad_clearance": 0.054197340160780386,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.404065282829222,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12a71896502b1c49b9ee87edfa92d55443c912e940852a3ba7325857945c250f",
+    "visual_seed": 8538295369546716136,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..231b341c0b0623ce0ec494d52c464c6c96b276be
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30922353185404244,
+              0.16094327409200052,
+              1.04727626115604
+            ],
+            "current_z": 1.04727626115604,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19068969414282966,
+            "gripper_z": 1.0492209844590634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3041920324071198,
+              0.15604098082310286,
+              1.0492209844590634
+            ],
+            "object_minus_gripper": [
+              0.00503149944692266,
+              0.004902293268897656,
+              -0.0019447233030234212
+            ],
+            "object_to_gripper_xy": 0.007024846331320159,
+            "object_to_gripper_z": -0.0019447233030234212,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30922353185404244,
+              0.1366574032599432,
+              1.04727626115604
+            ],
+            "finger_b": [
+              0.2971572474975491,
+              0.16094327409200052,
+              1.04727626115604
+            ],
+            "finger_midpoint": [
+              0.3031903896757958,
+              0.14880033867597187,
+              1.04727626115604
+            ],
+            "object_minus_finger_midpoint": [
+              0.006033142178246631,
+              0.01214293541602865,
+              0.0
+            ],
+            "finger_gap": 0.027118236304065357,
+            "fingertip_max_gap": 0.09205696534677518,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013559118152032652,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04727626115604,
+            "object_top_z": 1.0933388601966638,
+            "finger_top_clearance": 0.04606259904062382,
+            "fingertip_min_top_clearance": 0.013818779712187146,
+            "object_projection_between_fingers": 0.8020186734021049,
+            "object_to_finger_line_xy": 0.010806020716794953,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048528482673387593,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7297143482011577,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3094514351060644,
+              0.15880703126812412,
+              1.239984071904711
+            ],
+            "held_position": [
+              0.3148747171897083,
+              0.16320845552992627,
+              1.237898468354637
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007289325500979835,
+            "max_held_gripper_dist": 0.007290903239437106,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020856035500740333,
+            "max_held_gripper_z_dist": 0.0021187999164542504,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08761875735119021,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3148747171897083,
+              0.13773596257859863,
+              1.237898468354637
+            ],
+            "held_grasp_finger_b": [
+              0.30518509335603083,
+              0.16320845552992627,
+              1.237898468354637
+            ],
+            "held_grasp_midpoint": [
+              0.31002990527286955,
+              0.15047220905426245,
+              1.237898468354637
+            ],
+            "held_grasp_object_position": [
+              0.3148747171897083,
+              0.16320845552992627,
+              1.237898468354637
+            ],
+            "held_grasp_finger_gap": 0.027253196274815292,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02458823050921079,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08180071277738717,
+              -0.996402224699703,
+              0.022164160317823426
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003797576326811915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211349157506581,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34934138335580045,
+              0.3056446471105587,
+              0.7625849448160349
+            ],
+            "target_position": [
+              0.3546130360132793,
+              0.30557772117823345,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0052720774673293246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17017516925082476,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849448160349,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527204736574472,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671682050414674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13952820252372725,
+            "release_required_pad_clearance": 0.05335841025207337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7223157342544626,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b15b718192e37a5c1aa7c0506b39c63e6c211b67af58ac5accc87695b8f4122",
+    "visual_seed": 4875281178489014055,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a22c5908da82e1833e3fe7aa4d632ae94b98fa1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_33_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3065673257419687,
+              0.15814506745585064,
+              1.0079252307335616
+            ],
+            "current_z": 1.0079252307335616,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.15133872332499598,
+            "gripper_z": 1.0477970545048774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29799664950592486,
+              0.14942793495505619,
+              1.0477970545048774
+            ],
+            "object_minus_gripper": [
+              0.00857067623604385,
+              0.00871713250079445,
+              -0.03987182377131582
+            ],
+            "object_to_gripper_xy": 0.012224765444763907,
+            "object_to_gripper_z": -0.03987182377131582,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3065673257419687,
+              0.12940253462141976,
+              1.0342257108254884
+            ],
+            "finger_b": [
+              0.29149238954801854,
+              0.15814506745585064,
+              1.0343132687278824
+            ],
+            "finger_midpoint": [
+              0.2990298576449936,
+              0.14377380103863519,
+              1.0342694897766855
+            ],
+            "object_minus_finger_midpoint": [
+              0.007537468096975086,
+              0.01437126641721545,
+              -0.026344259043123985
+            ],
+            "finger_gap": 0.032456040445135594,
+            "fingertip_max_gap": 0.09872825262903143,
+            "finger_z_skew": 8.755790239400874e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.016227961170384338,
+            "object_to_finger_midpoint_z": 0.026344259043123985,
+            "finger_midpoint_minus_object_z": 0.026344259043123985,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0079252307335616,
+            "object_top_z": 1.0554582601655276,
+            "finger_top_clearance": 0.021188770388842038,
+            "fingertip_min_top_clearance": 0.01425990882958984,
+            "object_projection_between_fingers": 0.7842637853835982,
+            "object_to_finger_line_xy": 0.013350162844926896,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051864126314515716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.837181475838667,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 194,
+            "max_stable_success_frames": 194,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3081969801943085,
+              0.13719934527094163,
+              1.2055081493059712
+            ],
+            "held_position": [
+              0.3168897086271307,
+              0.14000696738984894,
+              1.164805344387115
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 6,
+            "effective_shake_count": 6,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.04171528014806853,
+            "max_held_gripper_dist": 0.041743975714021046,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.04070280491885625,
+            "max_held_gripper_z_dist": 0.04075924951011456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.092299713040258,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3168897086271307,
+              0.11164699484309161,
+              1.1926389600541387
+            ],
+            "held_grasp_finger_b": [
+              0.3135706885138916,
+              0.15796293312312548,
+              1.1889764968720655
+            ],
+            "held_grasp_midpoint": [
+              0.31523019857051116,
+              0.13480496398310854,
+              1.1908077284631022
+            ],
+            "held_grasp_object_position": [
+              0.3168897086271307,
+              0.14000696738984894,
+              1.164805344387115
+            ],
+            "held_grasp_finger_gap": 0.04657891872759644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.043282864736513715,
+            "held_grasp_world_z_skew": 0.0036624631820731945,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.30037753990750865,
+              -0.9530924749445695,
+              0.03725678090158114
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.02578090662110779,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03877498998951352,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3547114150240045,
+              0.3093182092515967,
+              0.7625859013188997
+            ],
+            "target_position": [
+              0.35744854035935886,
+              0.31057969443695,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0030138347622762213,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17264559867814272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859013188997,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580509748847755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09399007394128599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14013694744338595,
+            "release_required_pad_clearance": 0.056995036970642995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.509949828098557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6ad2055ba095679540c74c94db6329b73ab171bbcc58cdc4cff6859f7de6442",
+    "visual_seed": 9025735052580668117,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1914b02411b9a0b658d03f0ebe5dc15f02325fdc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_34_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30769015954068035,
+              0.15944558829830408,
+              1.04586720056869
+            ],
+            "current_z": 1.04586720056869,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1892807527647692,
+            "gripper_z": 1.0486732377672945,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020245717161952,
+              0.1543473884267156,
+              1.0486732377672945
+            ],
+            "object_minus_gripper": [
+              0.005665587824485174,
+              0.005098199871588466,
+              -0.002806037198604505
+            ],
+            "object_to_gripper_xy": 0.007621714198762591,
+            "object_to_gripper_z": -0.002806037198604505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30769015954068035,
+              0.1345129190581973,
+              1.04586720056869
+            ],
+            "finger_b": [
+              0.2956044616984399,
+              0.15944558829830408,
+              1.04586720056869
+            ],
+            "finger_midpoint": [
+              0.3016473106195601,
+              0.14697925367825068,
+              1.04586720056869
+            ],
+            "object_minus_finger_midpoint": [
+              0.006042848921120225,
+              0.012466334620053393,
+              0.0
+            ],
+            "finger_gap": 0.027707437408943155,
+            "fingertip_max_gap": 0.09342056314856897,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013853718704471578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04586720056869,
+            "object_top_z": 1.091815254835121,
+            "finger_top_clearance": 0.045948054266431004,
+            "fingertip_min_top_clearance": 0.013784416279929301,
+            "object_projection_between_fingers": 0.8097385761212103,
+            "object_to_finger_line_xy": 0.010875372644140449,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921028157428449,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8765250684770367,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3068520081331182,
+              0.15797383492030986,
+              1.2394216341187378
+            ],
+            "held_position": [
+              0.3127653127652337,
+              0.16270809628228552,
+              1.236494273091283
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008120950984999032,
+            "max_held_gripper_dist": 0.00812401850577403,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029273610274549444,
+            "max_held_gripper_z_dist": 0.0029658700724632947,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617752653593108,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3127653127652337,
+              0.13712538006525254,
+              1.236494273091283
+            ],
+            "held_grasp_finger_b": [
+              0.30218952343738137,
+              0.16270809628228552,
+              1.236494273091283
+            ],
+            "held_grasp_midpoint": [
+              0.3074774181013076,
+              0.14991673817376905,
+              1.236494273091283
+            ],
+            "held_grasp_object_position": [
+              0.3127653127652337,
+              0.16270809628228552,
+              1.236494273091283
+            ],
+            "held_grasp_finger_gap": 0.027682534005187425,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025312360638986346,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024483349243079235,
+              -0.9995534158955338,
+              0.01713284510557933
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004978009488154161,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032285113902682565,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3441886093967752,
+              0.3077842007021918,
+              0.7625857543279286
+            ],
+            "target_position": [
+              0.3490850240410134,
+              0.30747380741678315,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049062429984599075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17077998505364542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857543279286,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525554857948052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694555748285958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14013033294767088,
+            "release_required_pad_clearance": 0.05347277874142979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9523671570168717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc5257fd1320844c6aca68c212fdae91bf89640c803f1e83a3b5451bfa8827e4",
+    "visual_seed": 8855188480500867016,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74dfaae78e943accaa0501da1e12bad958d408d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30499565302362314,
+              0.16448572457749241,
+              1.047015356810074
+            ],
+            "current_z": 1.047015356810074,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.1904287897968635,
+            "gripper_z": 1.0493140420007667,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2997386400751545,
+              0.15947737650219823,
+              1.0493140420007667
+            ],
+            "object_minus_gripper": [
+              0.005257012948468642,
+              0.005008348075294183,
+              -0.002298685190692762
+            ],
+            "object_to_gripper_xy": 0.00726083573589638,
+            "object_to_gripper_z": -0.002298685190692762,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30499565302362314,
+              0.14002067862354228,
+              1.047015356810074
+            ],
+            "finger_b": [
+              0.2928118928881912,
+              0.16448572457749241,
+              1.047015356810074
+            ],
+            "finger_midpoint": [
+              0.2989037729559072,
+              0.15225320160051736,
+              1.047015356810074
+            ],
+            "object_minus_finger_midpoint": [
+              0.006091880067715938,
+              0.012232522976975052,
+              0.0
+            ],
+            "finger_gap": 0.027330980307457543,
+            "fingertip_max_gap": 0.09410756892138974,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013665490153728747,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047015356810074,
+            "object_top_z": 1.093985850777235,
+            "finger_top_clearance": 0.04697049396716113,
+            "fingertip_min_top_clearance": 0.01409114819014834,
+            "object_projection_between_fingers": 0.8012751113918537,
+            "object_to_finger_line_xy": 0.010906167589016703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049553784460694875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3489026402048594,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3047201852773927,
+              0.16276853946857872,
+              1.2417921981710704
+            ],
+            "held_position": [
+              0.3103379227505347,
+              0.1673175215076042,
+              1.2393816327856766
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007619910589093493,
+            "max_held_gripper_dist": 0.007624493858604091,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002410565385393859,
+            "max_held_gripper_z_dist": 0.0024484439461558427,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0871921189443359,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3103379227505347,
+              0.14185356075226702,
+              1.2393816327856766
+            ],
+            "held_grasp_finger_b": [
+              0.30015814599007085,
+              0.1673175215076042,
+              1.2393816327856766
+            ],
+            "held_grasp_midpoint": [
+              0.3052480343703028,
+              0.1545855411299356,
+              1.2393816327856766
+            ],
+            "held_grasp_object_position": [
+              0.3103379227505347,
+              0.1673175215076042,
+              1.2393816327856766
+            ],
+            "held_grasp_finger_gap": 0.027423368725272103,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024731640136130138,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06536007921054054,
+              -0.9973700240728073,
+              0.03132243806921309
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004266013156774522,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216905388233617,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35018811750720097,
+              0.3083977637974227,
+              0.7625905629541925
+            ],
+            "target_position": [
+              0.35603491391207925,
+              0.3086348495550208,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005851601307040109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16804004612644105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625905629541925,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757515593086654,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08732755150920267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13611325455467368,
+            "release_required_pad_clearance": 0.05366377575460134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3202048153599337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e6bcb6c43052c82f93aec787fa3751c1e3d4ce26a5036452aa10853612913d3",
+    "visual_seed": 6280450104934446605,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2154977032f5d46939c7f82a829cfdbd35bdb34f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3002808445230615,
+              0.16200329532660354,
+              1.0452572567114216
+            ],
+            "current_z": 1.0452572567114216,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18867080890750076,
+            "gripper_z": 1.047557034226805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29527813799539454,
+              0.15716516712084272,
+              1.047557034226805
+            ],
+            "object_minus_gripper": [
+              0.005002706527666934,
+              0.004838128205760822,
+              -0.002299777515383461
+            ],
+            "object_to_gripper_xy": 0.0069594940288313905,
+            "object_to_gripper_z": -0.002299777515383461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3002808445230615,
+              0.1376673320129273,
+              1.0452572567114216
+            ],
+            "finger_b": [
+              0.2883964457612678,
+              0.16200329532660354,
+              1.0452572567114216
+            ],
+            "finger_midpoint": [
+              0.2943386451421646,
+              0.14983531366976544,
+              1.0452572567114216
+            ],
+            "object_minus_finger_midpoint": [
+              0.005942199380896851,
+              0.012167981656838106,
+              0.0
+            ],
+            "finger_gap": 0.02708279978757587,
+            "fingertip_max_gap": 0.09316854309474523,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013541399893787921,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452572567114216,
+            "object_top_z": 1.091951275665779,
+            "finger_top_clearance": 0.04669401895435743,
+            "fingertip_min_top_clearance": 0.014008205686307262,
+            "object_projection_between_fingers": 0.807439452318461,
+            "object_to_finger_line_xy": 0.010679039631817851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908427154737262,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0627620849058472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3003132247434338,
+              0.16038691957447365,
+              1.2380724663741858
+            ],
+            "held_position": [
+              0.3056590386020849,
+              0.16477476038189506,
+              1.2356458864010558
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007329335790411984,
+            "max_held_gripper_dist": 0.007331641843483391,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024265799731300053,
+            "max_held_gripper_z_dist": 0.0024584615237206453,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733087281004903,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3056590386020849,
+              0.13939909930623115,
+              1.2356458864010558
+            ],
+            "held_grasp_finger_b": [
+              0.2958932535839243,
+              0.16477476038189506,
+              1.2356458864010558
+            ],
+            "held_grasp_midpoint": [
+              0.3007761460930046,
+              0.1520869298440631,
+              1.2356458864010558
+            ],
+            "held_grasp_object_position": [
+              0.3056590386020849,
+              0.16477476038189506,
+              1.2356458864010558
+            ],
+            "held_grasp_finger_gap": 0.02718997484456162,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024584800095790116,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0729161824303999,
+              -0.9968955599746291,
+              0.029706444463237218
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039632163518011935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219574115595546,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3418041484046417,
+              0.3084984682597237,
+              0.762584299836154
+            ],
+            "target_position": [
+              0.34841134431485643,
+              0.30925691234487673,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006650584577784278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16903043158095107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584299836154,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529492931729032,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534161060641159,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13806679823884857,
+            "release_required_pad_clearance": 0.052670805303205795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3896198743716903,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "325607d5d38a6eb2a9c3888833a70f70dc31aad91d835aca8211526ac5404134",
+    "visual_seed": 2360250538631254623,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65895b57a6e617229bfc3d39449f2a4070215cc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30598360363747856,
+              0.15998149236554762,
+              1.04830190167999
+            ],
+            "current_z": 1.04830190167999,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19171545387606914,
+            "gripper_z": 1.05044379332937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30079548454839755,
+              0.15502096746668675,
+              1.05044379332937
+            ],
+            "object_minus_gripper": [
+              0.005188119089081011,
+              0.0049605248988608686,
+              -0.0021418916493800566
+            ],
+            "object_to_gripper_xy": 0.007177979308601092,
+            "object_to_gripper_z": -0.0021418916493800566,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30598360363747856,
+              0.13553238431229692,
+              1.04830190167999
+            ],
+            "finger_b": [
+              0.29390694285232766,
+              0.15998149236554762,
+              1.04830190167999
+            ],
+            "finger_midpoint": [
+              0.2999452732449031,
+              0.14775693833892228,
+              1.04830190167999
+            ],
+            "object_minus_finger_midpoint": [
+              0.006038330392575453,
+              0.01222455402662534,
+              0.0
+            ],
+            "finger_gap": 0.02726911476962775,
+            "fingertip_max_gap": 0.09200448815925774,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013634557384813862,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04830190167999,
+            "object_top_z": 1.094404488288132,
+            "finger_top_clearance": 0.04610258660814215,
+            "fingertip_min_top_clearance": 0.013830775982442612,
+            "object_projection_between_fingers": 0.8038665552440898,
+            "object_to_finger_line_xy": 0.010827765659172543,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850224407962887,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6652569907460705,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.305991888375994,
+              0.15790612209388044,
+              1.2419424780439219
+            ],
+            "held_position": [
+              0.31154826006333114,
+              0.16238557760797376,
+              1.2396716592797834
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007489686634976538,
+            "max_held_gripper_dist": 0.007495047674276111,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022708187641384825,
+            "max_held_gripper_z_dist": 0.0023041287111580377,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676426566223112,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31154826006333114,
+              0.13688309859340667,
+              1.2396716592797834
+            ],
+            "held_grasp_finger_b": [
+              0.301627532317803,
+              0.16238557760797376,
+              1.2396716592797834
+            ],
+            "held_grasp_midpoint": [
+              0.30658789619056703,
+              0.1496343381006902,
+              1.2396716592797834
+            ],
+            "held_grasp_object_position": [
+              0.31154826006333114,
+              0.16238557760797376,
+              1.2396716592797834
+            ],
+            "held_grasp_finger_gap": 0.02736416040899715,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024657450170687354,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07690997716911256,
+              -0.9967836107453188,
+              0.022523071757010075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003975673014384537,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210849693605755,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3526127719351709,
+              0.30620291637131525,
+              0.7625852306855383
+            ],
+            "target_position": [
+              0.35746272958976094,
+              0.30587075310659934,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004861318924504285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16886816201568125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852306855383,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557438371470979,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869331378887022,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374606345115831,
+            "release_required_pad_clearance": 0.0534665689443511,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.940706772371807,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddc252472a2f7b78f2cc3406e2f3abe8f4969e130e433d3a0e44ed8ae055b10d",
+    "visual_seed": 957199447049476015,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b912b8a421b994421f3975c5e57f8684ac68ed
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_38_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3005591389036427,
+              0.15956602710257067,
+              1.0475875122811475
+            ],
+            "current_z": 1.0475875122811475,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1910011836865163,
+            "gripper_z": 1.0499475709101695,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2954771882346778,
+              0.15462096501498185,
+              1.0499475709101695
+            ],
+            "object_minus_gripper": [
+              0.005081950668964941,
+              0.004945062087588825,
+              -0.0023600586290219994
+            ],
+            "object_to_gripper_xy": 0.007090829405076783,
+            "object_to_gripper_z": -0.0023600586290219994,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3005591389036427,
+              0.1352696382898826,
+              1.0475875122811475
+            ],
+            "finger_b": [
+              0.2883985734768032,
+              0.15956602710257067,
+              1.0475875122811475
+            ],
+            "finger_midpoint": [
+              0.29447885619022296,
+              0.14741783269622663,
+              1.0475875122811475
+            ],
+            "object_minus_finger_midpoint": [
+              0.00608028271341976,
+              0.012148194406344043,
+              0.0
+            ],
+            "finger_gap": 0.02716972323815168,
+            "fingertip_max_gap": 0.09260275510110463,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01358486161907584,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475875122811475,
+            "object_top_z": 1.093945108435765,
+            "finger_top_clearance": 0.04635759615461743,
+            "fingertip_min_top_clearance": 0.01390727884638523,
+            "object_projection_between_fingers": 0.7996740973534787,
+            "object_to_finger_line_xy": 0.010874524675972554,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880137755055232,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.915633826166942,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3007040694938482,
+              0.15763868122480013,
+              1.2405159079315595
+            ],
+            "held_position": [
+              0.3061825428564041,
+              0.16206938047918348,
+              1.238023348448135
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007473795491277303,
+            "max_held_gripper_dist": 0.007475906173739738,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002492559483424417,
+            "max_held_gripper_z_dist": 0.002522938894088833,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867014344782754,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3061825428564041,
+              0.13659543174976874,
+              1.238023348448135
+            ],
+            "held_grasp_finger_b": [
+              0.2963773641970955,
+              0.16206938047918348,
+              1.238023348448135
+            ],
+            "held_grasp_midpoint": [
+              0.3012799535267498,
+              0.14933240611447612,
+              1.238023348448135
+            ],
+            "held_grasp_object_position": [
+              0.3061825428564041,
+              0.16206938047918348,
+              1.238023348448135
+            ],
+            "held_grasp_finger_gap": 0.027295853025868465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024577594524242977,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08180483299069316,
+              -0.9963004085662505,
+              0.02633372723500127
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038592769925599275,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032109316701020636,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3507925797404927,
+              0.307167324677579,
+              0.7625855904478044
+            ],
+            "target_position": [
+              0.35617973308050876,
+              0.30721505281221273,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005387364762449419,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1676610267323825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855904478044,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533579232337922,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515713617587227,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1367725684924091,
+            "release_required_pad_clearance": 0.05257856808793614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2166716005496485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93ca11988ac7f3422f70ee8e9399478053a58ca62c41a336941282d1b4894187",
+    "visual_seed": 4963354697997669062,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d067b6128ab3f429e5083f5b4f2e5d6865f5eac2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30367503171507776,
+              0.16234676523376027,
+              1.0467962356856388
+            ],
+            "current_z": 1.0467962356856388,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19020972827707328,
+            "gripper_z": 1.0490972303546018,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2983416067544723,
+              0.15736439988276524,
+              1.0490972303546018
+            ],
+            "object_minus_gripper": [
+              0.0053334249606054596,
+              0.004982365350995027,
+              -0.0023009946689629412
+            ],
+            "object_to_gripper_xy": 0.007298587966257936,
+            "object_to_gripper_z": -0.0023009946689629412,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30367503171507776,
+              0.13774416034290218,
+              1.0467962356856388
+            ],
+            "finger_b": [
+              0.29162808493617165,
+              0.16234676523376027,
+              1.0467962356856388
+            ],
+            "finger_midpoint": [
+              0.29765155832562473,
+              0.15004546278833122,
+              1.0467962356856388
+            ],
+            "object_minus_finger_midpoint": [
+              0.006023473389453027,
+              0.012301302445429041,
+              0.0
+            ],
+            "finger_gap": 0.027393741878565445,
+            "fingertip_max_gap": 0.09291518000008994,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01369687093928271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467962356856388,
+            "object_top_z": 1.0932307653823345,
+            "finger_top_clearance": 0.0464345296966957,
+            "fingertip_min_top_clearance": 0.013930358909008678,
+            "object_projection_between_fingers": 0.8066023177869867,
+            "object_to_finger_line_xy": 0.01081948837279995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895759000004497,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9089958514617129,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3033236942555956,
+              0.160806204426102,
+              1.241518450718371
+            ],
+            "held_position": [
+              0.3089715002642445,
+              0.1653672188429756,
+              1.2390994934939805
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007651922586885643,
+            "max_held_gripper_dist": 0.007654922839049025,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00241895722439045,
+            "max_held_gripper_z_dist": 0.002454719147331641,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08755119403115383,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3089715002642445,
+              0.13988440962913867,
+              1.2390994934939805
+            ],
+            "held_grasp_finger_b": [
+              0.29877586728337713,
+              0.1653672188429756,
+              1.2390994934939805
+            ],
+            "held_grasp_midpoint": [
+              0.30387368377381085,
+              0.15262581423605714,
+              1.2390994934939805
+            ],
+            "held_grasp_object_position": [
+              0.3089715002642445,
+              0.1653672188429756,
+              1.2390994934939805
+            ],
+            "held_grasp_finger_gap": 0.027446757500829904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024796895800663125,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06171412821063804,
+              -0.9977750171997072,
+              0.02522660166025459
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043140623638892196,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217256246450935,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35164026231430506,
+              0.3113846969459475,
+              0.7625848534055469
+            ],
+            "target_position": [
+              0.3566805836784606,
+              0.31118675317854533,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0050442066957070925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16934651750839663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848534055469,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757291726904301,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598987307552279,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.137391233778664,
+            "release_required_pad_clearance": 0.0529949365377614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0148814667336048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a3a9e5ca5fb81cbbf0799b6d7a365791492b6f899651f5fe9010d4ab5a75ede",
+    "visual_seed": 2876927236574984906,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5788617e493c553406f7318908182e91ba2d0cfd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_40_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30426645795467894,
+              0.15668486048460978,
+              1.0462835259918106
+            ],
+            "current_z": 1.0462835259918106,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1896971377925346,
+            "gripper_z": 1.0484936003363945,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2990905890101678,
+              0.15181977311914083,
+              1.0484936003363945
+            ],
+            "object_minus_gripper": [
+              0.005175868944511164,
+              0.004865087365468951,
+              -0.0022100743445838678
+            ],
+            "object_to_gripper_xy": 0.007103428355688592,
+            "object_to_gripper_z": -0.0022100743445838678,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30426645795467894,
+              0.13213200180523055,
+              1.0462835259918106
+            ],
+            "finger_b": [
+              0.29246353256567914,
+              0.15668486048460978,
+              1.0462835259918106
+            ],
+            "finger_midpoint": [
+              0.298364995260179,
+              0.14440843114492016,
+              1.0462835259918106
+            ],
+            "object_minus_finger_midpoint": [
+              0.005901462694499926,
+              0.012276429339689615,
+              0.0
+            ],
+            "finger_gap": 0.027242465326542384,
+            "fingertip_max_gap": 0.09237357562855583,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013621232663271204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462835259918106,
+            "object_top_z": 1.0924985520540824,
+            "finger_top_clearance": 0.04621502606227179,
+            "fingertip_min_top_clearance": 0.013864507818681504,
+            "object_projection_between_fingers": 0.812290388888725,
+            "object_to_finger_line_xy": 0.010637640742338422,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868678781427792,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7852716618970769,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3042675587105379,
+              0.15486164084596324,
+              1.240464717740047
+            ],
+            "held_position": [
+              0.309764915813569,
+              0.1592973301814491,
+              1.2381267175197253
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007440599440193916,
+            "max_held_gripper_dist": 0.007444916055601377,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002338000220321712,
+            "max_held_gripper_z_dist": 0.0023684423922192277,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866339611457781,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.309764915813569,
+              0.13382497833405216,
+              1.2381267175197253
+            ],
+            "held_grasp_finger_b": [
+              0.2999229302847023,
+              0.1592973301814491,
+              1.2381267175197253
+            ],
+            "held_grasp_midpoint": [
+              0.30484392304913566,
+              0.14656115425775063,
+              1.2381267175197253
+            ],
+            "held_grasp_object_position": [
+              0.309764915813569,
+              0.1592973301814491,
+              1.2381267175197253
+            ],
+            "held_grasp_finger_gap": 0.02730760677518277,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024759920591426985,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06601386149374429,
+              -0.9975375738047402,
+              0.02368457173852978
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004080944115579116,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217055720057124,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34954329352585384,
+              0.3132770413612351,
+              0.7625843602640142
+            ],
+            "target_position": [
+              0.3544116968959477,
+              0.31304222004110727,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0048740632357744266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16914453374186192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843602640142,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587573128502977,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621074552419504,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1369167011623112,
+            "release_required_pad_clearance": 0.05310537276209752,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2271281934816323,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84ba6682c0d079b46e1d7e5db96bdb2330c7ba051aac2fe53a5adcbbae7c12d3",
+    "visual_seed": 1132760869076913779,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..492dd7592f215471aafc5d91cabb6d45c01a6b3d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_41_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3090717841901845,
+              0.15793466312362664,
+              1.046101872163369
+            ],
+            "current_z": 1.046101872163369,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18951542435944824,
+            "gripper_z": 1.0481599685772167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3038184548731723,
+              0.1530041401202588,
+              1.0481599685772167
+            ],
+            "object_minus_gripper": [
+              0.005253329317012223,
+              0.004930523003367826,
+              -0.0020580964138476876
+            ],
+            "object_to_gripper_xy": 0.007204687779475208,
+            "object_to_gripper_z": -0.0020580964138476876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3090717841901845,
+              0.1333620089841715,
+              1.046101872163369
+            ],
+            "finger_b": [
+              0.29713670029481576,
+              0.15793466312362664,
+              1.046101872163369
+            ],
+            "finger_midpoint": [
+              0.3031042422425001,
+              0.14564833605389907,
+              1.046101872163369
+            ],
+            "object_minus_finger_midpoint": [
+              0.005967541947684396,
+              0.01228632706972757,
+              0.0
+            ],
+            "finger_gap": 0.027317788326414204,
+            "fingertip_max_gap": 0.09372549634178787,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013658894163207114,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046101872163369,
+            "object_top_z": 1.092856718151638,
+            "finger_top_clearance": 0.046754845988268956,
+            "fingertip_min_top_clearance": 0.01402645379648072,
+            "object_projection_between_fingers": 0.809120239596098,
+            "object_to_finger_line_xy": 0.010735740579800219,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049362748170893936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2203446920304235,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30880678250915217,
+              0.15639978794130882,
+              1.237319905850067
+            ],
+            "held_position": [
+              0.3143573714405838,
+              0.16092371122171112,
+              1.2351185925453825
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007491375013846142,
+            "max_held_gripper_dist": 0.007493050878503211,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002201313304684538,
+            "max_held_gripper_z_dist": 0.0022353295192545364,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732903394545632,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3143573714405838,
+              0.13545648445478353,
+              1.2351185925453825
+            ],
+            "held_grasp_finger_b": [
+              0.3043429027628005,
+              0.16092371122171112,
+              1.2351185925453825
+            ],
+            "held_grasp_midpoint": [
+              0.3093501371016921,
+              0.14819009783824733,
+              1.2351185925453825
+            ],
+            "held_grasp_object_position": [
+              0.3143573714405838,
+              0.16092371122171112,
+              1.2351185925453825
+            ],
+            "held_grasp_finger_gap": 0.02736547500220698,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02484903850312893,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056696014621134286,
+              -0.9980206796098574,
+              0.027208178865160026
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004291556088644847,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220792525166782,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34500907630753275,
+              0.3112623801906073,
+              0.7625858094622475
+            ],
+            "target_position": [
+              0.3511790614141744,
+              0.3117591317564889,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006189949784480106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1690309894130001,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858094622475,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561516272853852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875741147076796,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13724257667029197,
+            "release_required_pad_clearance": 0.053787057353839804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.573576135745859,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5645e9327fae012e73ac518cc90cc458d86fbb58e983d64874c51beb4edf058",
+    "visual_seed": 4897106397443784959,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f754b0cdb8f1ad3a509f7d6b198ca17b9dff73
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_42_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2996872072691452,
+              0.16344803463568416,
+              1.0487936899755004
+            ],
+            "current_z": 1.0487936899755004,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1922071825669348,
+            "gripper_z": 1.051160031690935,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29426815641718995,
+              0.15843091253448557,
+              1.051160031690935
+            ],
+            "object_minus_gripper": [
+              0.005419050851955265,
+              0.00501712210119859,
+              -0.0023663417154347055
+            ],
+            "object_to_gripper_xy": 0.007384959465996576,
+            "object_to_gripper_z": -0.0023663417154347055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2996872072691452,
+              0.13876115093648103,
+              1.0487936899755004
+            ],
+            "finger_b": [
+              0.28762118373785284,
+              0.16344803463568416,
+              1.0487936899755004
+            ],
+            "finger_midpoint": [
+              0.293654195503499,
+              0.1511045927860826,
+              1.0487936899755004
+            ],
+            "object_minus_finger_midpoint": [
+              0.00603301176564619,
+              0.012343441849601566,
+              0.0
+            ],
+            "finger_gap": 0.02747783016607539,
+            "fingertip_max_gap": 0.09160696070177668,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013738915083037696,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487936899755004,
+            "object_top_z": 1.0945434992755272,
+            "finger_top_clearance": 0.04574980930002681,
+            "fingertip_min_top_clearance": 0.013724942790008044,
+            "object_projection_between_fingers": 0.8071749440600883,
+            "object_to_finger_line_xy": 0.010840467308682275,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830348035088834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5574049749821053,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2992548260537415,
+              0.1616952796322706,
+              1.239759003919402
+            ],
+            "held_position": [
+              0.30496773951234546,
+              0.1662981502930364,
+              1.2372444703647267
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00775542890514927,
+            "max_held_gripper_dist": 0.007756741881420498,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025145335546752356,
+            "max_held_gripper_z_dist": 0.0025492715818222766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631330079419375,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30496773951234546,
+              0.14075428241313737,
+              1.2372444703647267
+            ],
+            "held_grasp_finger_b": [
+              0.2947887172374383,
+              0.1662981502930364,
+              1.2372444703647267
+            ],
+            "held_grasp_midpoint": [
+              0.29987822837489186,
+              0.1535262163530869,
+              1.2372444703647267
+            ],
+            "held_grasp_object_position": [
+              0.30496773951234546,
+              0.1662981502930364,
+              1.2372444703647267
+            ],
+            "held_grasp_finger_gap": 0.027497303153923906,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024878703722977492,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.060443231168893045,
+              -0.9980460609677166,
+              0.015832750635587756
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043130861558933,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032145620107886505,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3491543211857603,
+              0.3070402802359774,
+              0.7625853058472705
+            ],
+            "target_position": [
+              0.352628821994836,
+              0.30582780231052453,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0036799807869033908,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1714059072033547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853058472705,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587858761250024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08681113062570715,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13920094704935412,
+            "release_required_pad_clearance": 0.05340556531285358,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8178350992293106,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e9cac1b30a909e042fced70e8ff20d1965935da36646cde997bdcb615b6d801",
+    "visual_seed": 4985649343723911532,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c13295d83c0997fbbef2643f0ea143b3e8d868b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3093528447022926,
+              0.16240971765970239,
+              1.0455605215241393
+            ],
+            "current_z": 1.0455605215241393,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18897407372021846,
+            "gripper_z": 1.0475370756287081,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30418781514050464,
+              0.15748014210629152,
+              1.0475370756287081
+            ],
+            "object_minus_gripper": [
+              0.005165029561787937,
+              0.004929575553410864,
+              -0.001976554104568873
+            ],
+            "object_to_gripper_xy": 0.007139905147194136,
+            "object_to_gripper_z": -0.001976554104568873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3093528447022926,
+              0.1379710160435341,
+              1.0455605215241393
+            ],
+            "finger_b": [
+              0.2973203646605348,
+              0.16240971765970239,
+              1.0455605215241393
+            ],
+            "finger_midpoint": [
+              0.30333660468141366,
+              0.15019036685161824,
+              1.0455605215241393
+            ],
+            "object_minus_finger_midpoint": [
+              0.006016240020878916,
+              0.012219350808084145,
+              0.0
+            ],
+            "finger_gap": 0.02724024068615044,
+            "fingertip_max_gap": 0.09198567235801217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013620120343075233,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0455605215241393,
+            "object_top_z": 1.0917211782506007,
+            "finger_top_clearance": 0.04616065672646141,
+            "fingertip_min_top_clearance": 0.01384819701793844,
+            "object_projection_between_fingers": 0.804886006078759,
+            "object_to_finger_line_xy": 0.010794992336191963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048492836179006085,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6601740331258972,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3093988274796209,
+              0.1605355975484568,
+              1.2376567880852969
+            ],
+            "held_position": [
+              0.31492538484400784,
+              0.16499455278394726,
+              1.2355427675441362
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074090620825052345,
+            "max_held_gripper_dist": 0.007410536475864756,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021140205411607216,
+            "max_held_gripper_z_dist": 0.0021488973590673144,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670978628827741,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31492538484400784,
+              0.13949744798437255,
+              1.2355427675441362
+            ],
+            "held_grasp_finger_b": [
+              0.3050713597193735,
+              0.16499455278394726,
+              1.2355427675441362
+            ],
+            "held_grasp_midpoint": [
+              0.3099983722816907,
+              0.15224600038415992,
+              1.2355427675441362
+            ],
+            "held_grasp_object_position": [
+              0.31492538484400784,
+              0.16499455278394726,
+              1.2355427675441362
+            ],
+            "held_grasp_finger_gap": 0.02733503547313265,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02463958071800189,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0783600689262615,
+              -0.9966520907265213,
+              0.023330444666267547
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00392451553770311,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210827251884237,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3498358737892701,
+              0.30951760782940685,
+              0.7625848506464834
+            ],
+            "target_position": [
+              0.3541615737535736,
+              0.3089451780234856,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004363411058321487,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1702853981049421,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848506464834,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590489313891134,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754558841442937,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13800201949995855,
+            "release_required_pad_clearance": 0.05377279420721469,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.544825467503962,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "adf2d8dd1e17235d180f1c7e1c3b2384a012318d654d3a02c57b9bf60e13fbef",
+    "visual_seed": 4455122860567472487,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e644ee373723d131a6ee474a87dd81191b47d3e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_44_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.301508622858021,
+              0.16224926944784346,
+              1.0469351275522827
+            ],
+            "current_z": 1.0469351275522827,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19034873935300667,
+            "gripper_z": 1.050150472284642,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2958508258305288,
+              0.15711594553453634,
+              1.050150472284642
+            ],
+            "object_minus_gripper": [
+              0.005657797027492195,
+              0.00513332391330712,
+              -0.003215344732359293
+            ],
+            "object_to_gripper_xy": 0.007639481762739554,
+            "object_to_gripper_z": -0.003215344732359293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.301508622858021,
+              0.13728276346881693,
+              1.0469351275522827
+            ],
+            "finger_b": [
+              0.2894204135410422,
+              0.16224926944784346,
+              1.0469351275522827
+            ],
+            "finger_midpoint": [
+              0.29546451819953157,
+              0.1497660164583302,
+              1.0469351275522827
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044104658489424,
+              0.01248325298951325,
+              0.0
+            ],
+            "finger_gap": 0.027738983854709968,
+            "fingertip_max_gap": 0.09229299482782924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013869491927354982,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469351275522827,
+            "object_top_z": 1.0924456117619497,
+            "finger_top_clearance": 0.04551048420966697,
+            "fingertip_min_top_clearance": 0.013653145262900124,
+            "object_projection_between_fingers": 0.8100921803904251,
+            "object_to_finger_line_xy": 0.010880007420921815,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864649741391462,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.49564983548508,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30094698962787264,
+              0.16030150723633615,
+              1.241499512386696
+            ],
+            "held_position": [
+              0.30689105312393616,
+              0.16500769512512567,
+              1.2381552724143565
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008286376547226042,
+            "max_held_gripper_dist": 0.00829048342877335,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003344239972339569,
+            "max_held_gripper_z_dist": 0.0033789588757437983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08687637143917461,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30689105312393616,
+              0.13931539237303395,
+              1.2381552724143565
+            ],
+            "held_grasp_finger_b": [
+              0.296505007095089,
+              0.16500769512512567,
+              1.2381552724143565
+            ],
+            "held_grasp_midpoint": [
+              0.30169803010951257,
+              0.1521615437490798,
+              1.2381552724143565
+            ],
+            "held_grasp_object_position": [
+              0.30689105312393616,
+              0.16500769512512567,
+              1.2381552724143565
+            ],
+            "held_grasp_finger_gap": 0.027712170121058227,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025265761556603265,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03897805853043697,
+              -0.9991548719596778,
+              0.013048095356719469
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004691401215338938,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216251627749692,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3449635083313469,
+              0.31022620668004997,
+              0.7625847280475124
+            ],
+            "target_position": [
+              0.3485088955812321,
+              0.3091345203445897,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037096562922566056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1719919360861165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847280475124,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579771478189969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685736117836167,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13992578155188448,
+            "release_required_pad_clearance": 0.053428680589180835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.862495324318094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8f5bc20b74d4ae77141f8f19e2418427a5d9922337a350767a9d9610223f89a",
+    "visual_seed": 5849194021074089114,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4975a4539d3bc15560ff8b17ecdbf8bd6826311b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3068085932285844,
+              0.1603816638779554,
+              1.047737444200141
+            ],
+            "current_z": 1.047737444200141,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19115093679157547,
+            "gripper_z": 1.0499028588085033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30149945414050455,
+              0.15537516831571258,
+              1.0499028588085033
+            ],
+            "object_minus_gripper": [
+              0.0053091390880798395,
+              0.005006495562242835,
+              -0.0021654146083622816
+            ],
+            "object_to_gripper_xy": 0.007297393758824751,
+            "object_to_gripper_z": -0.0021654146083622816,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3068085932285844,
+              0.13584489252387202,
+              1.047737444200141
+            ],
+            "finger_b": [
+              0.29466316246902996,
+              0.1603816638779554,
+              1.047737444200141
+            ],
+            "finger_midpoint": [
+              0.3007358778488072,
+              0.14811327820091372,
+              1.047737444200141
+            ],
+            "object_minus_finger_midpoint": [
+              0.006072715379777216,
+              0.012268385677041693,
+              0.0
+            ],
+            "finger_gap": 0.02737817811355785,
+            "fingertip_max_gap": 0.09289962890498413,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013689089056778925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047737444200141,
+            "object_top_z": 1.0941570509661593,
+            "finger_top_clearance": 0.046419606766018306,
+            "fingertip_min_top_clearance": 0.013925882029805492,
+            "object_projection_between_fingers": 0.8032037784474518,
+            "object_to_finger_line_xy": 0.010884933844318238,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048949814452492066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9510979348762676,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30665069118098454,
+              0.15840721633049032,
+              1.241395708868496
+            ],
+            "held_position": [
+              0.31231402802798985,
+              0.16294399693744036,
+              1.2391015634260079
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00761044452246614,
+            "max_held_gripper_dist": 0.007613226716661241,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022941454424880714,
+            "max_held_gripper_z_dist": 0.002328940610003105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744741245568742,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31231402802798985,
+              0.1374089750886082,
+              1.2391015634260079
+            ],
+            "held_grasp_finger_b": [
+              0.3022402207988283,
+              0.16294399693744036,
+              1.2391015634260079
+            ],
+            "held_grasp_midpoint": [
+              0.30727712441340904,
+              0.15017648601302427,
+              1.2391015634260079
+            ],
+            "held_grasp_object_position": [
+              0.31231402802798985,
+              0.16294399693744036,
+              1.2391015634260079
+            ],
+            "held_grasp_finger_gap": 0.02745029932278779,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024768475941537044,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06916982497197978,
+              -0.9972687540717441,
+              0.02589531744422036
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004155248213593162,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211918351219968,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35108986693115557,
+              0.311952894598585,
+              0.762583972091673
+            ],
+            "target_position": [
+              0.3557578602170952,
+              0.3115831884460481,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004682610805608471,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17036616913953334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762583972091673,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590681723181565,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621742931020653,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13796910383564767,
+            "release_required_pad_clearance": 0.053108714655103265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2315763645936482,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4c71fd359dcc3c7d0e8f8a0f3e821531030c553ca0f670f3e035f8637ce7aa5",
+    "visual_seed": 5896501215513455235,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa143670f76e6fe3fd747e6852ecd1bd0b91f51
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30187880480413165,
+              0.15980844259428423,
+              1.046023788279686
+            ],
+            "current_z": 1.046023788279686,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18943740008040988,
+            "gripper_z": 1.048326064295722,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29657896297777997,
+              0.15489109498358106,
+              1.048326064295722
+            ],
+            "object_minus_gripper": [
+              0.005299841826351681,
+              0.004917347610703171,
+              -0.0023022760160360534
+            ],
+            "object_to_gripper_xy": 0.007229704759451447,
+            "object_to_gripper_z": -0.0023022760160360534,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30187880480413165,
+              0.13514735761637156,
+              1.046023788279686
+            ],
+            "finger_b": [
+              0.2900310096884852,
+              0.15980844259428423,
+              1.046023788279686
+            ],
+            "finger_midpoint": [
+              0.29595490724630846,
+              0.1474779001053279,
+              1.046023788279686
+            ],
+            "object_minus_finger_midpoint": [
+              0.005923897557823188,
+              0.01233054248895632,
+              0.0
+            ],
+            "finger_gap": 0.02735944738824535,
+            "fingertip_max_gap": 0.09284974150167277,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01367972369412265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046023788279686,
+            "object_top_z": 1.092366389271882,
+            "finger_top_clearance": 0.046342600992196115,
+            "fingertip_min_top_clearance": 0.013902780297658833,
+            "object_projection_between_fingers": 0.812474458468498,
+            "object_to_finger_line_xy": 0.010679290338056533,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892487075083639,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9178624733496203,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30153947627314553,
+              0.15809585050482744,
+              1.239977665820382
+            ],
+            "held_position": [
+              0.30713284240527183,
+              0.1626133343387129,
+              1.237556542130667
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007586517303633714,
+            "max_held_gripper_dist": 0.0075885624057388966,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024211236897151434,
+            "max_held_gripper_z_dist": 0.002455038727157799,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730089417489338,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30713284240527183,
+              0.1371432558903071,
+              1.237556542130667
+            ],
+            "held_grasp_finger_b": [
+              0.2970442366787749,
+              0.1626133343387129,
+              1.237556542130667
+            ],
+            "held_grasp_midpoint": [
+              0.30208853954202336,
+              0.14987829511451,
+              1.237556542130667
+            ],
+            "held_grasp_object_position": [
+              0.30713284240527183,
+              0.1626133343387129,
+              1.237556542130667
+            ],
+            "held_grasp_finger_gap": 0.027395343795481964,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02485826121974469,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05595385681668064,
+              -0.9981421011931076,
+              0.024114554384158438
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004334959346830548,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220659795563808,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34698219354161536,
+              0.30666851952272844,
+              0.76258609133811
+            ],
+            "target_position": [
+              0.35219569832974035,
+              0.30650751328406806,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005215990335946738,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16977276180608764,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258609133811,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584004703489083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644487241835734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13758166454743703,
+            "release_required_pad_clearance": 0.05322243620917867,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4633669307160484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff92fc24f74123867560924cc2365981f051685c2ed8baa2bd6f59297b321528",
+    "visual_seed": 491959767274784194,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63444ab790bc940ed5bbafeed3feb482d440352b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30009182015831276,
+              0.15860355083723465,
+              1.0458930101769424
+            ],
+            "current_z": 1.0458930101769424,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.18930644316373224,
+            "gripper_z": 1.048295095699733,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29505245231004573,
+              0.1536935299656883,
+              1.048295095699733
+            ],
+            "object_minus_gripper": [
+              0.005039367848267029,
+              0.00491002087154635,
+              -0.0024020855227906424
+            ],
+            "object_to_gripper_xy": 0.007035874733760419,
+            "object_to_gripper_z": -0.0024020855227906424,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30009182015831276,
+              0.13430491958911292,
+              1.0458930101769424
+            ],
+            "finger_b": [
+              0.28803043534341877,
+              0.15860355083723465,
+              1.0458930101769424
+            ],
+            "finger_midpoint": [
+              0.2940611277508658,
+              0.1464542352131738,
+              1.0458930101769424
+            ],
+            "object_minus_finger_midpoint": [
+              0.006030692407446969,
+              0.012149315624060852,
+              0.0
+            ],
+            "finger_gap": 0.02712748576969774,
+            "fingertip_max_gap": 0.0925356268395093,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013563742884848845,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458930101769424,
+            "object_top_z": 1.0921883131156023,
+            "finger_top_clearance": 0.04629530293865991,
+            "fingertip_min_top_clearance": 0.013888590881597955,
+            "object_projection_between_fingers": 0.8023142982246587,
+            "object_to_finger_line_xy": 0.010803623470560563,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048767813419754655,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8764655892512527,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30019044037879994,
+              0.15687544488844213,
+              1.2380933459729238
+            ],
+            "held_position": [
+              0.3056012912462614,
+              0.16129784532436378,
+              1.2355549244844075
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007434952345436348,
+            "max_held_gripper_dist": 0.007441562719851229,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025384214885162404,
+            "max_held_gripper_z_dist": 0.002568820643056302,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654611234698847,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3056012912462614,
+              0.13586519364404093,
+              1.2355549244844075
+            ],
+            "held_grasp_finger_b": [
+              0.2958269983950006,
+              0.16129784532436378,
+              1.2355549244844075
+            ],
+            "held_grasp_midpoint": [
+              0.30071414482063097,
+              0.14858151948420234,
+              1.2355549244844075
+            ],
+            "held_grasp_object_position": [
+              0.3056012912462614,
+              0.16129784532436378,
+              1.2355549244844075
+            ],
+            "held_grasp_finger_gap": 0.02724622124689655,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459265395787899,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0773644805727126,
+              -0.9967044477275117,
+              0.024392232901284342
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039014258899173477,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214771489746791,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3479496663405551,
+              0.3069087445220423,
+              0.7625843458283299
+            ],
+            "target_position": [
+              0.35348877240723436,
+              0.30700021192100874,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005539861216943704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688743728144935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843458283299,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564307678686132,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514863159092516,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372917530889346,
+            "release_required_pad_clearance": 0.05257431579546258,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20156466888773336,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af3a6b77dc157d50aa066ad946ff64795fbbb4f5260a4ba1cbb3e66823b8e95f",
+    "visual_seed": 2957876019185041655,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e50d767eb8b693cc81e67422843aac3f2e31b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30920516197925835,
+              0.16007188726057922,
+              1.048207107405413
+            ],
+            "current_z": 1.048207107405413,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1916206596014921,
+            "gripper_z": 1.0502498864382703,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30389842095201813,
+              0.1550296934183897,
+              1.0502498864382703
+            ],
+            "object_minus_gripper": [
+              0.005306741027240214,
+              0.005042193842189513,
+              -0.0020427790328574336
+            ],
+            "object_to_gripper_xy": 0.0073201925570580695,
+            "object_to_gripper_z": -0.0020427790328574336,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30920516197925835,
+              0.13554481647088898,
+              1.048207107405413
+            ],
+            "finger_b": [
+              0.29700723325592365,
+              0.16007188726057922,
+              1.048207107405413
+            ],
+            "finger_midpoint": [
+              0.303106197617591,
+              0.1478083518657341,
+              1.048207107405413
+            ],
+            "object_minus_finger_midpoint": [
+              0.006098964361667347,
+              0.012263535394845121,
+              0.0
+            ],
+            "finger_gap": 0.027392821443984732,
+            "fingertip_max_gap": 0.09210147997689425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013696410721992366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048207107405413,
+            "object_top_z": 1.0940543734269745,
+            "finger_top_clearance": 0.04584726602156164,
+            "fingertip_min_top_clearance": 0.013754179806468524,
+            "object_projection_between_fingers": 0.8017109877742352,
+            "object_to_finger_line_xy": 0.010921819860601588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048550739988447125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8400952851586969,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30917781552653584,
+              0.1579930439103034,
+              1.2416743177145582
+            ],
+            "held_position": [
+              0.3148724493767416,
+              0.16253475333432818,
+              1.2394985834727787
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007601960186099118,
+            "max_held_gripper_dist": 0.007606711146350832,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021757342417794145,
+            "max_held_gripper_z_dist": 0.0022097870977355605,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661901524895892,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3148724493767416,
+              0.13694941516047607,
+              1.2394985834727787
+            ],
+            "held_grasp_finger_b": [
+              0.3048441699955071,
+              0.16253475333432818,
+              1.2394985834727787
+            ],
+            "held_grasp_midpoint": [
+              0.3098583096861244,
+              0.14974208424740212,
+              1.2394985834727787
+            ],
+            "held_grasp_object_position": [
+              0.3148724493767416,
+              0.16253475333432818,
+              1.2394985834727787
+            ],
+            "held_grasp_finger_gap": 0.027480464275889998,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024802685272081522,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07113581111307922,
+              -0.9972920774606483,
+              0.018660348643815047
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004098572586058665,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03208551254191733,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34942575088665623,
+              0.3069779835312374,
+              0.7625847882602133
+            ],
+            "target_position": [
+              0.35355016946101114,
+              0.30627846242766027,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004183319059172226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16985879861589923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847882602133,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544757369838305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567468629521584,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13888102293169033,
+            "release_required_pad_clearance": 0.05283734314760792,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7099398859072564,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92510baff9969e821a5866d1d628ff49e9fbc6fc75193d1b5bd9f5b77b5c75f9",
+    "visual_seed": 5911558232072667762,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..610a4896c66a5778b89434cd7f7a84c88f667562
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30244087872552705,
+              0.15838452070172188,
+              1.0486506582956325
+            ],
+            "current_z": 1.0486506582956325,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.19206415088706685,
+            "gripper_z": 1.0509007786619242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29730259654837066,
+              0.1534863667021759,
+              1.0509007786619242
+            ],
+            "object_minus_gripper": [
+              0.005138282177156395,
+              0.004898153999545962,
+              -0.0022501203662916858
+            ],
+            "object_to_gripper_xy": 0.00709886303117275,
+            "object_to_gripper_z": -0.0022501203662916858,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30244087872552705,
+              0.1339475493289186,
+              1.0486506582956325
+            ],
+            "finger_b": [
+              0.29047831076439656,
+              0.15838452070172188,
+              1.0486506582956325
+            ],
+            "finger_midpoint": [
+              0.2964595947449618,
+              0.14616603501532024,
+              1.0486506582956325
+            ],
+            "object_minus_finger_midpoint": [
+              0.005981283980565244,
+              0.012218485686401631,
+              0.0
+            ],
+            "finger_gap": 0.027207877574332618,
+            "fingertip_max_gap": 0.09239390250806215,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013603938787166309,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486506582956325,
+            "object_top_z": 1.0949251877452795,
+            "finger_top_clearance": 0.04627452944964694,
+            "fingertip_min_top_clearance": 0.013882358834894082,
+            "object_projection_between_fingers": 0.806687691712529,
+            "object_to_finger_line_xy": 0.010744275440548779,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048696951254031076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7782500065282296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3024594876802428,
+              0.15643398973098577,
+              1.2427097393989461
+            ],
+            "held_position": [
+              0.30794546426840097,
+              0.1608739906072718,
+              1.2403316803170439
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007447463454375483,
+            "max_held_gripper_dist": 0.0074499671013212145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023780590819022507,
+            "max_held_gripper_z_dist": 0.0024088952632743688,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08742507374933539,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30794546426840097,
+              0.13542154625757524,
+              1.2403316803170439
+            ],
+            "held_grasp_finger_b": [
+              0.2980764583037269,
+              0.1608739906072718,
+              1.2403316803170439
+            ],
+            "held_grasp_midpoint": [
+              0.303010961286064,
+              0.14814776843242353,
+              1.2403316803170439
+            ],
+            "held_grasp_object_position": [
+              0.30794546426840097,
+              0.1608739906072718,
+              1.2403316803170439
+            ],
+            "held_grasp_finger_gap": 0.027298794883752153,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024657165377299457,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07294453067717918,
+              -0.9970380462081403,
+              0.024376830346470757
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004005422674589701,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215175226881762,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3498460198754519,
+              0.31257507086776604,
+              0.7625852705193058
+            ],
+            "target_position": [
+              0.3552400404664167,
+              0.31266746375807,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0053948118208081465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16804031153970234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852705193058,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755552127327478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528448538182863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13662159210186456,
+            "release_required_pad_clearance": 0.05264224269091432,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33801686244788576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "555983e5f6170a7bb6b9f70a134a3b2ef2a445f2afe9ab3b9a5e59aa10265aac",
+    "visual_seed": 691411705718610201,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc4db37865756af028ae54039c98ec86e1c37bf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3021474643695257,
+              0.16463433564456015,
+              1.0463290857468877
+            ],
+            "current_z": 1.0463290857468877,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1897425187336773,
+            "gripper_z": 1.0496235735277961,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2965129850817204,
+              0.15963044487246553,
+              1.0496235735277961
+            ],
+            "object_minus_gripper": [
+              0.005634479287805305,
+              0.005003890772094621,
+              -0.0032944877809084616
+            ],
+            "object_to_gripper_xy": 0.00753566717044753,
+            "object_to_gripper_z": -0.0032944877809084616,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3021474643695257,
+              0.13963674976727988,
+              1.0463290857468877
+            ],
+            "finger_b": [
+              0.29031335754419363,
+              0.16463433564456015,
+              1.0463290857468877
+            ],
+            "finger_midpoint": [
+              0.29623041095685965,
+              0.15213554270592,
+              1.0463290857468877
+            ],
+            "object_minus_finger_midpoint": [
+              0.005917053412666073,
+              0.012498792938640146,
+              0.0
+            ],
+            "finger_gap": 0.027657284466219262,
+            "fingertip_max_gap": 0.09342467871360635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013828642233109657,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463290857468877,
+            "object_top_z": 1.0923961692972313,
+            "finger_top_clearance": 0.04606708355034361,
+            "fingertip_min_top_clearance": 0.01382012506510305,
+            "object_projection_between_fingers": 0.8169153655056838,
+            "object_to_finger_line_xy": 0.010696064612144713,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921233935680318,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.665625641541847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3011940725046776,
+              0.16340776628769355,
+              1.2385625827669118
+            ],
+            "held_position": [
+              0.3069965191074346,
+              0.1681173533916234,
+              1.235132184386672
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008222908871834812,
+            "max_held_gripper_dist": 0.008225960018743903,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034303983802397298,
+            "max_held_gripper_z_dist": 0.0034699440261294345,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08685820311816449,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3069965191074346,
+              0.14260072519947695,
+              1.235132184386672
+            ],
+            "held_grasp_finger_b": [
+              0.29649736502729773,
+              0.1681173533916234,
+              1.235132184386672
+            ],
+            "held_grasp_midpoint": [
+              0.3017469420673662,
+              0.15535903929555017,
+              1.235132184386672
+            ],
+            "held_grasp_object_position": [
+              0.3069965191074346,
+              0.1681173533916234,
+              1.235132184386672
+            ],
+            "held_grasp_finger_gap": 0.027592219024476762,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025323013693235204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01770043613278904,
+              -0.9996953009383165,
+              0.017204645958516337
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005027755641817189,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0323528785129494,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34789919831893745,
+              0.31314964679486346,
+              0.7625846925982583
+            ],
+            "target_position": [
+              0.35257058887612813,
+              0.3126820125616469,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004694738705602931,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16989093568345962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846925982583,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568743044559394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08847969273506494,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1381751350658487,
+            "release_required_pad_clearance": 0.05423984636753247,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4896822571754176,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b85cba9bf021febbb64c99f715fbc01ac359919f3526bf57850be3d61689ef7",
+    "visual_seed": 964414724535584703,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ff356141fe12a45a3831d9e20da85a3b15bbac0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.301788817343937,
+              0.1594039975273644,
+              1.0476290759583233
+            ],
+            "current_z": 1.0476290759583233,
+            "required_z": 0.8565865670132105,
+            "initial_z": 0.7565865670132105,
+            "lift_margin": 0.19104250894511288,
+            "gripper_z": 1.0498417575314631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29678502607380175,
+              0.15456299992214206,
+              1.0498417575314631
+            ],
+            "object_minus_gripper": [
+              0.005003791270135227,
+              0.00484099760522233,
+              -0.0022126815731398075
+            ],
+            "object_to_gripper_xy": 0.006962268659628831,
+            "object_to_gripper_z": -0.0022126815731398075,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.301788817343937,
+              0.1350677295756135,
+              1.0476290759583233
+            ],
+            "finger_b": [
+              0.28989607630636016,
+              0.1594039975273644,
+              1.0476290759583233
+            ],
+            "finger_midpoint": [
+              0.2958424468251486,
+              0.14723586355148893,
+              1.0476290759583233
+            ],
+            "object_minus_finger_midpoint": [
+              0.00594637051878838,
+              0.012168133975875461,
+              0.0
+            ],
+            "finger_gap": 0.027086735262971087,
+            "fingertip_max_gap": 0.09313597304129576,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013543367631485543,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476290759583233,
+            "object_top_z": 1.0943887540100783,
+            "finger_top_clearance": 0.04675967805175496,
+            "fingertip_min_top_clearance": 0.014027903415526488,
+            "object_projection_between_fingers": 0.8072250503451941,
+            "object_to_finger_line_xy": 0.010685116894353499,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906798652064788,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.093841051690853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30205354806775114,
+              0.15741965608790048,
+              1.242524734344431
+            ],
+            "held_position": [
+              0.3074299990295627,
+              0.16178146261892776,
+              1.2401901334253207
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007306294725124852,
+            "max_held_gripper_dist": 0.007308087487528198,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002334600919110308,
+            "max_held_gripper_z_dist": 0.00236392963699128,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648427075223977,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3074299990295627,
+              0.1363536094995884,
+              1.2401901334253207
+            ],
+            "held_grasp_finger_b": [
+              0.2977456813362309,
+              0.16178146261892776,
+              1.2401901334253207
+            ],
+            "held_grasp_midpoint": [
+              0.3025878401828968,
+              0.1490675360592581,
+              1.2401901334253207
+            ],
+            "held_grasp_object_position": [
+              0.3074299990295627,
+              0.16178146261892776,
+              1.2401901334253207
+            ],
+            "held_grasp_finger_gap": 0.027209588814314605,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02455930345502325,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07994158289622054,
+              -0.9962887162278948,
+              0.03190826289568415
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038324817412644665,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214639355262433,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3510543817637436,
+              0.31061174133547265,
+              0.7625857604545891
+            ],
+            "target_position": [
+              0.3575711725869027,
+              0.3113272808598311,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006555956028202877,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16965106630564175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857604545891,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529070390363282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575830494237212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13872953440606553,
+            "release_required_pad_clearance": 0.05287915247118606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7922696102903822,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bbacdbd76a0cfda56c3ce9a2ac8fc9c046622a8861a5963d014ffc1b446077f",
+    "visual_seed": 4897946785895594356,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2a870e323aa1072ce1625641f4f8c92a305de85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30225964541347544,
+              0.15919409673784168,
+              1.045563124671682
+            ],
+            "current_z": 1.045563124671682,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18897661726311654,
+            "gripper_z": 1.048017620166453,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29706403602016074,
+              0.1541816967422444,
+              1.048017620166453
+            ],
+            "object_minus_gripper": [
+              0.005195609393314704,
+              0.005012399995597272,
+              -0.0024544954947709474
+            ],
+            "object_to_gripper_xy": 0.0072193151118207545,
+            "object_to_gripper_z": -0.0024544954947709474,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30225964541347544,
+              0.13483041884908858,
+              1.045563124671682
+            ],
+            "finger_b": [
+              0.28998431981067996,
+              0.15919409673784168,
+              1.045563124671682
+            ],
+            "finger_midpoint": [
+              0.29612198261207767,
+              0.14701225779346513,
+              1.045563124671682
+            ],
+            "object_minus_finger_midpoint": [
+              0.00613766280139777,
+              0.01218183894437655,
+              0.0
+            ],
+            "finger_gap": 0.027281356618056276,
+            "fingertip_max_gap": 0.09260910259079444,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01364067830902815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045563124671682,
+            "object_top_z": 1.0919446642159638,
+            "finger_top_clearance": 0.0463815395442817,
+            "fingertip_min_top_clearance": 0.013914461863284476,
+            "object_projection_between_fingers": 0.7975423852559469,
+            "object_to_finger_line_xy": 0.010962507589088549,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880455129539722,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9396534964232366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30226443849876083,
+              0.15707870507889465,
+              1.2378368118028937
+            ],
+            "held_position": [
+              0.30786027404225286,
+              0.16155974670337822,
+              1.2352393065247078
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007624968402581527,
+            "max_held_gripper_dist": 0.007628521900070407,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025975052781859187,
+            "max_held_gripper_z_dist": 0.0026285824131107027,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669539246935759,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30786027404225286,
+              0.13601478997476893,
+              1.2352393065247078
+            ],
+            "held_grasp_finger_b": [
+              0.2979819294563438,
+              0.16155974670337822,
+              1.2352393065247078
+            ],
+            "held_grasp_midpoint": [
+              0.3029211017492983,
+              0.14878726833907358,
+              1.2352393065247078
+            ],
+            "held_grasp_object_position": [
+              0.30786027404225286,
+              0.16155974670337822,
+              1.2352393065247078
+            ],
+            "held_grasp_finger_gap": 0.027388437451312923,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024630001980983023,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08279848345665375,
+              -0.996201097622449,
+              0.02697747640358427
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003880492775823847,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206731202454374,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3526732351562261,
+              0.31399250115594246,
+              0.7625848637563548
+            ],
+            "target_position": [
+              0.35789660387695404,
+              0.3140462418547548,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005223645169360927,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1694715813216139,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848637563548,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527509907536546,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865170147982136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13871475596804797,
+            "release_required_pad_clearance": 0.0532585073991068,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5287555625709077,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "452d5b047d4522e9518746f5bde389d0a44f0b1bc4913dd8411dc9f90c759a2b",
+    "visual_seed": 5431094412006886810,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c64c60299b0cf6e42580735e919d9d097e97fdf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3085072296555688,
+              0.16169321189864616,
+              1.0455828797721096
+            ],
+            "current_z": 1.0455828797721096,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.1889962531542545,
+            "gripper_z": 1.048559327154667,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3028250652501264,
+              0.15652198682013474,
+              1.048559327154667
+            ],
+            "object_minus_gripper": [
+              0.005682164405442391,
+              0.005171225078511421,
+              -0.0029764473825573123
+            ],
+            "object_to_gripper_xy": 0.007683004694981121,
+            "object_to_gripper_z": -0.0029764473825573123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3085072296555688,
+              0.13675011906939927,
+              1.0455828797721096
+            ],
+            "finger_b": [
+              0.2963126481803847,
+              0.16169321189864616,
+              1.0455828797721096
+            ],
+            "finger_midpoint": [
+              0.30240993891797674,
+              0.14922166548402271,
+              1.0455828797721096
+            ],
+            "object_minus_finger_midpoint": [
+              0.006097290737592076,
+              0.012471546414623447,
+              0.0
+            ],
+            "finger_gap": 0.02776446825068564,
+            "fingertip_max_gap": 0.09259595865248668,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013882234125342832,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0455828797721096,
+            "object_top_z": 1.0911713368805787,
+            "finger_top_clearance": 0.04558845710846904,
+            "fingertip_min_top_clearance": 0.013676537132540745,
+            "object_projection_between_fingers": 0.8070898499094037,
+            "object_to_finger_line_xy": 0.010955389997134942,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879797932624334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5888321873060782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30791511419602346,
+              0.15949821237119977,
+              1.238974315590093
+            ],
+            "held_position": [
+              0.3139086418810976,
+              0.16422788363588225,
+              1.2358651605835689
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008243725446562829,
+            "max_held_gripper_dist": 0.008244877962760749,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003109155006524089,
+            "max_held_gripper_z_dist": 0.0031493918685110422,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753355964790605,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3139086418810976,
+              0.13848323478298064,
+              1.2358651605835689
+            ],
+            "held_grasp_finger_b": [
+              0.3035293169496561,
+              0.16422788363588225,
+              1.2358651605835689
+            ],
+            "held_grasp_midpoint": [
+              0.30871897941537685,
+              0.15135555920943145,
+              1.2358651605835689
+            ],
+            "held_grasp_object_position": [
+              0.3139086418810976,
+              0.16422788363588225,
+              1.2358651605835689
+            ],
+            "held_grasp_finger_gap": 0.027758193936055203,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02528725201627864,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.041709909312483556,
+              -0.9990492729130778,
+              0.012682024956416568
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004651156715863331,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212367825605623,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3449993082117101,
+              0.3150473000567137,
+              0.7625852086976141
+            ],
+            "target_position": [
+              0.34857512153463704,
+              0.31410513304152804,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003697853377964808,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17102495412429944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852086976141,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550967746848439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610560623240192,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13980271858462523,
+            "release_required_pad_clearance": 0.05305280311620096,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.131578746355511,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95727630c534156aeda7139f5bc8c43cddeb219725f09159360feced15bc6cda",
+    "visual_seed": 8351854069514020756,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..16d92e81b08df7045aac834a3da874e2e408c14d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30512635136307814,
+              0.16030315672830406,
+              1.0475622794127426
+            ],
+            "current_z": 1.0475622794127426,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19097577200417704,
+            "gripper_z": 1.0508706879126082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2993819516304063,
+              0.15517405014800978,
+              1.0508706879126082
+            ],
+            "object_minus_gripper": [
+              0.005744399732671823,
+              0.005129106580294279,
+              -0.0033084084998655783
+            ],
+            "object_to_gripper_xy": 0.007701029970123359,
+            "object_to_gripper_z": -0.0033084084998655783,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30512635136307814,
+              0.13530462852707387,
+              1.0475622794127426
+            ],
+            "finger_b": [
+              0.293011128385915,
+              0.16030315672830406,
+              1.0475622794127426
+            ],
+            "finger_midpoint": [
+              0.29906873987449656,
+              0.14780389262768895,
+              1.0475622794127426
+            ],
+            "object_minus_finger_midpoint": [
+              0.006057611488581582,
+              0.01249926410061511,
+              0.0
+            ],
+            "finger_gap": 0.02777957955070745,
+            "fingertip_max_gap": 0.09347524471773597,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013889789775353737,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475622794127426,
+            "object_top_z": 1.093615469095651,
+            "finger_top_clearance": 0.04605318968290839,
+            "fingertip_min_top_clearance": 0.013815956904872551,
+            "object_projection_between_fingers": 0.8097995734436261,
+            "object_to_finger_line_xy": 0.010902351589086338,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049237622358867986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7057614877606424,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3042080226038759,
+              0.1590714859549845,
+              1.2426531068793152
+            ],
+            "held_position": [
+              0.3101817531609486,
+              0.1638475243661078,
+              1.2392312626226631
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008378843463737204,
+            "max_held_gripper_dist": 0.008382652210580563,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00342184425665204,
+            "max_held_gripper_z_dist": 0.0034613014122364394,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872482629246556,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3101817531609486,
+              0.1382622068599209,
+              1.2392312626226631
+            ],
+            "held_grasp_finger_b": [
+              0.29946876788336674,
+              0.1638475243661078,
+              1.2392312626226631
+            ],
+            "held_grasp_midpoint": [
+              0.30482526052215764,
+              0.15105486561301434,
+              1.2392312626226631
+            ],
+            "held_grasp_object_position": [
+              0.3101817531609486,
+              0.1638475243661078,
+              1.2392312626226631
+            ],
+            "held_grasp_finger_gap": 0.02773763734441128,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02531511628499855,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024123199729772962,
+              -0.9995399807865478,
+              0.018382003264750143
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005051865332946241,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03228423533975827,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3446668541119763,
+              0.3145630730117106,
+              0.7625853662478397
+            ],
+            "target_position": [
+              0.34940538093109225,
+              0.3141908736545065,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004753122003166382,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16979009302157852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853662478397,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753929892744782,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718781326998869,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13876625302218035,
+            "release_required_pad_clearance": 0.053593906634994345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.189708632866614,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a74386ebe587cfc7555b2da65d56012a83ce5923a4672c19e6f417f257a811b1",
+    "visual_seed": 6898212718051542231,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0cbbc3cb5f406aac111064f2a5bd1ad07335445
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3078446844088781,
+              0.1637362824468123,
+              1.0467425430606523
+            ],
+            "current_z": 1.0467425430606523,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19015597604744194,
+            "gripper_z": 1.0494708677532358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3021914873333963,
+              0.15866336599960634,
+              1.0494708677532358
+            ],
+            "object_minus_gripper": [
+              0.005653197075481786,
+              0.00507291644720595,
+              -0.0027283246925835503
+            ],
+            "object_to_gripper_xy": 0.0075955986238458156,
+            "object_to_gripper_z": -0.0027283246925835503,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3078446844088781,
+              0.13878609212341678,
+              1.0467425430606523
+            ],
+            "finger_b": [
+              0.2958296975163389,
+              0.1637362824468123,
+              1.0467425430606523
+            ],
+            "finger_midpoint": [
+              0.3018371909626085,
+              0.15126118728511453,
+              1.0467425430606523
+            ],
+            "object_minus_finger_midpoint": [
+              0.006007493446269552,
+              0.012475095161697758,
+              0.0
+            ],
+            "finger_gap": 0.027692452170249335,
+            "fingertip_max_gap": 0.09324383808978967,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013846226085124655,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467425430606523,
+            "object_top_z": 1.09260554472962,
+            "finger_top_clearance": 0.04586300166896762,
+            "fingertip_min_top_clearance": 0.013758900500690318,
+            "object_projection_between_fingers": 0.8117548593549567,
+            "object_to_finger_line_xy": 0.01082519553916611,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912191904489484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8476424796753628,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3069822770382761,
+              0.16224740065994386,
+              1.2377553497467906
+            ],
+            "held_position": [
+              0.3128569686131891,
+              0.1669758555329365,
+              1.2348856209429238
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008068805983169081,
+            "max_held_gripper_dist": 0.008071612838122872,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028697288038668223,
+            "max_held_gripper_z_dist": 0.0029105191731035873,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08708838803827275,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3128569686131891,
+              0.14139562798302124,
+              1.2348856209429238
+            ],
+            "held_grasp_finger_b": [
+              0.30236102193018377,
+              0.1669758555329365,
+              1.2348856209429238
+            ],
+            "held_grasp_midpoint": [
+              0.30760899527168645,
+              0.1541857417579789,
+              1.2348856209429238
+            ],
+            "held_grasp_object_position": [
+              0.3128569686131891,
+              0.1669758555329365,
+              1.2348856209429238
+            ],
+            "held_grasp_finger_gap": 0.027649827093092914,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02533872170715896,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.022127464708829835,
+              -0.9996381129556303,
+              0.015297660999844753
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004967565375443293,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03229861542241733,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3474652379926639,
+              0.30862279894892386,
+              0.7625846295357755
+            ],
+            "target_position": [
+              0.3516133100777656,
+              0.3078275159564782,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042236213207712285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1706925587223504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846295357755,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575853148087387,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08791152138339102,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13879556730628959,
+            "release_required_pad_clearance": 0.05395576069169551,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9133883012646744,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cca4445168e9fd55e826663be162f1f261aeda2f1e49ef2d732c5827d1d2eb98",
+    "visual_seed": 3325357021750949575,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cae7f1a64d02a2bbe2888b49a9191c29e100351
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30633098446992274,
+              0.16449984844226614,
+              1.046080658450008
+            ],
+            "current_z": 1.046080658450008,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18949427025073196,
+            "gripper_z": 1.0492062593915499,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3006965535282573,
+              0.15946075844037816,
+              1.0492062593915499
+            ],
+            "object_minus_gripper": [
+              0.005634430941665436,
+              0.005039090001887986,
+              -0.003125600941541906
+            ],
+            "object_to_gripper_xy": 0.007559050210411643,
+            "object_to_gripper_z": -0.003125600941541906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30633098446992274,
+              0.13955793795216617,
+              1.046080658450008
+            ],
+            "finger_b": [
+              0.29437352832807406,
+              0.16449984844226614,
+              1.046080658450008
+            ],
+            "finger_midpoint": [
+              0.30035225639899843,
+              0.15202889319721616,
+              1.046080658450008
+            ],
+            "object_minus_finger_midpoint": [
+              0.005978728070924311,
+              0.012470955245049986,
+              0.0
+            ],
+            "finger_gap": 0.027660073323843407,
+            "fingertip_max_gap": 0.09368605661522492,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013830036661921691,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046080658450008,
+            "object_top_z": 1.0921860333913425,
+            "finger_top_clearance": 0.04610537494133449,
+            "fingertip_min_top_clearance": 0.013831612482400378,
+            "object_projection_between_fingers": 0.8131165085745874,
+            "object_to_finger_line_xy": 0.010782393715572568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934302830761246,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8532554898165696,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30545027275604575,
+              0.16310161113836424,
+              1.2406070030410612
+            ],
+            "held_position": [
+              0.31130444443150085,
+              0.1678111778572404,
+              1.2373747244080835
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008179179044772823,
+            "max_held_gripper_dist": 0.008181879925387324,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003232278632977703,
+            "max_held_gripper_z_dist": 0.0032733089324707976,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08723342696730763,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31130444443150085,
+              0.14229225986999544,
+              1.2373747244080835
+            ],
+            "held_grasp_finger_b": [
+              0.3007048360138944,
+              0.1678111778572404,
+              1.2373747244080835
+            ],
+            "held_grasp_midpoint": [
+              0.30600464022269763,
+              0.1550517188636179,
+              1.2373747244080835
+            ],
+            "held_grasp_object_position": [
+              0.31130444443150085,
+              0.1678111778572404,
+              1.2373747244080835
+            ],
+            "held_grasp_finger_gap": 0.02763271383426404,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02529468976821204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020221366627849215,
+              -0.9996124580550868,
+              0.019131911372614052
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0050466639715120234,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0323385415137807,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34504761833685044,
+              0.305891726453545,
+              0.7625853287463907
+            ],
+            "target_position": [
+              0.3500555952293135,
+              0.3055911215513268,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0050169907178189725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17013513793241003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853287463907,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549365315226433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664071810032457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1389306631107921,
+            "release_required_pad_clearance": 0.05332035905016229,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6527534752269055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ead41aec44e6ad9eacca52df15b8905d0e236e475721136815c83e6ccc064a1",
+    "visual_seed": 6641569651614621509,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55893d611b4728098cb615c4dd66829f7050929a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30363025370886193,
+              0.16309954616235778,
+              1.0454058704934297
+            ],
+            "current_z": 1.0454058704934297,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.18881936308486436,
+            "gripper_z": 1.0482332757269923,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29794551549235626,
+              0.1579495210505346,
+              1.0482332757269923
+            ],
+            "object_minus_gripper": [
+              0.005684738216505669,
+              0.005150025111823164,
+              -0.0028274052335626187
+            ],
+            "object_to_gripper_xy": 0.007670658853228271,
+            "object_to_gripper_z": -0.0028274052335626187,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30363025370886193,
+              0.13822218393343552,
+              1.0454058704934297
+            ],
+            "finger_b": [
+              0.29137183837550396,
+              0.16309954616235778,
+              1.0454058704934297
+            ],
+            "finger_midpoint": [
+              0.29750104604218297,
+              0.15066086504789666,
+              1.0454058704934297
+            ],
+            "object_minus_finger_midpoint": [
+              0.00612920766667896,
+              0.012438681114461114,
+              0.0
+            ],
+            "finger_gap": 0.02773358790265179,
+            "fingertip_max_gap": 0.09166101138901264,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01386679395132587,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454058704934297,
+            "object_top_z": 1.0907809910430404,
+            "finger_top_clearance": 0.04537512054961068,
+            "fingertip_min_top_clearance": 0.013612536164883204,
+            "object_projection_between_fingers": 0.8046305978249427,
+            "object_to_finger_line_xy": 0.010995946131130098,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833050569450632,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2609869104845737,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30295035501815293,
+              0.16110433321304551,
+              1.2359166679962612
+            ],
+            "held_position": [
+              0.3089230518132556,
+              0.16581849065363558,
+              1.2329295574464343
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008174302222072988,
+            "max_held_gripper_dist": 0.008177223090196407,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029871105498269213,
+            "max_held_gripper_z_dist": 0.0030238529371775513,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08736526862278635,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3089230518132556,
+              0.14012084914640624,
+              1.2329295574464343
+            ],
+            "held_grasp_finger_b": [
+              0.29855779502479823,
+              0.16581849065363558,
+              1.2329295574464343
+            ],
+            "held_grasp_midpoint": [
+              0.3037404234190269,
+              0.15296966990002092,
+              1.2329295574464343
+            ],
+            "held_grasp_object_position": [
+              0.3089230518132556,
+              0.16581849065363558,
+              1.2329295574464343
+            ],
+            "held_grasp_finger_gap": 0.02770933646489459,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02518429674516841,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04663838038395168,
+              -0.9988354583756219,
+              0.012352674476531763
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045805431159733545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212465780434916,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3504638821430468,
+              0.31098408587295073,
+              0.7625845743938695
+            ],
+            "target_position": [
+              0.3538657587271198,
+              0.30992058805313805,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035642379137776985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17308655332978334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845743938695,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534598239850952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505793329341403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14223974236369294,
+            "release_required_pad_clearance": 0.05252896664670702,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11853556149753457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 133,
+            "max_placed_release_frames": 133
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4cd963e5b47ae065eb388d9e39e287dd171e171856b50d44802775a7708fb57",
+    "visual_seed": 1996517909142261153,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0e2b97b30fcdc4f55b2c4ed407dcc93ae33c83
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30001591224401486,
+              0.1618744196018381,
+              1.047341222306849
+            ],
+            "current_z": 1.047341222306849,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19075465529363866,
+            "gripper_z": 1.049647807286588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2948966866863732,
+              0.1569749541579405,
+              1.049647807286588
+            ],
+            "object_minus_gripper": [
+              0.00511922555764166,
+              0.004899465443897605,
+              -0.0023065849797390126
+            ],
+            "object_to_gripper_xy": 0.007085988424063246,
+            "object_to_gripper_z": -0.0023065849797390126,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30001591224401486,
+              0.13743426725687868,
+              1.047341222306849
+            ],
+            "finger_b": [
+              0.28807774147326426,
+              0.1618744196018381,
+              1.047341222306849
+            ],
+            "finger_midpoint": [
+              0.2940468268586396,
+              0.1496543434293584,
+              1.047341222306849
+            ],
+            "object_minus_finger_midpoint": [
+              0.005969085385375272,
+              0.012220076172479694,
+              0.0
+            ],
+            "finger_gap": 0.027200017794046186,
+            "fingertip_max_gap": 0.09192058398107558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013600008897023069,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047341222306849,
+            "object_top_z": 1.0934900803818457,
+            "finger_top_clearance": 0.04614885807499669,
+            "fingertip_min_top_clearance": 0.01384465742249904,
+            "object_projection_between_fingers": 0.8073641126719927,
+            "object_to_finger_line_xy": 0.010726857407466565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846029199053779,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.613488081746073,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30003153186980613,
+              0.16009325340133412,
+              1.242501224409497
+            ],
+            "held_position": [
+              0.3055028057407975,
+              0.16453312087872426,
+              1.2400778247240714
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00745118292779752,
+            "max_held_gripper_dist": 0.007458731202568538,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002423399685425709,
+            "max_held_gripper_z_dist": 0.002456571595626622,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739237933381516,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3055028057407975,
+              0.13909352221226198,
+              1.2400778247240714
+            ],
+            "held_grasp_finger_b": [
+              0.2956164527520909,
+              0.16453312087872426,
+              1.2400778247240714
+            ],
+            "held_grasp_midpoint": [
+              0.3005596292464442,
+              0.15181332154549312,
+              1.2400778247240714
+            ],
+            "held_grasp_object_position": [
+              0.3055028057407975,
+              0.16453312087872426,
+              1.2400778247240714
+            ],
+            "held_grasp_finger_gap": 0.027293097217574586,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024599811234962507,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07667002548482171,
+              -0.9967845209755004,
+              0.023287892472253935
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003964811597577115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214233241273344,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3498615453016973,
+              0.31362363191361564,
+              0.7625855246240179
+            ],
+            "target_position": [
+              0.35579629446125777,
+              0.31397525850132746,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005945156755215949,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1695129557371039,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855246240179,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517205149824513,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665140980370016,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1390820207400075,
+            "release_required_pad_clearance": 0.05332570490185008,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6584170512073524,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50adeafae887e8a2361f1d42117157da619bc4482b00eada57ebacd97a8e0007",
+    "visual_seed": 269218448882548654,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..014156033cb67fb1430021f3059697aa21c9aef7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3005972266234497,
+              0.15700531451552707,
+              1.0453641371851072
+            ],
+            "current_z": 1.0453641371851072,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18877768938118644,
+            "gripper_z": 1.0477004965341596,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29557164755344056,
+              0.15217748787956126,
+              1.0477004965341596
+            ],
+            "object_minus_gripper": [
+              0.005025579070009112,
+              0.004827826635965815,
+              -0.002336359349052408
+            ],
+            "object_to_gripper_xy": 0.006968813027758361,
+            "object_to_gripper_z": -0.002336359349052408,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3005972266234497,
+              0.13261490337469936,
+              1.0453641371851072
+            ],
+            "finger_b": [
+              0.28877412846050826,
+              0.15700531451552707,
+              1.0453641371851072
+            ],
+            "finger_midpoint": [
+              0.29468567754197894,
+              0.1448101089451132,
+              1.0453641371851072
+            ],
+            "object_minus_finger_midpoint": [
+              0.005911549081470735,
+              0.01219520557041387,
+              0.0
+            ],
+            "finger_gap": 0.027104940615857494,
+            "fingertip_max_gap": 0.09297233547409797,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013552470307928772,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453641371851072,
+            "object_top_z": 1.0920448478952434,
+            "finger_top_clearance": 0.04668071071013613,
+            "fingertip_min_top_clearance": 0.014004213213040838,
+            "object_projection_between_fingers": 0.8097320361809535,
+            "object_to_finger_line_xy": 0.010639028110756944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898616773704899,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0007491330535763,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30072308394749764,
+              0.15525340538538973,
+              1.2392713594825522
+            ],
+            "held_position": [
+              0.3060942899515629,
+              0.15962747069912075,
+              1.2368117266707384
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007350652683663052,
+            "max_held_gripper_dist": 0.007352843242164425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024596328118138278,
+            "max_held_gripper_z_dist": 0.0024880895858916396,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866422495299039,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3060942899515629,
+              0.1342178464954403,
+              1.2368117266707384
+            ],
+            "held_grasp_finger_b": [
+              0.2963712261161623,
+              0.15962747069912075,
+              1.2368117266707384
+            ],
+            "held_grasp_midpoint": [
+              0.3012327580338626,
+              0.14692265859728054,
+              1.2368117266707384
+            ],
+            "held_grasp_object_position": [
+              0.3060942899515629,
+              0.15962747069912075,
+              1.2368117266707384
+            ],
+            "held_grasp_finger_gap": 0.02720637742367658,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024588117829698695,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07578834420010956,
+              -0.9966701016643715,
+              0.030080480909338014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039039704891369,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216927114232445,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34618397820451396,
+              0.30772304875459044,
+              0.7625849955273429
+            ],
+            "target_position": [
+              0.3524885107888688,
+              0.30827014065543046,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006328225711457861,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16957682998955612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849955273429,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564859166893308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857278494062974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13782415540744394,
+            "release_required_pad_clearance": 0.0528639247031487,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7641121345645298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43206c5b115ff5c2551ca99aa590ea88983c462f5a341ba553e0e6207eb1d215",
+    "visual_seed": 3654330900922554390,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d983b47b04ccb9ba3a17f3949f835f6cbcdb093
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30156238389568985,
+              0.16129082313468013,
+              1.0471412011030894
+            ],
+            "current_z": 1.0471412011030894,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19055469369452382,
+            "gripper_z": 1.0493976946340369,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2965279149022413,
+              0.15647399097294218,
+              1.0493976946340369
+            ],
+            "object_minus_gripper": [
+              0.00503446899344856,
+              0.0048168321617379495,
+              -0.0022564935309474787
+            ],
+            "object_to_gripper_xy": 0.006967621554041813,
+            "object_to_gripper_z": -0.0022564935309474787,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30156238389568985,
+              0.13687164324979312,
+              1.0471412011030894
+            ],
+            "finger_b": [
+              0.28978613965178457,
+              0.16129082313468013,
+              1.0471412011030894
+            ],
+            "finger_midpoint": [
+              0.29567426177373723,
+              0.14908123319223662,
+              1.0471412011030894
+            ],
+            "object_minus_finger_midpoint": [
+              0.00588812212195261,
+              0.012209589942443505,
+              0.0
+            ],
+            "finger_gap": 0.02711044586026911,
+            "fingertip_max_gap": 0.09206759462016648,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013555222930134543,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471412011030894,
+            "object_top_z": 1.0933932514504776,
+            "finger_top_clearance": 0.04625205034738822,
+            "fingertip_min_top_clearance": 0.013875615104216431,
+            "object_projection_between_fingers": 0.8113137345274399,
+            "object_to_finger_line_xy": 0.010607211258805684,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853379731008324,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6588993875029697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30164674565793675,
+              0.1593338400264761,
+              1.2386521924653442
+            ],
+            "held_position": [
+              0.3069995483315676,
+              0.16371971974726318,
+              1.2362515450494056
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007324721523968929,
+            "max_held_gripper_dist": 0.007326784679081685,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002400647415938595,
+            "max_held_gripper_z_dist": 0.0024312973534987847,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08692283411321391,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3069995483315676,
+              0.13830690789757102,
+              1.2362515450494056
+            ],
+            "held_grasp_finger_b": [
+              0.2973222707884836,
+              0.16371971974726318,
+              1.2362515450494056
+            ],
+            "held_grasp_midpoint": [
+              0.3021609095600256,
+              0.15101331382241712,
+              1.2362515450494056
+            ],
+            "held_grasp_object_position": [
+              0.3069995483315676,
+              0.16371971974726318,
+              1.2362515450494056
+            ],
+            "held_grasp_finger_gap": 0.027193026803828443,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02461019018006692,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07485270600269031,
+              -0.9969207949419702,
+              0.02336666463886272
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038856409316880905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217075946493841,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34702720493184586,
+              0.3058093499155189,
+              0.7625865059284255
+            ],
+            "target_position": [
+              0.35241560457208543,
+              0.305838008216802,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005388475849548402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17154703520695933,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625865059284255,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541926585053299,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552652102725637,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14025084883158723,
+            "release_required_pad_clearance": 0.05276326051362819,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5692184743332979,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90e958fc7d33e1093ce9a05d0f848b958ad2b4fdb7cfad354df311d0a603a673",
+    "visual_seed": 1551363455610153510,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11319a2a1e7e20c31a6569ac8661df51a0250237
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3024109011922452,
+              0.15521206686160924,
+              1.0487572732675303
+            ],
+            "current_z": 1.0487572732675303,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19217076585896475,
+            "gripper_z": 1.05123245682396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2966454745181393,
+              0.15005692836263534,
+              1.05123245682396
+            ],
+            "object_minus_gripper": [
+              0.0057654266741059,
+              0.0051551384989738935,
+              -0.0024751835564296165
+            ],
+            "object_to_gripper_xy": 0.00773405441396003,
+            "object_to_gripper_z": -0.0024751835564296165,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3024109011922452,
+              0.13026067898093707,
+              1.0487572732675303
+            ],
+            "finger_b": [
+              0.29017964782061234,
+              0.15521206686160924,
+              1.0487572732675303
+            ],
+            "finger_midpoint": [
+              0.2962952745064288,
+              0.14273637292127317,
+              1.0487572732675303
+            ],
+            "object_minus_finger_midpoint": [
+              0.006115626685816389,
+              0.012475693940336069,
+              0.0
+            ],
+            "finger_gap": 0.02778804268409046,
+            "fingertip_max_gap": 0.09381881043601795,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013894021342045206,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487572732675303,
+            "object_top_z": 1.0949193425555277,
+            "finger_top_clearance": 0.046162069287997376,
+            "fingertip_min_top_clearance": 0.013848620786399212,
+            "object_projection_between_fingers": 0.8062570042062255,
+            "object_to_finger_line_xy": 0.010982664400365242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049409405218008975,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8628099042980708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.301371682215134,
+              0.15396448018103906,
+              1.2399680855078978
+            ],
+            "held_position": [
+              0.3073624610224361,
+              0.15877791736153182,
+              1.237344413549809
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008120484145186868,
+            "max_held_gripper_dist": 0.008122490019704852,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002623671958088769,
+            "max_held_gripper_z_dist": 0.002659257520493341,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706370660156304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3073624610224361,
+              0.13316427261175934,
+              1.237344413549809
+            ],
+            "held_grasp_finger_b": [
+              0.29667301874334023,
+              0.15877791736153182,
+              1.237344413549809
+            ],
+            "held_grasp_midpoint": [
+              0.30201773988288816,
+              0.14597109498664557,
+              1.237344413549809
+            ],
+            "held_grasp_object_position": [
+              0.3073624610224361,
+              0.15877791736153182,
+              1.237344413549809
+            ],
+            "held_grasp_finger_gap": 0.027754692821317074,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025358930858520923,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.022833944918140545,
+              -0.9995849183062813,
+              0.017567073008908696
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005055953097540552,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032276677400343796,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34666089426248864,
+              0.31202922099740205,
+              0.7625846865247412
+            ],
+            "target_position": [
+              0.3510296671356922,
+              0.31137815651696293,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044170195126724265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17074686219193616,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846865247412,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758365975319352,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08820528439143498,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13855903186141602,
+            "release_required_pad_clearance": 0.05410264219571749,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2084987244257563,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8fd466e3aef232efcb6c9db6addf0d94b6afbc3c8981dc9f62e8461a1f059751",
+    "visual_seed": 969406870391811320,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..89761d733e8dc3c43369ea474f1762907d356b06
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_63_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3060275528925418,
+              0.16453574435424978,
+              1.0441211128835561
+            ],
+            "current_z": 1.0441211128835561,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18753448626570102,
+            "gripper_z": 1.0473354325000128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30021760555765076,
+              0.1594552413402524,
+              1.0473354325000128
+            ],
+            "object_minus_gripper": [
+              0.005809947334891041,
+              0.005080503013997373,
+              -0.0032143196164566845
+            ],
+            "object_to_gripper_xy": 0.007717965982656564,
+            "object_to_gripper_z": -0.0032143196164566845,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3060275528925418,
+              0.13942349921173397,
+              1.0441211128835561
+            ],
+            "finger_b": [
+              0.29406969564501806,
+              0.16453574435424978,
+              1.0441211128835561
+            ],
+            "finger_midpoint": [
+              0.30004862426877993,
+              0.15197962178299187,
+              1.0441211128835561
+            ],
+            "object_minus_finger_midpoint": [
+              0.00597892862376187,
+              0.012556122571257905,
+              0.0
+            ],
+            "finger_gap": 0.027813939060297894,
+            "fingertip_max_gap": 0.0928561550595802,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013906969530148947,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0441211128835561,
+            "object_top_z": 1.0901212704206067,
+            "finger_top_clearance": 0.04600015753705056,
+            "fingertip_min_top_clearance": 0.0138000472611152,
+            "object_projection_between_fingers": 0.8151660556386209,
+            "object_to_finger_line_xy": 0.010796336395504052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489280775297901,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2501778759343432,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30490160478796535,
+              0.16312639903374748,
+              1.2372537463410587
+            ],
+            "held_position": [
+              0.3108909710661816,
+              0.1679050952759322,
+              1.2339107337375432
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00835967579855625,
+            "max_held_gripper_dist": 0.00836298443263973,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033430126035154384,
+            "max_held_gripper_z_dist": 0.003385605394680802,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08725900284705898,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3108909710661816,
+              0.14229547357337252,
+              1.2339107337375432
+            ],
+            "held_grasp_finger_b": [
+              0.3002220394077212,
+              0.1679050952759322,
+              1.2339107337375432
+            ],
+            "held_grasp_midpoint": [
+              0.3055565052369514,
+              0.15510028442465235,
+              1.2339107337375432
+            ],
+            "held_grasp_object_position": [
+              0.3108909710661816,
+              0.1679050952759322,
+              1.2339107337375432
+            ],
+            "held_grasp_finger_gap": 0.027743086102326717,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025330598522309414,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.025032283743565507,
+              -0.9995331654690636,
+              0.0175167319433529
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0050173290472353155,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03226785798014078,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3458625351708585,
+              0.3068754821585522,
+              0.7625848641364315
+            ],
+            "target_position": [
+              0.3507405359767075,
+              0.3065013223227919,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004892329449716114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17191699340993988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848641364315,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534078902155475,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08735825135976298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1409232939077721,
+            "release_required_pad_clearance": 0.05367912567988149,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3580350692463616,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3651f458745ca48f1d4df489eaa7f26ea7d01146a4c9e63c161dc647ffe079ce",
+    "visual_seed": 4000225886594159643,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c5797efcf0b479f48ae6c9ff66922f7a35188bd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3057871454819807,
+              0.15699538915815064,
+              1.0457541941532515
+            ],
+            "current_z": 1.0457541941532515,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.18916774634933098,
+            "gripper_z": 1.048936213676289,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3000521614955788,
+              0.15180006002909802,
+              1.048936213676289
+            ],
+            "object_minus_gripper": [
+              0.005734983986401931,
+              0.005195329129052628,
+              -0.003182019523037427
+            ],
+            "object_to_gripper_xy": 0.007738312870611354,
+            "object_to_gripper_z": -0.003182019523037427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3057871454819807,
+              0.13200952916923314,
+              1.0457541941532515
+            ],
+            "finger_b": [
+              0.29356322305439575,
+              0.15699538915815064,
+              1.0457541941532515
+            ],
+            "finger_midpoint": [
+              0.29967518426818823,
+              0.1445024591636919,
+              1.0457541941532515
+            ],
+            "object_minus_finger_midpoint": [
+              0.006111961213792483,
+              0.012492929994458751,
+              0.0
+            ],
+            "finger_gap": 0.027815777517470247,
+            "fingertip_max_gap": 0.09218579133105467,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013907888758735124,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457541941532515,
+            "object_top_z": 1.0912599587515501,
+            "finger_top_clearance": 0.04550576459829858,
+            "fingertip_min_top_clearance": 0.01365172937948954,
+            "object_projection_between_fingers": 0.8068748818654305,
+            "object_to_finger_line_xy": 0.010980286785052066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859289566552734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4006389730683788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051104467289336,
+              0.15475064643395875,
+              1.2392069486080788
+            ],
+            "held_position": [
+              0.3111409358517021,
+              0.15949932720622037,
+              1.2358821997367972
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008364850458541632,
+            "max_held_gripper_dist": 0.008367843341977758,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033247488712815354,
+            "max_held_gripper_z_dist": 0.00335980203970232,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08689530648876656,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3111409358517021,
+              0.13373039447672386,
+              1.2358821997367972
+            ],
+            "held_grasp_finger_b": [
+              0.3007434336547541,
+              0.15949932720622037,
+              1.2358821997367972
+            ],
+            "held_grasp_midpoint": [
+              0.3059421847532281,
+              0.14661486084147213,
+              1.2358821997367972
+            ],
+            "held_grasp_object_position": [
+              0.3111409358517021,
+              0.15949932720622037,
+              1.2358821997367972
+            ],
+            "held_grasp_finger_gap": 0.027787514209674378,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025285479631206545,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04392012536020985,
+              -0.998960240276607,
+              0.012225421663373814
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004630574633965366,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032100825550284484,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3469986413097107,
+              0.31532107143207877,
+              0.7625847801062671
+            ],
+            "target_position": [
+              0.35064171179642617,
+              0.31445330961136286,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037449930772525454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17130511953112756,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847801062671,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525320990386365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526687808919824,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1407866277610258,
+            "release_required_pad_clearance": 0.05263343904459912,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31893311724183054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b48558f52fa1d6ddbe609029c830254829fe34a8919571efb5ba91598d3d3cf2",
+    "visual_seed": 2522851847819147386,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7363b9b7ff46c1d6db9df894dedad554d16cfdf8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30058974727762566,
+              0.15728446777634295,
+              1.0465705737769597
+            ],
+            "current_z": 1.0465705737769597,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1899841855776837,
+            "gripper_z": 1.0490597468717346,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29527472862319426,
+              0.15231244321265514,
+              1.0490597468717346
+            ],
+            "object_minus_gripper": [
+              0.005315018654431403,
+              0.00497202456368781,
+              -0.0024891730947749213
+            ],
+            "object_to_gripper_xy": 0.007278080211076871,
+            "object_to_gripper_z": -0.0024891730947749213,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30058974727762566,
+              0.1326919032686608,
+              1.0465705737769597
+            ],
+            "finger_b": [
+              0.2885629077039753,
+              0.15728446777634295,
+              1.0465705737769597
+            ],
+            "finger_midpoint": [
+              0.2945763274908005,
+              0.14498818552250187,
+              1.0465705737769597
+            ],
+            "object_minus_finger_midpoint": [
+              0.00601341978682518,
+              0.012296282253841079,
+              0.0
+            ],
+            "finger_gap": 0.02737588535910447,
+            "fingertip_max_gap": 0.09301747748339603,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013687942679552235,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465705737769597,
+            "object_top_z": 1.093115773808291,
+            "finger_top_clearance": 0.046545200031331335,
+            "fingertip_min_top_clearance": 0.0139635600093994,
+            "object_projection_between_fingers": 0.8069958315682708,
+            "object_to_finger_line_xy": 0.010804064385818159,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900873874169802,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9354220093680484,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3002474411336214,
+              0.15578918060561986,
+              1.2390606547262912
+            ],
+            "held_position": [
+              0.3058658667468664,
+              0.16033998399927066,
+              1.2364360346220007
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007691888493151542,
+            "max_held_gripper_dist": 0.007693801070217291,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026246201042905426,
+            "max_held_gripper_z_dist": 0.002656752192675693,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08644205028852683,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3058658667468664,
+              0.13485990269085502,
+              1.2364360346220007
+            ],
+            "held_grasp_finger_b": [
+              0.295744647887623,
+              0.16033998399927066,
+              1.2364360346220007
+            ],
+            "held_grasp_midpoint": [
+              0.3008052573172447,
+              0.14759994334506282,
+              1.2364360346220007
+            ],
+            "held_grasp_object_position": [
+              0.3058658667468664,
+              0.16033998399927066,
+              1.2364360346220007
+            ],
+            "held_grasp_finger_gap": 0.027416666731756,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02478675316113213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06270859498365926,
+              -0.9976985656996755,
+              0.025791551252024703
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042647335460387235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032172160971059446,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34805262791808533,
+              0.31389062140812596,
+              0.7625857292930736
+            ],
+            "target_position": [
+              0.35380372256742687,
+              0.31418545964341316,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005758647345572755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16961664179374902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857292930736,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564509594350723,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564932147894232,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13799532081613475,
+            "release_required_pad_clearance": 0.05282466073947116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6898282895482455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d758145cc8ca02be66e67d948883a87a112ebfe7af582c19432c641445d550f8",
+    "visual_seed": 4129880179393543453,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37dfdc1074b9602281a2dba0014b0367584fb175
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_66_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3050765621119882,
+              0.16386745406486256,
+              1.0454865558757922
+            ],
+            "current_z": 1.0454865558757922,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18890016767651618,
+            "gripper_z": 1.0477514398021268,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29981407577641056,
+              0.15889225682964364,
+              1.0477514398021268
+            ],
+            "object_minus_gripper": [
+              0.005262486335577632,
+              0.0049751972352189144,
+              -0.0022648839263346154
+            ],
+            "object_to_gripper_xy": 0.007241985222400777,
+            "object_to_gripper_z": -0.0022648839263346154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3050765621119882,
+              0.13934819272711435,
+              1.0454865558757922
+            ],
+            "finger_b": [
+              0.29300058231467485,
+              0.16386745406486256,
+              1.0454865558757922
+            ],
+            "finger_midpoint": [
+              0.2990385722133315,
+              0.15160782339598844,
+              1.0454865558757922
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060379898986566705,
+              0.012259630668874116,
+              0.0
+            ],
+            "finger_gap": 0.02733172999672567,
+            "fingertip_max_gap": 0.09485408800240677,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013665864998362849,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454865558757922,
+            "object_top_z": 1.09276024433366,
+            "finger_top_clearance": 0.047273688457867724,
+            "fingertip_min_top_clearance": 0.014182106537360316,
+            "object_projection_between_fingers": 0.8047862015412203,
+            "object_to_finger_line_xy": 0.010833346611984125,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04992704400120339,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6171459465069449,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3047745331590995,
+              0.16211121390011574,
+              1.2369043930700914
+            ],
+            "held_position": [
+              0.31035691020358375,
+              0.16664879513347916,
+              1.2344946199269922
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007586803247571308,
+            "max_held_gripper_dist": 0.007588150981158308,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002409773143099203,
+            "max_held_gripper_z_dist": 0.0024468218513140627,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631270536215467,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31035691020358375,
+              0.1411672684569222,
+              1.2344946199269922
+            ],
+            "held_grasp_finger_b": [
+              0.3003137042308748,
+              0.16664879513347916,
+              1.2344946199269922
+            ],
+            "held_grasp_midpoint": [
+              0.30533530721722923,
+              0.15390803179520068,
+              1.2344946199269922
+            ],
+            "held_grasp_object_position": [
+              0.31035691020358375,
+              0.16664879513347916,
+              1.2344946199269922
+            ],
+            "held_grasp_finger_gap": 0.02738930791346033,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024839278963354226,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05817063593095021,
+              -0.9977227410381924,
+              0.03413955375550515
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004294553986643691,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032196365805915665,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34724908381049263,
+              0.3074514902190081,
+              0.7625870321318955
+            ],
+            "target_position": [
+              0.3537263362742249,
+              0.308045662999364,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00650444776839983,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.167226921297631,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870321318955,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578267036740101,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08869938897139855,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13516443350726629,
+            "release_required_pad_clearance": 0.054349694485699276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.716715026087686,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 127,
+            "max_placed_release_frames": 127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63e02848debc2c09e710f26006dbcb3bf98b76f884240325ecc08bd002fee7ac",
+    "visual_seed": 375176175935990172,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9e6ebd6e7a94605bfc3fac53f5c7deb05088fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3052979412836434,
+              0.1615847924693851,
+              1.0465208516343152
+            ],
+            "current_z": 1.0465208516343152,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18993446343503917,
+            "gripper_z": 1.0492831486774392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2995898499364992,
+              0.15644332909169617,
+              1.0492831486774392
+            ],
+            "object_minus_gripper": [
+              0.0057080913471442285,
+              0.005141463377688921,
+              -0.002762297043124029
+            ],
+            "object_to_gripper_xy": 0.007682249181812523,
+            "object_to_gripper_z": -0.002762297043124029,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052979412836434,
+              0.13665892236017346,
+              1.0465208516343152
+            ],
+            "finger_b": [
+              0.2930947796875273,
+              0.1615847924693851,
+              1.0465208516343152
+            ],
+            "finger_midpoint": [
+              0.29919636048558534,
+              0.1491218574147793,
+              1.0465208516343152
+            ],
+            "object_minus_finger_midpoint": [
+              0.006101580798058059,
+              0.0124629350546058,
+              0.0
+            ],
+            "finger_gap": 0.027752768396003543,
+            "fingertip_max_gap": 0.09183397450859196,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01387638419800176,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465208516343152,
+            "object_top_z": 1.0919683406487108,
+            "finger_top_clearance": 0.04544748901439566,
+            "fingertip_min_top_clearance": 0.013634246704318698,
+            "object_projection_between_fingers": 0.8066553755894096,
+            "object_to_finger_line_xy": 0.010960146985203532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841698725429598,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2553476373316514,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30470600972555995,
+              0.1593409292335812,
+              1.2401271435629262
+            ],
+            "held_position": [
+              0.31072817997699337,
+              0.16403944353000652,
+              1.237237405429986
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008166587880377689,
+            "max_held_gripper_dist": 0.00816803031593346,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002889738132940245,
+            "max_held_gripper_z_dist": 0.0029278066093367805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753140597005016,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31072817997699337,
+              0.13832398777902796,
+              1.237237405429986
+            ],
+            "held_grasp_finger_b": [
+              0.3003179225236143,
+              0.16403944353000652,
+              1.237237405429986
+            ],
+            "held_grasp_midpoint": [
+              0.3055230512503038,
+              0.15118171565451724,
+              1.237237405429986
+            ],
+            "held_grasp_object_position": [
+              0.31072817997699337,
+              0.16403944353000652,
+              1.237237405429986
+            ],
+            "held_grasp_finger_gap": 0.027742713002267296,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025191952476424213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0472986830917716,
+              -0.998790151469043,
+              0.013456147525578999
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004594470803424871,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211185725940754,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34739454257387364,
+              0.31272268526452485,
+              0.7625857125463039
+            ],
+            "target_position": [
+              0.3515364141902947,
+              0.3120633230341781,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004194026590011334,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17122385466293888,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857125463039,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526829509497786,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524726786777907,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14067060969459014,
+            "release_required_pad_clearance": 0.05262363393388954,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3038867780888691,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b26a88106b32fe81a8b4008e3137e0df7ac3be1e8e90ae27c1f41a7ed450c5c4",
+    "visual_seed": 3576517439408100941,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71c8d122cfaef730462ae2fc614b8fe7e5a6b8c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30823559089787333,
+              0.15804050960195068,
+              1.0483341305919311
+            ],
+            "current_z": 1.0483341305919311,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1917475635787208,
+            "gripper_z": 1.050378056454984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30311398969012626,
+              0.15310717241621202,
+              1.050378056454984
+            ],
+            "object_minus_gripper": [
+              0.005121601207747073,
+              0.0049333371857386565,
+              -0.002043925863052909
+            ],
+            "object_to_gripper_xy": 0.007111161277835574,
+            "object_to_gripper_z": -0.002043925863052909,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30823559089787333,
+              0.1336526610249294,
+              1.0483341305919311
+            ],
+            "finger_b": [
+              0.2961797082159661,
+              0.15804050960195068,
+              1.0483341305919311
+            ],
+            "finger_midpoint": [
+              0.3022076495569197,
+              0.14584658531344002,
+              1.0483341305919311
+            ],
+            "object_minus_finger_midpoint": [
+              0.006027941340953635,
+              0.012193924288510655,
+              0.0
+            ],
+            "finger_gap": 0.02720498971614636,
+            "fingertip_max_gap": 0.09105165046099348,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013602494858073206,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483341305919311,
+            "object_top_z": 1.0938762673758684,
+            "finger_top_clearance": 0.04554213678393726,
+            "fingertip_min_top_clearance": 0.013662641035181177,
+            "object_projection_between_fingers": 0.8036183547698007,
+            "object_to_finger_line_xy": 0.010807467467417751,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802582523049674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4676823039100614,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30839772850001246,
+              0.1561413707114731,
+              1.242568658544808
+            ],
+            "held_position": [
+              0.3139006453130161,
+              0.16058817491544214,
+              1.2404050779452067
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007398462143597508,
+            "max_held_gripper_dist": 0.00740492664094975,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021635805996012003,
+            "max_held_gripper_z_dist": 0.002196593439043104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866053450064859,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3139006453130161,
+              0.1351156349236337,
+              1.2404050779452067
+            ],
+            "held_grasp_finger_b": [
+              0.3040259925534725,
+              0.16058817491544214,
+              1.2404050779452067
+            ],
+            "held_grasp_midpoint": [
+              0.3089633189332443,
+              0.14785190491953792,
+              1.2404050779452067
+            ],
+            "held_grasp_object_position": [
+              0.3139006453130161,
+              0.16058817491544214,
+              1.2404050779452067
+            ],
+            "held_grasp_finger_gap": 0.027319572850903827,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024622001659016592,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07793918267714915,
+              -0.9968234040453612,
+              0.016388561591448417
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003935360469438233,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032119601771002995,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34735666996483483,
+              0.3138159791200985,
+              0.7625855428858738
+            ],
+            "target_position": [
+              0.3516413717566888,
+              0.313277910451339,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004318354702594179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17150159163907436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855428858738,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532612314869755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08691936978981267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14059377397915793,
+            "release_required_pad_clearance": 0.05345968489490634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.924910002003603,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c03af2380fd981593ad9fa120006322de1cd9ed404faf644c92b4621e3f0fd6",
+    "visual_seed": 2311674604874006347,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4de07df3c422bb47e2cdc4ff3f6646cab73e04d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_69_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3020463790931746,
+              0.16271241072775,
+              1.0457232874189644
+            ],
+            "current_z": 1.0457232874189644,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1891367800103988,
+            "gripper_z": 1.048018053603657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29674255071561784,
+              0.1576605944458569,
+              1.048018053603657
+            ],
+            "object_minus_gripper": [
+              0.005303828377556774,
+              0.005051816281893107,
+              -0.002294766184692598
+            ],
+            "object_to_gripper_xy": 0.007324714547651452,
+            "object_to_gripper_z": -0.002294766184692598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3020463790931746,
+              0.1382251110850481,
+              1.0457232874189644
+            ],
+            "finger_b": [
+              0.28978164430721237,
+              0.16271241072775,
+              1.0457232874189644
+            ],
+            "finger_midpoint": [
+              0.2959140117001935,
+              0.15046876090639905,
+              1.0457232874189644
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061323673929811195,
+              0.012243649821350955,
+              0.0
+            ],
+            "finger_gap": 0.027387069269300453,
+            "fingertip_max_gap": 0.09223147117135874,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013693534634650227,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457232874189644,
+            "object_top_z": 1.0919707856475778,
+            "finger_top_clearance": 0.046247498228613404,
+            "fingertip_min_top_clearance": 0.01387424946858402,
+            "object_projection_between_fingers": 0.7994488289098985,
+            "object_to_finger_line_xy": 0.010966132695285565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861573558567937,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7557388668967042,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30186796097414137,
+              0.1606392961520873,
+              1.2399085109858425
+            ],
+            "held_position": [
+              0.30755723794793893,
+              0.1651855943431342,
+              1.2374847385783967
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007675374414945198,
+            "max_held_gripper_dist": 0.007681487877911823,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024237724074458455,
+            "max_held_gripper_z_dist": 0.0024590422817076796,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743796073412309,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30755723794793893,
+              0.1396230184158053,
+              1.2374847385783967
+            ],
+            "held_grasp_finger_b": [
+              0.2974907875217787,
+              0.1651855943431342,
+              1.2374847385783967
+            ],
+            "held_grasp_midpoint": [
+              0.30252401273485885,
+              0.15240430637946975,
+              1.2374847385783967
+            ],
+            "held_grasp_object_position": [
+              0.30755723794793893,
+              0.1651855943431342,
+              1.2374847385783967
+            ],
+            "held_grasp_finger_gap": 0.027473236289574567,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024673624484441672,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07949437632029246,
+              -0.9965290960992067,
+              0.024706370861495845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004014087575738459,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206318652520319,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3508646055289913,
+              0.3080619056322702,
+              0.7625843884708998
+            ],
+            "target_position": [
+              0.3557045180654149,
+              0.3077159490330027,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004852261259331298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17054191471628516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843884708998,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582094342182137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850898902546323,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13853264507514987,
+            "release_required_pad_clearance": 0.05254494512731615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14787788056778484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28d835365335a5dee5ccdef77c5b9b1de1ecab6cc3869c3d25d095b06260b5e6",
+    "visual_seed": 685752489416741566,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f48c62ed78c9380c34b28ae12d26907111eac1d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_6_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30865607106748505,
+              0.15964650369760847,
+              1.0481932871184994
+            ],
+            "current_z": 1.0481932871184994,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19160689891922333,
+            "gripper_z": 1.0502632917724337,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30361206750518727,
+              0.15472253222525673,
+              1.0502632917724337
+            ],
+            "object_minus_gripper": [
+              0.005044003562297783,
+              0.00492397147235174,
+              -0.0020700046539343653
+            ],
+            "object_to_gripper_xy": 0.007048933748944338,
+            "object_to_gripper_z": -0.0020700046539343653,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30865607106748505,
+              0.13535029580234376,
+              1.0481932871184994
+            ],
+            "finger_b": [
+              0.2965665561554305,
+              0.15964650369760847,
+              1.0481932871184994
+            ],
+            "finger_midpoint": [
+              0.30261131361145777,
+              0.1474983997499761,
+              1.0481932871184994
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044757456027283,
+              0.012148103947632355,
+              0.0
+            ],
+            "finger_gap": 0.027137835007581445,
+            "fingertip_max_gap": 0.0927876916618349,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013568917503790722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481932871184994,
+            "object_top_z": 1.0946654566480345,
+            "finger_top_clearance": 0.046472169529535146,
+            "fingertip_min_top_clearance": 0.01394165085886051,
+            "object_projection_between_fingers": 0.8015425735935052,
+            "object_to_finger_line_xy": 0.010823610931900849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889384583091745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.96857795645357,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3088889243945836,
+              0.1574647861616051,
+              1.2398694771779306
+            ],
+            "held_position": [
+              0.3143317001413299,
+              0.16187755721110425,
+              1.237657671100145
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007347682783735061,
+            "max_held_gripper_dist": 0.00735314389511269,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002211806077785594,
+            "max_held_gripper_z_dist": 0.00224404534034206,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08769341332477038,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3143317001413299,
+              0.13638127225054222,
+              1.237657671100145
+            ],
+            "held_grasp_finger_b": [
+              0.30465189968686446,
+              0.16187755721110425,
+              1.237657671100145
+            ],
+            "held_grasp_midpoint": [
+              0.30949179991409714,
+              0.14912941473082325,
+              1.237657671100145
+            ],
+            "held_grasp_object_position": [
+              0.3143317001413299,
+              0.16187755721110425,
+              1.237657671100145
+            ],
+            "held_grasp_finger_gap": 0.027271946825051754,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024596748710187882,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08288179494827091,
+              -0.9961854437178829,
+              0.027297798276742613
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003783205834025069,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03209957137430965,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34881468293059115,
+              0.308860799959698,
+              0.7625861556361007
+            ],
+            "target_position": [
+              0.3547047213583656,
+              0.3091828316968219,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005898835234211495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17197366410589796,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861556361007,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535745255659954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511958050424899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1408241699852272,
+            "release_required_pad_clearance": 0.0525597902521245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18557370539257853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02788174a03ed880566fb9d6d902172f853b3d214be94998fa2b8d4435ae5bed",
+    "visual_seed": 1653070495612566351,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d23b6b869f0cd9e2a05bb0967cc9af42da643bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30613181890088365,
+              0.1643424975853361,
+              1.047726572144268
+            ],
+            "current_z": 1.047726572144268,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1911401243403471,
+            "gripper_z": 1.0499886413742014,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30090662058176165,
+              0.15934414360936616,
+              1.0499886413742014
+            ],
+            "object_minus_gripper": [
+              0.005225198319121993,
+              0.004998353975969927,
+              -0.00226206922993355
+            ],
+            "object_to_gripper_xy": 0.007230922482176785,
+            "object_to_gripper_z": -0.00226206922993355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30613181890088365,
+              0.13991646316114856,
+              1.047726572144268
+            ],
+            "finger_b": [
+              0.29393162841727405,
+              0.1643424975853361,
+              1.047726572144268
+            ],
+            "finger_midpoint": [
+              0.3000317236590788,
+              0.1521294803732423,
+              1.047726572144268
+            ],
+            "object_minus_finger_midpoint": [
+              0.006100095241804826,
+              0.01221301721209378,
+              0.0
+            ],
+            "finger_gap": 0.02730340281957457,
+            "fingertip_max_gap": 0.09385289065188931,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013651701409787309,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047726572144268,
+            "object_top_z": 1.0945769474692137,
+            "finger_top_clearance": 0.04685037532494585,
+            "fingertip_min_top_clearance": 0.014055112597483753,
+            "object_projection_between_fingers": 0.8003360448016886,
+            "object_to_finger_line_xy": 0.010914473727086005,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04942644532594466,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3253224074717105,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30608460341446564,
+              0.16223883147819904,
+              1.2385534417386037
+            ],
+            "held_position": [
+              0.3116763096789123,
+              0.16674179273404405,
+              1.2361373733223668
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007575039644215116,
+            "max_held_gripper_dist": 0.007577872999873698,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024160684162368717,
+            "max_held_gripper_z_dist": 0.0024518790721741457,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869216289871853,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3116763096789123,
+              0.14120485474709657,
+              1.2361373733223668
+            ],
+            "held_grasp_finger_b": [
+              0.301777978577889,
+              0.16674179273404405,
+              1.2361373733223668
+            ],
+            "held_grasp_midpoint": [
+              0.30672714412840063,
+              0.15397332374057032,
+              1.2361373733223668
+            ],
+            "held_grasp_object_position": [
+              0.3116763096789123,
+              0.16674179273404405,
+              1.2361373733223668
+            ],
+            "held_grasp_finger_gap": 0.027388175556883776,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475211636749767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07147018498025812,
+              -0.9969696419867022,
+              0.030717187628338527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004043541971760886,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032116731227275964,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34195481085131163,
+              0.3115564331298158,
+              0.7625851045930612
+            ],
+            "target_position": [
+              0.34814309438748575,
+              0.31209967707164255,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006212082348489528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1683796128357594,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851045930612,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545618864786804,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567196472363935,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13707097847131322,
+            "release_required_pad_clearance": 0.052835982361819675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7043873653326269,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2fe3805469d3f0a8a3484660cd31bdcd89d95ff3e028dae71c0788343774b6c",
+    "visual_seed": 9055519048776937093,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d27ee0fbd417718cd79e1f2de1313e8e51a2a0f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30218697659953486,
+              0.15988135808230003,
+              1.0475899274270828
+            ],
+            "current_z": 1.0475899274270828,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.19100347962316222,
+            "gripper_z": 1.0498211702732252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2970510314730529,
+              0.15498029149198422,
+              1.0498211702732252
+            ],
+            "object_minus_gripper": [
+              0.005135945126481967,
+              0.004901066590315806,
+              -0.0022312428461424005
+            ],
+            "object_to_gripper_xy": 0.007099182070136225,
+            "object_to_gripper_z": -0.0022312428461424005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30218697659953486,
+              0.13543526108265785,
+              1.0475899274270828
+            ],
+            "finger_b": [
+              0.29023204103391287,
+              0.15988135808230003,
+              1.0475899274270828
+            ],
+            "finger_midpoint": [
+              0.29620950881672387,
+              0.14765830958247894,
+              1.0475899274270828
+            ],
+            "object_minus_finger_midpoint": [
+              0.005977467782810997,
+              0.012223048499821088,
+              0.0
+            ],
+            "finger_gap": 0.027212720240617033,
+            "fingertip_max_gap": 0.09188794759719124,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013606360120308516,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475899274270828,
+            "object_top_z": 1.093769079248796,
+            "finger_top_clearance": 0.04617915182171317,
+            "fingertip_min_top_clearance": 0.013853745546513951,
+            "object_projection_between_fingers": 0.8070029967644302,
+            "object_to_finger_line_xy": 0.010739518573577217,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844397379859562,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6134556279813043,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30220116284578236,
+              0.1579444362146999,
+              1.2426084904660202
+            ],
+            "held_position": [
+              0.3076917319650111,
+              0.162383568421146,
+              1.2402568559072717
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441937187133158,
+            "max_held_gripper_dist": 0.007444306330238382,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023516345587484278,
+            "max_held_gripper_z_dist": 0.002383164286079431,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743654714325291,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3076917319650111,
+              0.13692626259006024,
+              1.2402568559072717
+            ],
+            "held_grasp_finger_b": [
+              0.29781120377350295,
+              0.162383568421146,
+              1.2402568559072717
+            ],
+            "held_grasp_midpoint": [
+              0.302751467869257,
+              0.14965491550560311,
+              1.2402568559072717
+            ],
+            "held_grasp_object_position": [
+              0.3076917319650111,
+              0.162383568421146,
+              1.2402568559072717
+            ],
+            "held_grasp_finger_gap": 0.02730749453026807,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024590480126490056,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07894489569480105,
+              -0.9965900383299178,
+              0.02399997802728271
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003932233476697873,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321249676350776,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34302575729774676,
+              0.3084013967820953,
+              0.7625859629004246
+            ],
+            "target_position": [
+              0.34815680683481004,
+              0.3082656885655813,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005132843858118688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17091842596124332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859629004246,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580846815958076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501378942523317,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387313037182461,
+            "release_required_pad_clearance": 0.05250689471261659,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07900347936073619,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac9c72389d6816400a10ab4f421652d170930043addd4e94c0d08d0d702bc631",
+    "visual_seed": 2144716255228177794,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..486f42c563c3e33b12653fe7d96e2b3b062a68d0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3038372952772963,
+              0.15957666937346726,
+              1.0467837286279424
+            ],
+            "current_z": 1.0467837286279424,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1901971616147321,
+            "gripper_z": 1.049013064822553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2985570506767121,
+              0.15459765097528594,
+              1.049013064822553
+            ],
+            "object_minus_gripper": [
+              0.005280244600584183,
+              0.004979018398181323,
+              -0.0022293361946106316
+            ],
+            "object_to_gripper_xy": 0.007257520737237099,
+            "object_to_gripper_z": -0.0022293361946106316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3038372952772963,
+              0.13500310144600425,
+              1.0467837286279424
+            ],
+            "finger_b": [
+              0.29180792404018185,
+              0.15957666937346726,
+              1.0467837286279424
+            ],
+            "finger_midpoint": [
+              0.2978226096587391,
+              0.14728988540973575,
+              1.0467837286279424
+            ],
+            "object_minus_finger_midpoint": [
+              0.006014685618557225,
+              0.012286783963731507,
+              0.0
+            ],
+            "finger_gap": 0.027359934448860715,
+            "fingertip_max_gap": 0.09184002053109344,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013679967224430357,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467837286279424,
+            "object_top_z": 1.0926105098578545,
+            "finger_top_clearance": 0.04582678122991202,
+            "fingertip_min_top_clearance": 0.013748034368973604,
+            "object_projection_between_fingers": 0.8066893636120336,
+            "object_to_finger_line_xy": 0.010804286529721976,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842001026554672,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6328309325279786,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30375941495384573,
+              0.15764287033999314,
+              1.2403503259026314
+            ],
+            "held_position": [
+              0.309391371693195,
+              0.1621585194397312,
+              1.2379867165007936
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00759583260152059,
+            "max_held_gripper_dist": 0.007598842363644901,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002363609401837774,
+            "max_held_gripper_z_dist": 0.0023970185313788583,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669245015017189,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.309391371693195,
+              0.13660282192422302,
+              1.2379867165007936
+            ],
+            "held_grasp_finger_b": [
+              0.29943098614275443,
+              0.1621585194397312,
+              1.2379867165007936
+            ],
+            "held_grasp_midpoint": [
+              0.30441117891797476,
+              0.1493806706819771,
+              1.2379867165007936
+            ],
+            "held_grasp_object_position": [
+              0.309391371693195,
+              0.1621585194397312,
+              1.2379867165007936
+            ],
+            "held_grasp_finger_gap": 0.027428141676343602,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480185497631578,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06913633552357307,
+              -0.9974480061914407,
+              0.017822515397434516
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00409137705449988,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211067292029347,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3471256887644929,
+              0.3086627241962231,
+              0.7625860818904168
+            ],
+            "target_position": [
+              0.35159496378674954,
+              0.3081937989122623,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004493807978374774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17085995731165637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860818904168,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520299526263362,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652126463921848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14032593755862222,
+            "release_required_pad_clearance": 0.053260632319609244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5374423296386686,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9583c296131cc939c90bee61197981e3aecf0876f956eb32a241cff1f46eb620",
+    "visual_seed": 4017767314590533292,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19149fed803a9786db954b1b2028e9fe11399ce5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3075151980255905,
+              0.15928372230751311,
+              1.0463200035278497
+            ],
+            "current_z": 1.0463200035278497,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18973343651463936,
+            "gripper_z": 1.0484168320412437,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3024472811485605,
+              0.1543365695037993,
+              1.0484168320412437
+            ],
+            "object_minus_gripper": [
+              0.00506791687703001,
+              0.004947152803713828,
+              -0.002096828513393989
+            ],
+            "object_to_gripper_xy": 0.0070822385116415835,
+            "object_to_gripper_z": -0.002096828513393989,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3075151980255905,
+              0.1349872070287092,
+              1.0463200035278497
+            ],
+            "finger_b": [
+              0.295371885651433,
+              0.15928372230751311,
+              1.0463200035278497
+            ],
+            "finger_midpoint": [
+              0.30144354183851174,
+              0.14713546466811117,
+              1.0463200035278497
+            ],
+            "object_minus_finger_midpoint": [
+              0.006071656187078778,
+              0.012148257639401944,
+              0.0
+            ],
+            "finger_gap": 0.02716211866017669,
+            "fingertip_max_gap": 0.09290164235354911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013581059330088345,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463200035278497,
+            "object_top_z": 1.092815420532738,
+            "finger_top_clearance": 0.04649541700488835,
+            "fingertip_min_top_clearance": 0.013948625101466489,
+            "object_projection_between_fingers": 0.8001302590415085,
+            "object_to_finger_line_xy": 0.010862192980055509,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895082117677456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0125011196983325,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3077117576731343,
+              0.15730891302120115,
+              1.2406129837394673
+            ],
+            "held_position": [
+              0.3131872071048109,
+              0.16174074640760502,
+              1.2383947581415804
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007385270370596615,
+            "max_held_gripper_dist": 0.007390504268499766,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022182255978868692,
+            "max_held_gripper_z_dist": 0.0022504907343381397,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657623270453998,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3131872071048109,
+              0.13626803652437944,
+              1.2383947581415804
+            ],
+            "held_grasp_finger_b": [
+              0.3033653654859883,
+              0.16174074640760502,
+              1.2383947581415804
+            ],
+            "held_grasp_midpoint": [
+              0.3082762862953996,
+              0.14900439146599223,
+              1.2383947581415804
+            ],
+            "held_grasp_object_position": [
+              0.3131872071048109,
+              0.16174074640760502,
+              1.2383947581415804
+            ],
+            "held_grasp_finger_gap": 0.027300687199779683,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024578581223386672,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08139968056262605,
+              -0.9962848911653343,
+              0.02811596770485513
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038749938863098916,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211143958380857,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34821903770323587,
+              0.308181298417482,
+              0.7625855665708595
+            ],
+            "target_position": [
+              0.3536086848476312,
+              0.30815592473625997,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005389706871879718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1694005604000161,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855665708595,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591511977971799,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578988776301764,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13697366029590397,
+            "release_required_pad_clearance": 0.052894943881508824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8223230532848368,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da4bb980bd0c0f4f7e899a026cde13db0d7398a3d454471c1b1b9f3e8691c933",
+    "visual_seed": 8645604812946978326,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ced918705f1b1277ed04c30f6ed63662f139199
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3018284598702026,
+              0.15409134793805648,
+              1.0481989216061807
+            ],
+            "current_z": 1.0481989216061807,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19161235459297032,
+            "gripper_z": 1.050741908419786,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29658564784221986,
+              0.1491388782351748,
+              1.050741908419786
+            ],
+            "object_minus_gripper": [
+              0.005242812027982768,
+              0.004952469702881684,
+              -0.002542986813605319
+            ],
+            "object_to_gripper_xy": 0.007212075576331808,
+            "object_to_gripper_z": -0.002542986813605319,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3018284598702026,
+              0.12960132106742073,
+              1.0481989216061807
+            ],
+            "finger_b": [
+              0.28975676211343493,
+              0.15409134793805648,
+              1.0481989216061807
+            ],
+            "finger_midpoint": [
+              0.29579261099181875,
+              0.1418463345027386,
+              1.0481989216061807
+            ],
+            "object_minus_finger_midpoint": [
+              0.006035848878383876,
+              0.012245013435317892,
+              0.0
+            ],
+            "finger_gap": 0.02730361336627831,
+            "fingertip_max_gap": 0.09374399976907369,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01365180668313918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481989216061807,
+            "object_top_z": 1.0951839428499284,
+            "finger_top_clearance": 0.046985021243747704,
+            "fingertip_min_top_clearance": 0.014095506373124345,
+            "object_projection_between_fingers": 0.8045226442185923,
+            "object_to_finger_line_xy": 0.010827731790348443,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049371999884536846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3019443189428035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30171271656194665,
+              0.15244053996656365,
+              1.241655300405512
+            ],
+            "held_position": [
+              0.3072909594293142,
+              0.15693170864975226,
+              1.2389796894626461
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00764501690944989,
+            "max_held_gripper_dist": 0.007648854172402219,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002675610942865836,
+            "max_held_gripper_z_dist": 0.002704250453017254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744303093718565,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3072909594293142,
+              0.13145552139954986,
+              1.2389796894626461
+            ],
+            "held_grasp_finger_b": [
+              0.297284698848501,
+              0.15693170864975226,
+              1.2389796894626461
+            ],
+            "held_grasp_midpoint": [
+              0.3022878291389076,
+              0.14419361502465106,
+              1.2389796894626461
+            ],
+            "held_grasp_object_position": [
+              0.3072909594293142,
+              0.15693170864975226,
+              1.2389796894626461
+            ],
+            "held_grasp_finger_gap": 0.027370812330263634,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02470635381163377,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06934591857554884,
+              -0.9970191729892696,
+              0.03382177211067317
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041308958020745,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032153154728511095,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35175824611661277,
+              0.3134305639450003,
+              0.7625870158718584
+            ],
+            "target_position": [
+              0.3577463769017552,
+              0.31383748605605777,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006001941011409391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16978836196842567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870158718584,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562764149098126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640128826019487,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1379086769479698,
+            "release_required_pad_clearance": 0.05320064413009744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4237880841152897,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4c61f8629496a222a75fe9dea6562e1d10d29bc2165fc9600262abea3b469cf",
+    "visual_seed": 5613051265183840054,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2dbe1d02db00871d485b148a27d1ab359557dbe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30369794476460793,
+              0.15868899372344467,
+              1.0465623825981918
+            ],
+            "current_z": 1.0465623825981918,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18997587518962622,
+            "gripper_z": 1.0489663407215886,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2984280786287397,
+              0.15371627738938917,
+              1.0489663407215886
+            ],
+            "object_minus_gripper": [
+              0.0052698661358682175,
+              0.004972716334055494,
+              -0.0024039581233967766
+            ],
+            "object_to_gripper_xy": 0.00724564675021857,
+            "object_to_gripper_z": -0.0024039581233967766,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30369794476460793,
+              0.13416033263653462,
+              1.0465623825981918
+            ],
+            "finger_b": [
+              0.29163060163814547,
+              0.15868899372344467,
+              1.0465623825981918
+            ],
+            "finger_midpoint": [
+              0.2976642732013767,
+              0.14642466317998964,
+              1.0465623825981918
+            ],
+            "object_minus_finger_midpoint": [
+              0.006033671563231258,
+              0.012264330543455021,
+              0.0
+            ],
+            "finger_gap": 0.027336349149955554,
+            "fingertip_max_gap": 0.09372853240035736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013668174574977788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465623825981918,
+            "object_top_z": 1.093369937582892,
+            "finger_top_clearance": 0.04680755498470024,
+            "fingertip_min_top_clearance": 0.014042266495410054,
+            "object_projection_between_fingers": 0.8051312057601488,
+            "object_to_finger_line_xy": 0.010827918832348255,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936426620017868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1944953729765768,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30340465106310655,
+              0.15693490450296022,
+              1.2391083139309307
+            ],
+            "held_position": [
+              0.3090018478954303,
+              0.16146693879729124,
+              1.2365739705819176
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007634844034782502,
+            "max_held_gripper_dist": 0.007635855184643321,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002534343349013035,
+            "max_held_gripper_z_dist": 0.002568276593676533,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680909910696757,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3090018478954303,
+              0.1359888289065325,
+              1.2365739705819176
+            ],
+            "held_grasp_finger_b": [
+              0.2989208506510562,
+              0.16146693879729124,
+              1.2365739705819176
+            ],
+            "held_grasp_midpoint": [
+              0.30396134927324325,
+              0.14872788385191188,
+              1.2365739705819176
+            ],
+            "held_grasp_object_position": [
+              0.3090018478954303,
+              0.16146693879729124,
+              1.2365739705819176
+            ],
+            "held_grasp_finger_gap": 0.027400010749024456,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477966844555202,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06318468929921786,
+              -0.997587075071178,
+              0.028770170126248162
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00424177529365401,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217342606432272,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34505071799688536,
+              0.3051756942084165,
+              0.7625852406844391
+            ],
+            "target_position": [
+              0.35165500334172034,
+              0.3058234791983776,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006635978474137857,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17146277382773634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852406844391,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753860261409016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588413016717465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14019614780439585,
+            "release_required_pad_clearance": 0.05294206508358733,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9142695412147162,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3b78a065b073511771e708287c5f9b7dd19007e68b0d82c8c5a402dd43a3ed8",
+    "visual_seed": 4605700516584402304,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..797eee3dd91564a04730c75ecaa967ab0d9c11ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30461569495804963,
+              0.16377891166922834,
+              1.0475123337009347
+            ],
+            "current_z": 1.0475123337009347,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1909258262923691,
+            "gripper_z": 1.0507019621022802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2988107978075749,
+              0.1585033790042928,
+              1.0507019621022802
+            ],
+            "object_minus_gripper": [
+              0.005804897150474719,
+              0.0052755326649355505,
+              -0.0031896284013455123
+            ],
+            "object_to_gripper_xy": 0.007843983415739194,
+            "object_to_gripper_z": -0.0031896284013455123,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30461569495804963,
+              0.13880140051773399,
+              1.0475123337009347
+            ],
+            "finger_b": [
+              0.292200909427692,
+              0.16377891166922834,
+              1.0475123337009347
+            ],
+            "finger_midpoint": [
+              0.29840830219287084,
+              0.15129015609348118,
+              1.0475123337009347
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062073927651787875,
+              0.012488755575747162,
+              0.0
+            ],
+            "finger_gap": 0.027892704477834377,
+            "fingertip_max_gap": 0.09222548404084494,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013946352238917164,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475123337009347,
+            "object_top_z": 1.0930297137046487,
+            "finger_top_clearance": 0.04551738000371408,
+            "fingertip_min_top_clearance": 0.013655214001114224,
+            "object_projection_between_fingers": 0.8018941995374083,
+            "object_to_finger_line_xy": 0.01111725986536513,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861274202042247,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3731633272314536,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3039252223150093,
+              0.16144314641088775,
+              1.23885346891256
+            ],
+            "held_position": [
+              0.31004172184887485,
+              0.16624111303030067,
+              1.235500390613833
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008466119790445457,
+            "max_held_gripper_dist": 0.008468469644223169,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003353078298726997,
+            "max_held_gripper_z_dist": 0.003391421832606545,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08701437475999982,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31004172184887485,
+              0.1404108676977655,
+              1.235500390613833
+            ],
+            "held_grasp_finger_b": [
+              0.29960846040701855,
+              0.16624111303030067,
+              1.235500390613833
+            ],
+            "held_grasp_midpoint": [
+              0.3048250911279467,
+              0.1533259903640331,
+              1.235500390613833
+            ],
+            "held_grasp_object_position": [
+              0.31004172184887485,
+              0.16624111303030067,
+              1.235500390613833
+            ],
+            "held_grasp_finger_gap": 0.027857755082796608,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025288189197901684,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048818928096929545,
+              -0.9987334423631732,
+              0.012174701839185453
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004582659814359299,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204678972671349,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35163730687201905,
+              0.31257225479835327,
+              0.7625856708914215
+            ],
+            "target_position": [
+              0.3545521841316819,
+              0.3111603300780381,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0032388332551609536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17192497642603544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856708914215,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575062447534074,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554318618742428,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14007454434900563,
+            "release_required_pad_clearance": 0.05277159309371214,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.58143656778637,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ead9ed5b7fbd5729d11e217e3fb71b09eb19bfc2fe39ab335c8dafa5c5dad99a",
+    "visual_seed": 3420667414168319029,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a516830093afc5d3d6a03075fdf181caaf113a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3056355926086193,
+              0.15688300252638776,
+              1.0474888658319323
+            ],
+            "current_z": 1.0474888658319323,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19090235842336678,
+            "gripper_z": 1.050437427245974,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2999512242602302,
+              0.15175768202342516,
+              1.050437427245974
+            ],
+            "object_minus_gripper": [
+              0.0056843683483890906,
+              0.005125320502962605,
+              -0.0029485614140416505
+            ],
+            "object_to_gripper_xy": 0.007653819554853418,
+            "object_to_gripper_z": -0.0029485614140416505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3056355926086193,
+              0.1319583495097988,
+              1.0474888658319323
+            ],
+            "finger_b": [
+              0.293481388275285,
+              0.15688300252638776,
+              1.0474888658319323
+            ],
+            "finger_midpoint": [
+              0.29955849044195215,
+              0.14442067601809327,
+              1.0474888658319323
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060771021666671254,
+              0.012462326508294486,
+              0.0
+            ],
+            "finger_gap": 0.027730182310504177,
+            "fingertip_max_gap": 0.09335607676289573,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013865091155252088,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474888658319323,
+            "object_top_z": 1.0934397939917746,
+            "finger_top_clearance": 0.04595092815984225,
+            "fingertip_min_top_clearance": 0.013785278447952675,
+            "object_projection_between_fingers": 0.8078910417428717,
+            "object_to_finger_line_xy": 0.010924534224440507,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917803838144787,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8106189912385144,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30484780977179693,
+              0.1551431624213443,
+              1.2387140523232962
+            ],
+            "held_position": [
+              0.31077739550388334,
+              0.15988491623354834,
+              1.2356140122082715
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008200881957721184,
+            "max_held_gripper_dist": 0.008203520258534547,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003100040115024738,
+            "max_held_gripper_z_dist": 0.003135675021264106,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629230423297196,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31077739550388334,
+              0.13423645196953882,
+              1.2356140122082715
+            ],
+            "held_grasp_finger_b": [
+              0.30032312516487425,
+              0.15988491623354834,
+              1.2356140122082715
+            ],
+            "held_grasp_midpoint": [
+              0.3055502603343788,
+              0.14706068410154358,
+              1.2356140122082715
+            ],
+            "held_grasp_object_position": [
+              0.31077739550388334,
+              0.15988491623354834,
+              1.2356140122082715
+            ],
+            "held_grasp_finger_gap": 0.027697210823894498,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025326269421039157,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029431097250359785,
+              -0.9994341105263834,
+              0.01628708786053379
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004851991427877677,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222940960826227,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34712477570119515,
+              0.31447591485452175,
+              0.762585227670866
+            ],
+            "target_position": [
+              0.35168550717101,
+              0.3140370026116608,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004581802647069455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688480602124969,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585227670866,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549583100588653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742259667962508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376757605859977,
+            "release_required_pad_clearance": 0.053711298339812544,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4277167424862913,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a706ef0a3c78d8ee8469f0cdc4142dd8c5985e54327511c8edb5d3fa11192a1",
+    "visual_seed": 214249891898708057,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..137b32dcdcf533aba81c39253968a30859a1b2e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30271327806860815,
+              0.16361708254520402,
+              1.0457389219260624
+            ],
+            "current_z": 1.0457389219260624,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18915241451749687,
+            "gripper_z": 1.0485605590232077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2971348119285702,
+              0.15858795137662124,
+              1.0485605590232077
+            ],
+            "object_minus_gripper": [
+              0.00557846614003793,
+              0.005029131168582779,
+              -0.0028216370971452243
+            ],
+            "object_to_gripper_xy": 0.007510755274029402,
+            "object_to_gripper_z": -0.0028216370971452243,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30271327806860815,
+              0.1386892359472273,
+              1.0457389219260624
+            ],
+            "finger_b": [
+              0.2908009395971227,
+              0.16361708254520402,
+              1.0457389219260624
+            ],
+            "finger_midpoint": [
+              0.29675710883286543,
+              0.15115315924621564,
+              1.0457389219260624
+            ],
+            "object_minus_finger_midpoint": [
+              0.005956169235742714,
+              0.012463923298988377,
+              0.0
+            ],
+            "finger_gap": 0.027627908785709636,
+            "fingertip_max_gap": 0.09332205447397993,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01381395439285483,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457389219260624,
+            "object_top_z": 1.091619524257165,
+            "finger_top_clearance": 0.04588060233110247,
+            "fingertip_min_top_clearance": 0.013764180699330742,
+            "object_projection_between_fingers": 0.814092024075982,
+            "object_to_finger_line_xy": 0.010748151383573414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049161027236989965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8699537503741699,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018815803504572,
+              0.1621886422893854,
+              1.237532119759954
+            ],
+            "held_position": [
+              0.30767648960558275,
+              0.1668782970313797,
+              1.2345714788543252
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00802117381973065,
+            "max_held_gripper_dist": 0.008024060899156797,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002960640905628864,
+            "max_held_gripper_z_dist": 0.0029988557793338977,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08707606927288838,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30767648960558275,
+              0.14132997697414287,
+              1.2345714788543252
+            ],
+            "held_grasp_finger_b": [
+              0.29726931716225263,
+              0.1668782970313797,
+              1.2345714788543252
+            ],
+            "held_grasp_midpoint": [
+              0.3024729033839177,
+              0.1541041370027613,
+              1.2345714788543252
+            ],
+            "held_grasp_object_position": [
+              0.30767648960558275,
+              0.1668782970313797,
+              1.2345714788543252
+            ],
+            "held_grasp_finger_gap": 0.02758669780912931,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025318815987801824,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021204411654289167,
+              -0.9996545330272325,
+              0.015530213279322132
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004935570848490441,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03232013900326432,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34568809461564975,
+              0.3140347676682813,
+              0.7625851963063823
+            ],
+            "target_position": [
+              0.35057988359916664,
+              0.3137790297230767,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004898469287019635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16872025341290164,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851963063823,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524514848797853,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713756058124882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1381308114617693,
+            "release_required_pad_clearance": 0.05356878029062441,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1442015682436826,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec21669f0107041bae95f4c6e2d69d36b329e6e8c744a918073f7088d82444d8",
+    "visual_seed": 7137333687656316703,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6f9f197986570ac4748604f3590ac21bf85b81
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3063383874292321,
+              0.15633669376415535,
+              1.0484006527384018
+            ],
+            "current_z": 1.0484006527384018,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1918141453298362,
+            "gripper_z": 1.05133943337737,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3006853804639561,
+              0.15121519662180982,
+              1.05133943337737
+            ],
+            "object_minus_gripper": [
+              0.005653006965275986,
+              0.005121497142345527,
+              -0.0029387806389682414
+            ],
+            "object_to_gripper_xy": 0.007627989297876093,
+            "object_to_gripper_z": -0.0029387806389682414,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3063383874292321,
+              0.13146429189403078,
+              1.0484006527384018
+            ],
+            "finger_b": [
+              0.29415204869521794,
+              0.15633669376415535,
+              1.0484006527384018
+            ],
+            "finger_midpoint": [
+              0.30024521806222504,
+              0.14390049282909306,
+              1.0484006527384018
+            ],
+            "object_minus_finger_midpoint": [
+              0.006093169367007045,
+              0.012436200935062286,
+              0.0
+            ],
+            "finger_gap": 0.027697350532661237,
+            "fingertip_max_gap": 0.09355766982074257,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013848675266330608,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484006527384018,
+            "object_top_z": 1.0943269395596413,
+            "finger_top_clearance": 0.04592628682123956,
+            "fingertip_min_top_clearance": 0.013777886046371868,
+            "object_projection_between_fingers": 0.806415742713335,
+            "object_to_finger_line_xy": 0.010943411860294718,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049278834910371286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0490130325717053,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30561169495035023,
+              0.15483085320206613,
+              1.2418533531679632
+            ],
+            "held_position": [
+              0.3115312292226922,
+              0.1595576145715652,
+              1.2387856312211
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00817276434193998,
+            "max_held_gripper_dist": 0.008175793171973908,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003067721946863111,
+            "max_held_gripper_z_dist": 0.0031041576092627476,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08748967686994957,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3115312292226922,
+              0.1339481082818063,
+              1.2387856312211
+            ],
+            "held_grasp_finger_b": [
+              0.301013741995332,
+              0.1595576145715652,
+              1.2387856312211
+            ],
+            "held_grasp_midpoint": [
+              0.3062724856090121,
+              0.14675286142668575,
+              1.2387856312211
+            ],
+            "held_grasp_object_position": [
+              0.3115312292226922,
+              0.1595576145715652,
+              1.2387856312211
+            ],
+            "held_grasp_finger_gap": 0.02768509255868374,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025310340733913885,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.027189000072119912,
+              -0.9994843479326634,
+              0.01708205235611915
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004913576429749399,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03225909463787061,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3455357362122317,
+              0.306463229066699,
+              0.7625850742961553
+            ],
+            "target_position": [
+              0.35018675768722407,
+              0.30593120028577686,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004681351875748025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17076396880634837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850742961553,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576391601371177,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0881322829680463,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13884926167613135,
+            "release_required_pad_clearance": 0.05406614148402315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1404462663124866,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8f764bd343713a89ba811a7a598b456010c81fb4a8d99da79f2f445d633c868",
+    "visual_seed": 4314826044303133842,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1715170aa29cffcd857e75ded5f85825d70f830d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_7_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3076432749858581,
+              0.1606908357297268,
+              1.0484141403548057
+            ],
+            "current_z": 1.0484141403548057,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19182763294624017,
+            "gripper_z": 1.051391796944765,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30200501188402673,
+              0.15554830667699066,
+              1.051391796944765
+            ],
+            "object_minus_gripper": [
+              0.005638263101831353,
+              0.005142529052736156,
+              -0.002977656589959299
+            ],
+            "object_to_gripper_xy": 0.007631226366954943,
+            "object_to_gripper_z": -0.002977656589959299,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3076432749858581,
+              0.13576529749057667,
+              1.0484141403548057
+            ],
+            "finger_b": [
+              0.29550756475822154,
+              0.1606908357297268,
+              1.0484141403548057
+            ],
+            "finger_midpoint": [
+              0.30157541987203984,
+              0.14822806661015175,
+              1.0484141403548057
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060678551138182435,
+              0.012462769119575057,
+              0.0
+            ],
+            "finger_gap": 0.027722877181860076,
+            "fingertip_max_gap": 0.09253783912422367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013861438590930013,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484141403548057,
+            "object_top_z": 1.0939408439378975,
+            "finger_top_clearance": 0.04552670358309174,
+            "fingertip_min_top_clearance": 0.013658011074927522,
+            "object_projection_between_fingers": 0.8083742824812705,
+            "object_to_finger_line_xy": 0.010911173012595102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876891956211184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6503994337665504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3071102499436432,
+              0.15846197757573377,
+              1.2389386245704381
+            ],
+            "held_position": [
+              0.3130279265945135,
+              0.16317729221809707,
+              1.2358034201732022
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008190396555307226,
+            "max_held_gripper_dist": 0.008192886589491733,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031352043972359134,
+            "max_held_gripper_z_dist": 0.003172107317318096,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08745547040556104,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3130279265945135,
+              0.1374536973191077,
+              1.2358034201732022
+            ],
+            "held_grasp_finger_b": [
+              0.30275451004823334,
+              0.16317729221809707,
+              1.2358034201732022
+            ],
+            "held_grasp_midpoint": [
+              0.30789121832137345,
+              0.1503154947686024,
+              1.2358034201732022
+            ],
+            "held_grasp_object_position": [
+              0.3130279265945135,
+              0.16317729221809707,
+              1.2358034201732022
+            ],
+            "held_grasp_finger_gap": 0.02769921338342833,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025307268614312622,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03850338858547119,
+              -0.9991927669761379,
+              0.011458773494831043
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004640053688542819,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215102930927263,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34441058569274047,
+              0.31379824210404805,
+              0.7625838105208083
+            ],
+            "target_position": [
+              0.34841685745606,
+              0.3130821206341228,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004069771910225347,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1719851393469028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625838105208083,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534819961247144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567882417497939,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1411739266405138,
+            "release_required_pad_clearance": 0.0528394120874897,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7121308594349435,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0aa21f85dab7f5a48a02985a5b14f7c66b7074738d574ba22a68b22ebf7edbf3",
+    "visual_seed": 8981042637915821032,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1f6ffc85f7147c49481ff43ad3a38bcba33e13
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_80_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30546594109934544,
+              0.16247599798033227,
+              1.0484526004091157
+            ],
+            "current_z": 1.0484526004091157,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19186609300055013,
+            "gripper_z": 1.0505947899609454,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3003601921428899,
+              0.15750841853170727,
+              1.0505947899609454
+            ],
+            "object_minus_gripper": [
+              0.005105748956455547,
+              0.004967579448624998,
+              -0.002142189551829654
+            ],
+            "object_to_gripper_xy": 0.007123588841640732,
+            "object_to_gripper_z": -0.002142189551829654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30546594109934544,
+              0.13815972499616688,
+              1.0484526004091157
+            ],
+            "finger_b": [
+              0.2932857125782362,
+              0.16247599798033227,
+              1.0484526004091157
+            ],
+            "finger_midpoint": [
+              0.2993758268387908,
+              0.15031786148824958,
+              1.0484526004091157
+            ],
+            "object_minus_finger_midpoint": [
+              0.006090114260554613,
+              0.012158136492082694,
+              0.0
+            ],
+            "finger_gap": 0.02719630671004602,
+            "fingertip_max_gap": 0.09204169617774202,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01359815335502301,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484526004091157,
+            "object_top_z": 1.0944242077812643,
+            "finger_top_clearance": 0.04597160737214856,
+            "fingertip_min_top_clearance": 0.013791482211644534,
+            "object_projection_between_fingers": 0.7994184365133764,
+            "object_to_finger_line_xy": 0.010890367022497339,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852084808887101,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.777341413354379,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3056076323551248,
+              0.16070140084994045,
+              1.2408285641689971
+            ],
+            "held_position": [
+              0.3111030379507723,
+              0.16516614611938002,
+              1.2385496234947213
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007438212391329386,
+            "max_held_gripper_dist": 0.007444437178438734,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002278940674275809,
+            "max_held_gripper_z_dist": 0.002313362271718633,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08741306532323936,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3111030379507723,
+              0.1396916094761198,
+              1.2385496234947213
+            ],
+            "held_grasp_finger_b": [
+              0.30124127694720826,
+              0.16516614611938002,
+              1.2385496234947213
+            ],
+            "held_grasp_midpoint": [
+              0.3061721574489903,
+              0.1524288777977499,
+              1.2385496234947213
+            ],
+            "held_grasp_object_position": [
+              0.3111030379507723,
+              0.16516614611938002,
+              1.2385496234947213
+            ],
+            "held_grasp_finger_gap": 0.027316777761665526,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024623495532656258,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07790346762756818,
+              -0.9967506481993701,
+              0.02047425324001495
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003932536450650343,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212021182039068,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3507110886780921,
+              0.3091588982970537,
+              0.7625860798542659
+            ],
+            "target_position": [
+              0.3550776600051617,
+              0.308533213737585,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044111706294751455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17083647237747787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860798542659,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759295289863798,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660777599642987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384805965049786,
+            "release_required_pad_clearance": 0.053303887998214936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.623129061145191,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "796a4c9d2cda575e101b9450b0a83051dfbac1b28c0f9afc2dcdfd9a37ca3a71",
+    "visual_seed": 7050652800905549714,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4df2b7041c60b0ed4ac96893bd2b0fda0197cb34
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_81_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3021323315333656,
+              0.1633404502190662,
+              1.0473036157860982
+            ],
+            "current_z": 1.0473036157860982,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19071710837753264,
+            "gripper_z": 1.049456976010061,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2971248161894119,
+              0.15854408181006535,
+              1.049456976010061
+            ],
+            "object_minus_gripper": [
+              0.005007515343953717,
+              0.004796368409000856,
+              -0.0021533602239627303
+            ],
+            "object_to_gripper_xy": 0.006934000276521001,
+            "object_to_gripper_z": -0.0021533602239627303,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3021323315333656,
+              0.13891404420414674,
+              1.0473036157860982
+            ],
+            "finger_b": [
+              0.2904228836522083,
+              0.1633404502190662,
+              1.0473036157860982
+            ],
+            "finger_midpoint": [
+              0.296277607592787,
+              0.15112724721160647,
+              1.0473036157860982
+            ],
+            "object_minus_finger_midpoint": [
+              0.005854723940578621,
+              0.012213203007459733,
+              0.0
+            ],
+            "finger_gap": 0.027088013594341556,
+            "fingertip_max_gap": 0.09297092834575146,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013544006797170766,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473036157860982,
+            "object_top_z": 1.0939320312911947,
+            "finger_top_clearance": 0.04662841550509644,
+            "fingertip_min_top_clearance": 0.013988524651528899,
+            "object_projection_between_fingers": 0.8131390646843036,
+            "object_to_finger_line_xy": 0.010558903743884485,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048985464172875734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9547796319547751,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3022547393273987,
+              0.1614806216496813,
+              1.2400942911297894
+            ],
+            "held_position": [
+              0.30758188036068895,
+              0.1658514472373868,
+              1.2378079392375736
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007260162042388896,
+            "max_held_gripper_dist": 0.007261932821041718,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002286351892215821,
+            "max_held_gripper_z_dist": 0.0023190962042682894,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734931395872206,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30758188036068895,
+              0.14045601059532295,
+              1.2378079392375736
+            ],
+            "held_grasp_finger_b": [
+              0.2979086906199315,
+              0.1658514472373868,
+              1.2378079392375736
+            ],
+            "held_grasp_midpoint": [
+              0.3027452854903102,
+              0.15315372891635487,
+              1.2378079392375736
+            ],
+            "held_grasp_object_position": [
+              0.30758188036068895,
+              0.1658514472373868,
+              1.2378079392375736
+            ],
+            "held_grasp_finger_gap": 0.027175334441396918,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02464152878873599,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07037495876812341,
+              -0.9971192649609876,
+              0.02829375588437799
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003947824134162405,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219871024228074,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34311921019215197,
+              0.30719373191039734,
+              0.762586430160946
+            ],
+            "target_position": [
+              0.3497274936427411,
+              0.30790707372350484,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006646673356323257,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16812062418291482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762586430160946,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516442007644672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13765070509880814,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49fb68499fb7f4835ddc3d1760a51f15c2baa89386f412400a2cf65657953733",
+    "visual_seed": 1172311481684429785,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6244d7c03db6d08b21147cc95871c5217d020c54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30712594530981907,
+              0.1584224700478678,
+              1.0472218210914779
+            ],
+            "current_z": 1.0472218210914779,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19063525407826754,
+            "gripper_z": 1.0493105211624216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020259343757771,
+              0.15348198548650277,
+              1.0493105211624216
+            ],
+            "object_minus_gripper": [
+              0.005100010934041943,
+              0.004940484561365033,
+              -0.0020887000709437498
+            ],
+            "object_to_gripper_xy": 0.007100598511987114,
+            "object_to_gripper_z": -0.0020887000709437498,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30712594530981907,
+              0.13407825241982352,
+              1.0472218210914779
+            ],
+            "finger_b": [
+              0.2950258481602208,
+              0.1584224700478678,
+              1.0472218210914779
+            ],
+            "finger_midpoint": [
+              0.30107589673501994,
+              0.14625036123384566,
+              1.0472218210914779
+            ],
+            "object_minus_finger_midpoint": [
+              0.006050048574799127,
+              0.012172108814022142,
+              0.0
+            ],
+            "finger_gap": 0.027185534442995558,
+            "fingertip_max_gap": 0.09205008743652357,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013592767221497779,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472218210914779,
+            "object_top_z": 1.0932400921704657,
+            "finger_top_clearance": 0.046018271078987816,
+            "fingertip_min_top_clearance": 0.013805481323696344,
+            "object_projection_between_fingers": 0.8018920226630479,
+            "object_to_finger_line_xy": 0.010835446290304364,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852504371826179,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7289378431647999,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3071990529529201,
+              0.1563666986530977,
+              1.2401595403878958
+            ],
+            "held_position": [
+              0.3126792662687474,
+              0.1608151565913523,
+              1.237937896022429
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00739981213964257,
+            "max_held_gripper_dist": 0.00740629056902844,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022216443654667906,
+            "max_held_gripper_z_dist": 0.002254010912102311,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08679583512028713,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3126792662687474,
+              0.13534514950504872,
+              1.237937896022429
+            ],
+            "held_grasp_finger_b": [
+              0.3028422838852801,
+              0.1608151565913523,
+              1.237937896022429
+            ],
+            "held_grasp_midpoint": [
+              0.30776077507701377,
+              0.1480801530482005,
+              1.237937896022429
+            ],
+            "held_grasp_object_position": [
+              0.3126792662687474,
+              0.1608151565913523,
+              1.237937896022429
+            ],
+            "held_grasp_finger_gap": 0.027303616672320168,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02462663915949585,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07739411623005704,
+              -0.9967788242621753,
+              0.021026798983294737
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003927537589902421,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212558082812376,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.346518885295715,
+              0.31032359239222096,
+              0.7625867353155162
+            ],
+            "target_position": [
+              0.35127706161219996,
+              0.30997158511258993,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00477117920263655,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17229040963147207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625867353155162,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575359514031703,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535768131003839,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1402666602020287,
+            "release_required_pad_clearance": 0.052678840655019196,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4092474319905203,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9803e02fe9d448eb6b0393df267d90847dac4de27365c56c715bd3fb6ed4bc88",
+    "visual_seed": 9023150457780373041,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a39162bdebace337ae1356c6ec4f7082a8f9a63
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30287160414913017,
+              0.1668636378159944,
+              1.0455667336486734
+            ],
+            "current_z": 1.0455667336486734,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1889802262401078,
+            "gripper_z": 1.0488909817175458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29715975190199373,
+              0.16174620995329125,
+              1.0488909817175458
+            ],
+            "object_minus_gripper": [
+              0.00571185224713644,
+              0.005117427862703139,
+              -0.0033242480688724374
+            ],
+            "object_to_gripper_xy": 0.007668984549670707,
+            "object_to_gripper_z": -0.0033242480688724374,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30287160414913017,
+              0.1419322452203649,
+              1.0455667336486734
+            ],
+            "finger_b": [
+              0.29071621257638003,
+              0.1668636378159944,
+              1.0455667336486734
+            ],
+            "finger_midpoint": [
+              0.2967939083627551,
+              0.15439794151817965,
+              1.0455667336486734
+            ],
+            "object_minus_finger_midpoint": [
+              0.00607769578637507,
+              0.012465696297814743,
+              0.0
+            ],
+            "finger_gap": 0.027736760464125834,
+            "fingertip_max_gap": 0.09376993151958005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013868380232062917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0455667336486734,
+            "object_top_z": 1.0916748489911063,
+            "finger_top_clearance": 0.046108115342432976,
+            "fingertip_min_top_clearance": 0.013832434602729876,
+            "object_projection_between_fingers": 0.8079446385248343,
+            "object_to_finger_line_xy": 0.0109259637528975,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049384965759790025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9310207689527659,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30185757403734714,
+              0.16558339670328992,
+              1.2382551539783468
+            ],
+            "held_position": [
+              0.3077895673931154,
+              0.17034899615445673,
+              1.2347977030036716
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008357837671558524,
+            "max_held_gripper_dist": 0.008360507027348895,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034574509746752025,
+            "max_held_gripper_z_dist": 0.003499888422732411,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728263797709665,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3077895673931154,
+              0.14477768942164695,
+              1.2347977030036716
+            ],
+            "held_grasp_finger_b": [
+              0.29715044273990626,
+              0.17034899615445673,
+              1.2347977030036716
+            ],
+            "held_grasp_midpoint": [
+              0.30247000506651084,
+              0.15756334278805184,
+              1.2347977030036716
+            ],
+            "held_grasp_object_position": [
+              0.3077895673931154,
+              0.17034899615445673,
+              1.2347977030036716
+            ],
+            "held_grasp_finger_gap": 0.02769625789542633,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025327508148485698,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021939556934143137,
+              -0.9995940409548086,
+              0.018177159546249207
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005043177179789313,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03230305321050939,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3454510626638698,
+              0.3120614214383183,
+              0.7625863661790839
+            ],
+            "target_position": [
+              0.3505875445701793,
+              0.31193432396955495,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00513805412003522,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17176550046178357,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863661790839,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525854092232778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863630744534115,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14098337724451773,
+            "release_required_pad_clearance": 0.05318153722670575,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3796685566254252,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86a5535fb000708720c337d7cedffc608899a942296c6215eeccb319e38b02a3",
+    "visual_seed": 5279682548617809452,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d9fe56139fe75f7bbf9648271f8fd6e11f4a7d8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3058728444738365,
+              0.1577569924306267,
+              1.0462221613685487
+            ],
+            "current_z": 1.0462221613685487,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18963571356462794,
+            "gripper_z": 1.0483827923655422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30087607825556184,
+              0.15287960966429692,
+              1.0483827923655422
+            ],
+            "object_minus_gripper": [
+              0.004996766218274662,
+              0.004877382766329791,
+              -0.0021606309969934845
+            ],
+            "object_to_gripper_xy": 0.006982588007994006,
+            "object_to_gripper_z": -0.0021606309969934845,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3058728444738365,
+              0.13346940095129126,
+              1.0462221613685487
+            ],
+            "finger_b": [
+              0.2938833726551944,
+              0.1577569924306267,
+              1.0462221613685487
+            ],
+            "finger_midpoint": [
+              0.29987810856451547,
+              0.14561319669095898,
+              1.0462221613685487
+            ],
+            "object_minus_finger_midpoint": [
+              0.005994735909321036,
+              0.012143795739667729,
+              0.0
+            ],
+            "finger_gap": 0.02708568873698991,
+            "fingertip_max_gap": 0.09275633494964422,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013542844368494943,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462221613685487,
+            "object_top_z": 1.092632931688434,
+            "finger_top_clearance": 0.046410770319885275,
+            "fingertip_min_top_clearance": 0.01392323109596555,
+            "object_projection_between_fingers": 0.804061248812418,
+            "object_to_finger_line_xy": 0.010750894925057233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887816747482211,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9371968003757148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3060456867738056,
+              0.15569916589395072,
+              1.2402699565096218
+            ],
+            "held_position": [
+              0.311424426961943,
+              0.16008744449239867,
+              1.237985297712236
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007308043574688951,
+            "max_held_gripper_dist": 0.0073140915909885125,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002284658797385708,
+            "max_held_gripper_z_dist": 0.0023155056485879566,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667419816244834,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.311424426961943,
+              0.1346654933765394,
+              1.237985297712236
+            ],
+            "held_grasp_finger_b": [
+              0.3016955616677587,
+              0.16008744449239867,
+              1.237985297712236
+            ],
+            "held_grasp_midpoint": [
+              0.3065599943148508,
+              0.14737646893446904,
+              1.237985297712236
+            ],
+            "held_grasp_object_position": [
+              0.311424426961943,
+              0.16008744449239867,
+              1.237985297712236
+            ],
+            "held_grasp_finger_gap": 0.02721996360117923,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024575566735299842,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07811031088866578,
+              -0.9965990144720719,
+              0.026252308206539458
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00387155252885302,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215251690543817,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.346001510242616,
+              0.30696716149493497,
+              0.7625868483286591
+            ],
+            "target_position": [
+              0.35205624906231653,
+              0.30735931986056453,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006067425348409477,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16889003342676215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625868483286591,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521492766954381,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572342853981711,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1381362655049039,
+            "release_required_pad_clearance": 0.05286171426990856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7589702458980944,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78da301e82fbd8c68e19f37ca32eca1bf7221341f9fe976e737079bc63d8a64a",
+    "visual_seed": 7298352842872053158,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3adaebfcde902e113835056c97450b7cad5609a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3014052279698988,
+              0.1626295233810972,
+              1.0452314296950627
+            ],
+            "current_z": 1.0452314296950627,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1886449222864971,
+            "gripper_z": 1.0476784492503157,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29613734556244264,
+              0.15764747361117964,
+              1.0476784492503157
+            ],
+            "object_minus_gripper": [
+              0.005267882407456181,
+              0.0049820497699175625,
+              -0.0024470195552530605
+            ],
+            "object_to_gripper_xy": 0.007250614109764908,
+            "object_to_gripper_z": -0.0024470195552530605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3014052279698988,
+              0.13812115246750742,
+              1.0452314296950627
+            ],
+            "finger_b": [
+              0.28929954182539086,
+              0.1626295233810972,
+              1.0452314296950627
+            ],
+            "finger_midpoint": [
+              0.2953523848976448,
+              0.1503753379243023,
+              1.0452314296950627
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060528430722540105,
+              0.012254185456794908,
+              0.0
+            ],
+            "finger_gap": 0.02733510347277702,
+            "fingertip_max_gap": 0.09364487351356146,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013667551736388532,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452314296950627,
+            "object_top_z": 1.0919219572421537,
+            "finger_top_clearance": 0.04669052754709102,
+            "fingertip_min_top_clearance": 0.01400715826412729,
+            "object_projection_between_fingers": 0.8038730043062722,
+            "object_to_finger_line_xy": 0.010853832929097171,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932243675678073,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2104810656735197,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3010813546167833,
+              0.1609488795812682,
+              1.237683146434964
+            ],
+            "held_position": [
+              0.30668083750482894,
+              0.16548363735713,
+              1.235103925456298
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076531442921223825,
+            "max_held_gripper_dist": 0.007654833565637743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025792209786659193,
+            "max_held_gripper_z_dist": 0.0026145784354174584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08721219931451078,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30668083750482894,
+              0.14000976544543609,
+              1.235103925456298
+            ],
+            "held_grasp_finger_b": [
+              0.29658951153771906,
+              0.16548363735713,
+              1.235103925456298
+            ],
+            "held_grasp_midpoint": [
+              0.301635174521274,
+              0.15274670140128305,
+              1.235103925456298
+            ],
+            "held_grasp_object_position": [
+              0.30668083750482894,
+              0.16548363735713,
+              1.235103925456298
+            ],
+            "held_grasp_finger_gap": 0.02739987244400701,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024788685984687697,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06207455816745843,
+              -0.9976928781585378,
+              0.02748945434249284
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00426006152412351,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032179467372734784,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34553433691015273,
+              0.31051515101502264,
+              0.7625859749340438
+            ],
+            "target_position": [
+              0.3514969681389445,
+              0.3108668367159798,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005972993721980667,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1710215550004011,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859749340438,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570814275819494,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08731537084185452,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13905429873008027,
+            "release_required_pad_clearance": 0.05365768542092726,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3222532331997505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58c83374e2d0abd2e6e841b59668b784e6ea37e924ad235cc3fb3b3ef47bfbdb",
+    "visual_seed": 103596475084280891,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be88b0a65f676b7850e08bd3d9d2ee332ba056b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30059350693750636,
+              0.16131862053719823,
+              1.0457921362075187
+            ],
+            "current_z": 1.0457921362075187,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18920562879895308,
+            "gripper_z": 1.0488677223029568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29496465092725055,
+              0.15625307089099577,
+              1.0488677223029568
+            ],
+            "object_minus_gripper": [
+              0.005628856010255812,
+              0.005065549646202455,
+              -0.003075586095438121
+            ],
+            "object_to_gripper_xy": 0.00757256978854172,
+            "object_to_gripper_z": -0.003075586095438121,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30059350693750636,
+              0.136387273599865,
+              1.0457921362075187
+            ],
+            "finger_b": [
+              0.28858641884359404,
+              0.16131862053719823,
+              1.0457921362075187
+            ],
+            "finger_midpoint": [
+              0.29458996289055017,
+              0.1488529470685316,
+              1.0457921362075187
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060035440469561885,
+              0.012465673468666616,
+              0.0
+            ],
+            "finger_gap": 0.027672047712531976,
+            "fingertip_max_gap": 0.09327051929874478,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013836023856266,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457921362075187,
+            "object_top_z": 1.0916281445287435,
+            "finger_top_clearance": 0.04583600832122481,
+            "fingertip_min_top_clearance": 0.013750802496367441,
+            "object_projection_between_fingers": 0.8117249384159189,
+            "object_to_finger_line_xy": 0.010817879547124435,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913525964937239,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9171544373051899,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29967968234127174,
+              0.1599143552122823,
+              1.2379047273404677
+            ],
+            "held_position": [
+              0.30552536550871384,
+              0.16463051654952413,
+              1.2346872897429693
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008171052205610199,
+            "max_held_gripper_dist": 0.008174057842469221,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003217437597498485,
+            "max_held_gripper_z_dist": 0.0032542542476905467,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08712121574350018,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30552536550871384,
+              0.13906594261375757,
+              1.2346872897429693
+            ],
+            "held_grasp_finger_b": [
+              0.2950545015264403,
+              0.16463051654952413,
+              1.2346872897429693
+            ],
+            "held_grasp_midpoint": [
+              0.30028993351757705,
+              0.15184822958164085,
+              1.2346872897429693
+            ],
+            "held_grasp_object_position": [
+              0.30552536550871384,
+              0.16463051654952413,
+              1.2346872897429693
+            ],
+            "held_grasp_finger_gap": 0.027625829092581964,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025333870662402565,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021208748155087057,
+              -0.9996624486596389,
+              0.015005923547346863
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004966895293705533,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032311215717443276,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3537404249426889,
+              0.3067624916980104,
+              0.7625848204179502
+            ],
+            "target_position": [
+              0.3579108672008885,
+              0.3059607869940126,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004246801038592337,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17175375116806654,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848204179502,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567994337710454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08782664777918496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14003955940676766,
+            "release_required_pad_clearance": 0.05391332388959248,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.83551039213246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd2138454938c21c775215ad8ceab81f8803062d5c9feda819c6afd870f91b72",
+    "visual_seed": 2584337372379559068,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cadf451df61d9b21dd567b71a4ad6cbe0fd885ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3067189064378842,
+              0.16449935211032263,
+              1.0459922726962463
+            ],
+            "current_z": 1.0459922726962463,
+            "required_z": 0.8565865670132101,
+            "initial_z": 0.7565865670132101,
+            "lift_margin": 0.18940570568303616,
+            "gripper_z": 1.0480959498069464,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3013767345337587,
+              0.15947531595350728,
+              1.0480959498069464
+            ],
+            "object_minus_gripper": [
+              0.005342171904125503,
+              0.005024036156815348,
+              -0.0021036771107001417
+            ],
+            "object_to_gripper_xy": 0.007333467117142875,
+            "object_to_gripper_z": -0.0021036771107001417,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3067189064378842,
+              0.13989249479377938,
+              1.0459922726962463
+            ],
+            "finger_b": [
+              0.2946153002626939,
+              0.16449935211032263,
+              1.0459922726962463
+            ],
+            "finger_midpoint": [
+              0.300667103350289,
+              0.15219592345205102,
+              1.0459922726962463
+            ],
+            "object_minus_finger_midpoint": [
+              0.006051803087595176,
+              0.012303428658271609,
+              0.0
+            ],
+            "finger_gap": 0.027422521938013335,
+            "fingertip_max_gap": 0.09152551097692488,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013711260969006666,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459922726962463,
+            "object_top_z": 1.0917126876351242,
+            "finger_top_clearance": 0.04572041493887791,
+            "fingertip_min_top_clearance": 0.013716124481663339,
+            "object_projection_between_fingers": 0.805188413422431,
+            "object_to_finger_line_xy": 0.010860843172694565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826275548846244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5087631254220297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3065650926275883,
+              0.16219052019587532,
+              1.2395830581502805
+            ],
+            "held_position": [
+              0.3122807311697362,
+              0.16673580826364645,
+              1.2373528991322067
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007635560019370225,
+            "max_held_gripper_dist": 0.00763726636347479,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002230159018073774,
+            "max_held_gripper_z_dist": 0.0022685862269227197,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666790270519435,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3122807311697362,
+              0.1411415448676582,
+              1.2373528991322067
+            ],
+            "held_grasp_finger_b": [
+              0.3022334394383501,
+              0.16673580826364645,
+              1.2373528991322067
+            ],
+            "held_grasp_midpoint": [
+              0.30725708530404316,
+              0.15393867656565233,
+              1.2373528991322067
+            ],
+            "held_grasp_object_position": [
+              0.3122807311697362,
+              0.16673580826364645,
+              1.2373528991322067
+            ],
+            "held_grasp_finger_gap": 0.027495715846633323,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024793696773655408,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07258627246463366,
+              -0.9972153460295341,
+              0.01711101086688382
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040875353600324,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032074081123837014,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3454898433532489,
+              0.31564183880920893,
+              0.762585267796569
+            ],
+            "target_position": [
+              0.3492958931432085,
+              0.31480262044417856,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003897473857238301,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17202535124189816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585267796569,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581354113951377,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08775478937533464,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13994235273544212,
+            "release_required_pad_clearance": 0.05387739468766732,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7582639601607246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 132,
+            "max_placed_release_frames": 132
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e99c7ccbc62b5ae35518b2899e3211403eaf803daee23bd6baef61e1c1520b64",
+    "visual_seed": 8117412681526897504,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba1ff6d84e623d242c97d8ada398fa1ef52b8a43
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3008607011968863,
+              0.15624779744375966,
+              1.0463133047169741
+            ],
+            "current_z": 1.0463133047169741,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18972685691305335,
+            "gripper_z": 1.048704078557817,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29578201576686636,
+              0.15139503582156863,
+              1.048704078557817
+            ],
+            "object_minus_gripper": [
+              0.005078685430019936,
+              0.004852761622191032,
+              -0.0023907738408428525
+            ],
+            "object_to_gripper_xy": 0.0070244103709070785,
+            "object_to_gripper_z": -0.0023907738408428525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3008607011968863,
+              0.1318198806313038,
+              1.0463133047169741
+            ],
+            "finger_b": [
+              0.289003978833467,
+              0.15624779744375966,
+              1.0463133047169741
+            ],
+            "finger_midpoint": [
+              0.29493234001517665,
+              0.14403383903753172,
+              1.0463133047169741
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059283611817096404,
+              0.012213958406227937,
+              0.0
+            ],
+            "finger_gap": 0.027153360473419697,
+            "fingertip_max_gap": 0.09216513806536306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013576680236709849,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463133047169741,
+            "object_top_z": 1.0925248265112804,
+            "finger_top_clearance": 0.04621152179430621,
+            "fingertip_min_top_clearance": 0.01386345653829183,
+            "object_projection_between_fingers": 0.8093301034668744,
+            "object_to_finger_line_xy": 0.010666636560344474,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858256903268153,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6809761699812175,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30086061424323773,
+              0.1542371824744215,
+              1.2380951509044653
+            ],
+            "held_position": [
+              0.30626738341275217,
+              0.1586456160406945,
+              1.235566286113299
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074204175416653535,
+            "max_held_gripper_dist": 0.007422995373043574,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025288647911663187,
+            "max_held_gripper_z_dist": 0.0025575005835447584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08689549047378706,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30626738341275217,
+              0.13321272138880824,
+              1.235566286113299
+            ],
+            "held_grasp_finger_b": [
+              0.2965174382584089,
+              0.1586456160406945,
+              1.235566286113299
+            ],
+            "held_grasp_midpoint": [
+              0.30139241083558055,
+              0.14592916871475137,
+              1.235566286113299
+            ],
+            "held_grasp_object_position": [
+              0.30626738341275217,
+              0.1586456160406945,
+              1.235566286113299
+            ],
+            "held_grasp_finger_gap": 0.027237723122292095,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024642242841666773,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0733681159350581,
+              -0.9970386106337455,
+              0.023046224629436507
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039400750543689,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03216376843853308,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35127345342297167,
+              0.3153605815235869,
+              0.76258535727734
+            ],
+            "target_position": [
+              0.3564567834128013,
+              0.31529823680403923,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005183704915166625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1710141516054131,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258535727734,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570437715499048,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391670936312981,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e8f816c74c1aa9c03790f9edc2e57e0126f483f44b4eaa9598413ae93fd6455",
+    "visual_seed": 6988463102729211060,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b69a452fbd1e702be7bab16cceeeaa122106b53
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30666213536086556,
+              0.16423638677065988,
+              1.0461832597388974
+            ],
+            "current_z": 1.0461832597388974,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1895967523303318,
+            "gripper_z": 1.0483082089892224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30129085475127704,
+              0.15915502865381886,
+              1.0483082089892224
+            ],
+            "object_minus_gripper": [
+              0.005371280609588525,
+              0.005081358116841017,
+              -0.0021249492503250256
+            ],
+            "object_to_gripper_xy": 0.0073939742830583174,
+            "object_to_gripper_z": -0.0021249492503250256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30666213536086556,
+              0.13967216088200268,
+              1.0461832597388974
+            ],
+            "finger_b": [
+              0.2943955367435605,
+              0.16423638677065988,
+              1.0461832597388974
+            ],
+            "finger_midpoint": [
+              0.30052883605221303,
+              0.15195427382633128,
+              1.0461832597388974
+            ],
+            "object_minus_finger_midpoint": [
+              0.006133299308652529,
+              0.0122821129443286,
+              0.0
+            ],
+            "finger_gap": 0.02745670473940831,
+            "fingertip_max_gap": 0.09182479524696294,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013728352369704155,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461832597388974,
+            "object_top_z": 1.091987605973121,
+            "finger_top_clearance": 0.04580434623422369,
+            "fingertip_min_top_clearance": 0.013741303870267106,
+            "object_projection_between_fingers": 0.8004041613734957,
+            "object_to_finger_line_xy": 0.010974350424815947,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841239762348147,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6779413036374486,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30649048977052584,
+              0.16183839124070865,
+              1.2393546355140563
+            ],
+            "held_position": [
+              0.31225833919760215,
+              0.1664101612550842,
+              1.2370973704757124
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007698338361691935,
+            "max_held_gripper_dist": 0.0077022935167735266,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002257265038343892,
+            "max_held_gripper_z_dist": 0.002294511636411034,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669123981658529,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31225833919760215,
+              0.14078496133083124,
+              1.2370973704757124
+            ],
+            "held_grasp_finger_b": [
+              0.3021742352395769,
+              0.1664101612550842,
+              1.2370973704757124
+            ],
+            "held_grasp_midpoint": [
+              0.3072162872185895,
+              0.1535975612929577,
+              1.2370973704757124
+            ],
+            "held_grasp_object_position": [
+              0.31225833919760215,
+              0.1664101612550842,
+              1.2370973704757124
+            ],
+            "held_grasp_finger_gap": 0.027537974213696154,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024794791545914074,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07480309784767122,
+              -0.9970308070381675,
+              0.018277482573166637
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004076434705933322,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204850697777549,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35407985076842335,
+              0.3101511021330683,
+              0.7625846953017961
+            ],
+            "target_position": [
+              0.3576544772844183,
+              0.3091129958356316,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003722313717787874,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1693936382338137,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846953017961,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757463423338417,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550645192410682,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1377066688873519,
+            "release_required_pad_clearance": 0.05275322596205341,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5481944919142501,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16ef22011fc4df49bc3fdc08e6ef30499e3260877bd492679508837fc5a0fc9b",
+    "visual_seed": 511039272967661034,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..916030e89e0c30c9ad1c6d7e4666411a617dbaba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30915784479976305,
+              0.1579010719510703,
+              1.0462589694296875
+            ],
+            "current_z": 1.0462589694296875,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18967252162576675,
+            "gripper_z": 1.0489343997855143,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035463225228569,
+              0.15283458490305868,
+              1.0489343997855143
+            ],
+            "object_minus_gripper": [
+              0.005611522276906145,
+              0.005066487048011631,
+              -0.0026754303558267356
+            ],
+            "object_to_gripper_xy": 0.007560322299471335,
+            "object_to_gripper_z": -0.0026754303558267356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30915784479976305,
+              0.13297608474654415,
+              1.0462589694296875
+            ],
+            "finger_b": [
+              0.2971557851627109,
+              0.1579010719510703,
+              1.0462589694296875
+            ],
+            "finger_midpoint": [
+              0.303156814981237,
+              0.14543857834880725,
+              1.0462589694296875
+            ],
+            "object_minus_finger_midpoint": [
+              0.006001029818526071,
+              0.012462493602263064,
+              0.0
+            ],
+            "finger_gap": 0.02766413603706338,
+            "fingertip_max_gap": 0.09326260356073138,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013832068018531677,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462589694296875,
+            "object_top_z": 1.0921676434396679,
+            "finger_top_clearance": 0.04590867400998033,
+            "fingertip_min_top_clearance": 0.013772602202994099,
+            "object_projection_between_fingers": 0.811774986184648,
+            "object_to_finger_line_xy": 0.010813682468908226,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913130178036569,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7804941558655634,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3084628043279842,
+              0.1562112216430382,
+              1.238897120417353
+            ],
+            "held_position": [
+              0.3143283432920112,
+              0.16090355328169573,
+              1.236089806016605
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00801894866490067,
+            "max_held_gripper_dist": 0.008021344949220896,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028073144007478845,
+            "max_held_gripper_z_dist": 0.0028438919528217532,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08760172676905606,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3143283432920112,
+              0.13529380384646134,
+              1.236089806016605
+            ],
+            "held_grasp_finger_b": [
+              0.3039246090103793,
+              0.16090355328169573,
+              1.236089806016605
+            ],
+            "held_grasp_midpoint": [
+              0.30912647615119526,
+              0.14809867856407855,
+              1.236089806016605
+            ],
+            "held_grasp_object_position": [
+              0.3143283432920112,
+              0.16090355328169573,
+              1.236089806016605
+            ],
+            "held_grasp_finger_gap": 0.027642303687252456,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02529900860362806,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02851964093638308,
+              -0.9994521592047539,
+              0.01679319927277212
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004839396005664112,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03225400989788706,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34761152803527995,
+              0.3079802931371055,
+              0.7625850548031703
+            ],
+            "target_position": [
+              0.35201372059051705,
+              0.30734992439944364,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004447096135548051,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17112872992121442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850548031703,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576647025574204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08807746566094242,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1392327118191999,
+            "release_required_pad_clearance": 0.05403873283047121,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.084614686678815,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 131,
+            "max_placed_release_frames": 131
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baf158d6a23deff919df9829c2ac55832fea7e17052c67b8dcc3ba13e667c0a9",
+    "visual_seed": 3386017294814570542,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29e8c162756eae8e5a11a34bcb618c56eca686c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30725792100157945,
+              0.1649364420602421,
+              1.0478018109899059
+            ],
+            "current_z": 1.0478018109899059,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19121542279062986,
+            "gripper_z": 1.0499058681317368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30187779095367573,
+              0.15987715240712025,
+              1.0499058681317368
+            ],
+            "object_minus_gripper": [
+              0.0053801300479037195,
+              0.005059289653121857,
+              -0.0021040571418309284
+            ],
+            "object_to_gripper_xy": 0.007385269874997281,
+            "object_to_gripper_z": -0.0021040571418309284,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30725792100157945,
+              0.14032574388717853,
+              1.0478018109899059
+            ],
+            "finger_b": [
+              0.29507388753296204,
+              0.1649364420602421,
+              1.0478018109899059
+            ],
+            "finger_midpoint": [
+              0.30116590426727075,
+              0.1526310929737103,
+              1.0478018109899059
+            ],
+            "object_minus_finger_midpoint": [
+              0.006092016734308703,
+              0.012305349086531803,
+              0.0
+            ],
+            "finger_gap": 0.02746155742360626,
+            "fingertip_max_gap": 0.09154407168023174,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013730778711803142,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478018109899059,
+            "object_top_z": 1.0935309383808192,
+            "finger_top_clearance": 0.04572912739091328,
+            "fingertip_min_top_clearance": 0.013718738217273952,
+            "object_projection_between_fingers": 0.8031516226263732,
+            "object_to_finger_line_xy": 0.01091917568990048,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827203584011587,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5287999644044443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3071414277531212,
+              0.16295740720612364,
+              1.241150262975161
+            ],
+            "held_position": [
+              0.31289728179924076,
+              0.16752988464153873,
+              1.2389132409397245
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007683857968796602,
+            "max_held_gripper_dist": 0.00768847025989767,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002237022035436409,
+            "max_held_gripper_z_dist": 0.0022741432270176887,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667463463658039,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31289728179924076,
+              0.1419192238118441,
+              1.2389132409397245
+            ],
+            "held_grasp_finger_b": [
+              0.3028009175803667,
+              0.16752988464153873,
+              1.2389132409397245
+            ],
+            "held_grasp_midpoint": [
+              0.30784909968980373,
+              0.1547245542266914,
+              1.2389132409397245
+            ],
+            "held_grasp_object_position": [
+              0.31289728179924076,
+              0.16752988464153873,
+              1.2389132409397245
+            ],
+            "held_grasp_finger_gap": 0.027528939655820654,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024798704812472722,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07322453436570935,
+              -0.9971631169929047,
+              0.01743231699802783
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004103218416070939,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206157099086075,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34959718753761676,
+              0.3130387098300064,
+              0.7625853811835542
+            ],
+            "target_position": [
+              0.35401259818902375,
+              0.3130377472379898,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004415410756333063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17020881948666813,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853811835542,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523516681894075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843739007568462,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13950966279770596,
+            "release_required_pad_clearance": 0.05421869503784231,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.449524657083745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "16627fc000b065931a5b09fe583be6ea6f2d5dbfcfa9125e8443e55625e122d9",
+    "visual_seed": 4204199576773716050,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2eb21671804bd7fbf7f2d7d2978e7327f3c39f0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3057767443364764,
+              0.16243239838471288,
+              1.0450275605084185
+            ],
+            "current_z": 1.0450275605084185,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18844105309985293,
+            "gripper_z": 1.0480996480855735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3000583864768407,
+              0.15722423287177306,
+              1.0480996480855735
+            ],
+            "object_minus_gripper": [
+              0.005718357859635703,
+              0.005208165512939816,
+              -0.003072087577155047
+            ],
+            "object_to_gripper_xy": 0.007734636683195474,
+            "object_to_gripper_z": -0.003072087577155047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3057767443364764,
+              0.13747937513766287,
+              1.0450275605084185
+            ],
+            "finger_b": [
+              0.29350943499797005,
+              0.16243239838471288,
+              1.0450275605084185
+            ],
+            "finger_midpoint": [
+              0.2996430896672232,
+              0.14995588676118787,
+              1.0450275605084185
+            ],
+            "object_minus_finger_midpoint": [
+              0.006133654669253197,
+              0.012476511623525005,
+              0.0
+            ],
+            "finger_gap": 0.027805399611845593,
+            "fingertip_max_gap": 0.09238066075448861,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013902699805922809,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450275605084185,
+            "object_top_z": 1.090542549845348,
+            "finger_top_clearance": 0.045514989336929546,
+            "fingertip_min_top_clearance": 0.013654496801078863,
+            "object_projection_between_fingers": 0.8053563000002546,
+            "object_to_finger_line_xy": 0.011008885301979124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869033037724431,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5580306542638265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051448225639587,
+              0.16018173360520854,
+              1.239303269012499
+            ],
+            "held_position": [
+              0.31118760465830264,
+              0.16493012144032385,
+              1.2361058134018077
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00832382873771055,
+            "max_held_gripper_dist": 0.008324760863341144,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003197455610691291,
+            "max_held_gripper_z_dist": 0.0032384255033262033,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753241521852342,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31118760465830264,
+              0.13917031262420895,
+              1.2361058134018077
+            ],
+            "held_grasp_finger_b": [
+              0.30074043042716514,
+              0.16493012144032385,
+              1.2361058134018077
+            ],
+            "held_grasp_midpoint": [
+              0.3059640175427339,
+              0.1520502170322664,
+              1.2361058134018077
+            ],
+            "held_grasp_object_position": [
+              0.31118760465830264,
+              0.16493012144032385,
+              1.2361058134018077
+            ],
+            "held_grasp_finger_gap": 0.027797683350569594,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025276612066480356,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043701414720451776,
+              -0.998965813135767,
+              0.012549523394419393
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046585813883933255,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210536263883884,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34998341840023234,
+              0.31174796304750485,
+              0.7625858570658334
+            ],
+            "target_position": [
+              0.35338443163716443,
+              0.3106445925633261,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003575516391116695,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1701797172973543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858570658334,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554254772054468,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655524289093817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13884101689421235,
+            "release_required_pad_clearance": 0.05327762144546909,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5691856930398977,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b95395c34c8f798c843b1b3fe30d0a367a63fba5d950ae06fce114c7e59b77dd",
+    "visual_seed": 462476744342979223,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a92d761aee73197f4b90efc3f07fdbe439d92b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3038088639791174,
+              0.16104438760366993,
+              1.0468190273292168
+            ],
+            "current_z": 1.0468190273292168,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19023257952529604,
+            "gripper_z": 1.049194411165234,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2984447654749911,
+              0.15597037222454524,
+              1.049194411165234
+            ],
+            "object_minus_gripper": [
+              0.00536409850412628,
+              0.005074015379124691,
+              -0.0023753838360172086
+            ],
+            "object_to_gripper_xy": 0.007383710776402586,
+            "object_to_gripper_z": -0.0023753838360172086,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3038088639791174,
+              0.13653253386999703,
+              1.0468190273292168
+            ],
+            "finger_b": [
+              0.2914852340554895,
+              0.16104438760366993,
+              1.0468190273292168
+            ],
+            "finger_midpoint": [
+              0.29764704901730343,
+              0.1487884607368335,
+              1.0468190273292168
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061618149618139495,
+              0.012255926866836436,
+              0.0
+            ],
+            "finger_gap": 0.0274354301580185,
+            "fingertip_max_gap": 0.09268171654920052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013717715079009239,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468190273292168,
+            "object_top_z": 1.0930984826570236,
+            "finger_top_clearance": 0.04627945532780675,
+            "fingertip_min_top_clearance": 0.013883836598342025,
+            "object_projection_between_fingers": 0.7982313220384054,
+            "object_to_finger_line_xy": 0.011010398321296027,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884085827460026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9585705674808292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3035927184274861,
+              0.15889721733851722,
+              1.2402728452719012
+            ],
+            "held_position": [
+              0.30933749973764424,
+              0.16346448600910793,
+              1.2377583323784107
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007757914056138523,
+            "max_held_gripper_dist": 0.007761627039011864,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025145128934904726,
+            "max_held_gripper_z_dist": 0.0025489059683638793,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08745609530617122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30933749973764424,
+              0.1378776701818511,
+              1.2377583323784107
+            ],
+            "held_grasp_finger_b": [
+              0.29923004289448313,
+              0.16346448600910793,
+              1.2377583323784107
+            ],
+            "held_grasp_midpoint": [
+              0.30428377131606366,
+              0.15067107809547953,
+              1.2377583323784107
+            ],
+            "held_grasp_object_position": [
+              0.30933749973764424,
+              0.16346448600910793,
+              1.2377583323784107
+            ],
+            "held_grasp_finger_gap": 0.027510831103663973,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477099044469519,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07318050615199687,
+              -0.9970236009285486,
+              0.02426010533381639
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004116008526246778,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032075060935771185,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34795186101331765,
+              0.31367245968371416,
+              0.7625850510704604
+            ],
+            "target_position": [
+              0.35350903639295234,
+              0.3138873420294989,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005561328314579875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16813935662567048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850510704604,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524270662252884,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606270249375512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13754643966344254,
+            "release_required_pad_clearance": 0.053031351246877564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.086401257845123,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f70adf5f217f8b20a144bee8daa229ec28c2436208d29ccb88aed8216a902d7",
+    "visual_seed": 9014891757495998976,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e67905f11c27a33980112f84b380271448603a5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3055252962597435,
+              0.1637355792936807,
+              1.045762458186136
+            ],
+            "current_z": 1.045762458186136,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1891760103822152,
+            "gripper_z": 1.0480257903940884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30003509087272184,
+              0.15860235881697454,
+              1.0480257903940884
+            ],
+            "object_minus_gripper": [
+              0.005490205387021663,
+              0.005133220476706168,
+              -0.0022633322079523843
+            ],
+            "object_to_gripper_xy": 0.007516136484534936,
+            "object_to_gripper_z": -0.0022633322079523843,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3055252962597435,
+              0.13912361300084436,
+              1.045762458186136
+            ],
+            "finger_b": [
+              0.293134917768481,
+              0.1637355792936807,
+              1.045762458186136
+            ],
+            "finger_midpoint": [
+              0.2993301070141122,
+              0.15142959614726254,
+              1.045762458186136
+            ],
+            "object_minus_finger_midpoint": [
+              0.006195189245631283,
+              0.012305983146418176,
+              0.0
+            ],
+            "finger_gap": 0.02755486098597584,
+            "fingertip_max_gap": 0.09210747975976083,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013777430492987932,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045762458186136,
+            "object_top_z": 1.0917699505095668,
+            "finger_top_clearance": 0.04600749232343082,
+            "fingertip_min_top_clearance": 0.013802247697029263,
+            "object_projection_between_fingers": 0.79780393593033,
+            "object_to_finger_line_xy": 0.01106707008747547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855373987988042,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6563151743496202,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.305034759209427,
+              0.16180988908911298,
+              1.2376393205945386
+            ],
+            "held_position": [
+              0.31087742557532755,
+              0.16646509360913286,
+              1.2352283896349154
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00784985779989093,
+            "max_held_gripper_dist": 0.007851399302566923,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002410930959623192,
+            "max_held_gripper_z_dist": 0.002448430858387418,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683161625280963,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31087742557532755,
+              0.14085475460901933,
+              1.2352283896349154
+            ],
+            "held_grasp_finger_b": [
+              0.3005857333357581,
+              0.16646509360913286,
+              1.2352283896349154
+            ],
+            "held_grasp_midpoint": [
+              0.30573157945554286,
+              0.15365992410907608,
+              1.2352283896349154
+            ],
+            "held_grasp_object_position": [
+              0.31087742557532755,
+              0.16646509360913286,
+              1.2352283896349154
+            ],
+            "held_grasp_finger_gap": 0.02760087666822831,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024820007471721518,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07019472324868722,
+              -0.9973483740346243,
+              0.0192073329364526
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004241636438328562,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03206779874143278,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34841386476113617,
+              0.3096911669816992,
+              0.7625856550436294
+            ],
+            "target_position": [
+              0.35236145777689964,
+              0.3088537956620573,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0040354282728185574,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16919544925736893,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856550436294,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552906766208954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602887623728482,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13791056377538094,
+            "release_required_pad_clearance": 0.05301443811864241,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0519899421816719,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 129,
+            "max_placed_release_frames": 129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6abcd1b2bc0fc3b4da91a6b164649b965904662fea8f3eb829eb0a01bd0c844",
+    "visual_seed": 1236688056869566609,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28de65f1e9275eff728eb83c4dd19d88f2918a0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3087559091320523,
+              0.16487312080909214,
+              1.0475455626864283
+            ],
+            "current_z": 1.0475455626864283,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19095905527786272,
+            "gripper_z": 1.0495617354102451,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3034197336693417,
+              0.15983161341707963,
+              1.0495617354102451
+            ],
+            "object_minus_gripper": [
+              0.005336175462710591,
+              0.005041507392012506,
+              -0.0020161727238168226
+            ],
+            "object_to_gripper_xy": 0.00734108747751662,
+            "object_to_gripper_z": -0.0020161727238168226,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3087559091320523,
+              0.14029919375515587,
+              1.0475455626864283
+            ],
+            "finger_b": [
+              0.2965902881635483,
+              0.16487312080909214,
+              1.0475455626864283
+            ],
+            "finger_midpoint": [
+              0.30267309864780034,
+              0.152586157282124,
+              1.0475455626864283
+            ],
+            "object_minus_finger_midpoint": [
+              0.006082810484251966,
+              0.012286963526968148,
+              0.0
+            ],
+            "finger_gap": 0.02742043443130478,
+            "fingertip_max_gap": 0.09176880607458374,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01371021721565239,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475455626864283,
+            "object_top_z": 1.093332520155338,
+            "finger_top_clearance": 0.04578695746890982,
+            "fingertip_min_top_clearance": 0.013736087240672911,
+            "object_projection_between_fingers": 0.8031570338651779,
+            "object_to_finger_line_xy": 0.010902711370048434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838440303729187,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6476958637024459,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3086924175516863,
+              0.16283374148816657,
+              1.2404280867861595
+            ],
+            "held_position": [
+              0.31440956519074625,
+              0.1673892189774062,
+              1.2382694183890883
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007622204505934705,
+            "max_held_gripper_dist": 0.007622654310980334,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021586683970711285,
+            "max_held_gripper_z_dist": 0.00219728695201149,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668641738638622,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31440956519074625,
+              0.14178253449122735,
+              1.2382694183890883
+            ],
+            "held_grasp_finger_b": [
+              0.3043940718115332,
+              0.1673892189774062,
+              1.2382694183890883
+            ],
+            "held_grasp_midpoint": [
+              0.30940181850113974,
+              0.15458587673431678,
+              1.2382694183890883
+            ],
+            "held_grasp_object_position": [
+              0.31440956519074625,
+              0.1673892189774062,
+              1.2382694183890883
+            ],
+            "held_grasp_finger_gap": 0.027495679624329566,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02481235586754055,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07224696118738617,
+              -0.9972374534768084,
+              0.017257983146323982
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004075821485095919,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032070458070599966,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3469324248711995,
+              0.3086553880583306,
+              0.7625847131644403
+            ],
+            "target_position": [
+              0.3509584791995594,
+              0.3078315005602264,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004109489513849359,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17018001222517296,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847131644403,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590155297970352,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632147732651206,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1381396604092467,
+            "release_required_pad_clearance": 0.05316073866325603,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3364361781295087,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 130,
+            "max_placed_release_frames": 130
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eaad459c4969e53daa191f270c64c71413fcc887337e3fac18f48268ee9858ff",
+    "visual_seed": 4790954553101260177,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20d9ab7093e7a48769643b966131adaf94a7a4ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.30263281753037885,
+              0.1637630935800934,
+              1.046615047870441
+            ],
+            "current_z": 1.046615047870441,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19002860006652023,
+            "gripper_z": 1.0487871833463362,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29757724961602394,
+              0.15888845265863344,
+              1.0487871833463362
+            ],
+            "object_minus_gripper": [
+              0.005055567914354908,
+              0.0048746409214599495,
+              -0.0021721354758952316
+            ],
+            "object_to_gripper_xy": 0.007022883385748815,
+            "object_to_gripper_z": -0.0021721354758952316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30263281753037885,
+              0.13939652340681977,
+              1.046615047870441
+            ],
+            "finger_b": [
+              0.29068553679942255,
+              0.1637630935800934,
+              1.046615047870441
+            ],
+            "finger_midpoint": [
+              0.2966591771649007,
+              0.1515798084934566,
+              1.046615047870441
+            ],
+            "object_minus_finger_midpoint": [
+              0.00597364036547815,
+              0.012183285086636797,
+              0.0
+            ],
+            "finger_gap": 0.02713793026141359,
+            "fingertip_max_gap": 0.09183927205857653,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013568965130706781,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046615047870441,
+            "object_top_z": 1.0927164884305662,
+            "finger_top_clearance": 0.04610144056012522,
+            "fingertip_min_top_clearance": 0.013830432168037565,
+            "object_projection_between_fingers": 0.8061862015663255,
+            "object_to_finger_line_xy": 0.010727209168363573,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841963602928827,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6078222731379173,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30280010238176813,
+              0.16204465835893928,
+              1.2415193383536036
+            ],
+            "held_position": [
+              0.3082251538360802,
+              0.16644635818488066,
+              1.2392307890141858
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007351435418921619,
+            "max_held_gripper_dist": 0.00735353910179028,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022885493394178003,
+            "max_held_gripper_z_dist": 0.002321516460562334,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743212044675638,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3082251538360802,
+              0.14101807375111625,
+              1.2392307890141858
+            ],
+            "held_grasp_finger_b": [
+              0.2984210387635854,
+              0.16644635818488066,
+              1.2392307890141858
+            ],
+            "held_grasp_midpoint": [
+              0.3033230962998328,
+              0.15373221596799846,
+              1.2392307890141858
+            ],
+            "held_grasp_object_position": [
+              0.3082251538360802,
+              0.16644635818488066,
+              1.2392307890141858
+            ],
+            "held_grasp_finger_gap": 0.02725285896193544,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024552891984077025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08021217733912085,
+              -0.9965006277528841,
+              0.02350543542726668
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038783229579688193,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213736955692416,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3482289139490589,
+              0.3101560084889835,
+              0.7625841101847766
+            ],
+            "target_position": [
+              0.35332349393259294,
+              0.31002010118550477,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00509639244993597,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16824234035086502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625841101847766,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757825185980209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08497788966149887,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13635342826361338,
+            "release_required_pad_clearance": 0.05248894483074944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.038616558839821985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 128,
+            "max_placed_release_frames": 128
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 816907636393322120,
+    "physical_seed": 4771965213701459969,
+    "layout_id": "layout_00023",
+    "step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "workflow_spec_digest": "38f702287a23937a611ab55099f3299ee47693ac24b2939c5c34dc386492a14b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72be238d474398bb8f42ece3a18d0d91faa9aad66d500d22937cbfb03c43eec8",
+    "visual_seed": 5160559728191965946,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6025886195317364167,
+      912408632159906142,
+      5099940445753200938
+    ],
+    "runtime_workflow_digest": "057d0f160eed8f2e30e727cb8bbd643bf74ee4bb204c4ed54b19f1ebeb050f06"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..3047a465b89aaf620be09688e9f65d127821d7c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00023/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_2beaker_dual_target_s03_psl_gqr_00023",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..494c6a80840264767b3f6133e5e30e5a533f2949
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8dfa83dbee9360461fad7bf80a5c314e3a534d8126c6c928954f511b1249d20
+size 5015990
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d136e32682789d437215b0aa67421202412128e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098b479dc9c883666cff5ea82c665cf2d18eed7058ac8dd54d414e85267bf0a2
+size 4528641
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9995b90dfc40859c3d2a68bc0121fa34f1ddbd88
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93d46cb9648a4ff0088b42d080106e340e94313058e3207b5ecd35a4326d29a
+size 3816156
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..585a4c9d53c475a81d15d2b7e06451157305a48d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9322c051f2c0b41df0ce3bb32f1908520d03dbcbfc17c60e5d46dedbd488a823
+size 3983423
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..159d1fc8e4bf4bc0335a83b36a5b6599942af7c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8577c2556ba2a6047a097aed3645abbbb4230ac993f395757a2041da20d2f7
+size 4797251
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21c4a01ac188bbb9a1a0527695b5fd7d84d49063
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:982e08be45f523599d8ebe3992561e9fe7f1bdcd071c060186d692737497c819
+size 4544261
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..330031d8106449429c50bab2612f59efeafadda4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c36839fd39d0e79d9bab557ddde6ed17146c82cb22222856d8dac7100d3db5d9
+size 4535774
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9cb09ebcb0ab1481fa7173dfdf4948aa4aa40c4d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95c5ef58be89f457f1a2e92a440ffa34cc1efebad0060a9fb3f404667aa4c6f5
+size 5586379
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..896815decfe94e9e306e9b2ac3f26e34bbd2d189
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf4f85775de4f3f9b6a4cd0d82d21a01f8cb4e2d9b89e881bfc4ec76b45ba535
+size 5545316
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f0115179eae00d598a38be26d44fc749c810cc54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27d175c1f784c6d4c56fb7847597c4e306b9eb20ba2367945c7487b1d5cf1d3d
+size 4587253
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..30a86d19047fb847f69affe12180380ac0bfbb24
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7bf75b4a60a4e83a3ddaf9cab2724d98076271e54c2fda7b233a3757df0a161
+size 5168282
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3ea09ed5110f86b80afefd4aaa162707a233706
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb676c0354dcfecb101252ef89c3caa37fa8193a95396c7d21aec5f5076b792
+size 4497946
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c1e14f246b5130286b684180bd2ae3d8bba1eaed
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec60bd94313c0603a4e4010b5f0ac71b5b6009c4344f9881df8ea7b1f6ea8a98
+size 5740164
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d49c9aecb9e4af99c529205769cf1b6d77869e8a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6608a7ede23b0702cb0125df049aaa9b90296c8dcc41cdc7c7dfb918983bcc2
+size 4674422
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9fab84a942186e4a0c7e9d503901286acf32f94e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6199ec018cd99821bd3a1d3bf2fc7cb6382301ba797a7aa8e61c23f84537f9bd
+size 4852261
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0834da2d7ca43ceb1456f2d884f26a561f96c4b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3117e2ed97ef8556193fc107ec6baa178952f262163071ea3c72ebb01a4a0b19
+size 3865295
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..080332fd16f2299c1bb9f5945a95eafa97543192
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c16da2c1fa3b47fe5ffc0c47b3cdd4b80b935619e0cbb862bda6599503c32f
+size 5723625
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0e579c929d8240e1e41e9cdc1593247d84d33447
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd2a4e4ea7827e8b753e768cdc781f48c6b750828243bc31f922755c16ceaec
+size 4253129
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d1b97754b890861a236008304d68ae7985470e7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ffc52e85d221bd09c832bdcfc47e6f5dbc47c1d78381b5abb314e1241d947e
+size 4526793
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c6b7011ee6afaf9c886c1a553db85b734900890
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c18797a6db1ec4ea5a66806435b04ed512cb4caa2af1be92a65f4754918e51e
+size 7414243
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e954653755e6bb7eb2c7262685789285ef3bd4b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87d709431bafe5ddc60c5e0bd1c31eb0678e1ff4a43435e8a31fca276b24841e
+size 5853653
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..765d4ed9607300a0379590b76d3388c5132e879e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2a4d5de0d0865d73b4a3270d298884671ab3e2432b8050f15fecad96848868
+size 4895823
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aca45ef43edfb53fd7c1098803ced043c5128336
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e29c65eb8317aee5e93775511b64d8d60b5d10444215ea9e1e7ccdf5f3af8d98
+size 4043787
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f931a30dfb6448a70797a6310d69ac4e02068333
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:066a71627741b7ea70cb744e6ff764493df5b603f98955fe5d6b2d382a5cac0a
+size 5792932
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d20fd932bcf23bb791b4a4fbb0daaaa1873d6884
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a39800b87e376d7ebd330bef32cde18edab3cbfce56059564d42a9ffe442e4a
+size 4567094
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c98aeb5333f24873291f21bdd1c50550132afcb2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed5692a28ca8a64046da70958054d645201994c9afe7f1a87335520fd966084
+size 5335279
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0f6d11f5c1d7a6b273b224fd7b1e6c285cff0b04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1689af1d668ef0891fa73a8b45a9e78828902e7d3963a8344b644e50ee39a7ab
+size 4324817
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb5835540feca4f2c2cc4ade868daaefff384a0b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d855a8c32b6224f78edb4d7de03271d853c70f9fcad1c73cbf660d785b025dee
+size 6217857
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c114115cdc8a1edb20a3081a6aa1548b8ea02b88
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ece9d088a3f7d040b54bd79eb0a778dc9adf994fcbcb5790b91b2a4a778b9a7
+size 4987849
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..32a51665369d379272194856a8ea9127fc98ee34
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a1083d350b15ad96ac4c453d94342ab85f55413dc2b17afcd6e3198c348ef19
+size 4872855
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..acab1ee17ce4060bf3e9dd7008803b73b1f8cc74
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d0d3f6fc8f3e8c21ef9d5a13b954414a3600858e9cbb22946810a1488ddfe72
+size 4245436
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c1726165b8ea83d39908dca9dff90843455c088e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3578ead8d60efa5683c4a69f974a008a6500b70d6f35f9ac3ff8a686dc2d9561
+size 3867454
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ebe6e0a70ea8549db1056a49269429ead2b5192
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c5357ed9bc7931aac007f79e684183c00d40b03bb21fe51965c61478a11b9f
+size 5623042
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7344baba0799d4dd0042f999ae82b04d54b53923
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3ec6e9c26ab1420cd3a360cf72e635552ae46fa2cd1a04ac04c8641952b0c9
+size 4285982
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5986de448e98fb4fab6797073e95ba833c654261
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c65acea11b723bbdd370566059595ffc4a6d6ccfb304f8792e0dfac1847a048
+size 4518397
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5398c0aac3273c6941ba0cd4551976377c7bf2f6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf9923b7d1ad7e31227ce9044d74e5dd3984249e6a48a88fb5f96618c1057ab
+size 4335197
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9c6eb8bb70e32f946adf07933de77b690bf7bb6b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ec353040d422fe85a067c833e6c71aeae3c64e6e3a8917add7897190c5b9d39
+size 4901087
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f72a56f6d93ab071dfe3cdf1bf1a7eb71d9f795
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658d4a0f5e1b1d966488eb9ec24e7fc2fc34044a4076556c542a2fe8606a2430
+size 3892354
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea284d429b7b8df82bac3ef3e1603c384cc7fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e11a1d87ae227ddfc88678a4508ff2e430af422ed94d9d7685a59e05d2cc996
+size 4879902
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09df829b4e300682cdc1ae94ec7a2be772777135
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a6e1668fb34a5c097cbcd22f9e7cd627170b381e2974ff93e860bc44e2e884
+size 6774595
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3dc468a9edbacdb004551ffe62b8fc5017950eb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af0d2ecefee8c5c0ecebf2120a675afca076c7c8dbe832235938e706f0bb1e87
+size 4711212
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e267423b027fb62f109bf37a149c0d3bfc59c44
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e5547b950a960c6ff2ed22e31e8ee156f15ce23bc5f29458c377be3b3204cb3
+size 4115640
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d2c8372c5cbb1c4cd491153958f555ef79f365f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:947257ec6792918f1f5c7711dc6e0a03d18f37e8ca8807fc86051f4b0dffa2dd
+size 5334294
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0725699a7c3c922570cad49198133318aea2535d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f25844e1a616222c72d95f80c9cfd04701dadafa03ebce6a3e600f85d9136d9
+size 4435200
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8a79c9e0463f75a2488376996226248c557883f1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e4d9ba9302cb2b243249a1877def8967d2bb061efb8325196ded9b757b46af4
+size 5560225
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a70ec5bc0f52fc34da689fb20919afd45baa586
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f895ae0b563ee168f167f75957a11778bf14bed3ba1f7dc219f7b8317951ffcd
+size 4209327
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57aa361665688144f46807548c3cc24e5e4d04c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094d9df1466f4c9275448213e4ac00519b37582086d0cc12b56bfc7106cf4c01
+size 5099403
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..652df980bbc3ebb0b8f08ec9136ff6a4a9c1e6ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5d1459393007a141f41947425cf1e9af415fb6432dff236d8a9100a1697011
+size 4842612
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33b891ed9ad021748772d04181d695b9ff535c93
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd9be2fd8f94557c8735e8ce9425277330624ae79a8930c9d3ad7831538ed70c
+size 4835102
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d710c750a97d2798f6cd6bc42ac6b5de4f4bb944
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb7086addae51da599ac72dbba48ace3486e227a9999fe1628555cdf3dad5d8
+size 4500881
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e58d1d489bf627dd4af8b688bdd20bd15a4fff1d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a6d0b6c840f8e3679e0044db14521744ac5cf9e732ab546cf8c4ecd9d2c5b9
+size 4577559
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fc13fde7b27b820be06a3dedb8f59c65984da663
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fd861e67dda248da90eafe0a853a9097847399805354fb1de38f390560fff1
+size 4094231
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8b7af04428375d1872d7167d5534a236bb457042
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2fd17c53b6e5f46aa8633eeb043dd0f963b469032ceebfbedaf8e90b31c5eb5
+size 4573981
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5a38e1df5ae90ff19ef32771edca7c9c0243dff5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b16d0c544b0a3262d2116f6fa974d912920902ed48b33ab2d6a6551cee6ae24
+size 6872233
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..735a105d4d36a950cba78dcaa025a5cd5327b183
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:075e90e580799b689a3e2da8eb4400ae673a8ac4e2f8aeb58557d06dec62e1c7
+size 5173662
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fa877646f0f1e089b09559b7140a5d37f4947952
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f33c8508a7a50175eedfe6f3d68baea5aae2c82c7ed0d809df00962d9174cd9
+size 4148639
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d555b330de9f3f45b09af50fe22f3bfb0d6dbea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cedfadeb8a4e1ace2bf67b2c5d418b4220eadfb45a88e756ac55d5a6e19aea3a
+size 5424145
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..666d7675f0ec2b89a4a8b2572e15a2b8468aeb5e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869821275810d02e61e036994f45c31cd7ee9f7a8fe23d767742b4bdf895d0f8
+size 4676695
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..72bf031ef200606e3a150327629281526229011c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be337f26bbd6d516bffa7f5f23946717a19cdb880aa2b25fc61cf0e36a36400b
+size 6767553
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d37bdb3bce88dad4e1addfebd104d827196bab49
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de53c275f47d4e23012a7cce14b83683e1ffd8a5cd7cb9f362c99d3bfe3da5a0
+size 5245059
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0d427679982a5b65de7856dfbcb49d28c99b232f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da94eae5b498567364f34b376a78d865227c401a46b6cc00ceecec5954ad679
+size 5138064
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c42b3aca46dfdb9f374cc9481b05849990e5263
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2901c8d929c8f2aa22fb349e958e4de9b848997eaa124d5413e5b3f46ef5ce2e
+size 5682941
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b335e1e795c56d5d1b7da84df594657c46060c3c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e576b79af4f6cb49886c11e246ce5667baab8dd676227a9ca018b525ccf425
+size 5824921
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a123aa248371f0e7a30759dc9d2987fd0b4720b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3ea936788fcad37d78a92ba56cf6abf12062f2dd449a1607dfd327cca8011c5
+size 5579206
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25b9e8752f12ec5262eaa57a56287c8e5150921c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b3e1bdd2e1febafa76843cb0b25767509400718a7260dd77456c98f5d8801f
+size 4668432
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac0979af09e7cebc46af54ec07bf5333df97e275
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ec07b5c93d50d10f924f8ce3618be3715e4b5fd52de152b04847aff3c867a8
+size 6913819
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60009f2f93de3334ba26a415442f512f7ae3e698
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8e0eb94f900074bba7c7b6a84e5a0995c15f3b30735b90c11f092d26f1791e0
+size 5804337
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..136cead6fdac80061847bb064a62434f6fd18004
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9441ca0685883b0f2f461032afc3805565509309d2d8eef21f5b24e2e3a320
+size 3877123
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0eaea8ba9d2b762f92572cb9f98e6362bfb4c94b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48d72feef8bd913bbdd6ae6c62cddc9fd6573bac658efa39e90fb719643cf807
+size 4449068
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6eb46d6c584a7782154333a22beecb881f2d1ac2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13720d5424ea0041333e5fb1eec95c7aa7337ea08805ffaf23acea28e02329d9
+size 4495760
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57821b6fec52f337e4e1d76a92a23102bd7d8320
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18233570b1ebe95648e7b8e3f2a05be39054b76f4cc61e766e6810aa88b3c855
+size 5101183
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a711364a74b44e2b9dcb4f512a5b45d1a4f6188
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25bb706b243d7de7fc4201b6d34e3d87b726d7a0825c8a85a3ba8e97a4c633c8
+size 5769661
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fe836c8b1e37c8f957e40c5466cd0ae99a83a33c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27059c3e3e5166b472c0bf6a6ff0e94894963a57d4378c35f52377fb739a8433
+size 4445156
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2abbb1b0e6aadd3b8672a29dfcba9e143e7aaace
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a87bcacbf33b58f6bcb3e4d9d30b127c2c485916590c1554dc0f7bdd2307acb6
+size 6052174
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a669e0b4dc3423b0952186c008cef51b36e759b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba61aead8fc38e1177caccbcc077ce3067648b3991236e0e430f81fba0f9dc6f
+size 4586501
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc7fd86994b2c1ba3f327284360e0491f45322d2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1ba5ba555fcc607e132546371c0b2b8981df428390fbd6ccdd47bbe11c966b6
+size 5079815
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f62abdc6c3b2c7e9eff118b7e04312cbf50dc29
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c9cf38edb7a9dd9c282a7a0a8e2ba75ead869cdc6507b90f839fac79cd8f7d
+size 4038433
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5c75b83eb3b311c887ba25d14b5aa879b3f6b98
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d70e59af22b5782c9ce4a8a9ee3720fab950b59ea640c04e9ea27194824beb5a
+size 5185279
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..53628b06e14a4f11e2ac1364bb61cdfe4826c51f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a688c007ed17b6763a4643ab9c81b9d875d1652305823a4a7ea4cf44f8c19aa4
+size 4286073
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..68fe17c0a66e9bddf0081a28b5a8cdd047ebeb07
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed7f238e87f3e9706084b96ac78db638d0f234c137a9728912a22aec5253fbdb
+size 7395816
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a5aff3792f9827373a00d009ea06dbf1e41c176
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f14c30d1cac5f56c43d2be290fbe9e19566c13b4f4b60eea2159b6140dabdce8
+size 5271192
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..12fa5f0f3b788cfc28b33b68e3e1e5f730b0e0cc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d30446d92da54b319ddb3ef3f53bec614e631413e79d5f247e19a3509221b43
+size 4308370
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3bb28d5be51d2561104d09f3ba2f23ebe2ab6d0a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96fc01548fcc5eee667014ad30db6b7a5ce50b30ea40f93ad62ef8036e383af3
+size 5526390
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8f017ce2df727255c73e2b09e6315c2fd1fb5b0c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e3daa4887fdadedff690becc8aae123473a43cb92d965a774f8196fe03c219
+size 4360833
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1804b1846b772303b5a2b9da79d0a90fa0e5e0c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e040c1ded8263aed0927d97496dde69ef92802650683782bd422b07298f483db
+size 3975502
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..43af1b0c26fb776c8dd86d8d7a8c3947d53d47b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5df41f5407196115845319f83c999767f647da236c0eccf47b64aec095343e
+size 5735528
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4537bc6b970b613507ae66dce2b1e1e457510ffb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8efa955c9087479fed4674fec2db0f889a72319f4f8b288de474d16164400acb
+size 6934910
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1bf182a04abbdf03fe98a2f503fa5d347ef4153f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7518b08f19a3a498cba1ce1e7e6b6dfcc41562d5b30a6c38bb0b256d4980d52d
+size 4465826
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1e240b6f5698473da506004995e327f2ffaf9f47
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d129efabb3e8817c397afedc2c7d177395ab04ffb9775f359a039eb3cdab0765
+size 4893820
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..71515bde03193350723ed78a07413272c24372ea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b428c323b8de80bed44df7e9595fed6a2aabec2e7550ae1b46d7fe94d2fd3226
+size 4026821
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae23d795aea4b36f03b6f50e2172fc1ab171cba0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836b08118543d5f40aed03dda8a75770bf00d3e580a8dfe4b9e5c7b2843a3cb0
+size 5965671
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0030d8a7cc33c3f2e2ee1f9ac2e06c84b63b618b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b07607ee5bf1c3204f8c750a8cc3bb3e17dbfb1ec0f6d9333baa47fa20ba0eca
+size 4309473
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..10cf7130d1777f5820edb19e859d2176f18dc497
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464fc9b8ac5c2751b795ff47b2327c02e8add92c18df56311eea57cdc9fedb90
+size 3886116
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be562275e5fa0f4e3ee3f8f08be5102db3822067
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f21914e80710d3b2e952f2a1c6d8a8557826a02d1c4fda66902d065ca815e581
+size 7636899
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..626ac964b00edeac855590ec08b145dbce100355
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb60c9c76bc2860bf7d5669e4d767fcb5e416cda9194afc090a3d95c2e9f4bb3
+size 5606771
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..76590f90a0a36aa8e58f9af8bfca872ba8d93043
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9b7caa8383115f75868b7dde574b02b5cd9a90c9195c82c81d6de9d54b3ce56
+size 4305127
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..771149bda5829b97b4d081d7af8155fc9f1b76f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c90b6230608f7b3127c43327f62889d903df46650619505603475f1bdecb28
+size 5567570
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38cd1322adbfbb1b8be4208db341927eaaf5c562
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef8ae89a020f859bf77a3cd82db513f2477fefd6de33dd00e214a46aaaa8384
+size 5064669
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ca1406f5e2091242b02f8a2e57846a51117d612
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26f4c308ca591da20d7fa13abc7d136d15903f86c5d6ad9311e72f65273abc91
+size 4282745
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25a19e34a97a0ebe478800f13d8b9e73a1815063
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2558015ca907bfe27deb4b5b3e648c027668c9dea2bb1bf4db7b68efdf1de7bb
+size 4111783
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..625084d16fbcfc778d2a67e2f4a05b48c71b105e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":906,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":913,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":906,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":920,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":903,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":913,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":915,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":906,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":906,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":904,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":907,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":915,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":910,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":905,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":913,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":906,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":912,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":914,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":906,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":911,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":913,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":909,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":908,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..513eda272ca0f74d7938a5991a76dbce34579b3b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-02T02:42:29","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.4487306979351817,1.3202594974559423,0.71338606911949],"aabb_xy":[[0.43938369035288655,1.3059558752382983],[0.458077705517477,1.3345631196735863]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[0.4273428850458876,0.9155232628133039,0.71338606911949],"aabb_xy":[[0.37234740722522813,0.8605232613793967],[0.4823383628665469,0.9705232642472106]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.406345908448728,-2.172570305475741,0.71338606911949],"aabb_xy":[[0.3904614151834028,-2.1869232457745653],[0.4222304017140531,-2.1582173651769168]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.5889581465242095,-1.2552981782678976,0.71338606911949],"aabb_xy":[[0.5249581494121038,-1.3043305480623082],[0.6529581436363152,-1.206265808473487]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.6406094427347875,-0.5210722445385896,0.71338606911949],"aabb_xy":[[0.5806094418739746,-0.5724986745450759],[0.7006094435956002,-0.46964581453210313]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[-0.2543079511147999,0.15234546386640835,0.71338606911949],"aabb_xy":[[-0.266240685476628,0.13996331105854898],[-0.24237521675297186,0.16472761667426772]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.022857461205620044,-2.0795264671223856,0.71338606911949],"aabb_xy":[[-0.08685746049978826,-2.14351260749124],[0.041142538088548175,-2.0155403267535315]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.018331331247975036,-1.0300207153451737,0.71338606911949],"aabb_xy":[[-0.006214884374775686,-1.0602696118942108],[0.04287754687072575,-0.9997718187961367]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.5155168014918028,-0.48239396909871823,0.71338606911949],"aabb_xy":[[-0.5568213445555388,-0.5463939686668353],[-0.4742122584280668,-0.41839396953060115]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.6225476866553348,0.19545504506838185,0.71338606911949],"aabb_xy":[[0.5880853392571928,0.16096116267055913],[0.6570100340534764,0.22994892746620452]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.451143971297562,-2.432152293627933,0.71338606911949],"aabb_xy":[[0.38714397271098955,-2.4791592570274417],[0.5151439698841345,-2.3851453302284242]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.5679373129848783,-1.652020739944513,0.71338606911949],"aabb_xy":[[-0.6179373140040135,-1.6884869556823412],[-0.517937311965743,-1.6155545242066853]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.48470472905757367,1.5757293443658562,0.71338606911949],"aabb_xy":[[-0.4895483238188037,1.570877691886872],[-0.47986113429634375,1.5805809968448403]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[-0.25123420711220135,-1.0784372518607808,0.71338606911949],"aabb_xy":[[-0.2643854530834907,-1.1034372516174673],[-0.238082961140912,-1.0534372521040942]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[-0.05037501408075873,-2.327611981910421,0.71338606911949],"aabb_xy":[[-0.06360595961544002,-2.3408394009324196],[-0.03714406854607743,-2.3143845628884208]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.6028864158635203,-2.2920526344136354,0.71338606911949],"aabb_xy":[[-0.6668864162410539,-2.3417979012644476],[-0.5388864154859867,-2.242307367562823]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.4051063386199323,1.196162616264575,0.71338606911949],"aabb_xy":[[-0.45010634008616124,1.1511627594030944],[-0.3601063371537035,1.2411624731260558]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.0019901748565297472,-1.3698664875393256,0.71338606911949],"aabb_xy":[[-0.03949017480029615,-1.3781595775741622],[0.03550982508723666,-1.361573397504489]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.5252015869636175,-2.015522625592286,0.71338606911949],"aabb_xy":[[-0.5892015883716082,-2.06731157711621],[-0.4612015855556269,-1.9637336740683609]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.3185728062728952,1.1736618075261762,0.71338606911949],"aabb_xy":[[0.31094853818271695,1.1660285839896327],[0.32619707436307344,1.1812950310627202]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.3379963106512607,-1.1952009127598173,0.71338606911949],"aabb_xy":[[0.33007303041251235,-1.2177009129978205],[0.345919590890009,-1.1727009125218137]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.2935016277493687,-0.5814596343389109,0.71338606911949],"aabb_xy":[[0.27100162793546634,-0.5859342507093916],[0.3160016275632711,-0.5769850179684302]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.07845351128768085,0.8284315868389345,0.71338606911949],"aabb_xy":[[0.07241649828701613,0.8224048857699864],[0.08449052428834558,0.8344582879078828]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.6029078988904986,0.6459708081343689,0.71338606911949],"aabb_xy":[[0.5229079002336126,0.6314659492101061],[0.6829078975473846,0.6604756670586317]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.12836698522587708,1.1791092439219182,0.71338606911949],"aabb_xy":[[0.11795542654539337,1.1737635105860194],[0.1387785439063608,1.1844549772578161]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[0.6330719430735661,-2.5028070749556743,0.71338606911949],"aabb_xy":[[0.579056346791666,-2.5668070778479315],[0.687087539355466,-2.438807072063417]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[0.30847745922828107,1.3787484930824387,0.71338606911949],"aabb_xy":[[0.25847745786739384,1.3287705885070231],[0.3584774605891683,1.4287263976578544]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_27","position":[0.16240077455218238,-2.413642567578653,0.71338606911949],"aabb_xy":[[0.09840077263984007,-2.4695537168366637],[0.22640077646452475,-2.357731418320643]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[0.37207730778975723,-2.2542127199334376,0.71338606911949],"aabb_xy":[[0.3664956361556284,-2.266712719751213],[0.37765897942388593,-2.2417127201156615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7078316820282761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2795.png","name":"2795"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6587.png","name":"6587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.5605787240454,"rotation_z_degrees":319.8177923375295,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014543979818350077,0.01806630597288617,0.01880620948285906]},{"name":"camera_2","offset_m":[0.012926954405260916,-0.0015667840120348747,-0.0018427157850126677]},{"name":"camera_3","offset_m":[-0.006564267687448515,0.006101522375450242,-0.01420277556356119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006379328258555219,0.0016215102998116118,0.00025341640754322206],"end_effector_yaw_offset_degrees":-0.5851720738926474},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003066507712646601,-0.0017670895993066745,0.001999437327481998],"end_effector_yaw_offset_degrees":-0.12924666569861976},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015209952405079862,-0.00025277594702426327,0.0003436234832658691],"end_effector_yaw_offset_degrees":-0.17422446837455086}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001269149650006015,0.004142647491793512],"position_m":[0.265069149650006,0.3498426474917935,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00014527760187841004,0.0019179888845549335],"position_m":[0.3425452776018784,0.10321798888455494,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004981197593137337,-0.004963143028223235],"position_m":[0.3247188024068627,-0.04826314302822323,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008539864123896981,-0.0007129195817022508],"position_m":[0.2683460135876103,-0.38891291958170227,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"50e981229b1739e0440ba9c10f960779dedfbb8f3ddce635001e37cd1698cdbe","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_812/tex_ceiling_textures_4172/tex_floor_textures_6587/tex_table_textures_1556/tex_wall_textures_2795","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2534630635529651202,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2534630635529651202,"visual_seed":2534630635529651202,"scene_id":"lab_003","finished_at":"2026-09-02T02:45:25"}
+{"episode_id":"ep_000001","started_at":"2026-09-02T02:45:28","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[0.5518547748019595,-1.518215377453451,0.71338606911949],"aabb_xy":[[0.5438114148760044,-1.6032153785488175],[0.5598981347279147,-1.4332153763580846]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.182569742722689,0.6002908837270224,0.71338606911949],"aabb_xy":[[0.1450697423744612,0.5884994881459389],[0.22006974307091673,0.612082279308106]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[0.12250059027948745,-2.5149600010687583,0.71338606911949],"aabb_xy":[[0.10221628755608866,-2.535242626211467],[0.14278489300288616,-2.4946773759260497]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.5319235368765654,-0.9861022828503836,0.71338606911949],"aabb_xy":[[0.44192353319964695,-1.0475346894274877],[0.6219235405534833,-0.924669876273279]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.1348071235354641,-2.4006019177172093,0.71338606911949],"aabb_xy":[[-0.1716576714724517,-2.438101918540243],[-0.09795657559847648,-2.3631019168941756]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.5386652614254389,0.00993367779269505,0.71338606911949],"aabb_xy":[[-0.57721095425064,-0.028612093263493607],[-0.5001195686002379,0.04847944884888371]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.28250622332012865,1.040394882837683,0.71338606911949],"aabb_xy":[[0.2185062200304205,0.997059963833765],[0.3465062266098367,1.0837298018416002]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.1391959608927309,-2.1332798495452647,0.71338606911949],"aabb_xy":[[0.1290429453385815,-2.169349391118004],[0.14934897644688025,-2.0972103079725235]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.15214406452113094,-2.177038306319731,0.71338606911949],"aabb_xy":[[-0.18714406279125084,-2.184112434014719],[-0.11714406625101104,-2.169964178624743]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.5262558051492208,-0.012711084635760095,0.71338606911949],"aabb_xy":[[0.5199437056128824,-0.01847802388897893],[0.5325679046855591,-0.006944145382541261]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.3201443417258554,-1.3569564171596267,0.71338606911949],"aabb_xy":[[-0.4001443403131748,-1.4362720190977876],[-0.24014434313853597,-1.2776408152214658]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.04176510347796869,1.2719926635163126,0.71338606911949],"aabb_xy":[[-0.09176510383853473,1.2220126763067094],[0.00823489688259738,1.3219726507259153]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.08751410350309408,1.7626963571271275,0.71338606911949],"aabb_xy":[[-0.147514104010947,1.7058496234412062],[-0.027514102995241162,1.8195430908130488]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.5048658838516784,-2.1781352688327695,0.71338606911949],"aabb_xy":[[0.4553854626377196,-2.2421352667456214],[0.5543463050656372,-2.1141352709199177]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.5610200632539109,-0.5503615876355457,0.71338606911949],"aabb_xy":[[-0.6250200654743178,-0.5947346717608339],[-0.4970200610335037,-0.5059885035102574]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.5048991366512231,-1.5482292788754457,0.71338606911949],"aabb_xy":[[-0.5109937645393414,-1.5567986734271149],[-0.4988045087631048,-1.5396598843237774]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.2548603518402696,-2.541987102530504,0.71338606911949],"aabb_xy":[[-0.3198603499961887,-2.568283347080416],[-0.18986035368435056,-2.5156908579805917]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.5243590292952538,1.6631485370143557,0.71338606911949],"aabb_xy":[[0.4793664425768034,1.6181485377399067],[0.5693516160137042,1.7081485362888043]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[0.319580915970086,-2.3454836480454544,0.71338606911949],"aabb_xy":[[0.3083358603994681,-2.3567254457695497],[0.33082597154070376,-2.334241850321359]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[-0.2397581891645727,0.8983041632184143,0.71338606911949],"aabb_xy":[[-0.2622546105984368,0.8758041634116669],[-0.2172617677307086,0.9208041630251618]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.2959728117814989,-1.753556809119071,0.71338606911949],"aabb_xy":[[-0.375972809762284,-1.7611583500809231],[-0.2159728138007139,-1.7459552681572192]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.12241544444549979,0.8488081263538922,0.71338606911949],"aabb_xy":[[0.1115638381966242,0.8379488356262413],[0.1332670506943754,0.8596674170815434]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.16019402309054942,-0.707100697207115,0.71338606911949],"aabb_xy":[[-0.18803905987115654,-0.7378851959454266],[-0.1323489863099423,-0.6763161984688032]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.6108573488277328,-1.8696285245464312,0.71338606911949],"aabb_xy":[[-0.6264131182379982,-1.8851789577908389],[-0.5953015794174676,-1.8540780913020245]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[-0.4858406900988474,-1.7658886628614487,0.71338606911949],"aabb_xy":[[-0.5271452331625834,-1.8298886624295658],[-0.44453614703511146,-1.7018886632933317]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.4915327396793028,1.161531589069439,0.71338606911949],"aabb_xy":[[-0.5003347949882753,1.15372026291451],[-0.48273068437032995,1.1693429152243682]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[0.49216715930890653,-2.352223154192873,0.71338606911949],"aabb_xy":[[0.4778327341827431,-2.3642833697474117],[0.50650158443507,-2.3401629386383345]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[-0.03363234488616551,0.7478220400717919,0.71338606911949],"aabb_xy":[[-0.04550442789766662,0.6628220403781415],[-0.0217602618746644,0.8328220397654422]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7099191777854214,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3930.png","name":"3930"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3930.png","name":"3930"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2412.png","name":"2412"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1595.png","name":"1595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4177.png","name":"4177"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8133.png","name":"8133"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":731.4253466645904,"rotation_z_degrees":179.48476498053273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015850060243750227,0.015026374543094651,0.015864525981787222]},{"name":"camera_2","offset_m":[-0.0018474261823448572,0.0004213414202790637,-0.005847271244650738]},{"name":"camera_3","offset_m":[-0.011751068093934697,0.0063524922717802974,-0.010796402730979194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017783241406842958,0.0010213691603972847,0.0019010814646210068],"end_effector_yaw_offset_degrees":0.06791593336176294},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006441320020586559,0.0005695222606246822,0.0018487224997968698],"end_effector_yaw_offset_degrees":0.8536063577991164},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005766814029924726,-0.00028883271177081193,0.0012106973859360472],"end_effector_yaw_offset_degrees":-0.869462515675328}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0016948072519033619,-0.0024100346377028815],"position_m":[0.2621051927480966,0.3432899653622971,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002308933599689942,0.0011214476991008486],"position_m":[0.34009106640031006,0.10242144769910085,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003097150581073911,-0.0032890591191743505],"position_m":[0.3266028494189261,-0.046589059119174346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018533079688151499,-0.0003913521680350895],"position_m":[0.27105330796881516,-0.3885913521680351,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a422462fb6a3f5f44ab54d860f9b076bc7ec65ab159039cf499a75dd1da34288","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3930/tex_ceiling_textures_8133/tex_floor_textures_4177/tex_table_textures_2412/tex_wall_textures_1595","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5231939563097290172,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5231939563097290172,"visual_seed":5231939563097290172,"scene_id":"lab_003","finished_at":"2026-09-02T02:48:08"}
+{"episode_id":"ep_000002","started_at":"2026-09-02T02:48:11","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.2874354606115748,1.5203956631372963,0.71338606911949],"aabb_xy":[[-0.34242867194871157,1.465395662798503],[-0.23244224927443807,1.5753956634760904]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.40118489880554886,-1.2975295051083529,0.71338606911949],"aabb_xy":[[-0.44248944186928485,-1.3615295046764697],[-0.3598803557418129,-1.2335295055402355]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.4261734243173103,-0.492250646305727,0.71338606911949],"aabb_xy":[[0.3561734279073484,-0.5126885819574085],[0.496173420727272,-0.4718127106540452]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.6285902114196233,-0.17739207318908834,0.71338606911949],"aabb_xy":[[-0.6597371302632064,-0.24739207187589551],[-0.5974432925760401,-0.10739207450228117]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.49757188326718693,-1.9568509146884483,0.71338606911949],"aabb_xy":[[-0.5350718835593617,-1.9608923900890518],[-0.4600718829750121,-1.9528094392878448]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.3835547816110565,-1.5316147239117632,0.71338606911949],"aabb_xy":[[0.3492385044364385,-1.5816147238849407],[0.4178710587856744,-1.4816147239385853]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.019768176158394213,-2.564355290215242,0.71338606911949],"aabb_xy":[[-0.017731824338964034,-2.5683239737633605],[0.057268176655752456,-2.5603866066671235]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[0.6346664304116898,-2.0610371161468004,0.71338606911949],"aabb_xy":[[0.5496664319942665,-2.1459114116090854],[0.7196664288291129,-1.9761628206845154]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.46316889977900433,-0.17018223396867693,0.71338606911949],"aabb_xy":[[-0.4708720904530813,-0.17789160466741494],[-0.45546570910492723,-0.16247286326993893]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.540398620360033,0.9811200448744333,0.71338606911949],"aabb_xy":[[0.5203402087467928,0.9610549579652757],[0.5604570319732733,1.0011851317835907]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.06222483688702063,1.5339220822851796,0.71338606911949],"aabb_xy":[[0.024893560361778005,1.4992690274903273],[0.09955611341226325,1.5685751370800318]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[-0.3368274336703506,-1.7342134200647619,0.71338606911949],"aabb_xy":[[-0.3417834538552318,-1.7567134202668837],[-0.33187141348546945,-1.7117134198626405]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.13093635892267597,-1.0950512145968618,0.71338606911949],"aabb_xy":[[0.045936360230601325,-1.1270370779917407],[0.2159363576147506,-1.063065351201983]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.06622806468844766,-0.1641857737822967,0.71338606911949],"aabb_xy":[[-0.10372806535302635,-0.17987283178251884],[-0.028728064023868956,-0.14849871578207446]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.19591857035085614,-0.7936304082723051,0.71338606911949],"aabb_xy":[[0.17841863691687274,-0.8111304081925397],[0.21341850378483948,-0.7761304083520706]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.05352873318089779,-1.8282982527522376,0.71338606911949],"aabb_xy":[[-0.13352873014393696,-1.905373894396011],[0.02647126378214138,-1.7512226111084641]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.5005621040456302,0.5717007868876496,0.71338606911949],"aabb_xy":[[-0.5180621031799972,0.5618211598500616],[-0.48306210491126295,0.5815804139252373]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.2430261175940891,1.1620449886368034,0.71338606911949],"aabb_xy":[[0.23212034150652638,1.0820449922379742],[0.2539318936816518,1.2420449850356325]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.6161816029466243,-0.8425807567979982,0.71338606911949],"aabb_xy":[[-0.6331917002366748,-0.8587152452962721],[-0.5991715056565735,-0.8264462682997242]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.33722797608565974,-0.74239533697509,0.71338606911949],"aabb_xy":[[-0.4172279793496729,-0.7559553692840033],[-0.2572279728216466,-0.7288353046661766]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.4523636013953315,-0.09032461659335267,0.71338606911949],"aabb_xy":[[-0.4748627371215584,-0.11282461737161566],[-0.42986446566910447,-0.06782461581508971]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.4151021925585947,-1.161176493571882,0.71338606911949],"aabb_xy":[[0.38470408145945106,-1.1915833955735515],[0.44550030365773824,-1.1307695915702125]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.06541164828642354,-1.398814283397134,0.71338606911949],"aabb_xy":[[0.047618141351507104,-1.4166140289929317],[0.08320515522133998,-1.3810145378013363]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.4040421428857701,-2.1601491439170846,0.71338606911949],"aabb_xy":[[0.33904214500412233,-2.2112728076236254],[0.46904214076741796,-2.1090254802105437]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7060699749162304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2750.png","name":"2750"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2750.png","name":"2750"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8742.png","name":"8742"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7782.png","name":"7782"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3956.png","name":"3956"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/395.png","name":"395"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.6821425912235,"rotation_z_degrees":67.38230455957027,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007764624365119918,0.007446239096348201,-0.019524917626048577]},{"name":"camera_2","offset_m":[-0.019834152079735618,0.0035017071952709172,0.000538002321341876]},{"name":"camera_3","offset_m":[0.018804540271662836,0.01680796364470617,-0.0133466884153389]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00010043031261799669,0.0017716554163716958,0.0006841261357948924],"end_effector_yaw_offset_degrees":0.4136557653459738},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00022662307832911036,-0.0004616395503772783,-0.00039357013044062487],"end_effector_yaw_offset_degrees":-0.6911143981829333},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015087878576620062,-0.0005623519410622294,-0.00046602909885204457],"end_effector_yaw_offset_degrees":0.03386201222414198}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001911879219821144,0.004764324100331213],"position_m":[0.26571187921982115,0.35046432410033124,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004798471522711662,-0.0034424186431098814],"position_m":[0.3376015284772883,0.09785758135689011,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012100451878964157,-0.0013909947568895042],"position_m":[0.3284899548121036,-0.0446909947568895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002642474953227777,-0.0002258604383455461],"position_m":[0.2665575250467722,-0.38842586043834554,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3464acdd0251db9380000af378181533b62fe665a443f0d515a42013b72ce93a","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2750/tex_ceiling_textures_395/tex_floor_textures_3956/tex_table_textures_8742/tex_wall_textures_7782","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4995829083251402275,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4995829083251402275,"visual_seed":4995829083251402275,"scene_id":"lab_003","finished_at":"2026-09-02T02:51:10"}
+{"episode_id":"ep_000003","started_at":"2026-09-02T02:51:13","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[-0.5880145407459916,0.2998078556222432,0.71338606911949],"aabb_xy":[[-0.6230145420974732,0.2794481196654224],[-0.5530145393945097,0.32016759157906405]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.5080678870741939,-1.5777382149705845,0.71338606911949],"aabb_xy":[[0.49926583176522116,-1.5855495411255136],[0.5168699423831665,-1.5699268888156555]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.3679887551204629,-0.5697819717606483,0.71338606911949],"aabb_xy":[[-0.4319887573408699,-0.6141550558859366],[-0.30398875290005584,-0.52540888763536]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.551046934272448,-2.3099927012238783,0.71338606911949],"aabb_xy":[[0.5378159887377666,-2.323220120245877],[0.5642778798071292,-2.296765282201878]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.11779047935027409,-1.370540286158051,0.71338606911949],"aabb_xy":[[0.06779047806643412,-1.420519140548673],[0.16779048063411406,-1.3205614317674288]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.5994445656357172,0.5489987385944279,0.71338606911949],"aabb_xy":[[0.5581957546058024,0.49399873908221054],[0.6406933766656319,0.6039987381066454]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.4436431329316739,-0.701209405159775,0.71338606911949],"aabb_xy":[[0.43636081655501013,-0.7912094087692839],[0.45092544930833744,-0.6112094015502659]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.23283772803405384,-2.305205620003956,0.71338606911949],"aabb_xy":[[-0.29683772873752323,-2.351224002476877],[-0.1688377273305845,-2.259187237531035]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.5551413111363823,0.9147666677936765,0.71338606911949],"aabb_xy":[[-0.6051413124972695,0.8647887632182608],[-0.5051413097754951,0.9647445723690921]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.6686714956713367,-1.056399426125076,0.71338606911949],"aabb_xy":[[0.6462067256999314,-1.0788994270039363],[0.6911362656427417,-1.0338994252462153]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[0.27665854416958713,1.1815282293873914,0.71338606911949],"aabb_xy":[[0.25415854392607173,1.1693235947276195],[0.2991585444131025,1.1937328640471634]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.12298374581875082,-1.1245486863809175,0.71338606911949],"aabb_xy":[[0.0729887348592988,-1.1745486854165093],[0.17297875677820285,-1.0745486873453258]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.6089217542224458,-0.21375642519914217,0.71338606911949],"aabb_xy":[[-0.6889217522032307,-0.2213579661609941],[-0.5289217562416606,-0.2061548842372902]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.4804403112620099,-1.3948244247698076,0.71338606911949],"aabb_xy":[[0.4728160431718317,-1.4024576483063513],[0.48806457935218817,-1.387191201233264]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.2632040807682312,0.3247323944767362,0.71338606911949],"aabb_xy":[[-0.2712474406941864,0.23973239338136976],[-0.25516072084227603,0.4097323955721026]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.4231237264651983,1.457264504191269,0.71338606911949],"aabb_xy":[[-0.4780974485015312,1.4022645046270361],[-0.3681500044288654,1.5122645037555025]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.5289916570375215,-0.5926293675802066,0.71338606911949],"aabb_xy":[[0.49149165552188967,-0.6038561405963516],[0.5664916585531531,-0.5814025945640615]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.050699906775792614,0.9633387453039641,0.71338606911949],"aabb_xy":[[-0.08569990596861088,0.9523716993063014],[-0.01569990758297434,0.9743057913016266]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.6777216750221022,-0.41416042421311383,0.71338606911949],"aabb_xy":[[0.6538854573814972,-0.5041604250216004],[0.7015578926627073,-0.3241604234046274]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.47979477312221364,1.8198665690446787,0.71338606911949],"aabb_xy":[[-0.4917275074840417,1.8074844162368193],[-0.46786203876038557,1.832248721852538]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[0.5035187705180466,1.3268809225040687,0.71338606911949],"aabb_xy":[[0.48162902292910587,1.2368809252148196],[0.5254085181069874,1.4168809197933179]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.13099222083757833,1.3846532450360063,0.71338606911949],"aabb_xy":[[0.12703173706784399,1.3769853804504857],[0.13495270460731273,1.3923211096215269]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.05762488909108021,-2.0734294714479367,0.71338606911949],"aabb_xy":[[0.01660694570470933,-2.123429472078894],[0.09864283247745109,-2.0234294708169793]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.465402838664134,0.341559745804513,0.71338606911949],"aabb_xy":[[-0.48056571164107115,0.3263942885093943],[-0.450239965687197,0.3567252030996318]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.04500413379057466,-1.9576471383505223,0.71338606911949],"aabb_xy":[[0.0258918264325958,-1.9767819172277643],[0.06411644114855353,-1.9385123594732803]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_25","position":[0.2982233458700123,1.562425857669011,0.71338606911949],"aabb_xy":[[0.28072334673564514,1.5525462306314233],[0.3157233450043795,1.572305484706599]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7140229043109076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6657.png","name":"6657"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6657.png","name":"6657"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4289.png","name":"4289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4562.png","name":"4562"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6413.png","name":"6413"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9486.png","name":"9486"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":732.2792753244555,"rotation_z_degrees":328.46361631150955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01378911353296763,0.018512730593792662,0.008884267179469375]},{"name":"camera_2","offset_m":[-0.005834417236558913,-0.009785732271617116,0.012013974209181256]},{"name":"camera_3","offset_m":[-0.015150240335761423,0.005307488085384268,0.013226458735725834]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006914598845280035,-0.0010351847348152444,0.001858912548255208],"end_effector_yaw_offset_degrees":0.6072241038223558},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001979346695578451,-0.0010536986750922788,0.0019359499308122868],"end_effector_yaw_offset_degrees":-0.3396338963566836},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[4.1060141911658955e-05,0.0014169017524742204,-0.0011884512863789838],"end_effector_yaw_offset_degrees":0.6347698463603639}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004590018443103447,-0.0039976595567159864],"position_m":[0.26839001844310345,0.341702340443284,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034598127314846017,-0.0024838150526053818],"position_m":[0.3389401872685154,0.09881618494739462,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004309413268055919,0.0016986749463546412],"position_m":[0.3301309413268056,-0.04160132505364536,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004744517245676376,-0.0034667755761389222],"position_m":[0.27394451724567637,-0.39166677557613894,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"334b039e9563ec8f791659a0095387721845cc8f428025ae6b4930b54679fc03","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6657/tex_ceiling_textures_9486/tex_floor_textures_6413/tex_table_textures_4289/tex_wall_textures_4562","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2519874112690020025,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2519874112690020025,"visual_seed":2519874112690020025,"scene_id":"lab_003","finished_at":"2026-09-02T02:53:48"}
+{"episode_id":"ep_000004","started_at":"2026-09-02T02:53:51","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.1188151897553521,0.5968644564871739,0.71338606911949],"aabb_xy":[[-0.16006400078526678,0.5418644569749563],[-0.07756637872543734,0.6518644559993912]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.09044366938594739,1.6092760923906275,0.71338606911949],"aabb_xy":[[-0.1129436696294628,1.5970714577308558],[-0.06794366914243201,1.6214807270503997]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.2125757127495102,-0.8405985440818,0.71338606911949],"aabb_xy":[[-0.250075711325131,-0.8533348397453578],[-0.17507571417388942,-0.827862248418242]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.2533805529540078,-1.798874706500091,0.71338606911949],"aabb_xy":[[-0.29088055413880054,-1.8032929291961515],[-0.21588055176921497,-1.7944564838040304]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.3075192822636429,-1.5000253595345616,0.71338606911949],"aabb_xy":[[-0.3575192839251376,-1.5500238017902643],[-0.25751928060214807,-1.450026917278859]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[-0.12123920384449904,-1.2796096715178915,0.71338606911949],"aabb_xy":[[-0.14646004070433868,-1.304833422370778],[-0.09601836698465936,-1.2543859206650045]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.544253395580798,1.0380449852940727,0.71338606911949],"aabb_xy":[[-0.5568560947178745,1.0254495890692075],[-0.5316506964437215,1.0506403815189385]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.3505336935027889,-2.461982765989733,0.71338606911949],"aabb_xy":[[-0.3873283266276952,-2.4988886410863147],[-0.31373906037788263,-2.42507689089315]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.6622641541329056,-1.8522775369917206,0.71338606911949],"aabb_xy":[[-0.6847778459563627,-1.9222775375927281],[-0.6397504623094483,-1.782277536390713]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[0.019393480168032107,-1.2663640528776445,0.71338606911949],"aabb_xy":[[-0.030599631941159788,-1.3163640535518402],[0.069386592277224,-1.216364052203449]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.379222062875751,0.32252263330603403,0.71338606911949],"aabb_xy":[[-0.44422206103167,0.29622638875612184],[-0.3142220647198319,0.34881887785594623]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.045051936983790286,-0.6392822621487912,0.71338606911949],"aabb_xy":[[-0.0761988558273734,-0.7092822608355983],[-0.01390501814020717,-0.569282263461984]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.21559775632454925,-1.0614678383399974,0.71338606911949],"aabb_xy":[[-0.29559775659815624,-1.134417386165714],[-0.13559775605094226,-0.9885182905142808]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.6058101918883865,0.9285590993599611,0.71338606911949],"aabb_xy":[[0.6004726162223819,0.9035590984308212],[0.611147767554391,0.9535591002891007]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.08220119591924746,0.09060850189549496,0.71338606911949],"aabb_xy":[[-0.09032888411256068,0.08169489348478731],[-0.07407350772593424,0.09952211030620262]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.2952332829365656,-1.5371869786763093,0.71338606911949],"aabb_xy":[[0.28006111365493225,-1.5523558356045126],[0.31040545221819893,-1.522018121748106]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.005554739893727678,0.8349502150588943,0.71338606911949],"aabb_xy":[[-0.015707755447877055,0.7988806734861538],[0.004598275660421702,0.8710197566316344]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[-0.2563367902084852,-0.38945303327289693,0.71338606911949],"aabb_xy":[[-0.3063367915693724,-0.43943093784831255],[-0.20633678884759796,-0.3394751286974813]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.044353771484619386,-1.6856828077591466,0.71338606911949],"aabb_xy":[[-0.12435376864419467,-1.6972304087169638],[0.0356462256749559,-1.6741352068013298]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.5621010429534974,-1.4675416372397727,0.71338606911949],"aabb_xy":[[0.5560064150653791,-1.4761110317914414],[0.5681956708416157,-1.458972242688104]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.34056914315233616,1.3576289038333318,0.71338606911949],"aabb_xy":[[-0.40456914520206816,1.3175344207440238],[-0.27656914110260417,1.3977233869226398]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.1897707614081472,0.8950007694503879,0.71338606911949],"aabb_xy":[[-0.2597707578181089,0.8745628337987059],[-0.11977076499818536,0.9154387051020694]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.11494804153021099,1.804960858655892,0.71338606911949],"aabb_xy":[[0.10560103394791577,1.790657236438248],[0.12429504911250623,1.819264480873536]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.5046097210345388,0.40279630744226225,0.71338606911949],"aabb_xy":[[0.4681139004072601,0.3663123650155046],[0.5411055416618176,0.43928024986901976]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.6093654337029739,-0.33771292146494236,0.71338606911949],"aabb_xy":[[0.5593811979947967,-0.3877129202784379],[0.6593496694111511,-0.2877129226514467]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.618910498758338,0.7393947196177235,0.71338606911949],"aabb_xy":[[-0.6548240031833276,0.7034812114009688],[-0.5829969943333483,0.7753082278344781]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.5345975575427306,0.7219706717387369,0.71338606911949],"aabb_xy":[[0.47696708865545967,0.6619706728120262],[0.5922280264300014,0.7819706706654472]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[0.1176740045636524,1.427449554680639,0.71338606911949],"aabb_xy":[[0.1139707432345135,1.4237475363719212],[0.12137726589279124,1.4311515729893567]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[0.10494267893564913,1.6143227677570509,0.71338606911949],"aabb_xy":[[0.06994267895915328,1.6048581517094345],[0.13994267891214496,1.6237873838046677]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_29","position":[-0.5142868965876459,-2.022707326974929,0.71338606911949],"aabb_xy":[[-0.5392868958596082,-2.039052690571091],[-0.4892868973156837,-2.006361963378766]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[-0.6405479002021484,0.40049854033760734,0.71338606911949],"aabb_xy":[[-0.6583414071370648,0.3826987947418097],[-0.6227543932672319,0.418298285933405]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7113053568186362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5969.png","name":"5969"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5969.png","name":"5969"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4302.png","name":"4302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5929.png","name":"5929"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":749.6907855282093,"rotation_z_degrees":355.4879920805603,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00035046480588760837,0.011747712357695995,6.109988763071741e-05]},{"name":"camera_2","offset_m":[0.0027597629276907842,0.004467457964620558,-0.00988522491721901]},{"name":"camera_3","offset_m":[-0.0012039581334656532,0.01256194252758083,-0.000889387857215148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017197219726747428,0.0016312668209043204,-7.030098061625348e-05],"end_effector_yaw_offset_degrees":-0.26659505040333964},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017920044653918863,0.0018670338670055899,-5.07419286185566e-05],"end_effector_yaw_offset_degrees":0.9265665439026587},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007126340198174094,-0.0011229188430783084,0.0018097268037148254],"end_effector_yaw_offset_degrees":0.5385841042495261}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0030675371437892856,-0.0014769207121496175],"position_m":[0.26686753714378925,0.3442230792878504,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039080116557876935,-0.0027547690474026966],"position_m":[0.3384919883442123,0.0985452309525973,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0007226672088212907,-0.0021096367025157147],"position_m":[0.3304226672088213,-0.045409636702515715,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002285844215122449,-0.0022601636464224363],"position_m":[0.27148584421512245,-0.39046016364642244,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d9033d9462704e4db3e1e6dcd429f081c77fb8afc6dc098ead74818faabe5a92","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0005.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5969/tex_ceiling_textures_5929/tex_floor_textures_4110/tex_table_textures_4302/tex_wall_textures_6388","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8302856657852121761,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8302856657852121761,"visual_seed":8302856657852121761,"scene_id":"lab_003","finished_at":"2026-09-02T02:56:35"}
+{"episode_id":"ep_000005","started_at":"2026-09-02T02:56:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.019912160217354535,-0.8993617299354917,0.71338606911949],"aabb_xy":[[-0.03734287529636104,-0.9166338445993424],[-0.002481445138348026,-0.8820896152716408]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.671905365496297,-1.713140803279179,0.71338606911949],"aabb_xy":[[0.6219053660561014,-1.7631087277634954],[0.7219053649364926,-1.6631728787948628]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.6535282892088128,-0.06706937077097885,0.71338606911949],"aabb_xy":[[-0.6717341128700606,-0.0780947713529705],[-0.6353224655475652,-0.05604397018898721]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[-0.5731472554025727,-2.255977092389701,0.71338606911949],"aabb_xy":[[-0.6371472576229797,-2.300350176514989],[-0.5091472531821657,-2.2116040082644126]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.4756916311615853,1.518515445391817,0.71338606911949],"aabb_xy":[[0.43865752173352546,1.4841382380581074],[0.5127257405896449,1.5528926527255262]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.4222554359687183,-1.574355015476588,0.71338606911949],"aabb_xy":[[0.37237273909102203,-1.624355014722863],[0.4721381328464145,-1.5243550162303134]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.6717794419862928,-1.9595853907197625,0.71338606911949],"aabb_xy":[[0.6668234218014116,-1.9820853909218845],[0.676735462171174,-1.9370853905176413]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.07313443180120927,-2.2804760339418215,0.71338606911949],"aabb_xy":[[0.0675527601670805,-2.292976033759597],[0.07871610343533803,-2.2679760341240454]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.5919229971033858,-2.1343004665765046,0.71338606911949],"aabb_xy":[[-0.6144229973469012,-2.1465051012362766],[-0.5694229968598704,-2.1220958319167327]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.07068889208163698,-2.5758622543501954,0.71338606911949],"aabb_xy":[[-0.10568889127445523,-2.5868293003478575],[-0.0356888928888187,-2.5648952083525325]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.33508696268861654,1.297393805791435,0.71338606911949],"aabb_xy":[[-0.351764098681712,1.2806938818175047],[-0.318409826695521,1.3140937297653652]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.1182956756356931,1.1055934880476341,0.71338606911949],"aabb_xy":[[-0.1551462235726807,1.0680934872246004],[-0.0814451276987055,1.1430934888706679]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.11732089025299175,0.9351757360463662,0.71338606911949],"aabb_xy":[[0.11340701705756923,0.9264267206398094],[0.12123476344841427,0.943924751452923]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[0.4325286036160654,1.388513428312526,0.71338606911949],"aabb_xy":[[0.41561787117972354,1.3750412227199111],[0.4494393360524071,1.4019856339051404]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.5359328627717694,0.17498431846422813,0.71338606911949],"aabb_xy":[[0.4509328640796947,0.14299845506934925],[0.620932861463844,0.20697018185910696]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.07018682506322349,1.60454508494935,0.71338606911949],"aabb_xy":[[-0.14018682147318526,1.584107149297668],[-0.0001868286532616947,1.6249830206010314]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.6093994829719761,-1.5179787196952066,0.71338606911949],"aabb_xy":[[-0.6733994850217081,-1.5580732027845146],[-0.5453994809222441,-1.4778842366058986]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[-0.37188417811973373,-0.6533503571166221,0.71338606911949],"aabb_xy":[[-0.4418841797220132,-0.6667831503182797],[-0.30188417651745425,-0.6399175639149646]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.6059447854748351,1.3505223871188226,0.71338606911949],"aabb_xy":[[-0.660937036110346,1.29552238537551],[-0.5509525348393242,1.4055223888621355]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.40314722716049706,0.49104895756728384,0.71338606911949],"aabb_xy":[[-0.4631472270070638,0.43423033537424516],[-0.3431472273139302,0.5478675797603225]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.6090658044131229,0.8658345686799409,0.71338606911949],"aabb_xy":[[-0.6433627154308633,0.8315376824699994],[-0.5747688933953822,0.900131454889882]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.3876912552491888,-0.08125139422293337,0.71338606911949],"aabb_xy":[[-0.4776912538436588,-0.0975019805363544],[-0.2976912566547189,-0.06500080790951235]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.5392631690513398,0.32458844167860335,0.71338606911949],"aabb_xy":[[-0.5614356960279905,0.30241277452248017],[-0.5170906420746888,0.3467641088347265]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.6565484639733403,1.0161140924449015,0.71338606911949],"aabb_xy":[[-0.6646761521666535,1.0072004840341937],[-0.6484207757800271,1.0250277008556092]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.3221493290974782,1.4528256125799985,0.71338606911949],"aabb_xy":[[0.3002595815085374,1.3628256152907494],[0.344039076686419,1.5428256098692477]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.6588088504001552,1.064511059059897,0.71338606911949],"aabb_xy":[[0.6213088496081597,1.0581432181017065],[0.6963088511921506,1.070878900018087]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.29342154177053625,-1.9296602284047033,0.71338606911949],"aabb_xy":[[0.2512371276097055,-1.9936602286819147],[0.335605955931367,-1.8656602281274923]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[0.4313252767152824,-0.5916081968562681,0.71338606911949],"aabb_xy":[[0.4225440495680463,-0.6003879441447983],[0.44010650386251876,-0.582828449567738]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[0.008327219545291364,-1.2462628910840448,0.71338606911949],"aabb_xy":[[0.002869273908271297,-1.3262628943917036],[0.013785165182311432,-1.1662628877763854]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[0.14653071287546826,1.714254851355475,0.71338606911949],"aabb_xy":[[0.06653071240525231,1.705944143741127],[0.22653071334568423,1.7225655589698234]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_30","position":[0.43780570271780594,0.47001103713663195,0.71338606911949],"aabb_xy":[[0.3478057029946317,0.44693768460145206],[0.52780570244098,0.49308438967181173]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_31","position":[-0.07744325703175392,-2.096283348659601,0.71338606911949],"aabb_xy":[[-0.1424432579888811,-2.1482315605933064],[-0.012443256074626706,-2.0443351367258953]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_32","position":[0.6728905588147696,1.1482292421842888,0.71338606911949],"aabb_xy":[[0.6394113915537286,1.1147501288131818],[0.7063697260758105,1.1817083555553958]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_33","position":[-0.5774311861852148,1.6822667663194282,0.71338606911949],"aabb_xy":[[-0.5886762417558327,1.671024968595333],[-0.566186130614597,1.6935085640435235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7037405421379201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8224.png","name":"8224"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7057.png","name":"7057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7734.png","name":"7734"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":593.5861301015773,"rotation_z_degrees":5.511209625140738,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005573275733195028,-0.017938350956509683,-0.008045264987101097]},{"name":"camera_2","offset_m":[-0.014740051099557262,-0.018313796478890577,0.0031151479354842235]},{"name":"camera_3","offset_m":[-0.00016662574264652771,-0.008526176418619795,-0.0018438380497747126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-2.503369189600386e-06,-0.0018627574134504564,-0.0011269803370803754],"end_effector_yaw_offset_degrees":0.5818615443247193},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001935529823864099,-0.001863671079069722,0.0007242418574350167],"end_effector_yaw_offset_degrees":-0.04494848065509105},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018072523437308813,-0.0018940326439676506,-0.0015022638495871723],"end_effector_yaw_offset_degrees":-0.048627180085032196}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0024734432973528677,0.004743797271116808],"position_m":[0.2613265567026471,0.3504437972711168,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001223428442220471,0.0005710131055082189],"position_m":[0.34117657155777953,0.10187101310550822,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003924254084648942,-0.0005256836382352649],"position_m":[0.3257757459153511,-0.04382568363823526,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037645600006705584,0.0023080685095828966],"position_m":[0.26543543999932945,-0.3858919314904171,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"784d35b7ebc44fb41c4870a98a58140281f8c770afd08334db6c8da72e6f44ce","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5405/tex_ceiling_textures_7734/tex_floor_textures_7057/tex_table_textures_7189/tex_wall_textures_8224","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5223870008094546011,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5223870008094546011,"visual_seed":5223870008094546011,"scene_id":"lab_003","finished_at":"2026-09-02T02:59:18"}
+{"episode_id":"ep_000006","started_at":"2026-09-02T02:59:21","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.5374590073689082,0.8661551019079576,0.71338606911949],"aabb_xy":[[-0.5476120229230574,0.8300855603352171],[-0.5273059918147587,0.9022246434806978]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.5932026923583289,1.5108786602999822,0.71338606911949],"aabb_xy":[[-0.6307026923020953,1.5025855702651458],[-0.5557026924145625,1.519171750334819]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.4720246404366204,-1.7299790215508632,0.71338606911949],"aabb_xy":[[0.4495598704652153,-1.752479022429724],[0.4944894104080255,-1.707479020672003]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.1952623224114492,-1.8201924323380116,0.71338606911949],"aabb_xy":[[-0.2198085380341999,-1.8504413288870485],[-0.17071610678869845,-1.7899435357889744]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.5218186883891849,0.7555816909482758,0.71338606911949],"aabb_xy":[[0.48532286776190614,0.7190977485215183],[0.5583145090164636,0.7920656333750334]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.2398360854371348,-0.878781368389945,0.71338606911949],"aabb_xy":[[-0.261114093580607,-0.9437813707160181],[-0.21855807729366253,-0.813781366063872]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.2653740203397606,-0.5098960310510923,0.71338606911949],"aabb_xy":[[-0.2903740198914991,-0.520038514916227],[-0.2403740207880221,-0.49975354718595755]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.038215012841492424,-0.44522544428947164,0.71338606911949],"aabb_xy":[[-0.04912078892905514,-0.5252254406883008],[-0.02730923675392971,-0.3652254478906425]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.18619200118461254,1.689679294735979,0.71338606911949],"aabb_xy":[[-0.22119200116110838,1.6802146786883623],[-0.1511920012081167,1.6991439107835955]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.35238614095769716,-1.4186262928150162,0.71338606911949],"aabb_xy":[[0.3023861399385619,-1.455092508552844],[0.4023861419768325,-1.3821600770771882]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.6795822794801066,0.45658042099249396,0.71338606911949],"aabb_xy":[[-0.6883843347890792,0.44876909483756494],[-0.6707802241711338,0.4643917471474231]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.6884059296551968,-2.1610912024851223,0.71338606911949],"aabb_xy":[[0.6539435822570548,-2.1955850848829446],[0.7228682770533384,-2.126597320087299]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[0.3725348064665144,-2.338028018746591,0.71338606911949],"aabb_xy":[[0.28253480996564256,-2.3839396611650487],[0.4625348029673861,-2.2921163763281323]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.09819026796468056,-1.270489756992981,0.71338606911949],"aabb_xy":[[0.09375963860984039,-1.2759381287276639],[0.10262089731952075,-1.2650413852582985]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.13547600398096948,-0.11818128983613896,0.71338606911949],"aabb_xy":[[-0.19947600620137654,-0.16255437396142725],[-0.07147600176056249,-0.07380820571085066]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.5305098231144201,-0.9304813749877829,0.71338606911949],"aabb_xy":[[-0.5346456794471203,-0.9679813744321399],[-0.5263739667817199,-0.8929813755434259]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.2140426886796053,1.4470542684224639,0.71338606911949],"aabb_xy":[[-0.2790426897855486,1.4220888953543356],[-0.14904268757366204,1.4720196414905922]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.07582286947451444,0.9186020004429967,0.71338606911949],"aabb_xy":[[-0.09283296676456511,0.9024675119447226],[-0.058812772184463805,0.9347364889412705]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.5090292371499583,-0.251299876473734,0.71338606911949],"aabb_xy":[[0.4450292338602501,-0.29463479547765153],[0.5730292404396663,-0.20796495746981633]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.055538075142420706,1.040337778156775,0.71338606911949],"aabb_xy":[[-0.0615046140831565,1.034376633497411],[-0.049571536201684925,1.0462989228161392]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[-0.15216209240094836,1.308102503758426,0.71338606911949],"aabb_xy":[[-0.17127439975892722,1.288967724881184],[-0.1330497850429695,1.327237282635668]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.014247532713355215,-1.4101091253395537,0.71338606911949],"aabb_xy":[[-0.0195800473679682,-1.4154334535847892],[-0.00891501805874223,-1.4047847970943181]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[0.016798823698820686,-2.0563923042019363,0.71338606911949],"aabb_xy":[[-0.0006318913801858227,-2.073664418865787],[0.03422953877782719,-2.039120189538085]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[0.6957544263520594,-1.9014342234581587,0.71338606911949],"aabb_xy":[[0.6719182087114544,-1.9914342242666454],[0.7195906439926645,-1.8114342226496725]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.47686873089334636,-0.5532722604568021,0.71338606911949],"aabb_xy":[[0.4663012512352473,-0.5638172905698107],[0.4874362105514453,-0.5427272303437936]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.5628569652207471,1.088654192986085,0.71338606911949],"aabb_xy":[[0.5555746488440833,0.9986541893765756],[0.5701392815974106,1.1786541965955935]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.03089410908681456,-1.218915948652418,0.71338606911949],"aabb_xy":[[-0.08586783112314744,-1.273915948216651],[0.024079612949518325,-1.1639159490881847]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[0.23232571119423429,-0.611700749893465,0.71338606911949],"aabb_xy":[[0.17232571094283305,-0.6659820749299296],[0.2923257114456354,-0.5574194248570002]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[0.6695741126092649,0.06447627358999197,0.71338606911949],"aabb_xy":[[0.6445741134436318,0.0575240278846354],[0.694574111774898,0.07142851929534855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7036861809735577,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3302.png","name":"3302"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1761.png","name":"1761"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2435.png","name":"2435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8689.png","name":"8689"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1117.png","name":"1117"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":799.4891558019949,"rotation_z_degrees":246.45528746682544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01536808250533377,0.0027800805521326147,0.00491823462945257]},{"name":"camera_2","offset_m":[0.017634194196640054,0.009492787946591186,-0.002231005110695749]},{"name":"camera_3","offset_m":[0.019422772466288134,0.003371968053540314,0.0179955664498011]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005342490880263738,0.00152202026331099,-0.0019273230690460897],"end_effector_yaw_offset_degrees":-0.2602126680436181},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019465188487021346,0.0005174415992571205,0.001237271613763293],"end_effector_yaw_offset_degrees":0.7225856343894561},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009548759025652834,0.0005219557601123699,-0.0009274002047754987],"end_effector_yaw_offset_degrees":0.8327036387087206}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018042392738738047,-0.0010701555317493153],"position_m":[0.2656042392738738,0.3446298444682507,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002915940452391589,0.0003705295654408561],"position_m":[0.34531594045239156,0.10167052956544086,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008540088807584409,-0.0038603446499512095],"position_m":[0.3305540088807584,-0.04716034464995121,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033804877634856243,0.0029937128123822517],"position_m":[0.26581951223651434,-0.38520628718761774,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"28935cbc83aaefbac7e895a791dde651b596eb6e71833a8ecb7b7b845fbf09bd","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3302/tex_ceiling_textures_1117/tex_floor_textures_8689/tex_table_textures_1761/tex_wall_textures_2435","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4073750288509703025,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4073750288509703025,"visual_seed":4073750288509703025,"scene_id":"lab_003","finished_at":"2026-09-02T03:02:05"}
+{"episode_id":"ep_000007","started_at":"2026-09-02T03:02:09","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.027624701418114572,-2.0316242787466163,0.71338606911949],"aabb_xy":[[-0.00737529855838126,-2.0410888947942327],[0.0626247013946104,-2.022159662699]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.5572497262092889,0.7386298755052452,0.71338606911949],"aabb_xy":[[-0.5747497264543383,0.7211300876656782],[-0.5397497259642395,0.7561296633448119]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.434243732939282,1.2635283092072993,0.71338606911949],"aabb_xy":[[-0.524243732662456,1.2404549566721192],[-0.3442437332161077,1.286601661742479]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.6280680334945637,-0.988053133807989,0.71338606911949],"aabb_xy":[[-0.6344818471377486,-0.9944629540556572],[-0.6216542198513787,-0.9816433135603205]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.5854561896356202,-1.9358412764771458,0.71338606911949],"aabb_xy":[[-0.6006283589172535,-1.9510101334053496],[-0.5702840203539868,-1.9206724195489429]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.639959083090359,-0.2299656167553623,0.71338606911949],"aabb_xy":[[-0.670443333217389,-0.27996561653685825],[-0.6094748329633287,-0.17996561697386634]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.3993543273041231,0.7380973219615745,0.71338606911949],"aabb_xy":[[0.39006070906697254,0.7005973234734406],[0.4086479455412737,0.7755973204497084]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.5501461237468402,1.7876677373467325,0.71338606911949],"aabb_xy":[[-0.5551021439317214,1.7651677371446113],[-0.5451901035619591,1.8101677375488545]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.1712509806314465,-1.6769855613658278,0.71338606911949],"aabb_xy":[[0.08625098221402328,-1.7618598568281127],[0.25625097904886973,-1.5921112659035428]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.16255520922602362,-2.0781839175745285,0.71338606911949],"aabb_xy":[[0.14505527579204025,-2.095683917494763],[0.180055142660007,-2.060683917654294]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.21992751031657964,1.4274172540739465,0.71338606911949],"aabb_xy":[[-0.3036497358166621,1.3374172505392505],[-0.13620528481649719,1.5174172576086424]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.2237293720301069,-0.5441171378343372,0.71338606911949],"aabb_xy":[[-0.2276898557998413,-0.5517850024198578],[-0.21976888826037255,-0.5364492732488166]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.3688683600022218,-1.7187133626240563,0.71338606911949],"aabb_xy":[[0.3313683615788214,-1.731877576591887],[0.4063683584256221,-1.7055491486562255]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.19330407636151192,-2.445450289486026,0.71338606911949],"aabb_xy":[[0.11330407895791848,-2.5254428606842088],[0.2733040737651053,-2.365457718287843]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.007957945333481486,-1.5473300638156464,0.71338606911949],"aabb_xy":[[-0.007204927643455596,-1.5624955211107654],[0.02312081831041857,-1.5321646065205279]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.10750051127460925,-1.3845969014221025,0.71338606911949],"aabb_xy":[[0.05250503345394983,-1.4395969028560092],[0.1624959890952686,-1.3295968999881953]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.359158059626136,1.1443034477411276,0.71338606911949],"aabb_xy":[[-0.4091368681364519,1.0943034477354088],[-0.3091792511158201,1.1943034477468464]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.2822306976013803,-0.5392382898651555,0.71338606911949],"aabb_xy":[[0.260952689457908,-0.6042382921912285],[0.3035087057448525,-0.47423828753908237]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.43271390384065894,-0.8019689953455935,0.71338606911949],"aabb_xy":[[-0.46615407903667855,-0.8354126211765234],[-0.39927372864463934,-0.7685253695146632]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.4495107964841276,-1.968436128944598,0.71338606911949],"aabb_xy":[[0.43942908940555403,-2.0484361268367124],[0.459592503562701,-1.888436131052483]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.46187174559401156,1.625043588860938,0.71338606911949],"aabb_xy":[[0.4243717450966534,1.6210749053128195],[0.49937174609136986,1.6290122724090565]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.29390165717470007,-1.8237039655497616,0.71338606911949],"aabb_xy":[[0.27501727340618987,-1.8425898903301148],[0.3127860409432103,-1.8048180407694092]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[0.0771901731093868,1.0491125634051732,0.71338606911949],"aabb_xy":[[0.013190171431389452,1.000595171925859],[0.14119017478738416,1.0976299548844874]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.09605672001212506,-0.7663514757276957,0.71338606911949],"aabb_xy":[[-0.11611513162536534,-0.7864165626368531],[-0.07599830839888476,-0.746286388818538]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.011449318903614447,-0.2694977982542368,0.71338606911949],"aabb_xy":[[-0.016786894569619015,-0.29449779918337665],[-0.006111743237609881,-0.24449779732509708]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083163962223904,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2829.png","name":"2829"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6069.png","name":"6069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9491.png","name":"9491"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":689.0634984506323,"rotation_z_degrees":272.5728190993392,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009444691025077159,0.009100510259812906,-0.009964548633064103]},{"name":"camera_2","offset_m":[-0.009710626431747391,0.008542542521685882,-0.010039243182021105]},{"name":"camera_3","offset_m":[0.01581073727820723,-0.014566082509681132,0.007011559887191793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007123585395355455,-0.00045477914375279655,-0.0016879783485222754],"end_effector_yaw_offset_degrees":-0.3793372639527546},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[3.409776865308375e-05,-0.0012557824355550271,-0.0011274766729923395],"end_effector_yaw_offset_degrees":0.7463726811338318},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00013947256317786922,-0.0010988912182043325,0.000998053831527887],"end_effector_yaw_offset_degrees":0.11875198897437111}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008943779231766306,-0.0021175630072960585],"position_m":[0.26290562207682333,0.34358243699270397,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00023440325194494342,0.0030992517406216126],"position_m":[0.342165596748055,0.10439925174062162,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009693448478245844,0.0028856982972416184],"position_m":[0.3287306551521754,-0.04041430170275838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022274274994972965,-0.00367024438048874],"position_m":[0.2669725725005027,-0.39187024438048873,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aed769b42d587ba6588604622374b89bd532bc4dcf36ba7f251590c782c729a4","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6821/tex_ceiling_textures_9491/tex_floor_textures_3072/tex_table_textures_2829/tex_wall_textures_6069","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8602532729916211565,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8602532729916211565,"visual_seed":8602532729916211565,"scene_id":"lab_003","finished_at":"2026-09-02T03:04:50"}
+{"episode_id":"ep_000008","started_at":"2026-09-02T03:04:53","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.24264556734523574,0.22527241603366477,0.71338606911949],"aabb_xy":[[-0.24914720385324038,0.215504594007355],[-0.23614393083723115,0.23504023805997454]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.6507417149737397,-1.868214185755097,0.71338606911949],"aabb_xy":[[-0.6710260176971382,-1.8884968108978053],[-0.6304574122503407,-1.8479315606123876]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.19102029407779408,-1.6389143931230619,0.71338606911949],"aabb_xy":[[-0.19660196571192282,-1.6514143929408374],[-0.1854386224436653,-1.6264143933052864]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[-0.4700015777475932,-0.7229016311813263,0.71338606911949],"aabb_xy":[[-0.47812926594090643,-0.731815239592034],[-0.46187388955428,-0.7139880227706187]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.06611516741394685,-2.523852835403846,0.71338606911949],"aabb_xy":[[-0.11608846141720729,-2.573852835958393],[-0.01614187341068639,-2.4738528348492985]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.5301484754257357,-1.9470291501616814,0.71338606911949],"aabb_xy":[[-0.5483542990869835,-1.9580545507436729],[-0.5119426517644882,-1.9360037495796896]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.5012060000490572,-0.20764892906290555,0.71338606911949],"aabb_xy":[[-0.5652060019613997,-0.263560078320916],[-0.437205998136715,-0.15173777980489514]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.23131421545715025,0.5527112085537391,0.71338606911949],"aabb_xy":[[0.2207467357990512,0.5421661784407306],[0.24188169511524923,0.5632562386667477]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.41538781813124187,0.02377160228055386,0.71338606911949],"aabb_xy":[[-0.42663287370185965,0.01252980455645858],[-0.404142762560624,0.03501340000464914]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.09997040492744957,1.4957764555996795,0.71338606911949],"aabb_xy":[[0.062470405110416016,1.491138244288538],[0.13747040474448313,1.5004146669108216]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.2643228196679767,1.5187276922419257,0.71338606911949],"aabb_xy":[[-0.3018228197735697,1.5119055303889444],[-0.2268228195623838,1.5255498540949066]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.533061786284722,-0.17507123269467417,0.71338606911949],"aabb_xy":[[0.4690660888896253,-0.23907123099538286],[0.5970574836798185,-0.11107123439396549]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.39174913492045005,-0.47674543027594574,0.71338606911949],"aabb_xy":[[-0.4092490683544334,-0.4942454301961803],[-0.3742492014864667,-0.4592454303557112]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.5970340084308514,-1.6067400633328113,0.71338606911949],"aabb_xy":[[0.5625715304177636,-1.6134037405157338],[0.6314964864439392,-1.6000763861498883]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[-0.29373616094421173,1.6498803944553386,0.71338606911949],"aabb_xy":[[-0.3577361582298604,1.6083736755024944],[-0.2297361636585631,1.6913871134081824]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.3933945094024988,0.5145654737322221,0.71338606911949],"aabb_xy":[[-0.45739450857226877,0.46779878661325963],[-0.32939451023272887,0.5613321608511845]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.09685941530424469,0.7507864626795082,0.71338606911949],"aabb_xy":[[-0.11935941581628526,0.7282946043141099],[-0.07435941479220406,0.7732783210449066]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[-0.2638728539553763,-1.177825280673285,0.71338606911949],"aabb_xy":[[-0.32787285717401415,-1.2245483925722935],[-0.19987285073673844,-1.1311021687742768]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.6460122936019551,-1.6292460031649805,0.71338606911949],"aabb_xy":[[-0.65404862830324,-1.637284122469397],[-0.6379759589006703,-1.6212078838605635]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.48337472784623037,1.3815650410325433,0.71338606911949],"aabb_xy":[[0.41837472688910315,1.3296168290988375],[0.5483747288033576,1.4335132529662487]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.5754706040694981,-0.738369601682999,0.71338606911949],"aabb_xy":[[0.5276644364557294,-0.8033696043900579],[0.6232767716832667,-0.6733695989759401]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.05332032809850573,-1.9596576269436494,0.71338606911949],"aabb_xy":[[-0.09859894297965499,-2.0236576262918327],[-0.008041713217356472,-1.8956576275954655]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[-0.10527962574406657,0.0023013802407381156,0.71338606911949],"aabb_xy":[[-0.17027962838186006,-0.049178218458708844],[-0.04027962310627309,0.053780978940185076]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.43945541687970446,0.6655143350122952,0.71338606911949],"aabb_xy":[[0.40445541774974875,0.6597691139366311],[0.47445541600966007,0.6712595560879593]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[-0.022666133378181796,-1.773054463404966,0.71338606911949],"aabb_xy":[[-0.040244435567128645,-1.7906289529790709],[-0.005087831189234945,-1.7554799738308609]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.17544805021343468,1.8178316231633747,0.71338606911949],"aabb_xy":[[-0.19133254347875983,1.8034786828645508],[-0.15956355694810953,1.832184563462199]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[-0.6108571330212815,0.9951815259835359,0.71338606911949],"aabb_xy":[[-0.6358571321869146,0.9882292802781794],[-0.5858571338556484,1.0021337716888925]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[0.4388790883120097,1.6557428785686974,0.71338606911949],"aabb_xy":[[0.41387908904004733,1.639397514972535],[0.4638790875839719,1.6720882421648597]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[0.5396366743904737,1.1771534654042886,0.71338606911949],"aabb_xy":[[0.4756366741300028,1.1321446660513603],[0.6036366746509444,1.2221622647572163]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_29","position":[0.41870008015581184,-1.4808361189273889,0.71338606911949],"aabb_xy":[[0.34870007834706634,-1.5021898876915762],[0.4887000819645572,-1.4594823501632015]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_30","position":[-0.1541393636560069,1.0106504763266284,0.71338606911949],"aabb_xy":[[-0.23413936508613406,0.9311333213140189],[-0.07413936222587966,1.0901676313392379]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083882162095245,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1787.png","name":"1787"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1787.png","name":"1787"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3668.png","name":"3668"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9395.png","name":"9395"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5929.png","name":"5929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7106.png","name":"7106"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":722.8626149519231,"rotation_z_degrees":56.189727444461106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005216693338623103,-0.012632202251051652,0.0039780210553267276]},{"name":"camera_2","offset_m":[0.010697006381514922,0.00482535328893444,-0.013895629599479391]},{"name":"camera_3","offset_m":[0.012824707579688063,0.005311025943860265,-0.00041181395997748685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009422130576729924,0.00014138196389473908,-0.0015603873933301906],"end_effector_yaw_offset_degrees":-0.4612763934101345},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[1.420588765093083e-05,-0.001432930134793928,0.00043426760029369616],"end_effector_yaw_offset_degrees":-0.6993225583660754},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013090126728706477,-0.001042372055315349,0.0005933672378401898],"end_effector_yaw_offset_degrees":0.8571176344140743}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015989959810950361,0.004924060265494484],"position_m":[0.26220100401890495,0.3506240602654945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003308559245678984,-0.003233430313874267],"position_m":[0.34570855924567895,0.09806656968612573,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002116106256992433,-0.0013676413804674572],"position_m":[0.3318161062569924,-0.04466764138046746,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018975403088754084,0.0024807376491759927],"position_m":[0.2710975403088754,-0.385719262350824,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"21968026969ae69fd568f70e73238a4337af90586e51419810a4500be8c21b45","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1787/tex_ceiling_textures_7106/tex_floor_textures_5929/tex_table_textures_3668/tex_wall_textures_9395","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":9112613701903472994,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":9112613701903472994,"visual_seed":9112613701903472994,"scene_id":"lab_003","finished_at":"2026-09-02T03:07:48"}
+{"episode_id":"ep_000009","started_at":"2026-09-02T03:07:53","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.6596559081377217,-2.3737249162873146,0.71338606911949],"aabb_xy":[[-0.6677695628110987,-2.381830732741344],[-0.6515422534643445,-2.3656190998332853]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.2133776438631711,-0.7293406545103409,0.71338606911949],"aabb_xy":[[-0.21822123862440107,-0.734192306989325],[-0.20853404910194112,-0.7244890020313568]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.4802513740460364,-2.135308918054644,0.71338606911949],"aabb_xy":[[-0.5502513766826226,-2.155413783050509],[-0.41025137140944995,-2.115204053058778]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.196087868552972,1.7271638671144527,0.71338606911949],"aabb_xy":[[0.1845188878060354,1.7021638669975208],[0.20765684929990855,1.7521638672313842]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.2614845633240106,-0.21767397050770043,0.71338606911949],"aabb_xy":[[-0.31148456468489777,-0.26765187508311605],[-0.21148456196312335,-0.16769606593228484]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.5400614223860098,0.846704582110946,0.71338606911949],"aabb_xy":[[0.5351621300794464,0.819027662808377],[0.5449607146925733,0.8743815014135146]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.2681398270529502,-2.4515243783184926,0.71338606911949],"aabb_xy":[[-0.2944286513733908,-2.4777958119731434],[-0.2418510027325095,-2.425252944663841]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.015933914990921894,-1.0078639038927113,0.71338606911949],"aabb_xy":[[-0.006238611985728946,-1.0300395710488341],[0.03810644196757273,-0.9856882367365879]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.1047067742554767,1.5358627754502439,0.71338606911949],"aabb_xy":[[-0.11283446244878992,1.5269491670395363],[-0.09657908606216348,1.5447763838609518]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.6328190923212986,-0.3086908738845442,0.71338606911949],"aabb_xy":[[0.6248958120825503,-0.33119087412254755],[0.640742372560047,-0.28619087364654083]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.42445557802379197,0.6678079946066742,0.71338606911949],"aabb_xy":[[-0.44136631046013375,0.6543357890140596],[-0.4075448455874502,0.6812802001992887]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.5064483957664955,-0.3318294369081416,0.71338606911949],"aabb_xy":[[-0.5129500322745001,-0.34159725893445136],[-0.49994675925849086,-0.3220616148818318]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.20086869239464072,-2.2770129031496475,0.71338606911949],"aabb_xy":[[-0.21551209794867368,-2.2916716228064318],[-0.1862252868406077,-2.2623541834928633]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.6574267493807024,-1.440183891733843,0.71338606911949],"aabb_xy":[[0.6074267499405067,-1.4901518162181593],[0.707426748820898,-1.3902159672495267]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.041659003288317065,1.2562148176109686,0.71338606911949],"aabb_xy":[[0.03363273265769107,1.247463322633616],[0.04968527391894306,1.2649663125883213]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.17373777924863953,-0.9121159547618343,0.71338606911949],"aabb_xy":[[-0.20721694650968048,-0.9455950681329414],[-0.1402586119875986,-0.8786368413907274]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.4938555524774535,-1.743281322142391,0.71338606911949],"aabb_xy":[[0.44385555081595873,-1.7932797643980936],[0.5438555541389483,-1.6932828798866881]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[0.5162673772402455,0.6052161953198403,0.71338606911949],"aabb_xy":[[0.48578312711321536,0.5552161955383442],[0.5467516273672757,0.6552161951013361]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.5278285819361117,0.5187880348267502,0.71338606911949],"aabb_xy":[[-0.5646791298730993,0.48128803400371645],[-0.4909780339991241,0.5562880356497839]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.3278070446690468,1.7534520271843852,0.71338606911949],"aabb_xy":[[-0.3628070445650657,1.745077791672445],[-0.29280704477302794,1.761826262696325]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.5282988540728382,0.0832459010065123,0.71338606911949],"aabb_xy":[[0.4897531612476371,0.044700129950323644],[0.5668445468980392,0.12179167206270096]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.485854574324197,0.12785491793391746,0.71338606911949],"aabb_xy":[[-0.5658545717277903,0.04786234673573466],[-0.40585457692060356,0.20784748913210027]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.4932728920501672,-1.7030537001103725,0.71338606911949],"aabb_xy":[[-0.5110663989850837,-1.7208534457061702],[-0.47547938511525073,-1.6852539545145748]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.05206597014834169,1.6461184526049748,0.71338606911949],"aabb_xy":[[-0.06551249678238502,1.6326486009518835],[-0.03861944351429835,1.6595883042580661]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.27233796819572653,1.6377736307869513,0.71338606911949],"aabb_xy":[[-0.3373379663516456,1.611477386237039],[-0.20733797003980747,1.6640698753368635]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.2987252785661989,0.603218503214642,0.71338606911949],"aabb_xy":[[0.28788480033968394,0.5860322219239931],[0.30956575679271375,0.6204047845052907]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.3193407834518457,-1.4623607752461945,0.71338606911949],"aabb_xy":[[-0.3302465595394084,-1.5423607716450236],[-0.308435007364283,-1.3823607788473653]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.6857783933754242,-0.5042777162427945,0.71338606911949],"aabb_xy":[[0.6482783918597924,-0.5155044892589394],[0.7232783948910558,-0.49305094322664933]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[0.3554450888875422,-0.9962533567724561,0.71338606911949],"aabb_xy":[[0.29144508697519994,-1.0521645060304665],[0.4194450907998846,-0.9403422075144456]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[-0.3560762325560199,-0.0739758615547359,0.71338606911949],"aabb_xy":[[-0.43607623302623594,-0.08228656916908428],[-0.276076232085804,-0.06566515394038752]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[0.5892392688760388,1.7432594812185571,0.71338606911949],"aabb_xy":[[0.5517392687041669,1.7105587458356497],[0.6267392690479108,1.775960216601464]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_31","position":[-0.017676394866999012,-2.567105908522046,0.71338606911949],"aabb_xy":[[-0.035107109946005514,-2.584378023185896],[-0.0002456797879925032,-2.549833793858194]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_32","position":[-0.23188780930297642,-1.9682058560412956,0.71338606911949],"aabb_xy":[[-0.24245528896107543,-1.978750886154304],[-0.2213203296448774,-1.9576608259282868]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_33","position":[0.4208571782516355,1.0557519568947042,0.71338606911949],"aabb_xy":[[0.37088411271912014,1.0057519570821716],[0.4708302437841511,1.1057519567072374]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_34","position":[0.5390507265349973,-0.6831509571576271,0.71338606911949],"aabb_xy":[[0.4750507241921957,-0.7280918084017596],[0.6030507288777988,-0.6382101059134946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7122709830161551,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6385.png","name":"6385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6385.png","name":"6385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5653.png","name":"5653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1841.png","name":"1841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6907.png","name":"6907"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":733.4523781595113,"rotation_z_degrees":92.64118756115464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019728602849673794,-0.008233239021592209,-0.015520127933870392]},{"name":"camera_2","offset_m":[-0.01635351187903507,-0.018857356457524583,0.0032953606732820002]},{"name":"camera_3","offset_m":[-0.0015992521961198831,0.011942782504278267,0.012152723744022102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003779924834638373,-0.0006562487831098523,0.0007898150780246489],"end_effector_yaw_offset_degrees":0.2452877566909093},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00038280965487267607,0.0008059577416555802,0.00124782792258983],"end_effector_yaw_offset_degrees":0.561934901355839},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010845119053444464,0.00013097341368876114,-0.0013937804186349555],"end_effector_yaw_offset_degrees":0.79789456530031}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008936032261110559,0.0012269134018931234],"position_m":[0.264693603226111,0.34692691340189313,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004562146244475322,0.0026613198589148894],"position_m":[0.33783785375552466,0.1039613198589149,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004116821877208437,-0.0001326914034423454],"position_m":[0.3255831781227916,-0.043432691403442344,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004530436326581581,-0.0005926491167441098],"position_m":[0.27373043632658156,-0.3887926491167441,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fbdb51a68d0ad6c27565b6dc14baf7455f7ad0975c949f73aa4e9cc43a92f989","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6385/tex_ceiling_textures_6907/tex_floor_textures_5084/tex_table_textures_5653/tex_wall_textures_1841","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2520054983217212885,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2520054983217212885,"visual_seed":2520054983217212885,"scene_id":"lab_003","finished_at":"2026-09-02T03:10:42"}
+{"episode_id":"ep_000010","started_at":"2026-09-02T03:10:47","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.17659401012767795,-2.295371834368373,0.71338606911949],"aabb_xy":[[-0.21936071700709814,-2.3593718377901753],[-0.13382730324825776,-2.2313718309465704]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.3844168031889024,-0.5295516171555477,0.71338606911949],"aabb_xy":[[-0.39482836186938614,-0.5348973504914462],[-0.3740052445084187,-0.5242058838196492]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.06896552825990565,1.5353953330244319,0.71338606911949],"aabb_xy":[[-0.14895935183846387,1.4553953304315905],[0.01102829531865257,1.6153953356172737]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.13247205091894687,-2.2849141184499837,0.71338606911949],"aabb_xy":[[0.07247205066754567,-2.3391954434864486],[0.19247205117034802,-2.230632793413519]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.3998062796670325,0.8923024778448378,0.71338606911949],"aabb_xy":[[0.3348062785610893,0.8673371047767096],[0.46480628077297587,0.9172678509129661]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.15164132834461608,-0.22585888043646873,0.71338606911949],"aabb_xy":[[-0.21564132563026472,-0.2673655993893127],[-0.08764133105896743,-0.18435216148362477]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.4314641458216204,-2.536363491754086,0.71338606911949],"aabb_xy":[[0.40899937585021523,-2.5588634926329465],[0.45392891579302547,-2.5138634908752255]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.06762090074033744,-1.3751176899376882,0.71338606911949],"aabb_xy":[[-0.07898263539362359,-1.3864861563439763],[-0.05625916608705127,-1.3637492235314002]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.5599683367796816,1.78850825686443,0.71338606911949],"aabb_xy":[[-0.5675926048698599,1.7808750333278864],[-0.5523440686895034,1.7961414804009739]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[0.6581699404601138,-0.5907734977425285,0.71338606911949],"aabb_xy":[[0.6196242476349128,-0.6293192687987171],[0.6967156332853148,-0.5522277266863399]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.5951567085738158,-0.5430291821017326,0.71338606911949],"aabb_xy":[[-0.6059971868003307,-0.5602154633923814],[-0.5843162303473008,-0.5258429008110838]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.10757164568671584,1.2278125924691956,0.71338606911949],"aabb_xy":[[0.04257164780506805,1.1766889287626547],[0.17257164356836363,1.2789362561757365]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.2740363975949819,-1.6450553255925586,0.71338606911949],"aabb_xy":[[0.2100364004828762,-1.694087695386969],[0.3380363947070876,-1.5960229557981478]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.46329794101296673,-1.6010515331688868,0.71338606911949],"aabb_xy":[[0.4133048289037749,-1.6510515338430825],[0.5132910531221586,-1.5510515324946912]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.4271957112128136,-0.9626472915840365,0.71338606911949],"aabb_xy":[[-0.5171957135468326,-1.0401296461691492],[-0.3371957088787945,-0.8851649369989238]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.1917030721578432,1.2582898642628244,0.71338606911949],"aabb_xy":[[-0.21621669625484907,1.234025270960788],[-0.16718944806083735,1.2825544575648609]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.22680593744296784,1.154576447156841,0.71338606911949],"aabb_xy":[[0.21764605849909127,1.1480452291133039],[0.23596581638684447,1.161107665200378]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.5756731893581302,-1.16535419469164,0.71338606911949],"aabb_xy":[[0.4919509638580477,-1.2553541982263356],[0.6593954148582126,-1.0753541911569438]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.49063400444723615,-2.4650051028923743,0.71338606911949],"aabb_xy":[[0.48667352067750186,-2.4726729674778953],[0.49459448821697055,-2.457337238306854]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.2155645789173674,0.9648736633334258,0.71338606911949],"aabb_xy":[[-0.26556457756328855,0.9149541196739633],[-0.1655645802714462,1.0147932069928882]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.4591614364699541,-2.180470620138081,0.71338606911949],"aabb_xy":[[0.44205935851158595,-2.197577425669351],[0.47626351442832227,-2.1633638146068117]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.18396103672077113,0.17494715493663948,0.71338606911949],"aabb_xy":[[-0.2479610340231175,0.13058072796878273],[-0.1199610394184247,0.21931358190449624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7037512210210519,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2293.png","name":"2293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2293.png","name":"2293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4153.png","name":"4153"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8709.png","name":"8709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7837.png","name":"7837"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2581.png","name":"2581"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":660.0520469199148,"rotation_z_degrees":244.3024105087271,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01905435480801402,-0.009378502613635535,0.018012394849876098]},{"name":"camera_2","offset_m":[0.014565666352546188,-0.0010395998609084162,0.019097127328172852]},{"name":"camera_3","offset_m":[0.016617242182904907,0.009003567714427393,0.005867421784297066]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018548849610694673,0.0003215804247097562,-0.001790787771255737],"end_effector_yaw_offset_degrees":-0.9144948285510897},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017243957700357106,0.0007199638185669491,0.0009831323897087942],"end_effector_yaw_offset_degrees":-0.9970825118158326},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007152843438775966,0.00010472042185331876,-0.0019568398847344443],"end_effector_yaw_offset_degrees":0.1800502062842959}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0027030422681932433,-0.001953176663416192],"position_m":[0.26109695773180674,0.3437468233365838,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003401485647562771,-0.0005527783131191065],"position_m":[0.34580148564756275,0.1007472216868809,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003364090915117502,-0.0006712888766339277],"position_m":[0.3330640909151175,-0.04397128887663393,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027646537591642373,0.0038177064996861325],"position_m":[0.26643534624083576,-0.38438229350031383,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b04fadf8002177c92b01b4bcc72190fe22f73e180aea88aea959b6d6acf94ffd","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2293/tex_ceiling_textures_2581/tex_floor_textures_7837/tex_table_textures_4153/tex_wall_textures_8709","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3806041716923524713,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3806041716923524713,"visual_seed":3806041716923524713,"scene_id":"lab_003","finished_at":"2026-09-02T03:13:24"}
+{"episode_id":"ep_000011","started_at":"2026-09-02T03:13:27","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[0.5408035642986979,-2.445030432506768,0.71338606911949],"aabb_xy":[[0.49299739668492926,-2.510030435213827],[0.5886097319124666,-2.3800304297997092]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.5262782869531915,1.1304937094471876,0.71338606911949],"aabb_xy":[[0.46227828667921333,1.0804276092498997],[0.5902782872271698,1.1805598096444756]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.6465081391838892,0.7809019461445104,0.71338606911949],"aabb_xy":[[0.5815081391495864,0.7342012694641832],[0.7115081392181919,0.8276026228248378]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.3867996017967352,-1.2979850092804872,0.71338606911949],"aabb_xy":[[0.36051077747629456,-1.3242564429351384],[0.4130884261171759,-1.271713575625836]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.2132937171477035,-1.6438009724781648,0.71338606911949],"aabb_xy":[[-0.29329372040554647,-1.7237974802701488],[-0.13329371388986055,-1.5638044646861808]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.3928405524982624,-2.248053165791598,0.71338606911949],"aabb_xy":[[-0.42323866359740586,-2.278460067793267],[-0.3624424413991187,-2.217646263789928]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.6586142635315253,-0.9041396424668775,0.71338606911949],"aabb_xy":[[0.5936142656498775,-0.9552633061734185],[0.7236142614131731,-0.8530159787603367]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[0.4401500338821398,-1.4831423332991904,0.71338606911949],"aabb_xy":[[0.4032994859451522,-1.520642334122224],[0.4770005818191274,-1.4456423324761565]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.40026946210716075,1.7471324529848071,0.71338606911949],"aabb_xy":[[0.39063782588673107,1.7374951402050982],[0.4099010983275903,1.756769765764516]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.4279206673621174,-1.2063687765659592,0.71338606911949],"aabb_xy":[[0.4208792164113698,-1.2133955283037539],[0.434962118312865,-1.1993420248281645]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.08861375002037108,-0.7267836117122743,0.71338606911949],"aabb_xy":[[-0.13861374866629228,-0.7767031553717367],[-0.03861375137444989,-0.676864068052812]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.23425209551019022,-2.259741293008277,0.71338606911949],"aabb_xy":[[0.17025209692361779,-2.306748256407786],[0.2982520940967627,-2.2127343296087685]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.011398747530307118,-1.0930571587957467,0.71338606911949],"aabb_xy":[[-0.09639874622238176,-1.1250430221906254],[0.07360125116176752,-1.0610712954008676]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.5599132797620265,-0.4886570783366033,0.71338606911949],"aabb_xy":[[-0.5844594953847773,-0.5189059748856404],[-0.5353670641392758,-0.45840818178756626]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.3537233275656797,-0.5111338243734478,0.71338606911949],"aabb_xy":[[0.3312233273221643,-0.5233384590332197],[0.3762233278091951,-0.49892918971367584]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.1552128408382667,-1.0069845441780179,0.71338606911949],"aabb_xy":[[-0.16171447734627134,-1.0167523662043279],[-0.1487112043302621,-0.9972167221517083]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.4128893290120752,-0.12942338317702795,0.71338606911949],"aabb_xy":[[-0.46788932721382,-0.16994534980346554],[-0.3578893308103303,-0.08890141655059038]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.44550982570675085,-1.0256739574730886,0.71338606911949],"aabb_xy":[[-0.4805098256832467,-1.0351385735207053],[-0.410509825730255,-1.016209341425472]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.4177077637505508,1.5480130780441317,0.71338606911949],"aabb_xy":[[-0.4289528193211686,1.5367712803200362],[-0.4064627081799329,1.5592548757682267]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.16606199382011644,-2.0441162849822057,0.71338606911949],"aabb_xy":[[0.08606199055610328,-2.057676317291119],[0.24606199708412954,-2.0305562526732923]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.4858688798769098,-1.6662997799401749,0.71338606911949],"aabb_xy":[[-0.5170157987204929,-1.736299778626982],[-0.4547219610333267,-1.5962997812533677]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.5865199012826514,1.7137893793480043,0.71338606911949],"aabb_xy":[[0.5640199007706107,1.6912975209826056],[0.6090199017946919,1.7362812377134023]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[0.43776861408405576,-1.0072143104653826,0.71338606911949],"aabb_xy":[[0.402768612732574,-1.0275740464222034],[0.4727686154355375,-0.9868545745085618]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[0.5833919209574014,0.39166544398812464,0.71338606911949],"aabb_xy":[[0.576148154911156,0.3116654457845223],[0.5906356870036467,0.47166544219172707]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[-0.1938087050317302,0.9569878132918235,0.71338606911949],"aabb_xy":[[-0.2578087054092638,0.9072425464410111],[-0.12980870465419656,1.0067330801426357]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.14557374888285846,-0.9650357149808186,0.71338606911949],"aabb_xy":[[0.09057374970626894,-1.020025389755776],[0.20057374805944791,-0.9100460402058609]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[-0.5465064908776118,0.5842618402459565,0.71338606911949],"aabb_xy":[[-0.554634179070925,0.5753482318352489],[-0.5383788026842986,0.5931754486566642]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.6561111189190145,0.4682447888544563,0.71338606911949],"aabb_xy":[[0.6311111189864966,0.46136212063353305],[0.6811111188515324,0.4751274570753797]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[-0.6537729061846907,0.7719019821060744,0.71338606911949],"aabb_xy":[[-0.6728852135426696,0.7527672032288323],[-0.6346605988267119,0.7910367609833163]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[0.22856632083038197,-1.9688022445800613,0.71338606911949],"aabb_xy":[[0.21093348523685443,-1.9864251905956842],[0.24619915642390958,-1.9511792985644383]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_30","position":[-0.3596917595738046,-1.6157875827227859,0.71338606911949],"aabb_xy":[[-0.3671042151151931,-1.6216387931444138],[-0.35227930403241614,-1.609936372301158]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_31","position":[-0.46284533064963596,0.7805414327584299,0.71338606911949],"aabb_xy":[[-0.5003453311469942,0.7765727492103115],[-0.4253453301522777,0.7845101163065483]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[-0.028929804617623622,1.7388674470395435,0.71338606911949],"aabb_xy":[[-0.03773185992659633,1.7310561208846142],[-0.020127749308650907,1.7466787731944724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.705689529624726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1656.png","name":"1656"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1656.png","name":"1656"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1473.png","name":"1473"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7147.png","name":"7147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7860.png","name":"7860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4554.png","name":"4554"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":753.3469465993902,"rotation_z_degrees":186.3489338985023,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014882287238798413,0.00025432747104084386,0.01053343612681919]},{"name":"camera_2","offset_m":[-0.01771163363709724,0.010464044945393419,-0.01839348627710023]},{"name":"camera_3","offset_m":[-0.005025103695759387,-0.010061144120811818,-0.0029721771499877474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012875571787448563,0.0004372113015335779,0.0017772667277091013],"end_effector_yaw_offset_degrees":0.955214645419411},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013016654871442462,0.0015137858170411332,0.0019096282648994921],"end_effector_yaw_offset_degrees":0.16577307066712565},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001297902422917547,-0.0010858446082240931,-0.0009732785219616238],"end_effector_yaw_offset_degrees":-0.335757395231862}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004718179106225108,0.0018039376808870744],"position_m":[0.25908182089377485,0.34750393768088705,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041551317283300224,-0.004197421641893525],"position_m":[0.33824486827166994,0.09710257835810647,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036801190756115677,-0.0016165812533817537],"position_m":[0.32601988092438844,-0.04491658125338175,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00041592411501544056,0.0038733008631170905],"position_m":[0.26878407588498454,-0.3843266991368829,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0f8ad5e35004530dd31236d6a8f15ffb89d7dd0638cb75e8ff56a22a3f76450f","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1656/tex_ceiling_textures_4554/tex_floor_textures_7860/tex_table_textures_1473/tex_wall_textures_7147","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4337977076331960808,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4337977076331960808,"visual_seed":4337977076331960808,"scene_id":"lab_003","finished_at":"2026-09-02T03:16:09"}
+{"episode_id":"ep_000012","started_at":"2026-09-02T03:16:12","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.44615754305649236,-1.1536012470175132,0.71338606911949],"aabb_xy":[[0.3661637194779341,-1.2336012496103548],[0.5261513666350506,-1.0736012444246716]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.5338770393134114,-0.7492937234185038,0.71338606911949],"aabb_xy":[[-0.5838770403325466,-0.7857599391563318],[-0.4838770382942761,-0.7128275076806758]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.14905233513758498,-1.8338969023615852,0.71338606911949],"aabb_xy":[[-0.21305233224969067,-1.8829292721559958],[-0.08505233802547929,-1.7848645325671746]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.08229326453658148,-1.6460535801164682,0.71338606911949],"aabb_xy":[[-0.11094259689699769,-1.674699139393544],[-0.05364393217616524,-1.6174080208393924]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.468993713772734,0.34779304522919263,0.71338606911949],"aabb_xy":[[0.45389141231171576,0.3326915235981307],[0.48409601523375195,0.36289456686025434]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[0.6617128967811112,-2.386713192595844,0.71338606911949],"aabb_xy":[[0.6546725868475743,-2.466713191995516],[0.6687532067146483,-2.306713193196173]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.49052620320736695,-0.017191393549026213,0.71338606911949],"aabb_xy":[[0.4530262024153715,-0.02355923450721631],[0.5280262039993624,-0.010823552590836116]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.4215381897414373,1.3110469710575847,0.71338606911949],"aabb_xy":[[-0.47153818931777214,1.2610663921054788],[-0.3715381901651027,1.3610275500096907]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.3397217097296694,-1.399956518274051,0.71338606911949],"aabb_xy":[[0.30472170837818763,-1.4203162542308718],[0.3747217110811511,-1.3795967823172302]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.1984084562824736,-1.5783889812112728,0.71338606911949],"aabb_xy":[[0.14841344532302161,-1.6283889802468652],[0.2484034672419257,-1.5283889821756818]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.4148108656758924,0.9529758153557952,0.71338606911949],"aabb_xy":[[0.403042678881235,0.8679758154505739],[0.42657905247055006,1.037975815261017]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.5046582663459247,-2.39126396793658,0.71338606911949],"aabb_xy":[[-0.5696582642275725,-2.442387631643121],[-0.4396582684642769,-2.3401403042300393]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.3070629082610479,-0.5851715339388397,0.71338606911949],"aabb_xy":[[-0.35706290690696907,-0.6350910775983021],[-0.2570629096151267,-0.5352519902793773]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.07215285901413071,-1.0626246179806609,0.71338606911949],"aabb_xy":[[0.012152858418114532,-1.1174370905258844],[0.1321528596101469,-1.0078121454354374]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[0.03534476982170165,-0.6670913029044256,0.71338606911949],"aabb_xy":[[0.020701364267668665,-0.6817500225612099],[0.049988175375734634,-0.6524325832476414]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.11714794671660189,-1.3922494397372087,0.71338606911949],"aabb_xy":[[-0.1530614511415916,-1.4281629479539633],[-0.0812344422916122,-1.3563359315204542]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.5161884567990989,1.4412873293491262,0.71338606911949],"aabb_xy":[[-0.5383609837757496,1.419111662193003],[-0.4940159298224479,1.4634629965052492]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.3060500482867494,-1.9217316154796498,0.71338606911949],"aabb_xy":[[0.2966325737168867,-1.9311477926173688],[0.3154675228566122,-1.9123154383419307]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.03204915234510486,1.513215454240616,0.71338606911949],"aabb_xy":[[-0.05456284416856205,1.4432154536396082],[-0.009535460521647665,1.5832154548416233]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.524369261026591,-1.0872985591971676,0.71338606911949],"aabb_xy":[[-0.5744667250076646,-1.1512985597069794],[-0.47427179704551736,-1.0232985586873558]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.12049856869397035,-2.191526629222662,0.71338606911949],"aabb_xy":[[0.07050373576602874,-2.2415266281179056],[0.17049340162191196,-2.1415266303274185]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[-0.2271811648579981,1.3714533862014542,0.71338606911949],"aabb_xy":[[-0.23980795214519443,1.3619073124998813],[-0.21455437757080173,1.380999459903027]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.5738477680501767,0.7093166059027789,0.71338606911949],"aabb_xy":[[-0.6378477700999087,0.669222122813471],[-0.5098477660004447,0.749411088992087]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7032026584167946,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/874.png","name":"874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/874.png","name":"874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/29.png","name":"29"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2236.png","name":"2236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1671.png","name":"1671"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2173.png","name":"2173"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":647.7392265044009,"rotation_z_degrees":296.0610050967125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004912702994410196,-0.012916167047990125,0.0153510816780764]},{"name":"camera_2","offset_m":[0.006791538977523957,-0.006141375548989405,-0.011639303253215431]},{"name":"camera_3","offset_m":[7.304033420884107e-05,-0.00352706749698262,0.01195495356651163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001613799087742999,0.00013113810562285708,-0.0013719129295998102],"end_effector_yaw_offset_degrees":-0.8712899118860677},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017686620350938135,0.0003889012651086339,0.00049227556371702],"end_effector_yaw_offset_degrees":-0.14822769836471683},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006793338567240047,0.001082547705330721,-0.000892982622560686],"end_effector_yaw_offset_degrees":-0.23781203592382827}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004404299594898067,-0.0008397986821942162],"position_m":[0.2593957004051019,0.3448602013178058,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042950300414637205,-0.004644920742474042],"position_m":[0.3466950300414637,0.09665507925752596,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004767410540270072,0.0011029592471760294],"position_m":[0.33446741054027007,-0.04219704075282397,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032598582917125296,0.004062589913659517],"position_m":[0.26594014170828745,-0.38413741008634045,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1a0d78f083bae16586c040936f341b6ca212272a397917f48f4ee827d2f3f9e7","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_874/tex_ceiling_textures_2173/tex_floor_textures_1671/tex_table_textures_29/tex_wall_textures_2236","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3621593302003590144,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3621593302003590144,"visual_seed":3621593302003590144,"scene_id":"lab_003","finished_at":"2026-09-02T03:18:53"}
+{"episode_id":"ep_000013","started_at":"2026-09-02T03:18:56","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.14112739148225406,-1.8052538216214833,0.71338606911949],"aabb_xy":[[0.13617137129737286,-1.8277538218236051],[0.14608341166713526,-1.782753821419362]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.624844373894305,-0.8959848766075689,0.71338606911949],"aabb_xy":[[-0.6486805915349102,-0.9859848774160554],[-0.6010081562537001,-0.8059848757990825]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[-0.32824496139789455,1.1073192325881878,0.71338606911949],"aabb_xy":[[-0.408244963560657,1.0273640489620441],[-0.248244959235132,1.1872744162143314]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.4769304960151022,0.3074832428638872,0.71338606911949],"aabb_xy":[[0.4269475458276228,0.2574832432213267],[0.5269134462025814,0.35748324250644753]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.10915472131935455,-2.5181240294857017,0.71338606911949],"aabb_xy":[[-0.16317031760125456,-2.582124032377959],[-0.05513912503745455,-2.4541240265934445]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.41387085487884356,-2.465630954667977,0.71338606911949],"aabb_xy":[[-0.42523258953212967,-2.476999421074265],[-0.40250912022555735,-2.4542624882616884]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.39033182431687063,-0.7375111773014287,0.71338606911949],"aabb_xy":[[-0.4355031421650397,-0.8015111744459673],[-0.3451605064687017,-0.6735111801568904]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.34193600763065696,-0.15859486310585647,0.71338606911949],"aabb_xy":[[-0.4219360045936961,-0.2356705047496299],[-0.2619360106676178,-0.08151922146208299]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.36161023301459005,-1.0596945589207547,0.71338606911949],"aabb_xy":[[-0.3841102332581055,-1.0718991935805267],[-0.3391102327710747,-1.0474899242609828]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.5620243216740832,1.6456907712095483,0.71338606911949],"aabb_xy":[[0.5459623942155655,1.5606907693969563],[0.5780862491326008,1.73069077302214]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[-0.3931274079671843,-1.2552758683571625,0.71338606911949],"aabb_xy":[[-0.4306274077842179,-1.2599140796683044],[-0.35562740815015076,-1.2506376570460207]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.029562232708828295,-1.112531649577254,0.71338606911949],"aabb_xy":[[-0.09356222999447694,-1.1540383685300977],[0.03443776457682035,-1.0710249306244097]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.36478341820974497,1.2951435612476123,0.71338606911949],"aabb_xy":[[-0.4021146947349876,1.26049050645276],[-0.3274521416845023,1.3297966160424646]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.3245556000016996,-2.0255333718592237,0.71338606911949],"aabb_xy":[[0.27455559964113346,-2.075513359068826],[0.3745556003622656,-1.9755533846496205]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.08303073671792882,1.2762737417324184,0.71338606911949],"aabb_xy":[[-0.10553073624163621,1.2537777942817976],[-0.06053073719422141,1.2987696891830391]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.4212008195958891,1.7947366871897077,0.71338606911949],"aabb_xy":[[-0.4390699273503446,1.7809037792124962],[-0.4033317118414336,1.8085695951669183]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.6610866868270726,-1.1446343690903904,0.71338606911949],"aabb_xy":[[0.6482147833261324,-1.2246343695042263],[0.6739585903280126,-1.064634368676554]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.0981798551456129,-0.07649259310836287,0.71338606911949],"aabb_xy":[[-0.11162638177965621,-0.0899624447614541],[-0.08473332851156955,-0.06302274145527165]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.46704235009273254,-2.0201821967573927,0.71338606911949],"aabb_xy":[[0.46296419218568274,-2.0242631770056554],[0.4711205079997822,-2.016101216509129]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.5671688879017245,1.3170296366597505,0.71338606911949],"aabb_xy":[[-0.572506463567729,1.2920296357306107],[-0.5618313122357199,1.3420296375888903]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.18687827633878207,-2.2811775892612007,0.71338606911949],"aabb_xy":[[0.1228782742890501,-2.3212720723505087],[0.25087827838851406,-2.2410831061718928]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.561093976127373,-1.307203488560074,0.71338606911949],"aabb_xy":[[-0.5761962775883909,-1.3223050101911358],[-0.5459916746663547,-1.292101966929012]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.46375363028711325,-1.8166819169234456,0.71338606911949],"aabb_xy":[[0.4412536304732109,-1.8211565332939266],[0.4862536301010157,-1.812207300552965]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[-0.453751441980602,1.5343749943637257,0.71338606911949],"aabb_xy":[[-0.4593331136147307,1.5218749945459502],[-0.4481697703464732,1.5468749941815012]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.17544216849551464,1.1061297519173805,0.71338606911949],"aabb_xy":[[0.10544216510395267,1.0708139782139496],[0.24544217188707662,1.1414455256208114]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.45731221303365066,0.8665853736649507,0.71338606911949],"aabb_xy":[[-0.5223122130679534,0.8198846969846234],[-0.39231221299934793,0.913286050345278]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.5215881029673487,0.11123313150439085,0.71338606911949],"aabb_xy":[[-0.5715881025436834,0.06125255255228493],[-0.471588103391014,0.16121371045649682]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[-0.3154550937606702,0.8293047491674748,0.71338606911949],"aabb_xy":[[-0.33795509427271075,0.8068128908020764],[-0.29295509324862956,0.8517966075328731]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.31301320636823404,0.8317049286030094,0.71338606911949],"aabb_xy":[[0.30244572671013503,0.8211598984900008],[0.32358068602633305,0.8422499587160179]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[-0.20042633058159803,-2.2595766045783483,0.71338606911949],"aabb_xy":[[-0.2179263308409347,-2.2736681467671214],[-0.18292633032226144,-2.245485062389576]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[0.6511347314328375,-0.4910403785268076,0.71338606911949],"aabb_xy":[[0.6286383099989734,-0.5135403783335549],[0.6736311528667016,-0.46854037872006005]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_31","position":[0.05180096320097127,-1.5352201659003528,0.71338606911949],"aabb_xy":[[0.03992888018947016,-1.620220165594003],[0.06367304621247238,-1.4502201662067022]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_32","position":[-0.15910203368629228,0.16157275357498468,0.71338606911949],"aabb_xy":[[-0.2191020341941452,0.1047260198890634],[-0.09910203317843937,0.218419487260906]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_33","position":[0.03308354895750765,0.860616713152424,0.71338606911949],"aabb_xy":[[0.01487772529625997,0.8495913125704325],[0.051289372618755324,0.8716421137344158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7082278181598256,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9876.png","name":"9876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8019.png","name":"8019"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8459.png","name":"8459"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":542.1990678336729,"rotation_z_degrees":245.6985800972082,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015372696454999005,0.010899586441517683,-0.01176794221293528]},{"name":"camera_2","offset_m":[-0.010751132004501228,-0.019600409118948513,-0.015410456231819056]},{"name":"camera_3","offset_m":[-0.01544532933979665,0.010828610054997544,0.014275313511351032]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017135915531974245,0.0002393437576815741,-0.0009281230311242723],"end_effector_yaw_offset_degrees":0.25374973359734443},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00047993664066702424,-0.0018689888415440788,0.0002984472884982499],"end_effector_yaw_offset_degrees":-0.8460497864848489},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017560787639019182,0.0018213612444318637,-0.0017095290553333072],"end_effector_yaw_offset_degrees":0.14298172582165058}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015573895949465809,-0.00011273361790472766],"position_m":[0.26535738959494654,0.3455872663820953,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049398482027676474,0.003862065751128823],"position_m":[0.34733984820276764,0.10516206575112882,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003098364146383728,0.0005691646436755682],"position_m":[0.3327983641463837,-0.04273083535632443,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009856435249998852,-0.001633177687194137],"position_m":[0.26821435647500014,-0.3898331776871941,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"12d4028c8be1a12b1fab47d4585f620b7398f3a2f0a24c2bcec3c2e92345730c","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3027/tex_ceiling_textures_8459/tex_floor_textures_8019/tex_table_textures_9876/tex_wall_textures_8080","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5168759645279637803,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5168759645279637803,"visual_seed":5168759645279637803,"scene_id":"lab_003","finished_at":"2026-09-02T03:21:36"}
+{"episode_id":"ep_000014","started_at":"2026-09-02T03:21:41","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.47514591370857584,0.8866688412203176,0.71338606911949],"aabb_xy":[[0.39514591512125646,0.8073532392821565],[0.5551459122958953,0.9659844431584783]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.2782443436998079,-1.1404578382597852,0.71338606911949],"aabb_xy":[[-0.29071170180954353,-1.1529231628931087],[-0.26577698559007223,-1.1279925136264617]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.5286686990959145,-1.4853184576815934,0.71338606911949],"aabb_xy":[[-0.5786686977418357,-1.5352380013410556],[-0.4786687004499933,-1.4353989140221308]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.46801597764057323,-0.9195833249910006,0.71338606911949],"aabb_xy":[[0.45711020155301046,-0.9995833213898296],[0.4789217537281359,-0.8395833285921713]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.5112916621550598,-2.1240748032492793,0.71338606911949],"aabb_xy":[[-0.5462916604657553,-2.131789818172825],[-0.4762916638443644,-2.1163597883257337]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.5256675220584344,-1.2515317303735154,0.71338606911949],"aabb_xy":[[-0.5329498384350978,-1.341531733983024],[-0.5183852056817705,-1.161531726764006]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.2859749555860964,-1.8115952167182132,0.71338606911949],"aabb_xy":[[0.23599200539861706,-1.8615952163607734],[0.3359579057735757,-1.7615952170756526]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.5905143888743569,-2.250375642475672,0.71338606911949],"aabb_xy":[[0.5455143874081281,-2.2953754993371525],[0.6355143903405858,-2.205375785614191]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.45103080589620126,-1.1788553672727575,0.71338606911949],"aabb_xy":[[-0.46709273335471885,-1.2638553690853493],[-0.43496887843768356,-1.0938553654601657]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.11597086900695297,1.4211495208109048,0.71338606911949],"aabb_xy":[[-0.12653834866505198,1.410604490697896],[-0.10540338934885397,1.4316945509239132]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.32118881057616744,1.7366029863804786,0.71338606911949],"aabb_xy":[[-0.40118881084977437,1.6636534385547619],[-0.24118881030256042,1.8095525342061953]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[0.6412950785998204,-0.5054595171804572,0.71338606911949],"aabb_xy":[[0.577295077896351,-0.5514778996533782],[0.7052950793032897,-0.4594411347075362]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[0.6261295852777373,-0.06574509778487059,0.71338606911949],"aabb_xy":[[0.6205479136436085,-0.07824509760264607],[0.6317112569118661,-0.05324509796709508]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.192059094334465,-2.449037445296,0.71338606911949],"aabb_xy":[[-0.24203238833772542,-2.4990374458505475],[-0.14208580033120452,-2.399037444741453]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.6123367518063325,-0.18497756541143673,0.71338606911949],"aabb_xy":[[0.5764232473813428,-0.22089107362819133],[0.648250256231322,-0.14906405719468208]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.009734742473689995,0.7739047183943462,0.71338606911949],"aabb_xy":[[-0.0077652577856466305,0.7598131762055736],[0.027234742733026625,0.7879962605831189]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.11169342707683894,-0.1980381648230396,0.71338606911949],"aabb_xy":[[-0.15387784123766968,-0.2620381651002508],[-0.06950901291600821,-0.1340381645458284]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.09180345718910132,1.3999778264927172,0.71338606911949],"aabb_xy":[[0.011803455758974124,1.3204606714801077],[0.17180345861922852,1.4794949815053267]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.6371784076244442,1.4325933846455148,0.71338606911949],"aabb_xy":[[0.5821829298037847,1.3775933832116076],[0.6921738854451035,1.4875933860794215]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.620583562048395,-0.6842239522878633,0.71338606911949],"aabb_xy":[[0.6118023349011589,-0.6930036995763935],[0.6293647891956314,-0.6754442049993332]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.3704845023103871,-2.4255449564173928,0.71338606911949],"aabb_xy":[[0.3522786786491394,-2.436570356999385],[0.3886903259716348,-2.4145195558354016]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[0.19449892992614726,-1.6311138153287355,0.71338606911949],"aabb_xy":[[0.1044989275921282,-1.708596169913848],[0.2844989322601663,-1.5536314607436228]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[-0.12287149649594875,-1.5825212970310463,0.71338606911949],"aabb_xy":[[-0.14037149577403563,-1.599859397097392],[-0.10537149721786189,-1.5651831969647]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.013992903122855282,1.2226470799386298,0.71338606911949],"aabb_xy":[[-0.011227933736984382,1.1974233290857428],[0.039213739982694944,1.2478708307915163]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[0.5339397865004372,0.08771538865483475,0.71338606911949],"aabb_xy":[[0.46993978919809065,0.043348961686977994],[0.5979397838027835,0.1320818156226915]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.5608286938134981,-0.25537100404456003,0.71338606911949],"aabb_xy":[[-0.650828697490416,-0.3168034106216643],[-0.4708286901365797,-0.19393859746745556]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[0.018328670748563924,1.6173273014013971,0.71338606911949],"aabb_xy":[[-0.04567132653708472,1.5758205824485532],[0.08232866803421257,1.658834020354241]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.26550657743634776,-0.8955476562649862,0.71338606911949],"aabb_xy":[[0.18550658027677247,-0.9070952572228033],[0.34550657459592304,-0.8840000553071692]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[-0.46699221913314526,0.6621106851948917,0.71338606911949],"aabb_xy":[[-0.5507144446332277,0.5721106816601956],[-0.38326999363306286,0.7521106887295875]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[-0.6399842495164013,-1.9530409496458265,0.71338606911949],"aabb_xy":[[-0.6774842494601676,-1.961334039680663],[-0.6024842495726348,-1.94474785961099]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_30","position":[-0.650924708537864,-0.8160263100030047,0.71338606911949],"aabb_xy":[[-0.6602183267750145,-0.8535263084911384],[-0.6416310903007133,-0.7785263115148706]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_31","position":[-0.08366444217227831,-1.250901546454478,0.71338606911949],"aabb_xy":[[-0.1636644443350408,-1.3308567300806213],[-0.0036644400095158236,-1.170946362828334]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_32","position":[0.2919852164776592,0.6611395053785043,0.71338606911949],"aabb_xy":[[0.21198521321981617,0.5811429975865202],[0.3719852197355021,0.7411360131704882]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_33","position":[-0.12181579408972365,-1.8649487251281587,0.71338606911949],"aabb_xy":[[-0.18581579446725727,-1.914693991978971],[-0.05781579371219002,-1.8152034582773464]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_34","position":[-0.6507010936499049,-1.1004658658952815,0.71338606911949],"aabb_xy":[[-0.6790308035984451,-1.1049266080889988],[-0.6223713837013647,-1.0960051237015647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7121547017070815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/470.png","name":"470"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/470.png","name":"470"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4411.png","name":"4411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/211.png","name":"211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5839.png","name":"5839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3530.png","name":"3530"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":779.0707470552685,"rotation_z_degrees":237.84980916754233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031743851127932383,0.013865213140486898,0.015487907628389763]},{"name":"camera_2","offset_m":[-0.010813607685034445,0.0047767928551719005,-0.005663743595405304]},{"name":"camera_3","offset_m":[0.005818995974193129,-0.004185635365485538,-0.00871012099788139]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014028672867398648,0.0005781698596812545,-0.001675143198333283],"end_effector_yaw_offset_degrees":0.4908235065104727},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018316426889043523,0.0005364969404648744,-0.0012451244305822034],"end_effector_yaw_offset_degrees":0.24912325818470826},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016791960730417632,4.299363389924718e-05,0.0015950093099685782],"end_effector_yaw_offset_degrees":-0.33056553314151293}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003088667239768309,0.0022273358325800583],"position_m":[0.2607113327602317,0.34792733583258006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002289817749737146,0.002922464837903695],"position_m":[0.3446898177497371,0.10422246483790369,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00442427330440297,-0.003940434653469911],"position_m":[0.325275726695597,-0.04724043465346991,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003986961529204933,-0.0012129823709062628],"position_m":[0.2731869615292049,-0.38941298237090627,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7d0a1bb48aedaf131c9d450369535c20b96750b9f3c93db2b8a854a80c6a8bc7","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_470/tex_ceiling_textures_3530/tex_floor_textures_5839/tex_table_textures_4411/tex_wall_textures_211","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":578760190424227232,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":578760190424227232,"visual_seed":578760190424227232,"scene_id":"lab_003","finished_at":"2026-09-02T03:24:38"}
+{"episode_id":"ep_000015","started_at":"2026-09-02T03:24:42","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.450764856338145,-0.874190247304307,0.71338606911949],"aabb_xy":[[0.39076485649157816,-0.9310088694973456],[0.5107648561847118,-0.8173716251112683]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.0762630535433716,1.028379441272159,0.71338606911949],"aabb_xy":[[-0.13785381276736441,0.9643794431631121],[-0.014672294319378776,1.0923794393812059]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.2366942893743037,1.543828583225754,0.71338606911949],"aabb_xy":[[0.17669428877828752,1.4890161106805306],[0.2966942899703199,1.5986410557709776]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[0.33568299141621405,-2.0276585671905276,0.71338606911949],"aabb_xy":[[0.32305620412901764,-2.0372046408921003],[0.34830977870341034,-2.018112493488955]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[0.6213418173507199,0.488157877429503,0.71338606911949],"aabb_xy":[[0.582796124525519,0.44961210637331434],[0.6598875101759211,0.5267036484856916]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.3782664803262366,1.102054358928823,0.71338606911949],"aabb_xy":[[-0.413266478636932,1.0943393440052775],[-0.3432664820155411,1.1097693738523688]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.5254482986542404,-1.4384086686606787,0.71338606911949],"aabb_xy":[[0.5083462206958722,-1.4555154741919485],[0.5425503766126085,-1.421301863129409]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.16507875561691343,-0.5284461476037023,0.71338606911949],"aabb_xy":[[-0.1950463125267391,-0.558446147901588],[-0.13511119870708777,-0.4984461473058165]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.6059882186007206,-1.0911022108818873,0.71338606911949],"aabb_xy":[[-0.623418933679727,-1.1083743255457377],[-0.588557503521714,-1.073830096218036]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.53622043297398,1.3251528783085718,0.71338606911949],"aabb_xy":[[-0.6012204311298991,1.2988566337586593],[-0.471220434818061,1.3514491228584837]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.24557720685957035,0.13812122935592086,0.71338606911949],"aabb_xy":[[-0.2581799059966468,0.12552583313105534],[-0.2329745077224939,0.15071662558078633]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.6591593453281113,-2.029689118294097,0.71338606911949],"aabb_xy":[[0.6415810431391644,-2.047263607868202],[0.6767376475170581,-2.012114628719992]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.09022901785056459,-2.0311013248556113,0.71338606911949],"aabb_xy":[[-0.11522901778308248,-2.0379839930765344],[-0.0652290179180467,-2.0242186566346883]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.4400179164145406,1.599202575637348,0.71338606911949],"aabb_xy":[[0.41479707955470085,1.573978824784461],[0.4652387532743802,1.6244263264902346]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.11592255107363547,0.990031483894724,0.71338606911949],"aabb_xy":[[0.0934234153474085,0.9675314831164611],[0.13842168679986244,1.0125314846729871]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.39096336191663195,0.19007015531478277,0.71338606911949],"aabb_xy":[[-0.4145484853805268,0.125070153069351],[-0.3673782384527371,0.25507015756021456]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.43330546440512124,0.36562614252179637,0.71338606911949],"aabb_xy":[[-0.45581915622857844,0.2956261419207888],[-0.41079177258166405,0.43562614312280384]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.38570189988296555,0.9936949157927519,0.71338606911949],"aabb_xy":[[0.2960148235748501,0.9036949155383013],[0.475388976191081,1.0836949160472025]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.2319977075107852,-1.3148500337136402,0.71338606911949],"aabb_xy":[[0.16799771022513654,-1.3563567526664841],[0.29599770479643384,-1.2733433147607962]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[-0.5617365843273363,-0.858090968327806,0.71338606911949],"aabb_xy":[[-0.6317365877188983,-0.8934067420312367],[-0.4917365809357744,-0.822775194624375]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.45381905715770676,-2.0115354146960414,0.71338606911949],"aabb_xy":[[0.41790555273271707,-2.0474489229127957],[0.48973256158269646,-1.9756219064792864]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[-0.30849500983019457,-0.706209879402331,0.71338606911949],"aabb_xy":[[-0.31383258549619913,-0.7312098803314708],[-0.30315743416419,-0.6812098784731913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7060885230924981,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7729.png","name":"7729"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4509.png","name":"4509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4310.png","name":"4310"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7918.png","name":"7918"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":804.6808189813562,"rotation_z_degrees":138.99378562691538,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025371654648919557,-0.007677705221440907,-0.011714044725886233]},{"name":"camera_2","offset_m":[-0.001640934932897905,-0.01960052700972892,-0.01682481092204213]},{"name":"camera_3","offset_m":[0.015853432868199745,0.0018272649586360094,0.009577599192277894]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005806788148118133,-0.001281383105155132,0.0001029512923885101],"end_effector_yaw_offset_degrees":-0.9294846439374391},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[5.59852358149324e-05,-0.0019335480394560985,-0.001028035632949778],"end_effector_yaw_offset_degrees":-0.6371144539552938},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019436142342659033,0.0007866179973741363,0.0003870590733614618],"end_effector_yaw_offset_degrees":-0.5832868139026557}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020518751065788945,-0.002674500497118698],"position_m":[0.2617481248934211,0.3430254995028813,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016919815900762634,0.0005492015937009417],"position_m":[0.34409198159007626,0.10184920159370095,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005655839070504457,-0.004039815794271991],"position_m":[0.3291344160929495,-0.04733981579427199,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003509742649186265,0.004322486455799228],"position_m":[0.26955097426491864,-0.38387751354420074,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9b3df3c86db8d58709cf8a4d65924a24c7ca9de30bb67bf2fe3074be91690ee5","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4767/tex_ceiling_textures_7918/tex_floor_textures_4310/tex_table_textures_7729/tex_wall_textures_4509","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8984582863997405689,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8984582863997405689,"visual_seed":8984582863997405689,"scene_id":"lab_003","finished_at":"2026-09-02T03:27:29"}
+{"episode_id":"ep_000016","started_at":"2026-09-02T03:27:32","dimensions":{"distractor":{"count":21,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.6123647716126097,0.2200156285278676,0.71338606911949],"aabb_xy":[[-0.6342545192015505,0.13001563123861848],[-0.5904750240236689,0.3100156258171167]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.3628263403333065,0.9857324777964078,0.71338606911949],"aabb_xy":[[-0.36815885498791956,0.9804081495511722],[-0.3574938256786936,0.9910568060416433]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.42678672035378484,-1.7049188965064064,0.71338606911949],"aabb_xy":[[-0.4917867189108577,-1.734671429920289],[-0.361786721796712,-1.6751663630925238]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.10679493843596466,-1.542337812360292,0.71338606911949],"aabb_xy":[[0.056794937152124685,-1.5923166667509139],[0.1567949397198046,-1.4923589579696697]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.2582455488962913,-2.1333545152103195,0.71338606911949],"aabb_xy":[[-0.32224554618193996,-2.1748612341631635],[-0.19424555161064266,-2.0918477962574755]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.4236772886887255,-2.506476860108139,0.71338606911949],"aabb_xy":[[-0.44619098051218276,-2.576476860709146],[-0.40116359686526837,-2.436476859507131]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.30542532165018854,-1.3184116272073625,0.71338606911949],"aabb_xy":[[-0.3654253225110013,-1.3698380572138484],[-0.2454253207893757,-1.2669851972008757]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.3225738409351109,1.2782599521003428,0.71338606911949],"aabb_xy":[[0.31516138539372235,1.2724087416787149],[0.3299862964764993,1.2841111625219708]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.28758803655490306,-2.1473128625681195,0.71338606911949],"aabb_xy":[[0.25258803665888413,-2.155687098080059],[0.3225880364509219,-2.138938627056179]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.493373793138004,-1.7502903843234163,0.71338606911949],"aabb_xy":[[0.4558737923460085,-1.7566582252816065],[0.5308737939299994,-1.7439225433652261]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.5517594444523608,0.4111134252717794,0.71338606911949],"aabb_xy":[[0.5267594449006222,0.4009709414066447],[0.5767594440040992,0.42125590913691413]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.21788228409197552,-0.6756768367055161,0.71338606911949],"aabb_xy":[[0.21376633397990283,-0.6797923917383616],[0.22199823420404816,-0.6715612816726705]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.022925228269612852,1.7366341426125538,0.71338606911949],"aabb_xy":[[-0.07289829380212832,1.686634142800021],[0.027047837262902618,1.786634142425087]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.40594466048943123,-1.5970455927444087,0.71338606911949],"aabb_xy":[[0.3359446578528449,-1.6171504577402738],[0.4759446631260176,-1.5769407277485428]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.017363108015260753,1.317111097071662,0.71338606911949],"aabb_xy":[[-0.04027882090031066,1.2942067999352385],[0.005552604869789147,1.3400153942080855]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.4774562490911176,-2.270872140025363,0.71338606911949],"aabb_xy":[[0.4134562519790119,-2.3199045098197733],[0.5414562462032233,-2.221839770230952]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.32644861246575746,1.4446390728749594,0.71338606911949],"aabb_xy":[[-0.35477832241429774,1.4401783306812426],[-0.2981189025172173,1.4490998150686767]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.4376524833313036,-1.4765300762351274,0.71338606911949],"aabb_xy":[[0.387679189328043,-1.5265300767896746],[0.4876257773345639,-1.4265300756805799]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[0.4738665014123964,0.10848534905877294,0.71338606911949],"aabb_xy":[[0.46229752066545987,0.08348534894184123],[0.485435482159333,0.13348534917570465]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.535552378194293,0.9377547877973424,0.71338606911949],"aabb_xy":[[0.5180523789162061,0.9204166877309964],[0.5530523774723799,0.9550928878636883]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.08426930576634273,-1.9213482041476322,0.71338606911949],"aabb_xy":[[0.04676930594930917,-1.9259864154587738],[0.12176930558337629,-1.9167099928364901]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7091916983494467,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8807.png","name":"8807"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8807.png","name":"8807"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8011.png","name":"8011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8514.png","name":"8514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1083.png","name":"1083"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4162.png","name":"4162"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":815.2008338489654,"rotation_z_degrees":25.57906448152139,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016682549519357052,0.0012579131452728348,-0.0030263121435525828]},{"name":"camera_2","offset_m":[0.01940995024149465,-0.0076437005195628994,0.0007106491592192288]},{"name":"camera_3","offset_m":[-0.008341970545516237,-0.005227643833250055,0.012455230936503418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012012272223006527,0.0014847148274401826,-0.0005767180027907877],"end_effector_yaw_offset_degrees":0.20437163633688704},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008733056457895603,-0.0013834279411710977,-0.0006450366959144924],"end_effector_yaw_offset_degrees":0.07653340924467544},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00040390542643695864,-0.00037342501097080384,-0.0003479808078075597],"end_effector_yaw_offset_degrees":-0.9384389276494118}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004132121546222914,-0.0019638009742333398],"position_m":[0.26793212154622287,0.3437361990257667,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002452967321106967,0.0019399809367412427],"position_m":[0.33994703267889304,0.10323998093674125,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004947967488785291,0.003158160173131663],"position_m":[0.3301947967488785,-0.040141839826868336,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002482803743006079,0.0019066977062563968],"position_m":[0.2716828037430061,-0.3862933022937436,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6563d8ef8aa92c3fb9ed9b5f01a8def6e2270b3e93459cd1888d54f4fbbba811","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8807/tex_ceiling_textures_4162/tex_floor_textures_1083/tex_table_textures_8011/tex_wall_textures_8514","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5133259110356853091,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5133259110356853091,"visual_seed":5133259110356853091,"scene_id":"lab_003","finished_at":"2026-09-02T03:30:18"}
+{"episode_id":"ep_000017","started_at":"2026-09-02T03:30:21","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.09807627525884077,-1.0589417920890682,0.71338606911949],"aabb_xy":[[-0.1323925524334587,-1.108941792062246],[-0.06375999808422284,-1.0089417921158905]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[-0.30540407175523515,0.5955522470164967,0.71338606911949],"aabb_xy":[[-0.31149869964335347,0.5869828524648281],[-0.29930944386711683,0.6041216415681655]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.38849979623456193,-1.1637817422640289,0.71338606911949],"aabb_xy":[[-0.42599979658278964,-1.1755731378451124],[-0.3509997958863341,-1.1519903466829453]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.6011092609065103,1.2027321013164594,0.71338606911949],"aabb_xy":[[0.5792005787671591,1.1808314344963686],[0.6230179430458612,1.22463276813655]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.1531899408213604,-0.28567982316956275,0.71338606911949],"aabb_xy":[[-0.23318993940867982,-0.36499542510772365],[-0.07318994223404097,-0.20636422123140188]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.10649892396533756,0.7951748975403912,0.71338606911949],"aabb_xy":[[-0.11145494415021877,0.7726748973382697],[-0.10154290378045637,0.8176748977425129]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.43126531356289877,0.6178509154496292,0.71338606911949],"aabb_xy":[[0.4215093240537248,0.6080883813903947],[0.4410213030720726,0.6276134495088636]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.5463193419014325,-1.7943303830709598,0.71338606911949],"aabb_xy":[[0.5184743051208253,-1.8251148818092715],[0.5741643786820395,-1.7635458843326481]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.1311810464663954,0.5486836998515319,0.71338606911949],"aabb_xy":[[-0.14673681587666065,0.5331332666071248],[-0.11562527705613013,0.5642341330959392]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[-0.6428738686924291,1.41911453170712,0.71338606911949],"aabb_xy":[[-0.692873869976269,1.369135677316498],[-0.592873867408589,1.4690933860977422]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.222930290016904,-1.5876007797650877,0.71338606911949],"aabb_xy":[[0.21530602192672577,-1.5952340033016317],[0.23055455810708225,-1.5799675562285442]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[0.5119392994525374,-2.4964038137905784,0.71338606911949],"aabb_xy":[[0.5000065650907093,-2.5087859665984373],[0.5238720338143654,-2.4840216609827186]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.7034434195500523,1.572734324972496,0.71338606911949],"aabb_xy":[[0.6899968929160089,1.5592644733194045],[0.7168899461840955,1.5862041766255872]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.030188031911710045,-1.6732910460266073,0.71338606911949],"aabb_xy":[[-0.08518803153345589,-1.7282747388140802],[0.024811967710035795,-1.6183073532391348]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.5164652316931895,0.368645929668622,0.71338606911949],"aabb_xy":[[0.5099635951851849,0.3588781076423122],[0.5229668682011941,0.3784137516949318]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.5662269171327837,-0.377344960372628,0.71338606911949],"aabb_xy":[[-0.611505532013933,-0.44134495972081167],[-0.5209483022516345,-0.3133449610244443]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.053136802686281626,0.42499945819022633,0.71338606911949],"aabb_xy":[[-0.07563322412014573,0.4024994583834789],[-0.030640381252417526,0.44749945799697377]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.13260111764112215,-0.8684954164133161,0.71338606911949],"aabb_xy":[[0.09405542481592111,-0.9070411874695046],[0.17114681046632318,-0.8299496453571273]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.5774633421828022,0.031335968823442695,0.71338606911949],"aabb_xy":[[0.5406687090578959,-0.00556990627313958],[0.6142579753077084,0.06824184392002497]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.15589088490539071,-1.653891979112111,0.71338606911949],"aabb_xy":[[-0.16000683501746335,-1.658007534144956],[-0.15177493479331802,-1.649776424079265]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.2054415611958424,-0.9051892670229038,0.71338606911949],"aabb_xy":[[-0.25544156063603796,-0.95515719150722],[-0.15544156175564675,-0.8552213425385874]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.7104747383721912,-2.023260616110215,0.71338606911949],"aabb_xy":[[0.7025514581334429,-2.0457606163482183],[0.7183980186109395,-2.0007606158722115]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[0.6318529685382288,-0.7426894554892156,0.71338606911949],"aabb_xy":[[0.581875551672975,-0.792689456978464],[0.6818303854034822,-0.692689453999967]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[-0.05994916238677139,-2.0161123789577235,0.71338606911949],"aabb_xy":[[-0.11004662636784501,-2.0801123794675354],[-0.009851698405697773,-1.9521123784479117]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_24","position":[-0.4713864232804412,-2.3750897060976577,0.71338606911949],"aabb_xy":[[-0.5088864239450197,-2.3907767640978794],[-0.4338864226158624,-2.359402648097435]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.28731462344235315,-1.497552289650441,0.71338606911949],"aabb_xy":[[0.22231462233640992,-1.5225176627185695],[0.3523146245482965,-1.4725869165823129]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.5168178035527762,-0.26989493221171124,0.71338606911949],"aabb_xy":[[0.4943178033092608,-0.28209956687148324],[0.5393178037962916,-0.25769029755193934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.710837306055825,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3440.png","name":"3440"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3440.png","name":"3440"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/861.png","name":"861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2048.png","name":"2048"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1626.png","name":"1626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8294.png","name":"8294"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":663.8307307774375,"rotation_z_degrees":107.57068258788098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012157902091742685,-0.011234393626644504,-0.0022528609851484097]},{"name":"camera_2","offset_m":[0.014582760490736122,-0.017842602105779082,-0.019954739502977468]},{"name":"camera_3","offset_m":[-0.007240445778614487,-0.017575473117954522,0.0069155583628281]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015105211599882413,-0.0012264509021530623,-0.0004617814796173149],"end_effector_yaw_offset_degrees":-0.07226846563611855},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006000711861232433,0.0013813283143573338,-0.00014193186488724676],"end_effector_yaw_offset_degrees":0.1488527729293927},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001040157521276055,0.0019798645066472498,0.00039367063339895963],"end_effector_yaw_offset_degrees":-0.015167386551495188}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0012940389488157664,-0.0013898642915866912],"position_m":[0.2650940389488157,0.3443101357084133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016522434278445565,-0.00036800131456944836],"position_m":[0.34074775657215545,0.10093199868543055,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0014723135340963334,0.0003953780090390343],"position_m":[0.32822768646590367,-0.04290462199096096,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030794996337856753,-0.00019306212433786805],"position_m":[0.27227949963378567,-0.3883930621243379,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b02afe847ecd38bbd4d55475a9e693c939ca53fdb4ef70298368f5f05365911a","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3440/tex_ceiling_textures_8294/tex_floor_textures_1626/tex_table_textures_861/tex_wall_textures_2048","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":9050382206386465145,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":9050382206386465145,"visual_seed":9050382206386465145,"scene_id":"lab_003","finished_at":"2026-09-02T03:33:09"}
+{"episode_id":"ep_000018","started_at":"2026-09-02T03:33:12","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.0012069817275188743,-2.4876238827120916,0.71338606911949],"aabb_xy":[[-0.08120698200112585,-2.5605734305378083],[0.0787930185460881,-2.414674334886375]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.5869521756385669,1.090740607411906,0.71338606911949],"aabb_xy":[[0.49695217913769524,1.0448289649934475],[0.6769521721394387,1.136652249830364]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.25850451483937775,-1.7397902364973707,0.71338606911949],"aabb_xy":[[-0.30850451578991056,-1.7713393835008922],[-0.20850451388884494,-1.7082410894938493]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.2590510157084774,-2.165452965905449,0.71338606911949],"aabb_xy":[[-0.2630114994782118,-2.17312083049097],[-0.255090531938743,-2.157785101319929]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.17008428079209237,-0.2083436152960645,0.71338606911949],"aabb_xy":[[-0.17924415973596894,-0.2148748333396015],[-0.16092440184821574,-0.20181239725252748]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.4789935114714299,-0.0047610675136118275,0.71338606911949],"aabb_xy":[[0.46120000453651344,-0.022560813109409494],[0.4967870184063463,0.01303867808218584]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.10703850004382531,1.001806953426609,0.71338606911949],"aabb_xy":[[0.08953856660984193,0.9843069535063742],[0.12453843347780867,1.0193069533468433]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.10429606153273352,-1.7831849981348005,0.71338606911949],"aabb_xy":[[-0.16829606482244164,-1.826519917138718],[-0.04029605824302541,-1.7398500791308829]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[0.3442498856201197,-0.8459073776969692,0.71338606911949],"aabb_xy":[[0.3204136679795147,-0.9359073785054559],[0.36808610326072483,-0.755907376888483]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.6653305552028876,1.2621890283325201,0.71338606911949],"aabb_xy":[[-0.678481801174177,1.2371890285758336],[-0.6521793092315983,1.2871890280892067]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.6314845642468905,0.3090501984346097,0.71338606911949],"aabb_xy":[[0.5814914521376986,0.25905019776041405],[0.6814776763560824,0.3590501991088053]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.3015798633306355,-0.2216327733718897,0.71338606911949],"aabb_xy":[[-0.326579862882374,-0.2317752572370244],[-0.27657986377889704,-0.21149028950675497]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.5714411425683111,-0.22449402615330927,0.71338606911949],"aabb_xy":[[-0.6164337292867614,-0.269494025427758],[-0.5264485558498606,-0.17949402687886049]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.327858347339012,-2.401095737399749,0.71338606911949],"aabb_xy":[[0.27776088335793836,-2.465095737909561],[0.3779558113200856,-2.337095736889937]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.6714074315636707,1.0080009927732179,0.71338606911949],"aabb_xy":[[-0.6823132076512334,0.9280009963743889],[-0.660501655476108,1.0880009891720472]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.25991787630551016,1.2254615041237034,0.71338606911949],"aabb_xy":[[-0.26784115654425844,1.2029615038857],[-0.2519945960667618,1.2479615043617067]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.014008589109516745,-0.4065972116300891,0.71338606911949],"aabb_xy":[[-0.023640225329946363,-0.416234524409798],[-0.004376952889087127,-0.3969598988503802]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.09845835454396756,1.2535068278754542,0.71338606911949],"aabb_xy":[[0.06095835472693399,1.2488686165643121],[0.13595835436100112,1.2581450391865958]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.3943051614837605,1.2871880123926998,0.71338606911949],"aabb_xy":[[-0.4318051615893534,1.2803658505397184],[-0.3568051613781675,1.2940101742456807]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.5662761613337158,-0.7216682072542495,0.71338606911949],"aabb_xy":[[-0.5735584777103793,-0.8116682108637584],[-0.558993844957052,-0.6316682036447404]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[0.1010146387184957,-1.3165438788638972,0.71338606911949],"aabb_xy":[[0.0660146404483758,-1.3236180065588854],[0.1360146369886156,-1.309469751168909]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[0.2427800764785375,-0.684105187679956,0.71338606911949],"aabb_xy":[[0.2362784399705329,-0.6938730097062658],[0.24928171298654214,-0.6743373656536462]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.32649412133118627,-1.54221848988406,0.71338606911949],"aabb_xy":[[0.23649412160801211,-1.5652918424192397],[0.41649412105436046,-1.51914513734888]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[0.5175331584979916,-1.8163539939506195,0.71338606911949],"aabb_xy":[[0.46753315985207045,-1.8662735376100816],[0.5675331571439128,-1.7664344502911569]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[-0.41795993332654735,-1.5313940612290584,0.71338606911949],"aabb_xy":[[-0.4979599302895864,-1.6084697028728316],[-0.3379599363635081,-1.4543184195852847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7115297780905472,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4843.png","name":"4843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4843.png","name":"4843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4273.png","name":"4273"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/805.png","name":"805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2075.png","name":"2075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/137.png","name":"137"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":699.7383890022098,"rotation_z_degrees":97.9706214927558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004121211994571699,-0.002345218509216842,0.0051787191528380044]},{"name":"camera_2","offset_m":[0.008893812260843941,0.014612248667709094,-0.010491067441193472]},{"name":"camera_3","offset_m":[-0.01646180818075896,-0.00621981963363742,0.004829526744088902]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001854528712096844,-0.001745680053550036,0.00044393170355422644],"end_effector_yaw_offset_degrees":-0.4839673509082276},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008643948176853412,0.0002661083512014023,0.0019926822646090785],"end_effector_yaw_offset_degrees":0.8516512598613977},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017809384302010006,0.000410539639605737,0.0006971082386742619],"end_effector_yaw_offset_degrees":0.5503755657261336}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035572374314279407,0.002928286022542249],"position_m":[0.2673572374314279,0.34862828602254226,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002293586733175931,-0.0030722157432976306],"position_m":[0.3446935867331759,0.09822778425670237,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005884791589506966,-0.0008668997938838527],"position_m":[0.3302884791589507,-0.04416689979388385,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028362827072532246,-0.0018302947862864896],"position_m":[0.2720362827072532,-0.3900302947862865,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"11cc4c300e9ae830f2daa2dbeedae97eeac6737680e06788341fe75c4a2ce456","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4843/tex_ceiling_textures_137/tex_floor_textures_2075/tex_table_textures_4273/tex_wall_textures_805","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":128181915611697765,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":128181915611697765,"visual_seed":128181915611697765,"scene_id":"lab_003","finished_at":"2026-09-02T03:36:06"}
+{"episode_id":"ep_000019","started_at":"2026-09-02T03:36:09","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.5729814567143212,-1.8965871343521894,0.71338606911949],"aabb_xy":[[0.5553058261257228,-1.9142673506315921],[0.5906570873029194,-1.8789069180727866]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.04838523931021799,-0.5610230292811442,0.71338606911949],"aabb_xy":[[-0.07222145695082308,-0.6510230300896307],[-0.02454902166961294,-0.47102302847265776]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.6423489253036616,-0.1995053535815381,0.71338606911949],"aabb_xy":[[-0.6511301524508979,-0.20828510087006827],[-0.6335676981564253,-0.19072560629300797]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.5397954557862422,-1.5327307736193847,0.71338606911949],"aabb_xy":[[-0.5897954570700821,-1.5827096280100064],[-0.4897954545024022,-1.4827519192287621]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.0021953741062655796,-2.4605821982596674,0.71338606911949],"aabb_xy":[[-0.0031422015597389885,-2.485582199188807],[0.007532949772270148,-2.4355821973305276]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.5526188421880954,0.2551906234210892,0.71338606911949],"aabb_xy":[[-0.6024356216529302,0.20519062493678586],[-0.5028020627232607,0.3051906219053926]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.3891024905550058,0.4413688629526793,0.71338606911949],"aabb_xy":[[0.3658206483568744,0.3563688616554511],[0.4123843327531371,0.5263688642499071]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.47923426892030707,0.1932925299061221,0.71338606911949],"aabb_xy":[[0.47480363956546695,0.18784415817143954],[0.4836648982751473,0.19874090164080474]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.17321124078627592,-2.1602816008466954,0.71338606911949],"aabb_xy":[[-0.19100474772119236,-2.178081346442493],[-0.15541773385135949,-2.1424818552508977]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[0.5605355488416985,-0.5705881862385742,0.71338606911949],"aabb_xy":[[0.5105424367325068,-0.6205881869127698],[0.6105286609508905,-0.5205881855643786]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[0.5410006628736455,1.6391948385363464,0.71338606911949],"aabb_xy":[[0.48100066262224417,1.5849135134998817],[0.6010006631250465,1.693476163572811]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.3876967055449865,-1.841248972697744,0.71338606911949],"aabb_xy":[[-0.4089747136884587,-1.9062489750238167],[-0.3664186974015142,-1.7762489703716706]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.6024933600892971,-2.5217868464568824,0.71338606911949],"aabb_xy":[[-0.6085303730899619,-2.527813547525831],[-0.5964563470886325,-2.515760145387935]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.23486506263388318,0.12826597256880623,0.71338606911949],"aabb_xy":[[-0.24299275082719643,0.11935236415809858],[-0.22673737444057,0.13717958097951388]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.626980789090133,-0.3325913601751549,0.71338606911949],"aabb_xy":[[-0.6764612103040918,-0.3965913580880067],[-0.5775003678761742,-0.26859136226230307]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.4486145966879487,0.7544045912888309,0.71338606911949],"aabb_xy":[[0.4256988838028988,0.7315002941524075],[0.4715303095729986,0.7773088884252546]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.12444902644437561,1.4586253748506768,0.71338606911949],"aabb_xy":[[-0.13041556538511137,1.4526642301913126],[-0.1184824875036398,1.464586519510041]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[-0.5661786647853353,-0.048154028911415736,0.71338606911949],"aabb_xy":[[-0.601807820685295,-0.08378669566826868],[-0.5305495088853756,-0.012521362154562787]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.5871580272208466,-1.0755107796765666,0.71338606911949],"aabb_xy":[[-0.5917931423730798,-1.079378114753715],[-0.5825229120686131,-1.0716434445994178]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.32241283504489576,-2.3752388103036286,0.71338606911949],"aabb_xy":[[-0.402406658623454,-2.45523881289647],[-0.24241901146633754,-2.295238807710787]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.4247132642842175,-1.1095998481134999,0.71338606911949],"aabb_xy":[[0.36071326402374665,-1.1546086474664279],[0.4887132645446883,-1.0645910487605719]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.6588588032823852,0.41395320527754054,0.71338606911949],"aabb_xy":[[0.5972680440583924,0.3499532071684937],[0.720449562506378,0.4779532033865875]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.09365158613947455,-2.2483019375198032,0.71338606911949],"aabb_xy":[[0.02965158755290208,-2.2953089009193115],[0.157651584726047,-2.201294974120294]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.007459570447165387,1.1063531187018758,0.71338606911949],"aabb_xy":[[-0.04254043050336742,1.0748039716983542],[0.057459571397698195,1.137902265705397]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.5933277964820274,-0.9207938042782611,0.71338606911949],"aabb_xy":[[0.5817588157350909,-0.9457938043951929],[0.6048967772289641,-0.8957938041613295]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[0.15957255814813165,1.4750485664390767,0.71338606911949],"aabb_xy":[[0.13766387600878058,1.453147899618986],[0.18148124028748266,1.4969492332591674]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[0.4195231038298204,-0.9024974731763928,0.71338606911949],"aabb_xy":[[0.35552310160941336,-0.946870557301681],[0.4835231060502274,-0.8581243890511044]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.3121942667423948,-2.1124275165401514,0.71338606911949],"aabb_xy":[[-0.3421618236522205,-2.142427516838037],[-0.28222670983256914,-2.082427516242266]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_28","position":[0.14850653422700677,1.1664376852023977,0.71338606911949],"aabb_xy":[[0.11350653591631135,1.158722670278852],[0.18350653253770224,1.1741527001259433]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[-0.49768543986147507,-0.9333039730394597,0.71338606911949],"aabb_xy":[[-0.5351854406534705,-0.9396718139976497],[-0.4601854390694796,-0.9269361320812695]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.31394458758512894,1.3479610857220785,0.71338606911949],"aabb_xy":[[-0.32164777825920593,1.3402517150233402],[-0.30624139691105184,1.3556704564208164]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[0.45905848877775557,1.1017717397812072,0.71338606911949],"aabb_xy":[[0.4365584882657149,1.0792798814158087],[0.4815584892897961,1.1242635981466054]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_32","position":[0.07840958982795243,-1.8559414164850467,0.71338606911949],"aabb_xy":[[0.05929728246997357,-1.8750761953622888],[0.0975218971859313,-1.8368066376078047]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_33","position":[-0.5184852790179135,-2.0161782486616326,0.71338606911949],"aabb_xy":[[-0.5784852788644803,-2.0729968708546713],[-0.45848527917134674,-1.959359626468594]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_34","position":[0.180379693803011,-1.0907019818651418,0.71338606911949],"aabb_xy":[[0.17226603912963392,-1.0988077983191709],[0.18849334847638813,-1.0825961654111127]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7098393317194482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4364.png","name":"4364"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7873.png","name":"7873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5126.png","name":"5126"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/273.png","name":"273"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":677.9601620724508,"rotation_z_degrees":176.5167478729897,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008440332110920217,0.015309137239817753,0.0038116126493262514]},{"name":"camera_2","offset_m":[0.01833539774065628,0.008908763689056118,-0.010997714046336341]},{"name":"camera_3","offset_m":[-0.010453660461268041,-0.01789983429306513,-0.014936131972392963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001601876591392612,5.083988356231403e-06,0.0017128981216973623],"end_effector_yaw_offset_degrees":-0.7700148355076986},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010816218985242646,-0.0019686737515930575,-0.001644339655240664],"end_effector_yaw_offset_degrees":-0.9043748331333752},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007905617175620967,-0.0004284992467010857,0.0006723779312646466],"end_effector_yaw_offset_degrees":0.1627502878585343}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0043383339913319365,0.0015855344377549664],"position_m":[0.25946166600866805,0.34728553443775495,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00435194678502263,0.004320785756402992],"position_m":[0.34675194678502264,0.10562078575640299,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018890632056038211,9.606044261803968e-06],"position_m":[0.33158906320560383,-0.04329039395573819,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008160170974747631,-0.0018273379081851803],"position_m":[0.27001601709747475,-0.39002733790818517,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cf4efd3673e0d437521083f131dcf6bed0bc1dfab98b7867f295e3f47c91c072","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9136/tex_ceiling_textures_273/tex_floor_textures_5126/tex_table_textures_4364/tex_wall_textures_7873","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7818561144125074741,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7818561144125074741,"visual_seed":7818561144125074741,"scene_id":"lab_003","finished_at":"2026-09-02T03:39:14"}
+{"episode_id":"ep_000020","started_at":"2026-09-02T03:39:19","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.5930659021657825,-0.5186417478518313,0.71338606911949],"aabb_xy":[[0.5290659004877851,-0.5671591393311455],[0.6570659038437798,-0.47012435637251704]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.4777542105910367,0.9308578365075091,0.71338606911949],"aabb_xy":[[-0.5277542119519238,0.8808799319320935],[-0.42775420923014945,0.9808357410829247]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.5063002174186915,0.19494672907329358,0.71338606911949],"aabb_xy":[[-0.5703002176791623,0.14993792972036557],[-0.4423002171582207,0.2399555284262216]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.4327368215224315,-0.2961407496060655,0.71338606911949],"aabb_xy":[[-0.4692326421497102,-0.332624692032823],[-0.39624100089515274,-0.2596568071793079]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.5433629563322904,0.565215247375149,0.71338606911949],"aabb_xy":[[0.508771873478245,0.5002152470901178],[0.5779540391863355,0.6302152476601799]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.26750358054875123,-2.0748840650283875,0.71338606911949],"aabb_xy":[[0.25946724584746633,-2.082922184332804],[0.275539915250036,-2.066845945723971]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.5654449003037498,1.6983014191812713,0.71338606911949],"aabb_xy":[[0.5104516889666132,1.6433014188424777],[0.6204381116408867,1.753301419520065]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.4806721321791043,-2.242350552928455,0.71338606911949],"aabb_xy":[[-0.5606721354431174,-2.255910585237368],[-0.40067212891509124,-2.2287905206195413]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.08360963358419715,-2.0864855131896247,0.71338606911949],"aabb_xy":[[0.053125383457167,-2.13648551297112],[0.1140938837112273,-2.0364855134081283]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.2400207241696808,-1.1383371618367961,0.71338606911949],"aabb_xy":[[-0.289903421047377,-1.188337161083071],[-0.1901380272919846,-1.0883371625905216]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.17581300089714724,-1.5321000428040703,0.71338606911949],"aabb_xy":[[0.12581300053658115,-1.582080030013673],[0.22581300125771328,-1.4821200555944671]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.5534502926872054,0.062084144954220655,0.71338606911949],"aabb_xy":[[-0.563081928907635,0.05244683217451174],[-0.5438186564667757,0.07172145773392957]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.09110548167292665,-1.7817949865735505,0.71338606911949],"aabb_xy":[[0.04980093860919066,-1.8457949861416676],[0.13241002473666263,-1.7177949870054334]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.1455776052841784,-2.460807934682834,0.71338606911949],"aabb_xy":[[-0.152859921660842,-2.5508079382923423],[-0.1382952889075147,-2.3708079310733243]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.45954495348648794,-1.9912973191030165,0.71338606911949],"aabb_xy":[[0.4404326461285091,-2.0104320979802583],[0.4786572608444668,-1.9721625402257745]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.004775766922367808,-1.6363040690576423,0.71338606911949],"aabb_xy":[[-0.010233712559387875,-1.7163040723653011],[0.0006821787146522595,-1.556304065749983]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.1789224778287004,-1.284688375325247,0.71338606911949],"aabb_xy":[[-0.2429224742560223,-1.3318579991473434],[-0.1149224814013785,-1.2375187515031505]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.32077285504472774,0.5627889873351064,0.71338606911949],"aabb_xy":[[0.2707728563988066,0.5128694436756439],[0.370772853690649,0.6127085309945687]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.5810292036683571,-2.045709172376706,0.71338606911949],"aabb_xy":[[0.5358578858201882,-2.1097091695212447],[0.6262005215165262,-1.9817091752321678]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.1374906858974535,-2.096099362833795,0.71338606911949],"aabb_xy":[[-0.20149068780979584,-2.1520105120918056],[-0.07349068398511116,-2.0401882135757847]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.5314040998911034,0.2417246429796478,0.71338606911949],"aabb_xy":[[0.518173154356422,0.22849722395764835],[0.5446350454257846,0.2549520620016472]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.5345900031606439,-1.0610397084384915,0.71338606911949],"aabb_xy":[[-0.6145900001748918,-1.0811742601119025],[-0.4545900061463959,-1.04090515676508]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[-0.00536818637584402,-2.235862403064039,0.71338606911949],"aabb_xy":[[-0.07536818818458946,-2.257216171828227],[0.06463181543290142,-2.214508634299852]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[-0.3162205789315471,0.6431917233031976,0.71338606911949],"aabb_xy":[[-0.3662205783717427,0.5932237988188811],[-0.2662205794913515,0.6931596477875137]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[-0.041734530004401194,1.5777694780406564,0.71338606911949],"aabb_xy":[[-0.05360661301590231,1.492769478347006],[-0.02986244699290009,1.6627694777343067]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.6434909245648318,-1.782401680818787,0.71338606911949],"aabb_xy":[[-0.6507346906110771,-1.8624016790223894],[-0.6362471585185865,-1.7024016826151847]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_26","position":[-0.14802345794174243,0.08350930236077136,0.71338606911949],"aabb_xy":[[-0.1577794474509163,0.07374676830153692],[-0.1382674684325685,0.0932718364200058]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.6750286281905729,0.6180991096408124,0.71338606911949],"aabb_xy":[[-0.6798722229518028,0.6132474571618283],[-0.6701850334293429,0.6229507621197965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106576900606678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7711.png","name":"7711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7711.png","name":"7711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3140.png","name":"3140"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2006.png","name":"2006"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6324.png","name":"6324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7606.png","name":"7606"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":733.0704833817703,"rotation_z_degrees":58.59682537847887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-3.307837233346156e-05,0.0023756410449799516,-0.007143207457482554]},{"name":"camera_2","offset_m":[-0.018867944908031106,0.006970182147679881,0.015871318557361114]},{"name":"camera_3","offset_m":[-0.006880766807614923,0.008562185138840394,-0.008819882011214487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001495190633047077,0.0014100930705526512,0.0008541086287591195],"end_effector_yaw_offset_degrees":-0.32983774841383506},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014142874954545365,0.0016920092132956545,0.0015474300487541169],"end_effector_yaw_offset_degrees":0.4146672951840513},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009971262204560493,0.0014579754572287325,0.0014993649468097291],"end_effector_yaw_offset_degrees":0.8585434925803739}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002863493415970214,-0.0012333095317363261],"position_m":[0.2666634934159702,0.34446669046826367,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009694795125084633,-0.0035278087451774843],"position_m":[0.34336947951250846,0.09777219125482252,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004944703806042178,0.00045872101904584003],"position_m":[0.3247552961939578,-0.04284127898095416,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022138215583417577,-0.001189053436979115],"position_m":[0.27141382155834176,-0.3893890534369791,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"23a01698a6a010f97498067d6a6f43131332eeb9a41b04aa1902a10ecd34cf13","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7711/tex_ceiling_textures_7606/tex_floor_textures_6324/tex_table_textures_3140/tex_wall_textures_2006","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":1586220252122167229,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":1586220252122167229,"visual_seed":1586220252122167229,"scene_id":"lab_003","finished_at":"2026-09-02T03:42:10"}
+{"episode_id":"ep_000021","started_at":"2026-09-02T03:42:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.06890688269947043,-0.4752218032211899,0.71338606911949],"aabb_xy":[[-0.07931844137995413,-0.4805675365570883],[-0.0584953240189867,-0.4698760698852913]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.09259190999896794,1.3526658117180053,0.71338606911949],"aabb_xy":[[0.01259190674112498,1.2726693039260215],[0.1725919132568109,1.4326623195099895]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.6189293679875537,0.48812798756466247,0.71338606911949],"aabb_xy":[[-0.6418450808726036,0.465223690428239],[-0.5960136551025038,0.511032284701086]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.5992823261999817,1.798370687370936,0.71338606911949],"aabb_xy":[[-0.6792823241807667,1.7907691464090838],[-0.5192823282191966,1.8059722283327877]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.6493831067818884,-0.29689697398383696,0.71338606911949],"aabb_xy":[[-0.6645552760635217,-0.3120658309120403],[-0.634210937500255,-0.2817281170556336]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[0.08497796146641945,1.1012806807202318,0.71338606911949],"aabb_xy":[[0.05068105044867883,1.0669837945102902],[0.11927487248416008,1.1355775669301729]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.08428979543438331,-2.3335482705630963,0.71338606911949],"aabb_xy":[[-0.1255943384981193,-2.3975482701312134],[-0.042985252370647334,-2.2695482709949792]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.27716626637547104,-0.9590532030988013,0.71338606911949],"aabb_xy":[[0.2670845592968975,-1.0390532009909157],[0.28724797345404446,-0.8790532052066864]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.3529155394951142,-0.6339911740447217,0.71338606911949],"aabb_xy":[[0.3029155382112742,-0.6839700284353436],[0.40291554077895414,-0.5840123196540994]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.2531409524833382,1.5110625433260512,0.71338606911949],"aabb_xy":[[-0.2896367731106169,1.4745786008992934],[-0.21664513185605944,1.5475464857528085]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.07419117991912705,0.08657860966935793,0.71338606911949],"aabb_xy":[[-0.09669118043116763,0.06408675130395956],[-0.05169117940708644,0.10907046803475627]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.5360297929944104,-2.271403120819009,0.71338606911949],"aabb_xy":[[-0.5560882046076507,-2.2914682077281663],[-0.5159713813811702,-2.2513380339098514]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.3787052870556319,-2.2230393984691825,0.71338606911949],"aabb_xy":[[-0.3957153843456826,-2.2391738869674565],[-0.3616951897655813,-2.2069049099709086]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[0.11230752917926601,-1.9803948951954213,0.71338606911949],"aabb_xy":[[0.10580589267126139,-1.9901627172217315],[0.11880916568727062,-1.970627073169112]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.1784739350675172,1.2188950282904436,0.71338606911949],"aabb_xy":[[0.1697759727768019,1.2067700539829689],[0.18717189735823248,1.2310200025979183]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.5211121004758488,0.9267929763654492,0.71338606911949],"aabb_xy":[[0.4759407826276798,0.8627929792209109],[0.5662834183240177,0.9907929735099877]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.008111227487483497,1.5560951960273717,0.71338606911949],"aabb_xy":[[-0.04496177542447111,1.518595195204338],[0.028739320449504113,1.5935951968504054]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.0780871326222683,-1.9203604476896818,0.71338606911949],"aabb_xy":[[-0.14808713443101373,-1.941714216453869],[-0.008087130813522858,-1.8990066789254942]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.4004781039906028,1.2632934946503749,0.71338606911949],"aabb_xy":[[-0.46447810436813636,1.2135482277995624],[-0.3364781036130691,1.313038761501187]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.11340276211637379,-1.5603631071979625,0.71338606911949],"aabb_xy":[[-0.193396585694932,-1.640363109790804],[-0.03340893853781558,-1.4803631046051209]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[0.3678218202181647,-1.9634934146534615,0.71338606911949],"aabb_xy":[[0.36011862954408763,-1.9712027853521996],[0.3755250108922417,-1.9557840439547234]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.17693573372397609,-1.376780695071165,0.71338606911949],"aabb_xy":[[0.1716032190693631,-1.3821050233164005],[0.18226824837858907,-1.3714563668259294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7069376212647785,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7630.png","name":"7630"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3501.png","name":"3501"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8365.png","name":"8365"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1377.png","name":"1377"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":624.2824570302608,"rotation_z_degrees":42.5644601865116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013097984769675022,0.016035439076085,-0.009412490339926251]},{"name":"camera_2","offset_m":[-0.014902869067836503,0.004614476515098571,-0.0034324088577467604]},{"name":"camera_3","offset_m":[0.01769445227920179,0.008904214442983564,0.0009984832347241929]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00017177166116940507,-0.0012190202637744347,0.0013965192435930998],"end_effector_yaw_offset_degrees":0.5301768239456894},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017600975442978513,0.0013558082462773297,0.0004437866403222547],"end_effector_yaw_offset_degrees":0.2538674257755045},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001552187914897687,0.0016272013338125614,-0.0011936526989955532],"end_effector_yaw_offset_degrees":0.10745001248296937}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004445142440298764,0.0035343783815418766],"position_m":[0.2593548575597012,0.34923437838154187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001062550858356619,0.004317739711473004],"position_m":[0.3434625508583566,0.10561773971147301,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00237750169648314,0.0041511753707841785],"position_m":[0.33207750169648315,-0.03914882462921582,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004432237897948957,0.0015446273319865544],"position_m":[0.2687567762102051,-0.3866553726680134,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"db2c0a578eadd3207d193e728e076aab626371a4d2c11b536fadb72fda263a71","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_377/tex_ceiling_textures_1377/tex_floor_textures_8365/tex_table_textures_7630/tex_wall_textures_3501","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":894311828550042422,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":894311828550042422,"visual_seed":894311828550042422,"scene_id":"lab_003","finished_at":"2026-09-02T03:45:03"}
+{"episode_id":"ep_000022","started_at":"2026-09-02T03:45:06","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[0.1836908747732331,-2.4192092781509804,0.71338606911949],"aabb_xy":[[0.1723291401199469,-2.4305777445572687],[0.19505260942651922,-2.407840811744692]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.4845385317932074,-1.7359236407432386,0.71338606911949],"aabb_xy":[[-0.5485385303797798,-1.7829306041427473],[-0.42053853320663487,-1.6889166773437299]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.41429020504751457,-2.163435125508147,0.71338606911949],"aabb_xy":[[0.40548814973854186,-2.171246451663076],[0.4230922603564873,-2.1556237993532177]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.2662452134644403,-0.6438942829205903,0.71338606911949],"aabb_xy":[[0.2012452155827925,-0.6950179466271311],[0.3312452113460881,-0.5927706192140494]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.46906352437597987,0.033728858097496595,0.71338606911949],"aabb_xy":[[-0.4990551871098502,0.00372885876069607],[-0.43907186164210954,0.06372885743429713]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.27040264068559294,1.0920894288715215,0.71338606911949],"aabb_xy":[[-0.32539811850625233,1.0370894274376143],[-0.21540716286493355,1.1470894303054282]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.13815392837224427,1.3475054319495112,0.71338606911949],"aabb_xy":[[-0.17518803780030398,1.3131282246158018],[-0.10111981894418456,1.3818826392832206]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.2118803646701679,-0.2542854719597658,0.71338606911949],"aabb_xy":[[-0.2179173776708327,-0.260312173028714],[-0.20584335166950324,-0.2482587708908176]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[0.03472346155486561,1.5686039367702524,0.71338606911949],"aabb_xy":[[0.0012832863588460028,1.5351603109393221],[0.0681636367508852,1.6020475626011823]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.49740959864637935,-1.0464148883380635,0.71338606911949],"aabb_xy":[[0.4937063373172404,-1.050116906646781],[0.5011128599755181,-1.0427128700293455]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.14435372247282896,-0.5445035208210975,0.71338606911949],"aabb_xy":[[-0.19435372383371616,-0.594481425396513],[-0.09435372111194172,-0.49452561624568186]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.4972030940503812,0.7069455326363894,0.71338606911949],"aabb_xy":[[-0.5197030942938966,0.6947408979766173],[-0.4747030938068658,0.7191501672961612]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.5138638463612548,-2.254495121298994,0.71338606911949],"aabb_xy":[[0.4795669353435141,-2.2887920075089347],[0.5481607573789953,-2.220198235089052]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[0.21464634906094449,-1.4821066017813986,0.71338606911949],"aabb_xy":[[0.15064635263362258,-1.5292762256034953],[0.2786463454882664,-1.4349369779593024]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.014708644607051236,-1.7270991977006858,0.71338606911949],"aabb_xy":[[-0.09970864329912588,-1.7590850610955644],[0.0702913540850234,-1.6951133343058067]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.08121622934166906,0.9707019292992793,0.71338606911949],"aabb_xy":[[0.02720063305976904,0.9067019264070222],[0.13523182562356906,1.0347019321915365]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.47851445108857105,0.6306906598556523,0.71338606911949],"aabb_xy":[[0.4440521036904292,0.5961967774578294],[0.5129767984867127,0.6651845422534748]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.33511773183830257,-2.4178811725111533,0.71338606911949],"aabb_xy":[[-0.3485642584723459,-2.4313510241642446],[-0.32167120520425924,-2.404411320858062]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.27611884989059565,0.24501897463677125,0.71338606911949],"aabb_xy":[[-0.2841551845918805,0.23698085533235444],[-0.2680825151893108,0.253057093941188]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.5350843435887611,-1.7479914181756089,0.71338606911949],"aabb_xy":[[0.45508434033091816,-1.8279879259675929],[0.6150843468466041,-1.667994910383625]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.4267744608958026,0.9150490344243827,0.71338606911949],"aabb_xy":[[0.421875168589239,0.8873721151218138],[0.431673753202366,0.9427259537269513]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.275595216870611,-0.9165454137760776,0.71338606911949],"aabb_xy":[[-0.35559521794373133,-0.9263234601134619],[-0.19559521579749067,-0.906767367438693]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.17729166612336078,-1.0948009246307526,0.71338606911949],"aabb_xy":[[0.13979166754773995,-1.1075372202943106],[0.21479166469898156,-1.0820646289671947]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.2553010525045818,-1.235521017923179,0.71338606911949],"aabb_xy":[[0.2508704231497416,-1.240969389657862],[0.25973168185942197,-1.2300726461884965]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.19686628020446728,0.8833708879404356,0.71338606911949],"aabb_xy":[[0.1817639787434491,0.8682693663093737],[0.2119685816654853,0.8984724095714973]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100669905595032,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1844.png","name":"1844"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4587.png","name":"4587"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/422.png","name":"422"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5780.png","name":"5780"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":566.1920377805318,"rotation_z_degrees":106.819027749774,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00729848372538156,-0.005618883259449082,0.010350500562948232]},{"name":"camera_2","offset_m":[0.016411929321115373,0.011881264365675954,-0.0036116940569251264]},{"name":"camera_3","offset_m":[0.016006786133190853,-0.012252546853245585,-0.011252864862228193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000494700144315705,0.000665733945857182,0.0009087307818869002],"end_effector_yaw_offset_degrees":-0.017404676420329057},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001076116284139679,-0.0014990578293748945,-8.714564994601829e-05],"end_effector_yaw_offset_degrees":0.12040533648261831},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015196898892681672,-0.0004347486555101568,0.0014827613966448437],"end_effector_yaw_offset_degrees":0.5705136086468141}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035576556583001772,0.002123762279117275],"position_m":[0.26735765565830016,0.34782376227911727,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-4.401434556522768e-05,0.004621396581127831],"position_m":[0.34235598565443476,0.10592139658112783,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009795658709406104,-0.00015835176129553024],"position_m":[0.3287204341290594,-0.043458351761295526,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005148104476157649,-0.002698648972778932],"position_m":[0.26971481044761575,-0.39089864897277893,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1cb72bd282346c6039e809fa4d33c7f6216e871282fad8b46c31cc3dde64e785","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3864/tex_ceiling_textures_5780/tex_floor_textures_422/tex_table_textures_1844/tex_wall_textures_4587","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":791329722479451038,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":791329722479451038,"visual_seed":791329722479451038,"scene_id":"lab_003","finished_at":"2026-09-02T03:47:49"}
+{"episode_id":"ep_000023","started_at":"2026-09-02T03:47:52","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.17205749696422623,-1.4390230959977746,0.71338606911949],"aabb_xy":[[-0.1872203699411633,-1.4541885532928933],[-0.15689462398728915,-1.4238576387026558]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.28030574993284546,-1.9386624605971021,0.71338606911949],"aabb_xy":[[-0.2868073864408501,-1.9484302826234121],[-0.27380411342484084,-1.9288946385707926]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.6686114027278849,1.4416197221810063,0.71338606911949],"aabb_xy":[[0.6615699517771373,1.434592970443212],[0.6756528536786325,1.448646473918801]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.42718665009826395,-1.1891189157276842,0.71338606911949],"aabb_xy":[[-0.4614835611160045,-1.2234158019376253],[-0.39288973908052327,-1.1548220295177427]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.08190951857448492,-2.063771923591133,0.71338606911949],"aabb_xy":[[0.06000083643513386,-2.0856725904112237],[0.10381820071383595,-2.041871256771042]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[-0.22606490930442197,1.562526027802074,0.71338606911949],"aabb_xy":[[-0.2635649078800427,1.5497897321385157],[-0.18856491072880116,1.5752623234656316]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.256802728912258,-2.3033475522626445,0.71338606911949],"aabb_xy":[[-0.30678696462043525,-2.35334755107614],[-0.2068184932040808,-2.253347553449149]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.6319369169174511,-1.7940148206340036,0.71338606911949],"aabb_xy":[[0.6256248173811128,-1.7997817598872228],[0.6382490164537895,-1.788247881380785]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.3350396829700874,-1.5409946031397026,0.71338606911949],"aabb_xy":[[-0.3850396842539273,-1.5909734575303243],[-0.2850396816862474,-1.49101574874908]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.5845920347404567,-0.17281068725643367,0.71338606911949],"aabb_xy":[[0.5495920333889749,-0.19317042321325453],[0.6195920360919384,-0.15245095129961286]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.06462630474408382,-1.2829124671297787,0.71338606911949],"aabb_xy":[[0.0006263061575113443,-1.3299194305292874],[0.12862630333065628,-1.23590550373027]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.14252193077073427,0.711796470073776,0.71338606911949],"aabb_xy":[[0.12431610710948662,0.7007710694917845],[0.16072775443198198,0.7228218706557678]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.5462193536424824,0.6362987089441536,0.71338606911949],"aabb_xy":[[0.5117570062443405,0.6018048265463308],[0.5806817010406241,0.6707925913419762]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5088251934434203,-0.6107817681448588,0.71338606911949],"aabb_xy":[[-0.5888251906029955,-0.6223293691026759],[-0.42882519628384497,-0.5992341671870418]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.09073830517621861,-0.824333766802084,0.71338606911949],"aabb_xy":[[0.04076088831096502,-0.8743337682913326],[0.14071572204147217,-0.7743337653128355]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.4202141844216325,1.3323400181297878,0.71338606911949],"aabb_xy":[[0.41607832808893236,1.294840018685431],[0.42435004075433275,1.369840017574145]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.3460254385739632,-1.9893614937610793,0.71338606911949],"aabb_xy":[[0.337982078648008,-2.0743614948564453],[0.35406879849991835,-1.9043614926657126]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.34346506836638985,-0.9245649573701666,0.71338606911949],"aabb_xy":[[-0.38096506871461755,-0.9363563529512502],[-0.30596506801816203,-0.9127735617890831]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.2933442417079248,-0.15658245597998022,0.71338606911949],"aabb_xy":[[-0.30649548767921414,-0.18158245573666676],[-0.2801929957366354,-0.13158245622329368]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.623689674697993,1.5252189774639873,0.71338606911949],"aabb_xy":[[0.5991760506009871,1.5009543841619508],[0.6482032987949988,1.5494835707660237]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7076757178457367,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4602.png","name":"4602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4602.png","name":"4602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3530.png","name":"3530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2044.png","name":"2044"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":517.6761840002704,"rotation_z_degrees":143.91913724958414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012993924648047953,0.007402742223866988,-0.0002275785293954745]},{"name":"camera_2","offset_m":[-0.0020235018522348318,0.019069175925609836,0.015026878154613243]},{"name":"camera_3","offset_m":[-0.006487390275172667,-0.005170883529761791,0.009419012471534888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[7.037654826976599e-06,-0.0004078693346896993,-0.0003058924276714797],"end_effector_yaw_offset_degrees":-0.5623651196353372},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002831020110677599,-0.0017149546613528543,-0.0010157766922308659],"end_effector_yaw_offset_degrees":-0.6930740213307627},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006038421555534254,-0.0006878306280184395,-0.0006790336766054649],"end_effector_yaw_offset_degrees":-0.04977778090610219}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019434476492418509,-0.0009723391297487517],"position_m":[0.2618565523507581,0.34472766087025125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008457805006457072,0.0018250686385080572],"position_m":[0.3432457805006457,0.10312506863850805,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004910769663272974,0.001018094695650026],"position_m":[0.324789230336727,-0.04228190530434997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002488363359634038,0.004705537725447648],"position_m":[0.27168836335963403,-0.38349446227455236,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"66909794d5ee10288f55145d3fe7ac80979435c60369ce18df6f9b81ef6b45c4","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4602/tex_ceiling_textures_631/tex_floor_textures_8121/tex_table_textures_3530/tex_wall_textures_2044","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8108523442648369971,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8108523442648369971,"visual_seed":8108523442648369971,"scene_id":"lab_003","finished_at":"2026-09-02T03:50:38"}
+{"episode_id":"ep_000024","started_at":"2026-09-02T03:50:41","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.16855809249124332,0.8562733873796553,0.71338606911949],"aabb_xy":[[-0.2485580946540058,0.7763182037535116],[-0.08855809032848083,0.9362285710057988]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.08044097869520905,-0.41200024147950876,0.71338606911949],"aabb_xy":[[-0.1104326414290794,-0.4420002408163093],[-0.05044931596133874,-0.3820002421427082]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.03389254882717818,-0.8383200888978879,0.71338606911949],"aabb_xy":[[-0.031107452129949014,-0.8902683008315936],[0.0988925497843054,-0.7863718769641824]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.3113605178328617,0.3229751132553118,0.71338606911949],"aabb_xy":[[-0.32272225248614783,0.3116066468490237],[-0.2999987831795755,0.3343435796615999]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.3839923325506321,-0.8770136835558493,0.71338606911949],"aabb_xy":[[-0.4489923325849348,-0.9237143602361766],[-0.31899233251632936,-0.830313006875522]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.009973959676800592,1.760951920233,0.71338606911949],"aabb_xy":[[0.001259990626866103,1.7384519195738113],[0.018687928726735078,1.7834519208921877]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.4308825824441693,0.44486528319157026,0.71338606911949],"aabb_xy":[[0.37088258193631635,0.38801854950564896],[0.4908825829520222,0.5017120168774916]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.042784689412339705,1.3950092474007745,0.71338606911949],"aabb_xy":[[-0.10778468796941254,1.3652567139868919],[0.022215309144733124,1.424761780814657]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[-0.3904724514690961,-1.776003306987075,0.71338606911949],"aabb_xy":[[-0.4356437693172652,-1.8400033041316137],[-0.3453011336209272,-1.712003309842537]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.2768161520246103,-0.2126171431704198,0.71338606911949],"aabb_xy":[[-0.3269136160056839,-0.2766171436802316],[-0.22671868804353668,-0.148617142660608]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.07955998056926461,-2.4221914493383596,0.71338606911949],"aabb_xy":[[-0.12455998203549347,-2.4671913061998403],[-0.03455997910303576,-2.377191592476879]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.08672668970317421,0.14821065111511222,0.71338606911949],"aabb_xy":[[-0.0964826792123481,0.13844811705587778],[-0.07697070019400032,0.15797318517434666]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.5569933814955228,-2.0743020278614566,0.71338606911949],"aabb_xy":[[0.5194933830721223,-2.0874662418292873],[0.594493379918923,-2.061137813893626]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.06556115224666725,-2.111390855542643,0.71338606911949],"aabb_xy":[[-0.07206278875467188,-2.1211586775689533],[-0.05905951573866265,-2.1016230335163337]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.5001857685773192,-1.6967522802911625,0.71338606911949],"aabb_xy":[[0.48251013798872083,-1.7144324965705653],[0.5178613991659174,-1.6790720640117598]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.6586844047561391,1.732923157216827,0.71338606911949],"aabb_xy":[[-0.6816001176411892,1.7100188600804038],[-0.6357686918710894,1.7558274543532508]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.18174509836164288,-1.376397918082315,0.71338606911949],"aabb_xy":[[0.1701761176147063,-1.4013979181992466],[0.19331407910857945,-1.3513979179653832]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.5117312038194878,-2.1765386612525477,0.71338606911949],"aabb_xy":[[-0.5156916875892222,-2.1842065258380683],[-0.5077707200497535,-2.168870796667027]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.14006517889319614,0.6704416519889604,0.71338606911949],"aabb_xy":[[0.09507259217474573,0.6254416527145117],[0.18505776561164655,0.7154416512634092]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.5411515056578158,-1.4022830335213168,0.71338606911949],"aabb_xy":[[0.47715150636364756,-1.4662691738901708],[0.605151504951984,-1.3382968931524624]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.5065954235137228,-1.410867340730843,0.71338606911949],"aabb_xy":[[-0.5415954226436784,-1.4166125618065069],[-0.4715954243837671,-1.4051221196551786]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.662109323877295,0.7269197527058613,0.71338606911949],"aabb_xy":[[-0.6799028308122115,0.7091200071100637],[-0.6443158169423786,0.7447194983016591]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.5574442233711617,-1.8165754070300828,0.71338606911949],"aabb_xy":[[-0.6124442215729066,-1.8570973736565202],[-0.5024442251694169,-1.776053440403645]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.26956371668640655,-1.1547784314386678,0.71338606911949],"aabb_xy":[[0.26542786035370636,-1.192278430883025],[0.27369957301910675,-1.117278431994311]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[0.4330824428007949,-2.0301793731235356,0.71338606911949],"aabb_xy":[[0.4092462251601898,-2.1201793739320225],[0.45691866044139995,-1.9401793723150496]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.008948048647056783,-1.882125160853246,0.71338606911949],"aabb_xy":[[-0.08105194808855343,-1.9353086241705402],[0.098948045382667,-1.8289416975359511]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.20249204989369995,1.5769254934837638,0.71338606911949],"aabb_xy":[[-0.266492052114107,1.5325524093584755],[-0.13849204767329293,1.621298577609052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7112777486986993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2588.png","name":"2588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2588.png","name":"2588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8060.png","name":"8060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8499.png","name":"8499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4238.png","name":"4238"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":569.1833399890098,"rotation_z_degrees":293.34211333615787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015794554674234084,-0.016320084391371076,-0.004756980533595372]},{"name":"camera_2","offset_m":[-0.0007769472551823926,-0.01862240634917721,0.015459946523578506]},{"name":"camera_3","offset_m":[0.015384437440246663,0.013921649275878505,-0.009304996655528718]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001174983345570735,-0.0013269716884370072,-0.0012457510142411241],"end_effector_yaw_offset_degrees":-0.8144599506487293},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012541304131282807,-0.000603070884119267,-0.0012939223489650824],"end_effector_yaw_offset_degrees":-0.7033826109058965},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017810838159280423,0.00018536691957625646,-0.0005034455777429702],"end_effector_yaw_offset_degrees":0.7593780627185769}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0013219093744816237,-0.0008716399339445402],"position_m":[0.26247809062551836,0.34482836006605544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025338162675194445,0.004297234678091714],"position_m":[0.3449338162675194,0.10559723467809172,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021572183544204537,0.0002712274728031072],"position_m":[0.32754278164557954,-0.04302877252719689,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003158147564554883,-0.0008782296455692833],"position_m":[0.2723581475645549,-0.38907822964556926,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a3ca5855f76a9860aaa8f6715ecbceb218b4f87e705d3c947de3ffaec4840c8c","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2588/tex_ceiling_textures_4238/tex_floor_textures_3276/tex_table_textures_8060/tex_wall_textures_8499","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3940024663229971726,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3940024663229971726,"visual_seed":3940024663229971726,"scene_id":"lab_003","finished_at":"2026-09-02T03:53:37"}
+{"episode_id":"ep_000025","started_at":"2026-09-02T03:53:41","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.3634332264269038,-1.3909369149717843,0.71338606911949],"aabb_xy":[[0.3409332269031964,-1.4134328624224048],[0.3859332259506112,-1.3684409675211633]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.0342634969145178,-2.469094524869008,0.71338606911949],"aabb_xy":[[-0.029736504997824542,-2.5250056741270184],[0.09826349882686014,-2.4131833756109975]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.49448400411104476,-2.3910268243713277,0.71338606911949],"aabb_xy":[[0.45715272758580217,-2.4256798791661804],[0.5318152806362874,-2.356373769576476]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.20604917380289928,0.7640075945333531,0.71338606911949],"aabb_xy":[[-0.28604917239021865,0.6846919925951922],[-0.12604917521557982,0.843323196471514]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[0.15032892836441125,1.1227513071922823,0.71338606911949],"aabb_xy":[[0.14391511472122628,1.1163414869446138],[0.15674274200759616,1.1291611274399505]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[-0.08307973590634676,0.08343767398919244,0.71338606911949],"aabb_xy":[[-0.09188179121531947,0.07562634783426335],[-0.07427768059737405,0.0912490001441215]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.3677621881256141,1.5339501050567876,0.71338606911949],"aabb_xy":[[0.32167709687088264,1.4699501078042325],[0.4138472793803456,1.5979501023093428]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.17080814477001283,-0.9148161952222011,0.71338606911949],"aabb_xy":[[-0.20830814556200827,-0.9211840361803912],[-0.13330814397801738,-0.908448354264011]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.4786598565964227,-0.060242397657327196,0.71338606911949],"aabb_xy":[[-0.558659857669543,-0.07002044399471163],[-0.39865985552330235,-0.05046435131994276]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.007589343664943349,-1.7997914561466517,0.71338606911949],"aabb_xy":[[-0.062410658971642996,-1.819896321142517],[0.0775893463015297,-1.779686591150786]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.3654539786294704,-1.2867610358333008,0.71338606911949],"aabb_xy":[[0.34516967590607156,-1.3070436609760094],[0.3857382813528691,-1.2664784106905917]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[0.06471481549185754,-0.7280619050163988,0.71338606911949],"aabb_xy":[[-0.015285181667717751,-0.7396095059742157],[0.14471481265143282,-0.7165143040585816]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.4053151229557161,0.2565623148214127,0.71338606911949],"aabb_xy":[[-0.4553099558836577,0.20656231592616914],[-0.3553202900277745,0.3065623137166562]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.613835093621103,-0.32571881356015986,0.71338606911949],"aabb_xy":[[0.5638358184526668,-0.3757188148361071],[0.6638343687895392,-0.27571881228421274]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.5607681536814437,-2.4907023226183638,0.71338606911949],"aabb_xy":[[-0.5661057293474483,-2.5157023235475036],[-0.5554305780154392,-2.465702321689224]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.34690035122455387,-2.1375993327292955,0.71338606911949],"aabb_xy":[[0.32190035205892076,-2.144551578434652],[0.371900350390187,-2.130647087023939]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[0.13191515175191093,0.6706901634572691,0.71338606911949],"aabb_xy":[[0.11998241739008286,0.6583080106494097],[0.143847886113739,0.6830723162651284]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.6345501356883734,0.1732441732961445,0.71338606911949],"aabb_xy":[[-0.6570465571222375,0.15074417348939706],[-0.6120537142545093,0.19574417310289194]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[0.6754894906472615,-1.0842439634068812,0.71338606911949],"aabb_xy":[[0.6658578544268319,-1.0938812761865901],[0.6851211268676911,-1.0746066506271723]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.17362593567255824,1.224138173898079,0.71338606911949],"aabb_xy":[[-0.22361017138073547,1.1741381750845834],[-0.12364169996438101,1.2741381727115746]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[0.21853543215368731,0.915307471432592,0.71338606911949],"aabb_xy":[[0.18421915497906938,0.8653074714594142],[0.25285170932830525,0.9653074714057697]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.3875917065939888,-2.386965136536657,0.71338606911949],"aabb_xy":[[-0.47727878290210424,-2.4769651367911076],[-0.29790463028587333,-2.2969651362822066]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.2702638397137304,-0.22482450318502334,0.71338606911949],"aabb_xy":[[-0.30403939890442333,-0.23886299839818834],[-0.2364882805230374,-0.21078600797185829]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.318948771497694,1.264772690638134,0.71338606911949],"aabb_xy":[[-0.3315755587848903,1.255226616936561],[-0.3063219842104976,1.2743187643397067]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.3119748617927438,-1.628594488964269,0.71338606911949],"aabb_xy":[[0.29609036852741866,-1.6429474292630928],[0.32785935505806896,-1.6142415486654447]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[-0.09348083190869994,1.753367519624153,0.71338606911949],"aabb_xy":[[-0.13848083337492878,1.7083676627626725],[-0.048480830442471076,1.7983673764856338]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[0.6301462170303642,0.3290584579121405,0.71338606911949],"aabb_xy":[[0.5661462197447156,0.28755173895929653],[0.6941462143160129,0.37056517686498447]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.10699486350163867,1.0376050654451423,0.71338606911949],"aabb_xy":[[0.08949486436727148,1.0277254384075543],[0.12449486263600583,1.04748469248273]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[-0.32404988075918245,-0.883920612642777,0.71338606911949],"aabb_xy":[[-0.3310901906927195,-0.9639206120424485],[-0.3170095708256455,-0.8039206132431057]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_29","position":[-0.12238601763189483,-2.2820475939360723,0.71338606911949],"aabb_xy":[[-0.18638601800942844,-2.331792860786884],[-0.0583860172543612,-2.2323023270852596]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[0.0738125814500532,-2.0113639495805007,0.71338606911949],"aabb_xy":[[0.042665662606470076,-2.081363948267308],[0.10495950029363631,-1.9413639508936935]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[0.04746858810756216,-1.1045219538548283,0.71338606911949],"aabb_xy":[[0.02996858786251277,-1.1220217416943952],[0.06496858835261153,-1.0870221660152615]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7053728266336287,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2388.png","name":"2388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2388.png","name":"2388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5566.png","name":"5566"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7742.png","name":"7742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2687.png","name":"2687"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7301.png","name":"7301"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":825.7042780913841,"rotation_z_degrees":240.20012677093465,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01661209384939925,0.013705330852063446,0.00762148205775811]},{"name":"camera_2","offset_m":[-0.008638988468893083,0.0026169111162086187,-0.0032194264839597586]},{"name":"camera_3","offset_m":[-0.009352976411755058,0.011850291442198266,0.001295643002650032]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007759164908260471,0.001266177298175868,-0.001399755400230531],"end_effector_yaw_offset_degrees":-0.33598157085875546},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005145488742788373,-0.0007849692838582524,-0.0003688109630933835],"end_effector_yaw_offset_degrees":-0.07472401280559193},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006977399211816342,0.0015358790967242774,-0.00054545752313817],"end_effector_yaw_offset_degrees":-0.18902711248482618}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003315004228368221,-0.0013551482237531953],"position_m":[0.2671150042283682,0.3443448517762468,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003709498441707539,0.0005465575032123759],"position_m":[0.3427709498441707,0.10184655750321238,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001126982990363924,0.0022680609011818424],"position_m":[0.3285730170096361,-0.04103193909881816,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038072260244876722,-0.0007252182222965498],"position_m":[0.2653927739755123,-0.38892521822229653,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4cca666fcf9f8a72c71bed8d89b499b4f514a0ad0d9d2c6fc88493c954ebec25","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2388/tex_ceiling_textures_7301/tex_floor_textures_2687/tex_table_textures_5566/tex_wall_textures_7742","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4557304937181770059,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4557304937181770059,"visual_seed":4557304937181770059,"scene_id":"lab_003","finished_at":"2026-09-02T03:56:26"}
+{"episode_id":"ep_000026","started_at":"2026-09-02T03:56:29","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[-0.5337825997436887,-2.2194654403292224,0.71338606911949],"aabb_xy":[[-0.5419971448593724,-2.2281420306268633],[-0.5255680546280045,-2.2107888500315807]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.11928949365753183,1.517511401714009,0.71338606911949],"aabb_xy":[[0.10953350414835794,1.5077488676547746],[0.12904548316670572,1.5272739357732434]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.26229982793570755,-1.7993783685705156,0.71338606911949],"aabb_xy":[[-0.3262998271054775,-1.846145055689478],[-0.19829982876593763,-1.752611681451553]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.6186171242653937,1.7729728826336495,0.71338606911949],"aabb_xy":[[0.5736245375469433,1.7279728833592007],[0.6636097109838441,1.8179728819080982]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.13620918061495102,-2.1504282459125115,0.71338606911949],"aabb_xy":[[-0.17370918213058273,-2.161655018928656],[-0.09870917909931931,-2.139201472896366]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[0.19540553748986933,-2.229771974649843,0.71338606911949],"aabb_xy":[[0.1729407675184642,-2.252271975528703],[0.21787030746127445,-2.207271973770982]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.5038584806785902,-0.6726701106911388,0.71338606911949],"aabb_xy":[[0.41885848226116695,-0.7575444061534238],[0.5888584790960134,-0.5877958152288538]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.19193696505453728,0.8048756431660542,0.71338606911949],"aabb_xy":[[0.1544369666311369,0.7917114291982236],[0.2294369634779376,0.8180398571338848]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.4856307467098764,0.30235038457025976,0.71338606911949],"aabb_xy":[[0.4216307443670748,0.2574095333261272],[0.549630749052678,0.3472912358143922]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.6456133190235311,-0.22829786295569354,0.71338606911949],"aabb_xy":[[0.5957965395586964,-0.2782978614399969],[0.6954300984883659,-0.17829786447139018]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[0.12142931944698487,-2.0883523070832894,0.71338606911949],"aabb_xy":[[0.10375368885838654,-2.1060325233626918],[0.1391049500355832,-2.0706720908038863]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.08829409237761765,0.7979380744013391,0.71338606911949],"aabb_xy":[[-0.11280771647462351,0.7736734810993027],[-0.06378046828061179,0.8222026677033756]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.4635594246424194,1.0284459343562595,0.71338606911949],"aabb_xy":[[-0.49855942599390113,1.0080861983994387],[-0.42855942329093766,1.0488056703130804]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.5329486864643107,-0.015558108003280058,0.71338606911949],"aabb_xy":[[-0.6226357627724262,-0.1055581082577306],[-0.44326161015619525,0.07444189225117048]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.516751311068068,0.4177749513437261,0.71338606911949],"aabb_xy":[[-0.5667513105082637,0.3678070268594098],[-0.4667513116278724,0.4677428758280424]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.6553723657726985,-1.1046985651107133,0.71338606911949],"aabb_xy":[[-0.667975064909775,-1.1172939613355788],[-0.6427696666356221,-1.0921031688858478]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.4634667586727734,0.4972175192079389,0.71338606911949],"aabb_xy":[[0.45862316391154345,0.4923658667289548],[0.4683103534340034,0.502069171686923]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.5942463921581569,-1.950441027198388,0.71338606911949],"aabb_xy":[[-0.6442463925187228,-2.0004210144079906],[-0.5442463917975907,-1.9004610399887851]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.3533116277900814,0.5102185239846317,0.71338606911949],"aabb_xy":[[0.330811627546566,0.4980138893248598],[0.3758116280335968,0.5224231586444037]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.2919884459066316,1.2774344157507516,0.71338606911949],"aabb_xy":[[-0.300702414956566,1.2549344150915631],[-0.28327447685669704,1.2999344164099396]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.17439198917624066,1.2082204540818737,0.71338606911949],"aabb_xy":[[-0.21715869605566088,1.1442204506600713],[-0.1316252822968205,1.2722204575036762]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.6480353673763983,0.584860234873493,0.71338606911949],"aabb_xy":[[-0.6824978453894861,0.5781965576905702],[-0.6135728893633106,0.5915239120564159]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.09293868613793721,-0.22836339475384504,0.71338606911949],"aabb_xy":[[-0.1288521905629269,-0.26427690297059964],[-0.057025181712947515,-0.19244988653709041]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.6610286472520344,-0.07956646976656678,0.71338606911949],"aabb_xy":[[0.6310610903422087,-0.10956647006445253],[0.69099620416186,-0.04956646946868104]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7095751786885258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9523.png","name":"9523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9523.png","name":"9523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3746.png","name":"3746"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2429.png","name":"2429"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3955.png","name":"3955"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":710.0004756788832,"rotation_z_degrees":142.39236072047592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014199638139415533,-0.0034903440109813576,-0.010674649728929878]},{"name":"camera_2","offset_m":[-0.011690988639324914,0.007041696333116368,0.018305388138604235]},{"name":"camera_3","offset_m":[0.011664920695729827,0.00332598207338327,-0.018033567266021865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010333706923277815,0.0016107271194864803,0.0018031118516918187],"end_effector_yaw_offset_degrees":0.05194500418405612},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00030757032782183506,-0.0015812229949498282,-0.0004897445926864302],"end_effector_yaw_offset_degrees":0.2421378698378327},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00023946750280478797,0.0001551449059960983,-0.000996645888465256],"end_effector_yaw_offset_degrees":-0.33762109595794176}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004896350764260153,0.0005616222089120529],"position_m":[0.25890364923573983,0.34626162220891205,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006020743650048633,0.003942599522902014],"position_m":[0.3417979256349951,0.10524259952290202,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004194394829458769,0.004429511366118923],"position_m":[0.3255056051705412,-0.038870488633881074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001786074741479092,-0.002315093394145307],"position_m":[0.2693786074741479,-0.3905150933941453,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6cb5af26bc39d37b9fabba7086fd64f8b630334b8928de86dc5ccc53fcf74f0d","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0027.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9523/tex_ceiling_textures_3955/tex_floor_textures_6432/tex_table_textures_3746/tex_wall_textures_2429","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4637881658886734377,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4637881658886734377,"visual_seed":4637881658886734377,"scene_id":"lab_003","finished_at":"2026-09-02T03:59:26"}
+{"episode_id":"ep_000027","started_at":"2026-09-02T03:59:30","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.4236859749415336,-2.152150963933787,0.71338606911949],"aabb_xy":[[0.38689134181662727,-2.189056839030369],[0.4604806080664398,-2.1152450888372045]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.6375321539816953,-1.6734486727977345,0.71338606911949],"aabb_xy":[[-0.6462461230316296,-1.6959486734569225],[-0.6288181849317607,-1.650948672138546]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.10069225758147449,-0.44749049698725063,0.71338606911949],"aabb_xy":[[-0.1456848442999249,-0.49249049626169933],[-0.055699670863024076,-0.4024904977128018]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.22025343330726083,-1.3010352818916242,0.71338606911949],"aabb_xy":[[-0.2702363834947401,-1.3510352815341844],[-0.17027048311978146,-1.2510352822490636]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.47793581957519204,-0.6302206418823166,0.71338606911949],"aabb_xy":[[-0.5004358193890944,-0.6346952582527974],[-0.45543581976128966,-0.6257460255118359]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.06972868270818844,1.4595841421012925,0.71338606911949],"aabb_xy":[[-0.1497286859660314,1.3795876343093083],[0.010271320549654517,1.5395806498932763]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.3607970320661231,-1.8488479580873496,0.71338606911949],"aabb_xy":[[0.27579703364869995,-1.9337222535496348],[0.4457970304835464,-1.7639736626250648]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.28646777995024164,-0.6791658122029034,0.71338606911949],"aabb_xy":[[0.27835412527686454,-0.6872716286569324],[0.29458143462361874,-0.6710599957488742]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.5516164403497876,0.43754525806178535,0.71338606911949],"aabb_xy":[[-0.5766164399015261,0.42740277419665057],[-0.5266164407980491,0.44768774192692]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.15688109109474346,1.2560176176127151,0.71338606911949],"aabb_xy":[[-0.21688109160259636,1.1991708839267938],[-0.09688109058689053,1.3128643512986364]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.5765597927225744,-2.29267547730229,0.71338606911949],"aabb_xy":[[-0.5941064876386934,-2.330175478866541],[-0.5590130978064556,-2.2551754757380382]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.41425814597237887,-1.0447603981580118,0.71338606911949],"aabb_xy":[[0.4041051304182294,-1.0808299397307517],[0.42441116152652814,-1.008690856585271]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.0017461171853164759,-1.3648438490306778,0.71338606911949],"aabb_xy":[[-0.01299117275593431,-1.376085646754773],[0.009498938385301359,-1.3536020513065825]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[0.3549809569969631,0.8478386801458133,0.71338606911949],"aabb_xy":[[0.29998095737521724,0.7928549873583407],[0.4099809566187089,0.9028223729332862]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.07729338069179925,0.6413224405199336,0.71338606911949],"aabb_xy":[[0.0614088874264741,0.6269695002211094],[0.0931778739571244,0.6556753808187575]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.20952480729285927,-1.8183105040179952,0.71338606911949],"aabb_xy":[[0.1994431002142858,-1.8983105019101096],[0.21960651437143275,-1.7383105061258803]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.41974350939498106,1.3870004279694612,0.71338606911949],"aabb_xy":[[0.38224350889762276,1.3830317444213427],[0.45724350989233925,1.3909691115175797]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.05408902390353243,-2.2628523832560523,0.71338606911949],"aabb_xy":[[0.02064884870751282,-2.2962960090869817],[0.08752919909955202,-2.229408757425121]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.46175254954411216,0.9713874186299432,0.71338606911949],"aabb_xy":[[-0.4850343917422435,0.886387417332715],[-0.4384707073459808,1.056387419927171]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.14530560592439112,-1.9770975209922041,0.71338606911949],"aabb_xy":[[-0.18280560434779144,-1.9902617349600351],[-0.10780560750099075,-1.9639333070243736]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7031723641244509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6202.png","name":"6202"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6202.png","name":"6202"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7710.png","name":"7710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5450.png","name":"5450"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8160.png","name":"8160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3792.png","name":"3792"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":842.0104420402033,"rotation_z_degrees":118.07757304398886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00022683748603163564,0.01788534434883275,-0.003982515402705649]},{"name":"camera_2","offset_m":[-0.0023078417737811517,-0.014248737445746036,-0.005927166141234444]},{"name":"camera_3","offset_m":[-0.005268167678466105,-0.010441148189910402,0.015134276800531466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009161365173720468,0.0010920381850455132,-5.711916116769942e-06],"end_effector_yaw_offset_degrees":0.021249278397282634},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00023022709160244563,0.0017379573505944476,0.0006472711604839018],"end_effector_yaw_offset_degrees":-0.0859727028351529},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.000708700394759813,-0.0002787778244478338,0.0009330529664731396],"end_effector_yaw_offset_degrees":0.6508043773469896}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00398080633245491,0.0013624923947755897],"position_m":[0.2677808063324549,0.3470624923947756,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033530684106755837,0.002531467421149681],"position_m":[0.3390469315893244,0.10383146742114968,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012007814829705695,0.004529246763719273],"position_m":[0.3309007814829706,-0.03877075323628072,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004150265905548218,0.0027560484099657155],"position_m":[0.26504973409445176,-0.38544395159003425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0c00a8d1a33ea68496938bfabea65c4a60452f8ad1c66f79d297329022744820","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6202/tex_ceiling_textures_3792/tex_floor_textures_8160/tex_table_textures_7710/tex_wall_textures_5450","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3456850167748288129,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3456850167748288129,"visual_seed":3456850167748288129,"scene_id":"lab_003","finished_at":"2026-09-02T04:02:16"}
+{"episode_id":"ep_000028","started_at":"2026-09-02T04:02:18","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.4857027616114825,-2.050324916872573,0.71338606911949],"aabb_xy":[[-0.5497027580388044,-2.0974945406946697],[-0.4217027651841606,-2.003155293050477]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.04064724983340284,-2.3524490344368796,0.71338606911949],"aabb_xy":[[-0.10064725069421562,-2.403875464443365],[0.019352751027409968,-2.3010226044303925]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.38797487134194436,0.27049542154281303,0.71338606911949],"aabb_xy":[[-0.3966888403918788,0.24799542088362478],[-0.3792609022920098,0.2929954222020012]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[-0.2755613118687189,-1.363059880761989,0.71338606911949],"aabb_xy":[[-0.34056131002463796,-1.389356125311901],[-0.21056131371279985,-1.3367636362120765]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[-0.05520633950456999,-0.8518818174124494,0.71338606911949],"aabb_xy":[[-0.06342088462025396,-0.8605584077100906],[-0.046991794388886,-0.8432052271148079]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.19022575892835591,-1.7736140888033356,0.71338606911949],"aabb_xy":[[0.16694391673022455,-1.8586140901005637],[0.21350760112648723,-1.6886140875061075]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.4356229317685187,1.0202442138577994,0.71338606911949],"aabb_xy":[[-0.45812206749474566,0.9977442130795364],[-0.4131237960422917,1.0427442146360624]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.5982563663649129,-0.7161602289324938,0.71338606911949],"aabb_xy":[[-0.6173686737228917,-0.7352950078097357],[-0.579144059006934,-0.6970254500552516]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.4488467893633307,-1.6490298284343776,0.71338606911949],"aabb_xy":[[-0.5104375485873236,-1.7130298265434247],[-0.38725603013933796,-1.585029830325331]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.012760671156025527,-1.9034862849529723,0.71338606911949],"aabb_xy":[[0.004717311230070352,-1.9884862860483385],[0.0208040310819807,-1.8184862838576057]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.08327185238483625,-1.3528906754923553,0.71338606911949],"aabb_xy":[[-0.09302784189401014,-1.3626532095515895],[-0.07351586287566236,-1.3431281414331206]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.12796587760869538,0.4348334386328423,0.71338606911949],"aabb_xy":[[-0.16546587618431619,0.4220971429692843],[-0.09046587903307458,0.4475697342964002]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.7099180962581806,-1.6424693390473113,0.71338606911949],"aabb_xy":[[0.6979853618963525,-1.6548514918551707],[0.7218508306200087,-1.630087186239452]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.6387063994637945,1.1824276113350694,0.71338606911949],"aabb_xy":[[0.6100570671033781,1.1537820520579936],[0.6673557318242106,1.2110731706121451]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.6187030335866205,0.7323424646521226,0.71338606911949],"aabb_xy":[[-0.6827030354989628,0.6764313153941122],[-0.5547030316742781,0.788253613910133]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[0.6586516961102487,0.5326165919768795,0.71338606911949],"aabb_xy":[[0.5936516950043054,0.5076512189087512],[0.7236516972161919,0.5575819650450078]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.6342663324587035,-0.5307709835504082,0.71338606911949],"aabb_xy":[[-0.6518446346476503,-0.5483454731245131],[-0.6166880302697566,-0.5131964939763033]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[0.5290928229336311,-1.959511171852481,0.71338606911949],"aabb_xy":[[0.4915928227617591,-1.9922119072353877],[0.566592823105503,-1.9268104364695733]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.6148978773583103,-2.309061588950737,0.71338606911949],"aabb_xy":[[0.5803067945042649,-2.3740615892357675],[0.6494889602123554,-2.2440615886657054]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.3884654774484311,1.3018113434737901,0.71338606911949],"aabb_xy":[[0.36062044066782395,1.2710268447354787],[0.4163105142290382,1.332595842212102]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.5959952084184788,-1.3140891475540755,0.71338606911949],"aabb_xy":[[0.535995206775557,-1.3660892968460197],[0.6559952100614007,-1.2620889982621313]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.5359024953764707,0.4845068145748441,0.71338606911949],"aabb_xy":[[-0.5734024961684661,0.478138973616654],[-0.49840249458447516,0.49087465553303417]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7053378209671001,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3465.png","name":"3465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6566.png","name":"6566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5032.png","name":"5032"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3065.png","name":"3065"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.1575245771422,"rotation_z_degrees":179.76610229521276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006513417772991708,-0.012002891415665653,0.010519378474267631]},{"name":"camera_2","offset_m":[-0.0015962786648777705,-0.0008139989034094477,0.01041314962103693]},{"name":"camera_3","offset_m":[0.0033562520973605403,-0.008021459388242067,-0.012720853204906502]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010660146966202967,0.0010467304808623843,0.0009542479094142814],"end_effector_yaw_offset_degrees":0.5882169712795624},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00011401436592820653,-0.0005260879767452127,0.0005851027632063463],"end_effector_yaw_offset_degrees":-0.7430585944153032},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001570579737444961,-0.0007848709458022115,0.0008815741760504177],"end_effector_yaw_offset_degrees":-0.4749820648673473}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004817561819218689,-0.001479601846865801],"position_m":[0.26428175618192185,0.3442203981531342,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003270128726431845,0.003569559280894548],"position_m":[0.3456701287264318,0.10486955928089454,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031485427009411947,-0.0020949353316174393],"position_m":[0.3265514572990588,-0.04539493533161744,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00041213366363718716,0.004525314148060777],"position_m":[0.2687878663363628,-0.3836746858519392,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f273229a838cd814c13c0bf07f5e2627842c2a8c6647a9c1579246e924ea8603","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4275/tex_ceiling_textures_3065/tex_floor_textures_5032/tex_table_textures_3465/tex_wall_textures_6566","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3302317307398814456,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3302317307398814456,"visual_seed":3302317307398814456,"scene_id":"lab_003","finished_at":"2026-09-02T04:05:08"}
+{"episode_id":"ep_000029","started_at":"2026-09-02T04:05:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.25740685745293257,0.5691318712747306,0.71338606911949],"aabb_xy":[[0.2074075822844964,0.5191318699987835],[0.30740613262136873,0.6191318725506778]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.16342855894502206,0.8072575166573883,0.71338606911949],"aabb_xy":[[-0.24342856110778452,0.7273023330312446],[-0.08342855678225955,0.8872127002835318]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.26889503862071773,-0.8174874623177897,0.71338606911949],"aabb_xy":[[0.1888950353567046,-0.8310474946267029],[0.34889504188473086,-0.8039274300088762]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.45858688087585486,1.254998370210497,0.71338606911949],"aabb_xy":[[0.42743996203227175,1.1849983715236896],[0.489733799719438,1.324998368897304]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.5544129762083398,-0.40456281222360424,0.71338606911949],"aabb_xy":[[-0.5888753236064814,-0.4390566946214269],[-0.5199506288101978,-0.3700689298257815]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.596399457047309,-1.7486723396201715,0.71338606911949],"aabb_xy":[[-0.6141929639822254,-1.766472085215969],[-0.5786059501123926,-1.7308725940243737]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.46031279838156847,-1.9679756375183475,0.71338606911949],"aabb_xy":[[0.45231930858628655,-1.9759737694588235],[0.4683062881768506,-1.9599775055778723]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.027363210000759697,-0.6789636478885301,0.71338606911949],"aabb_xy":[[0.01421196402947034,-0.7039636476452167],[0.040514455972049064,-0.6539636481318436]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.14573524982924135,1.1275036635803652,0.71338606911949],"aabb_xy":[[-0.19573525149073612,1.0775052213246623],[-0.0957352481677466,1.1775021058360677]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.3071563496866117,-1.0935748970380041,0.71338606911949],"aabb_xy":[[-0.3446563500348394,-1.1053662926190877],[-0.2696563493383839,-1.0817835014569206]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.2842733541446517,1.3230617408242655,0.71338606911949],"aabb_xy":[[0.27830681520391587,1.3171005961649012],[0.29023989308538745,1.3290228854836295]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.20374223216042353,1.2082332925492407,0.71338606911949],"aabb_xy":[[0.16624223198855156,1.1755325571663335],[0.24124223233229544,1.240934027932148]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.4655087594791516,-0.9381406597959467,0.71338606911949],"aabb_xy":[[0.40150875725874463,-0.9825137439212349],[0.5295087616995586,-0.8937675756706583]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.5704566267012157,0.8842658882166732,0.71338606911949],"aabb_xy":[[0.5054566285452966,0.857969643666761],[0.6354566248571347,0.9105621327665854]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.4579860613864206,-2.390516820147768,0.71338606911949],"aabb_xy":[[0.393986059043619,-2.4354576713919],[0.5219860637292221,-2.345575968903635]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.2995798055319101,0.6269977221955001,0.71338606911949],"aabb_xy":[[-0.3104855816194728,0.5469977257966709],[-0.2886740294443474,0.7069977185943292]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.2870407638046972,1.7807326974844062,0.71338606911949],"aabb_xy":[[-0.30954076381484547,1.7666364778448027],[-0.2645407637945489,1.7948289171240093]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.5416161972112685,0.6862753820824437,0.71338606911949],"aabb_xy":[[0.476616196210768,0.6354890169277686],[0.606616198211769,0.7370617472371185]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.11417521998984548,-0.4842923726139037,0.71338606911949],"aabb_xy":[[-0.14917521918266374,-0.49525941861156625],[-0.0791752207970272,-0.473325326616241]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.516183019884832,-0.0980471710324875,0.71338606911949],"aabb_xy":[[-0.5633123988866675,-0.16204717207688946],[-0.46905364088299617,-0.03404716998808553]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.41370603771113945,0.868603887722676,0.71338606911949],"aabb_xy":[[0.39550021404989183,0.8575784871406844],[0.4319118613723872,0.8796292883046677]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.23363624710658787,-1.9407581202342388,0.71338606911949],"aabb_xy":[[-0.2886294584437246,-1.9957581205730326],[-0.1786430357694511,-1.8857581198954454]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.6559320297461415,-2.194944616889739,0.71338606911949],"aabb_xy":[[-0.6639753896720967,-2.2799446179851053],[-0.6478886698201863,-2.1099446157943724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7043929503813404,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1223.png","name":"1223"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1223.png","name":"1223"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3734.png","name":"3734"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6712.png","name":"6712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/391.png","name":"391"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":708.4350713440242,"rotation_z_degrees":330.6349422660626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012724423317822173,-0.006672475520432028,0.012095426451990552]},{"name":"camera_2","offset_m":[0.009901736949574597,0.014101385899313843,0.012136447150073702]},{"name":"camera_3","offset_m":[-0.0005318419143579556,0.00031561872112818856,0.018054847796646557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.71224234480139e-05,-0.001678901736476726,0.000914336133257033],"end_effector_yaw_offset_degrees":-0.02061073643274125},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006680495987912813,-0.0013827024681982625,0.0015950374295060042],"end_effector_yaw_offset_degrees":0.0741165465621163},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018996147855789057,0.0010038732375177023,0.0007695077125613086],"end_effector_yaw_offset_degrees":-0.8108061707141632}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00303788767789621,-0.004912364704593214],"position_m":[0.2668378876778962,0.3407876352954068,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015287640680211466,0.0022633474708242543],"position_m":[0.3408712359319788,0.10356334747082425,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024563228011341646,-0.000188558879055745],"position_m":[0.33215632280113416,-0.04348855887905574,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020443925816362963,0.003747548469918636],"position_m":[0.2671556074183637,-0.38445245153008134,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5bbc78c96042489e3d554842c3fdf4d384ffc404aedbd4f353c48c70ad7a941a","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1223/tex_ceiling_textures_3494/tex_floor_textures_391/tex_table_textures_3734/tex_wall_textures_6712","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2894792652695904909,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2894792652695904909,"visual_seed":2894792652695904909,"scene_id":"lab_003","finished_at":"2026-09-02T04:07:56"}
+{"episode_id":"ep_000030","started_at":"2026-09-02T04:07:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.5445110053371993,0.15185336876984667,0.71338606911949],"aabb_xy":[[0.4904954090552992,0.08785336587758952],[0.5985266016190992,0.21585337166210383]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.07995419669972947,-0.2807165003827454,0.71338606911949],"aabb_xy":[[-0.14395419400207587,-0.3250829273506022],[-0.01595419939738306,-0.23635007341488867]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.6363377746129959,-1.3958164646929947,0.71338606911949],"aabb_xy":[[0.612752651149101,-1.4608164669384263],[0.6599228980768908,-1.3308164624475627]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.0431549464938239,-2.011701445572365,0.71338606911949],"aabb_xy":[[-0.02684505689773808,-2.0470172192757956],[0.11315494988538587,-1.976385671868934]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.3183742728719415,1.1378213216435515,0.71338606911949],"aabb_xy":[[-0.38237426929926344,1.090651697821455],[-0.25437427644461963,1.184990945465648]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.0034120501706652595,0.7271783534434428,0.71338606911949],"aabb_xy":[[-0.03587375105259271,0.69704552132854],[0.029049650711262195,0.7573111855583452]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.3528167496270142,-1.9439169847064979,0.71338606911949],"aabb_xy":[[-0.41681675103500493,-1.9957059362304226],[-0.2888167482190236,-1.8921280331825732]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.21241890274893938,1.0604724407790544,0.71338606911949],"aabb_xy":[[0.14241890633897752,1.0400345051273723],[0.28241889915890106,1.0809103764307357]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.42594847149348053,1.3342903343713002,0.71338606911949],"aabb_xy":[[-0.436030178572054,1.2542903364791855],[-0.41586676441490705,1.4142903322634148]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.34250502130784444,-1.3469744579488974,0.71338606911949],"aabb_xy":[[-0.35042830154659277,-1.369474458186901],[-0.3345817410690961,-1.3244744577108942]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.5905714896055955,-1.9427697415723892,0.71338606911949],"aabb_xy":[[-0.6280714897774673,-1.9754704769552962],[-0.5530714894337234,-1.9100690061894818]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.28604787145765187,-2.190754576258207,0.71338606911949],"aabb_xy":[[-0.35104787409544536,-2.242234174957654],[-0.22104786881985838,-2.13927497755876]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.11351474885692503,0.8992295411020925,0.71338606911949],"aabb_xy":[[0.02351474943855414,0.8658540442579028],[0.20351474827529592,0.9326050379462822]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.32262918399463714,1.5859440698406675,0.71338606911949],"aabb_xy":[[0.23890695849455462,1.4959440663059713],[0.40635140949471954,1.6759440733753632]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.240453481887008,-1.4038806612984094,0.71338606911949],"aabb_xy":[[0.18545348271041848,-1.4588703360733666],[0.2954534810635975,-1.3488909865234513]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.10769055037640907,-0.4623861505944964,0.71338606911949],"aabb_xy":[[-0.11473200132715666,-0.469412902332291],[-0.10064909942566147,-0.4553593988567019]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.15446220765724628,-2.1546396348604726,0.71338606911949],"aabb_xy":[[0.11321339662733153,-2.209639634372689],[0.19571101868716098,-2.0996396353482543]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.512146905578533,-1.0939468226596387,0.71338606911949],"aabb_xy":[[0.5060522776904148,-1.1025162172113077],[0.5182415334666515,-1.0853774281079702]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.4708050314297154,0.6697114234411368,0.71338606911949],"aabb_xy":[[0.41580503322797063,0.6291894568146993],[0.5258050296314603,0.7102333900675745]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.5025911219251642,-0.714459072212908,0.71338606911949],"aabb_xy":[[-0.5575911215469102,-0.7694427650003808],[-0.44759112230341846,-0.6594753794254353]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.6470586091154586,-2.1101410354409778,0.71338606911949],"aabb_xy":[[0.5970586087548925,-2.1601210226505807],[0.6970586094760246,-2.060161048231375]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.5285744847679295,1.297799421166657,0.71338606911949],"aabb_xy":[[0.5002447748193892,1.2933386789729402],[0.5569041947164697,1.3022601633603743]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.4451847686079461,-2.240938427587177,0.71338606911949],"aabb_xy":[[-0.45654650326123225,-2.252306893993465],[-0.43382303395465993,-2.2295699611808892]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.21463863719139947,-1.3052820795072753,0.71338606911949],"aabb_xy":[[-0.24807881238741905,-1.338725705338205],[-0.18119846199537984,-1.2718384536763447]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.3890968819567886,-1.0392857989467679,0.71338606911949],"aabb_xy":[[-0.4690968841195511,-1.1192409825729115],[-0.3090968797940261,-0.9593306153206242]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.07255468111327423,-0.03249911677007322,0.71338606911949],"aabb_xy":[[-0.10685159213101485,-0.06679600298001459],[-0.0382577700955336,0.0017977694398681535]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[0.08476238583878348,1.7766854980813656,0.71338606911949],"aabb_xy":[[0.06733167075977695,1.7594133834175145],[0.10219310091778996,1.7939576127452161]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.44431439068173106,-2.3754150773774088,0.71338606911949],"aabb_xy":[[0.4218143908678287,-2.3798896937478893],[0.46681439049563345,-2.3709404610069282]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[0.413215061647479,1.231963250110606,0.71338606911949],"aabb_xy":[[0.3757150630718582,1.2192269544470478],[0.4507150602230998,1.2446995457741636]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[-0.5044756997037221,0.7783065252197634,0.71338606911949],"aabb_xy":[[-0.5844757029677352,0.7647464929108501],[-0.42447569643970895,0.7918665575286767]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[-0.6106896919754552,-0.8778573490187742,0.71338606911949],"aabb_xy":[[-0.6171913284834599,-0.8876251710450842],[-0.6041880554674507,-0.8680895269924647]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_31","position":[-0.6382026059273518,-0.7061541896144605,0.71338606911949],"aabb_xy":[[-0.6454463719735971,-0.786154187818063],[-0.6309588398811065,-0.6261541914108583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7090135976655462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9609.png","name":"9609"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9609.png","name":"9609"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9398.png","name":"9398"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8508.png","name":"8508"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3618.png","name":"3618"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6737.png","name":"6737"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.555303973603,"rotation_z_degrees":234.7425999283118,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008961166752197044,0.013169581324695947,0.00135219376610805]},{"name":"camera_2","offset_m":[0.006548914682121151,0.001298727397338259,0.006446768087903877]},{"name":"camera_3","offset_m":[-0.003622360605879754,-0.0012705747845941223,-0.008055395582802808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008717434378641697,-0.00031557060083330503,0.000469422439413965],"end_effector_yaw_offset_degrees":-0.4568323746538512},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00028172639586224917,0.0019656293260174812,0.0017106242044638838],"end_effector_yaw_offset_degrees":-0.8924062099324652},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001542450494187149,-0.0008628600801713362,-0.0015279442248682443],"end_effector_yaw_offset_degrees":0.5769297306418852}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007418545344555112,-0.004113011087964233],"position_m":[0.26305814546554446,0.34158698891203576,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036579449473791653,0.00045221368257086694],"position_m":[0.3460579449473791,0.10175221368257087,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004340193621456326,-0.000379126807318028],"position_m":[0.32535980637854367,-0.043679126807318024,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017717280894161726,-0.004244234581897203],"position_m":[0.2674282719105838,-0.3924442345818972,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d3d5583bff7a60fc1b5a65d685371d216fcd40a1cab435eeeeee7bd44fd3deca","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9609/tex_ceiling_textures_6737/tex_floor_textures_3618/tex_table_textures_9398/tex_wall_textures_8508","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8766283998931084803,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8766283998931084803,"visual_seed":8766283998931084803,"scene_id":"lab_003","finished_at":"2026-09-02T04:10:53"}
+{"episode_id":"ep_000031","started_at":"2026-09-02T04:10:56","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.02592220160133929,-2.300577478557017,0.71338606911949],"aabb_xy":[[-0.09092220423913278,-2.3520570772564637],[0.039077801036454196,-2.24909787985757]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.28332738499160337,0.6098816327542842,0.71338606911949],"aabb_xy":[[-0.3069125084554982,0.5448816305088524],[-0.2597422615277085,0.674881634999716]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.12146803556311225,1.096350601924296,0.71338606911949],"aabb_xy":[[-0.12875035193977588,1.0063505983147865],[-0.11418571918644858,1.1863506055338044]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.5361317183386873,0.20318922795919026,0.71338606911949],"aabb_xy":[[-0.5473767739093052,0.19194743023509497],[-0.5248866627680695,0.21443102568328554]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.25364980927366243,0.9271796674364761,0.71338606911949],"aabb_xy":[[0.2361031143575435,0.8896796658722247],[0.27119650418978136,0.9646796690007272]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.6031208387868838,0.3733145843157488,0.71338606911949],"aabb_xy":[[0.5531477732543685,0.323314584503216],[0.6530939043193994,0.4233145841282818]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.1569503141170353,1.761904967368301,0.71338606911949],"aabb_xy":[[0.09695031427046852,1.705086345175262],[0.2169503139636021,1.8187235895613394]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.1900295169351487,1.3207554770378418,0.71338606911949],"aabb_xy":[[-0.20752951606951583,1.3108758500002538],[-0.1725295178007815,1.3306351040754294]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.2260027219732338,0.6938765201186916,0.71338606911949],"aabb_xy":[[0.18896861254517405,0.6594993127849821],[0.2630368314012935,0.7282537274524009]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[0.7108530478542017,0.7159880478562806,0.71338606911949],"aabb_xy":[[0.7014355732843388,0.7065718707185614],[0.7202705224240643,0.7254042249939995]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[0.4959662790971997,-0.8481376018613822,0.71338606911949],"aabb_xy":[[0.4833635799601233,-0.8607329980862478],[0.5085689782342762,-0.8355422056365168]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.1901515531265776,-0.579889478545137,0.71338606911949],"aabb_xy":[[-0.2009920313530925,-0.5970757598357858],[-0.17931107490006268,-0.5627031972544881]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[0.492727543714804,-0.5907103095600239,0.71338606911949],"aabb_xy":[[0.412727543441197,-0.6636598573857406],[0.572727543988411,-0.5177607617343072]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.4243637559982463,0.7867625999471461,0.71338606911949],"aabb_xy":[[-0.44203938658684455,0.7690823836677433],[-0.4066881254096479,0.8044428162265488]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[-0.5722014402984462,0.9807204422126752,0.71338606911949],"aabb_xy":[[-0.6522014373126942,0.9605858905392638],[-0.49220144328419824,1.0008549938860862]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.41104576931536446,1.5389057481403623,0.71338606911949],"aabb_xy":[[-0.4478404024402707,1.50199987304378],[-0.37425113619045813,1.5758116232369446]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.38189400650355676,-2.3938439799050713,0.71338606911949],"aabb_xy":[[-0.43689400470530154,-2.4343659465315084],[-0.32689400830181187,-2.353322013278633]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.532816885734058,1.5461508929048002,0.71338606911949],"aabb_xy":[[0.5115388775905857,1.4811508905787272],[0.5540948938775302,1.6111508952308733]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.4648136485687385,-1.7684662700712126,0.71338606911949],"aabb_xy":[[-0.47945705412277145,-1.7831249897279966],[-0.4501702430147055,-1.7538075504144282]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.650114458428954,0.0026654457151598088,0.71338606911949],"aabb_xy":[[0.6001370415637003,-0.04733455577408873],[0.7000918752942075,0.05266544720440835]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.5902354676602108,-1.3686420715867593,0.71338606911949],"aabb_xy":[[-0.612749159483668,-1.4386420721877666],[-0.5677217758367537,-1.2986420709857516]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.2839150457662722,0.30849897351841093,0.71338606911949],"aabb_xy":[[-0.3639150471963994,0.2289818185058014],[-0.203915044336145,0.38801612853102035]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.5959093349908833,-1.8238407816114233,0.71338606911949],"aabb_xy":[[0.5655112238917396,-1.8542476836130926],[0.6263074460900268,-1.7934338796097535]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.02953516391241018,-2.44116619170857,0.71338606911949],"aabb_xy":[[-0.020464837106725097,-2.477632407446398],[0.07953516493154544,-2.404699975970742]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.40114986398409874,1.3869624819699151,0.71338606911949],"aabb_xy":[[-0.41090585349327263,1.3771999479106807],[-0.39139387447492485,1.3967250160291496]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[0.026097558353104677,1.720939773203987,0.71338606911949],"aabb_xy":[[0.01422547534160357,1.6359397735103367],[0.03796964136460579,1.8059397728976374]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.6023539497544713,-2.265979493502102,0.71338606911949],"aabb_xy":[[-0.6663539504579407,-2.311997875975023],[-0.538353949051002,-2.219961111029181]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[0.09725832474399376,0.9078996742892782,0.71338606911949],"aabb_xy":[[0.04725832346015379,0.857920819898656],[0.1472583260278337,0.9578785286799002]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_28","position":[-0.5846242112623471,-0.8394481351114249,0.71338606911949],"aabb_xy":[[-0.6346242108386819,-0.889428714063531],[-0.5346242116860125,-0.7894675561593191]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_29","position":[-0.5152873828318533,-1.090515408945051,0.71338606911949],"aabb_xy":[[-0.5254403983860024,-1.126584950517791],[-0.5051343672777037,-1.0544458673723103]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_30","position":[0.41439141493581033,-1.8504695684813353,0.71338606911949],"aabb_xy":[[0.3643914132743155,-1.9004680107370375],[0.46439141659730504,-1.800471126225632]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_31","position":[0.6584957895772401,-2.31995134125012,0.71338606911949],"aabb_xy":[[0.6172469785473251,-2.374951340762337],[0.6997446006071546,-2.264951341737902]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[-0.3695251846822106,1.2040013729204544,0.71338606911949],"aabb_xy":[[-0.4060210053094892,1.1675174304936966],[-0.3330293640549317,1.2404853153472117]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_33","position":[0.05348144591472326,-1.6247145746392788,0.71338606911949],"aabb_xy":[[0.049567572719300734,-1.6334635900458359],[0.05739531911014578,-1.6159655592327222]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7044108842057968,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7646.png","name":"7646"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7646.png","name":"7646"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8458.png","name":"8458"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4307.png","name":"4307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5163.png","name":"5163"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3417.png","name":"3417"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":708.9322858966916,"rotation_z_degrees":300.395424767009,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0046772631237790505,0.014257024584894838,0.019998825915582805]},{"name":"camera_2","offset_m":[-0.0003111235193131445,0.006182034566452509,-0.011155183138438196]},{"name":"camera_3","offset_m":[0.013523754037659496,0.0075464985164193366,-0.018586631930914088]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015408076735365758,-0.0017935529086516736,0.0011141270038565274],"end_effector_yaw_offset_degrees":0.4040273555233016},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006094697835183412,-0.0017752454887489696,0.000344941836266488],"end_effector_yaw_offset_degrees":0.6417301119468477},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014455407676534342,0.001272241213031921,0.0018851929357468575],"end_effector_yaw_offset_degrees":-0.6169202176510686}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0037807699750556376,0.000982181473140155],"position_m":[0.2600192300249443,0.34668218147314017,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032625412798882166,-0.0009764325979161707],"position_m":[0.3456625412798882,0.10032356740208383,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004701471900440205,-0.004814823993297234],"position_m":[0.3344014719004402,-0.04811482399329723,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012755961260194106,0.00489742832384175],"position_m":[0.2679244038739806,-0.3833025716761582,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c64e0e56cb2c8ad73fd77dc88f09e6e4d3a5c66dff43962f81265736cd422104","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7646/tex_ceiling_textures_3417/tex_floor_textures_5163/tex_table_textures_8458/tex_wall_textures_4307","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3557585900093194499,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3557585900093194499,"visual_seed":3557585900093194499,"scene_id":"lab_003","finished_at":"2026-09-02T04:13:40"}
+{"episode_id":"ep_000032","started_at":"2026-09-02T04:13:43","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.17943044109006245,1.4611462892300735,0.71338606911949],"aabb_xy":[[-0.1953149343553876,1.4467933489312494],[-0.1635459478247373,1.4754992295288976]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.32013941627294673,-2.444610781748145,0.71338606911949],"aabb_xy":[[0.3032286838366049,-2.4580829873407595],[0.33705014870928846,-2.43113857615553]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.2974089645098646,0.4746286544441758,0.71338606911949],"aabb_xy":[[-0.3395933786706954,0.41062865416696454],[-0.2552245503490339,0.538628654721387]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.49930510796823396,-2.1752133057562295,0.71338606911949],"aabb_xy":[[-0.5593051084760869,-2.2320600394421506],[-0.43930510746038104,-2.1183665720703084]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[0.4253391728076521,1.4566149281594014,0.71338606911949],"aabb_xy":[[0.3453391742203326,1.3772993262212403],[0.5053391713949714,1.535930530097562]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.6555850870373331,-1.933262481367027,0.71338606911949],"aabb_xy":[[-0.6805850869698509,-1.9401451495879507],[-0.6305850871048151,-1.926379813146104]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.0803024896849569,-1.024106506493311,0.71338606911949],"aabb_xy":[[-0.09114296791147179,-1.0412927877839597],[-0.06946201145844198,-1.0069202252026623]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.4088117946775789,-2.2798196038588614,0.71338606911949],"aabb_xy":[[0.3913118612435955,-2.297319603779095],[0.42631172811156226,-2.262319603938626]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.631697147225482,-0.9877835978446632,0.71338606911949],"aabb_xy":[[-0.6691971480174774,-0.9941514388028531],[-0.5941971464334865,-0.9814157568864729]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.02314613919225139,-0.035831614075977125,0.71338606911949],"aabb_xy":[[-0.04320455080549168,-0.05589670098513466],[-0.003087727579011105,-0.01576652716681959]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.44917791945347463,-0.8097117292323821,0.71338606911949],"aabb_xy":[[0.4397604448836119,-0.819127906370101],[0.4585953940233374,-0.800295552094663]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.5252258023920937,-0.2745330852832679,0.71338606911949],"aabb_xy":[[0.5013895847514888,-0.36453308609175444],[0.5490620200326989,-0.18453308447478148]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.34622799217090305,0.6488040646762774,0.71338606911949],"aabb_xy":[[0.2662279935140171,0.6342992057520146],[0.4262279908277891,0.6633089236005402]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.14195347891703347,0.4461162066599824,0.71338606911949],"aabb_xy":[[-0.15750924832729873,0.43056577341557534],[-0.1263977095067682,0.4616666399043897]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.6866744528240588,0.9190149011824462,0.71338606911949],"aabb_xy":[[-0.6946679426193411,0.9110167692419707],[-0.678680963028777,0.9270130331229219]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.43092803784789274,0.4920785050822998,0.71338606911949],"aabb_xy":[[-0.46338973872982014,0.461945672967397],[-0.39846633696596523,0.5222113371972021]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.08845508826992798,-1.8139345690735378,0.71338606911949],"aabb_xy":[[-0.15245078566502457,-1.8779345673742465],[-0.024459390874831385,-1.749934570772829]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.36349531394771106,1.6889692989969851,0.71338606911949],"aabb_xy":[[0.35699367743970645,1.6792014769706756],[0.3699969504557157,1.698737121023295]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.2862134155445081,0.6688569489574241,0.71338606911949],"aabb_xy":[[-0.3762134120453798,0.6229453065389657],[-0.1962134190436363,0.7147685913758822]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.6148124140802012,0.7623523683587772,0.71338606911949],"aabb_xy":[[0.5248124104032829,0.7009199617816728],[0.7048124177571192,0.8237847749358814]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[-0.33601291134055894,0.29138939910613404,0.71338606911949],"aabb_xy":[[-0.3551252186985378,0.272254620228892],[-0.3169006039825801,0.31052417798337606]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[-0.5339057830779915,-0.31927507083527473,0.71338606911949],"aabb_xy":[[-0.5521116067392393,-0.33030047141726643],[-0.515699959416744,-0.30824967025328315]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.1632238317140121,1.189641101106071,0.71338606911949],"aabb_xy":[[-0.20072383165777852,1.1813480110712342],[-0.1257238317702457,1.1979341911409074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7109117009712511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3696.png","name":"3696"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3696.png","name":"3696"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1681.png","name":"1681"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3996.png","name":"3996"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2862.png","name":"2862"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3227.png","name":"3227"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":708.1910573287912,"rotation_z_degrees":257.1204502745329,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006407510066725429,-0.015139333357032521,-0.0011136168652660892]},{"name":"camera_2","offset_m":[0.00835730388298513,0.002904162892051171,0.004211232655898352]},{"name":"camera_3","offset_m":[0.013511509608855488,-0.0017135203184962637,0.014255911500607756]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00033847571092206555,0.0002037869228906069,-0.0004150713067039868],"end_effector_yaw_offset_degrees":-0.2695572465334395},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016481106337878893,0.0007927309963475554,-0.001714479363695324],"end_effector_yaw_offset_degrees":0.7755100499646266},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007125956711644707,-0.001892474353896636,-0.0006161705029079237],"end_effector_yaw_offset_degrees":0.3411925834965639}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00031529359050409995,-0.0013889198240294364],"position_m":[0.26411529359050406,0.34431108017597056,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029298208817084693,-0.0011702954507542694],"position_m":[0.3394701791182915,0.10012970454924573,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007592227803118025,-0.0006113181844853233],"position_m":[0.3289407772196882,-0.04391131818448532,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004382703576628539,0.0016750159985567774],"position_m":[0.27358270357662856,-0.3865249840014432,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1367652e6800e8745300fcc4e5b7ae8ccfd4036edb02d33a4241625d06134e3a","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3696/tex_ceiling_textures_3227/tex_floor_textures_2862/tex_table_textures_1681/tex_wall_textures_3996","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4653814380533167228,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4653814380533167228,"visual_seed":4653814380533167228,"scene_id":"lab_003","finished_at":"2026-09-02T04:16:37"}
+{"episode_id":"ep_000033","started_at":"2026-09-02T04:16:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.35577261864343573,-1.3430841179959598,0.71338606911949],"aabb_xy":[[-0.4009439364916048,-1.4070841151404982],[-0.3106013007952668,-1.2790841208514214]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.0250581645142951,-1.146595756609082,0.71338606911949],"aabb_xy":[[0.007479862325348249,-1.164170246183187],[0.04263646670324195,-1.129021267034977]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[0.13090569401678065,-0.96335182259823,0.71338606911949],"aabb_xy":[[0.10706947637617562,-1.0533518234067167],[0.15474191165738574,-0.8733518217897439]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.10272021546057897,0.9223716609559469,0.71338606911949],"aabb_xy":[[0.05323979424662019,0.8583716630430952],[0.15220063667453776,0.9863716588687989]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[-0.6025702290922632,-0.9896874364898425,0.71338606911949],"aabb_xy":[[-0.610606563793548,-0.9977255557942591],[-0.5945338943909784,-0.9816493171854256]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.6923408091664232,-2.2035318560663706,0.71338606911949],"aabb_xy":[[0.6741349855051755,-2.2145572566483627],[0.7105466328276708,-2.1925064554843794]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.08373078938022016,0.9147659856541868,0.71338606911949],"aabb_xy":[[-0.09457126760673507,0.8975797043635378],[-0.07289031115370526,0.9319522669448355]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.3503205773572913,0.1711708572292423,0.71338606911949],"aabb_xy":[[-0.4002979942225448,0.12117085573999374],[-0.30034316049203763,0.22117085871849082]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.020122153110178953,-2.0541925690958998,0.71338606911949],"aabb_xy":[[-0.014468929743866264,-2.1191925693809304],[0.054713235964224165,-1.9891925688108685]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.44606102714441276,-0.20516268316250708,0.71338606911949],"aabb_xy":[[0.4156629160452691,-0.23556958516417656],[0.4764591382435563,-0.17475578116083754]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.47343171685085617,1.2722073466760762,0.71338606911949],"aabb_xy":[[0.4616635300561987,1.1872073467708546],[0.48519990364551374,1.3572073465812977]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.3137990731870527,1.7215450352994588,0.71338606911949],"aabb_xy":[[-0.3238807802656261,1.641545037407344],[-0.30371736610847916,1.8015450331915732]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.5669290030271302,-2.395595942575467,0.71338606911949],"aabb_xy":[[-0.6209445993090302,-2.4595959454677243],[-0.5129134067452302,-2.33159593968321]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.5420590369079936,-2.19953188816696,0.71338606911949],"aabb_xy":[[-0.6020590377688063,-2.2509583181734456],[-0.48205903604718076,-2.1481054581604724]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.645148384254852,-1.5525778448654486,0.71338606911949],"aabb_xy":[[0.6280463062964838,-1.5696846503967183],[0.6622504622132201,-1.5354710393341788]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.41626830931307035,-1.0687613609443902,0.71338606911949],"aabb_xy":[[-0.4294992548477516,-1.0819887799663894],[-0.403037363778389,-1.0555339419223906]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.0787218365707757,-1.6331928157932931,0.71338606911949],"aabb_xy":[[0.06438741144461224,-1.6452530313478322],[0.09305626169693915,-1.6211326002387545]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.25995831128511776,0.662937684998198,0.71338606911949],"aabb_xy":[[-0.2844719353821236,0.6386730916961616],[-0.2354446871881119,0.6872022783002345]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.19916098508574115,-1.364840638283675,0.71338606911949],"aabb_xy":[[-0.26316098699808355,-1.4207517875416855],[-0.13516098317339884,-1.3089294890256646]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.28882524919320374,1.3838513869395,0.71338606911949],"aabb_xy":[[0.258857692283378,1.3538513866416142],[0.31879280610302935,1.4138513872373857]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.5954334006219094,1.5735947793433325,0.71338606911949],"aabb_xy":[[-0.6157177033453081,1.5533121542006234],[-0.5751490978985105,1.593877404486041]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.011082915930094916,-0.6066002733883757,0.71338606911949],"aabb_xy":[[-0.016415430584707902,-0.6119246016336113],[-0.005750401275481933,-0.6012759451431402]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.23111457560127147,-0.6610696748016407,0.71338606911949],"aabb_xy":[[0.20983656745779922,-0.7260696771277136],[0.2523925837447437,-0.5960696724755675]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[0.3862136353715191,-1.250397688065699,0.71338606911949],"aabb_xy":[[0.306213637390734,-1.2579992290275508],[0.4662136333523041,-1.242796147103847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7066329442444338,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2060.png","name":"2060"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2060.png","name":"2060"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8535.png","name":"8535"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4108.png","name":"4108"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5031.png","name":"5031"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9628.png","name":"9628"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":804.588512460699,"rotation_z_degrees":255.54297768886843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016217481098231526,0.0067614579077831805,-0.016291259790994862]},{"name":"camera_2","offset_m":[0.01148779053582796,-0.009824750909995367,0.0074311825487767234]},{"name":"camera_3","offset_m":[0.005485171541134089,-0.010831120405794934,0.012950467399963968]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016731723644507728,-0.0005237007808355262,0.0011113157305486917],"end_effector_yaw_offset_degrees":-0.6515055158616889},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008285299537725594,0.001889280047505691,4.1511808732441844e-05],"end_effector_yaw_offset_degrees":-0.6025884309499479},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011072643722563583,-0.001887051810635732,0.001740321789383692],"end_effector_yaw_offset_degrees":0.6971840238022959}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000369313621824483,0.003980207782955081],"position_m":[0.26416931362182444,0.3496802077829551,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004913030458240351,-0.003283828662260324],"position_m":[0.3374869695417596,0.09801617133773968,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0044647160502816075,0.003001855874192212],"position_m":[0.3252352839497184,-0.04029814412580779,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000829006808478255,0.001511269152773059],"position_m":[0.26837099319152175,-0.38668873084722694,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d9696bebbd33765d8ae71a5dc63366d5a4bbeed31548a8501e174ca690670e48","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2060/tex_ceiling_textures_9628/tex_floor_textures_5031/tex_table_textures_8535/tex_wall_textures_4108","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6668259858255067387,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6668259858255067387,"visual_seed":6668259858255067387,"scene_id":"lab_003","finished_at":"2026-09-02T04:19:30"}
+{"episode_id":"ep_000034","started_at":"2026-09-02T04:19:33","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.43444802658989845,-1.826775176968482,0.71338606911949],"aabb_xy":[[-0.4469153846996341,-1.8392405016018054],[-0.4219806684801628,-1.8143098523351584]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.2611978161694312,0.7527795217976978,0.71338606911949],"aabb_xy":[[-0.27464434280347455,0.7393096701446065],[-0.2477512895353879,0.7662493734507889]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.352607308169646,-0.29608885822568665,0.71338606911949],"aabb_xy":[[-0.44260730676411597,-0.3123394445391077],[-0.2626073095751761,-0.2798382719122657]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.10752765209743487,0.04960899703848698,0.71338606911949],"aabb_xy":[[-0.12358957955595251,-0.03539100477410482],[-0.09146572463891722,0.1346089988510788]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.6153932614651763,0.17909004087434566,0.71338606911949],"aabb_xy":[[-0.6497095386397942,0.12909004090116794],[-0.5810769842905583,0.22909004084752338]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.3979443395773097,1.6506355384509015,0.71338606911949],"aabb_xy":[[0.34796553106699374,1.6006355384451825],[0.4479231480876255,1.70063553845662]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.4124111345808923,0.10457182714596147,0.71338606911949],"aabb_xy":[[-0.47004160346816304,0.04457182821925088],[-0.3547806656936214,0.16457182607267207]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.04096153077816489,-1.0294934430541858,0.71338606911949],"aabb_xy":[[-0.13096153311218395,-1.1069757976392984],[0.04903847155585417,-0.9520110884690731]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.31839882596841496,-1.6254737907451444,0.71338606911949],"aabb_xy":[[0.31113757839800754,-1.638260801008654],[0.32566007353882237,-1.612686780481635]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.13456832981324462,-1.56288343677863,0.71338606911949],"aabb_xy":[[-0.18456833076377743,-1.5944325837821514],[-0.08456832886271182,-1.5313342897751085]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.3218890602928361,-0.9176578965158504,0.71338606911949],"aabb_xy":[[-0.3444027521162933,-0.9876578971168579],[-0.2993753684693789,-0.8476578959148429]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.3632092423601772,-0.6600846612810174,0.71338606911949],"aabb_xy":[[-0.36716972612991167,-0.667752525866538],[-0.35924875859044286,-0.6524167966954968]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.5721707045261493,-1.4739503331534236,0.71338606911949],"aabb_xy":[[-0.6361707064384917,-1.5298614824114338],[-0.508170702613807,-1.418039183895413]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.09879148936248316,1.009421672276293,0.71338606911949],"aabb_xy":[[-0.106827824063768,1.001383552971876],[-0.09075515466119832,1.0174597915807095]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.27109149558234885,-2.4860653327640394,0.71338606911949],"aabb_xy":[[-0.3260837462178598,-2.541065334507352],[-0.2160992449468379,-2.4310653310207266]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.6221152419720695,-1.9646409623973002,0.71338606911949],"aabb_xy":[[0.5571152440904217,-2.0157646261038416],[0.6871152398537173,-1.9135172986907596]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.23345172001414072,1.110512347663318,0.71338606911949],"aabb_xy":[[0.16945171767133915,1.0655714964191854],[0.2974517223569423,1.1554531989074504]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.5987305767080207,-1.8207399089281746,0.71338606911949],"aabb_xy":[[-0.6603213359320136,-1.8847399070372215],[-0.537139817484028,-1.7567399108191277]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.20607535307289876,0.9385185669522977,0.71338606911949],"aabb_xy":[[-0.23647346417204232,0.908111664950628],[-0.17567724197375514,0.968925468953967]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.22917381402447412,-0.4576829039045638,0.71338606911949],"aabb_xy":[[-0.3091738109875133,-0.5347585455483372],[-0.14917381706143495,-0.38060726226079034]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.14239457196112093,0.5567372552620204,0.71338606911949],"aabb_xy":[[-0.1648945719712692,0.5426410356224172],[-0.11989457195097261,0.5708334749016237]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.48795559655234233,1.0369893268526504,0.71338606911949],"aabb_xy":[[0.4239555992499959,0.9926228998847937],[0.5519555938546887,1.0813557538205072]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7037364864182575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7179.png","name":"7179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6372.png","name":"6372"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":740.5405462318192,"rotation_z_degrees":13.947855968631577,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009291101032265148,0.003974837105512618,-0.007189275990500565]},{"name":"camera_2","offset_m":[0.019575880989534233,-0.01775420817726008,0.0003904869420270074]},{"name":"camera_3","offset_m":[0.011889067593678384,-0.01671788918063271,0.001518320816576959]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015408671512087964,-0.00015924131285260218,-0.0004821424033837904],"end_effector_yaw_offset_degrees":0.5140572450115286},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010796021245270096,0.0016971353904360917,-0.00017793214401158998],"end_effector_yaw_offset_degrees":-0.5257141939600098},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001361049035068074,0.000996500351667796,-0.00022261712713606344],"end_effector_yaw_offset_degrees":-0.45540974501493614}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0028489410832112866,0.0028550013318429683],"position_m":[0.26664894108321124,0.348555001331843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041519749768089455,-0.002933096621656175],"position_m":[0.338248025023191,0.09836690337834382,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0029262359162857054,-0.003149856984652768],"position_m":[0.3267737640837143,-0.04644985698465277,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002430707891187808,0.00435734519634376],"position_m":[0.2667692921088122,-0.3838426548036562,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"674c90f6fad8b8205a1ac9b2b9548ceefd39b944125114fa1b82667e7734ea1b","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2805/tex_ceiling_textures_6372/tex_floor_textures_6326/tex_table_textures_8761/tex_wall_textures_7179","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2091362983011423512,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2091362983011423512,"visual_seed":2091362983011423512,"scene_id":"lab_003","finished_at":"2026-09-02T04:22:33"}
+{"episode_id":"ep_000035","started_at":"2026-09-02T04:22:36","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.49208067134021016,0.278115081559863,0.71338606911949],"aabb_xy":[[0.4850403614066732,0.19811508216019164],[0.4991209812737472,0.3581150809595344]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.11831874408044019,-2.42545377353904,0.71338606911949],"aabb_xy":[[0.1004496363259847,-2.439286681516251],[0.13618785183489568,-2.411620865561829]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.4573636614553971,1.0059807406945351,0.71338606911949],"aabb_xy":[[0.4396880308667987,0.9883005244151323],[0.47503929204399536,1.0236609569739377]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[0.6244210668502985,-1.4768656346834328,0.71338606911949],"aabb_xy":[[0.586921066058303,-1.4832334756416228],[0.6619210676422939,-1.4704977937252428]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[0.7085776252676645,0.6986483229962865,0.71338606911949],"aabb_xy":[[0.6967055422561633,0.6136483233026362],[0.7204497082791655,0.7836483226899369]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.2601770249529876,1.6783422619092137,0.71338606911949],"aabb_xy":[[-0.3014815680167236,1.6143422623410963],[-0.21887248188925162,1.7423422614773305]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[-0.10687867721643562,-2.3890593969668172,0.71338606911949],"aabb_xy":[[-0.11172227197766561,-2.3939110494458014],[-0.10203508245520566,-2.384207744487833]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.546073066412897,-2.257315424236317,0.71338606911949],"aabb_xy":[[0.4660730678255775,-2.336631026174478],[0.6260730650002163,-2.177999822298156]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.1780586090953502,1.0289777116477117,0.71338606911949],"aabb_xy":[[0.14428304990465723,1.0149392164345468],[0.21183416828604318,1.0430162068608766]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.28070982955694,0.9285599934222066,0.71338606911949],"aabb_xy":[[-0.2898697085008166,0.9220287753786695],[-0.2715499506130634,0.9350912114657436]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[0.3188571768297941,-1.7175283153937009,0.71338606911949],"aabb_xy":[[0.23885717357195113,-1.7975248231856846],[0.39885718008763704,-1.6375318076017167]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.06836909318493622,-1.465751654872478,0.71338606911949],"aabb_xy":[[-0.08865339590833497,-1.4860342800151867],[-0.048084790461537456,-1.445469029729769]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.575124831868051,-1.3601603343147655,0.71338606911949],"aabb_xy":[[-0.6126248333836827,-1.3713871073309103],[-0.5376248303524193,-1.3489335612986202]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.41464401672238327,-1.554363713171965,0.71338606911949],"aabb_xy":[[0.38964401717064484,-1.5645061970370995],[0.4396440162741218,-1.54422122930683]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.32356375445229735,1.5681061589211303,0.71338606911949],"aabb_xy":[[0.29856375528666423,1.5611539132157737],[0.34856375361793046,1.5750584046264868]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.1518875439331786,-0.6857823314191802,0.71338606911949],"aabb_xy":[[0.08788754202083629,-0.7416934806771908],[0.21588754584552097,-0.6298711821611699]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.2572020345607975,-0.20439379972920513,0.71338606911949],"aabb_xy":[[-0.2659160036107319,-0.22689380038839332],[-0.24848806551086297,-0.18189379907001688]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.09758071031537041,-0.9943523973922512,0.71338606911949],"aabb_xy":[[-0.1625807081970182,-1.045476061098792],[-0.03258071243372262,-0.9432287336857105]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.5660807209996042,-1.2895897553094446,0.71338606911949],"aabb_xy":[[0.5441909734106632,-1.3795897525986935],[0.5879704685885448,-1.1995897580201953]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.17689243259935072,-1.307193568115185,0.71338606911949],"aabb_xy":[[-0.1849357925253059,-1.3921935692105514],[-0.16884907267339555,-1.2221935670198185]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[-0.42272982139744547,-2.0295073646481083,0.71338606911949],"aabb_xy":[[-0.5127298208158164,-2.062882861492298],[-0.3327298219790746,-1.9961318678039186]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.4553450577876259,-0.9872754819934233,0.71338606911949],"aabb_xy":[[0.4303450585156636,-1.0036208455895856],[0.4803450570595882,-0.9709301183972611]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7099212620944398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4453.png","name":"4453"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4453.png","name":"4453"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3876.png","name":"3876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3919.png","name":"3919"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9383.png","name":"9383"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6361.png","name":"6361"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":607.1108630580983,"rotation_z_degrees":149.77670343991667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015711450766479115,0.006540691893768408,0.013823128380400822]},{"name":"camera_2","offset_m":[0.008181815994884333,0.01930422636890351,0.016625846979805018]},{"name":"camera_3","offset_m":[-0.009196603364889372,-0.005063825693963988,-0.015721043397802396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005488848221794518,0.0013901397292114793,-0.0005813954770400053],"end_effector_yaw_offset_degrees":-0.16318842808813439},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003468868094043463,-0.0019962657640813963,-0.0014584651747499575],"end_effector_yaw_offset_degrees":-0.8793081937768941},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009115563958861724,-0.0008179159103362808,0.0002849691429690918],"end_effector_yaw_offset_degrees":0.4895575339229852}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011534357991086286,0.0013010113150540518],"position_m":[0.2649534357991086,0.34700101131505406,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00043421210854685446,-0.0030408443322064815],"position_m":[0.34196578789145315,0.09825915566779352,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00298886333795833,0.0009604500432219745],"position_m":[0.33268886333795833,-0.04233954995677802,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016687011237222302,-0.0006772508556679661],"position_m":[0.27086870112372224,-0.38887725085566793,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad338baaf70b630d6d95efdf79c436bd1c88ce594b106c110cf46a46da77fe8e","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4453/tex_ceiling_textures_6361/tex_floor_textures_9383/tex_table_textures_3876/tex_wall_textures_3919","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7989984625376278456,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7989984625376278456,"visual_seed":7989984625376278456,"scene_id":"lab_003","finished_at":"2026-09-02T04:25:17"}
+{"episode_id":"ep_000036","started_at":"2026-09-02T04:25:20","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.6071245757615609,-1.790941740550812,0.71338606911949],"aabb_xy":[[-0.6300402886466107,-1.8138460376872358],[-0.5842088628765109,-1.7680374434143888]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.032090244235411625,-1.3748587277568212,0.71338606911949],"aabb_xy":[[0.016534474825146365,-1.3904091610012284],[0.0476460136456769,-1.359308294512414]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.37022265202476345,-0.5865068117703238,0.71338606911949],"aabb_xy":[[-0.3853948213063968,-0.6016756686985272],[-0.3550504827431301,-0.5713379548421205]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.503976866452116,-0.6514158903424296,0.71338606911949],"aabb_xy":[[0.45399805794180004,-0.7014158903481484],[0.5539556749624318,-0.6014158903367108]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.6182517711741278,-1.4352117865775291,0.71338606911949],"aabb_xy":[[0.5711223921722919,-1.4992117876219306],[0.6653811501759632,-1.3712117855331267]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.4705292842116234,0.24132544232900655,0.71338606911949],"aabb_xy":[[-0.5205067010768769,0.19132544083975797],[-0.4205518673463698,0.29132544381825504]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.3562875934982104,1.4821458465536188,0.71338606911949],"aabb_xy":[[0.33878759325316093,1.464646058714052],[0.3737875937432597,1.4996456343931857]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.37063177873903475,-2.432956098601527,0.71338606911949],"aabb_xy":[[-0.3830991368487704,-2.445421423234851],[-0.3581644206292991,-2.420490773968204]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.28345086948502596,1.622466165822392,0.71338606911949],"aabb_xy":[[0.21845086684723247,1.570986567122945],[0.34845087212281944,1.673945764521839]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.5765807447723343,-1.0326739930765543,0.71338606911949],"aabb_xy":[[0.4965807444987273,-1.1056235409022708],[0.6565807450459412,-0.9597244452508374]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.4075482930941472,-1.7830564780650189,0.71338606911949],"aabb_xy":[[0.3923854201172102,-1.7982219353601376],[0.4227111660710844,-1.7678910207699001]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.3729652217854468,-1.676895750282978,0.71338606911949],"aabb_xy":[[-0.4104652218910398,-1.6837179121359593],[-0.3354652216798539,-1.670073588429997]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.4604194751859918,0.9285469283750367,0.71338606911949],"aabb_xy":[[0.4427866395924643,0.9109239823594137],[0.47805231077951943,0.9461698743906597]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.047059308269076006,-0.9148202128002911,0.71338606911949],"aabb_xy":[[-0.03294068869396317,-0.9918958544440644],[0.12705930523211517,-0.8377445711565175]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.2708083253527044,0.3389274791071517,0.71338606911949],"aabb_xy":[[-0.33080832621351713,0.28750104910066526],[-0.21080832449189155,0.39035390911363804]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.38279280863001075,0.8074262166501751,0.71338606911949],"aabb_xy":[[0.3327935334615746,0.757426215374228],[0.4327920837984469,0.8574262179261224]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.6239291969642985,-1.9924969988434251,0.71338606911949],"aabb_xy":[[-0.6335608331847281,-2.0021343116231343],[-0.6142975607438689,-1.982859686063716]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.4180598087136681,-1.0025930512002013,0.71338606911949],"aabb_xy":[[-0.4480514714475384,-1.0325930505370016],[-0.3880681459797977,-0.9725930518634005]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.36807617086062633,-2.2856753166820964,0.71338606911949],"aabb_xy":[[-0.44807616826421975,-2.365667887880279],[-0.2880761734570329,-2.205682745483913]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.24325486928253154,1.8019453249870465,0.71338606911949],"aabb_xy":[[-0.2807548678581523,1.7892090293234884],[-0.2057548707069107,1.8146816206506042]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.05149234176898854,0.8585037832941538,0.71338606911949],"aabb_xy":[[-0.008507658827027642,0.8036913107489302],[0.11149234236500472,0.9133162558393771]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.5622955348940014,-1.6214742989385753,0.71338606911949],"aabb_xy":[[-0.6272955334510742,-1.6512268323524577],[-0.4972955363369286,-1.5917217655246925]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.17981802993901808,-0.7130064238821461,0.71338606911949],"aabb_xy":[[0.09981802946880217,-0.7213171314964946],[0.25981803040923407,-0.7046957162677978]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.10193438429771473,-2.1046025359238203,0.71338606911949],"aabb_xy":[[-0.138729017422621,-2.1415084110204026],[-0.06513975117280846,-2.067696660827238]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.4040307400043456,-0.19950251196824675,0.71338606911949],"aabb_xy":[[-0.49403074233836464,-0.2769848665533594],[-0.3140307376703265,-0.1220201573831341]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7062441828794375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/172.png","name":"172"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/172.png","name":"172"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2993.png","name":"2993"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6812.png","name":"6812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/98.png","name":"98"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9164.png","name":"9164"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":557.6641448016779,"rotation_z_degrees":255.21777968065896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010469456259777856,-0.011378311311333426,-0.011851291901567014]},{"name":"camera_2","offset_m":[0.01858586262692224,0.01670722761700633,-0.005684842997233645]},{"name":"camera_3","offset_m":[0.007702448931250147,0.006727740719468515,-0.013210394606156594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019336683522742804,0.0019807042597951756,-0.0012652129964837579],"end_effector_yaw_offset_degrees":0.6202702344358955},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015596322578385457,0.00042633905734196795,0.00013968458622013857],"end_effector_yaw_offset_degrees":0.4504546217184775},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001638441484108783,0.000812137401530869,2.918657458050259e-05],"end_effector_yaw_offset_degrees":0.6244061411097253}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004140512778704744,0.0025027581887126036],"position_m":[0.2596594872212952,0.3482027581887126,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038613221981717506,-0.0024242095237526464],"position_m":[0.3385386778018282,0.09887579047624735,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037757150298456978,0.0008558283211323415],"position_m":[0.3259242849701543,-0.04244417167886766,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004357090879683775,-0.0031306155036897277],"position_m":[0.2648429091203162,-0.3913306155036897,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5a24846f4b4b3793e6d83c9d41b0596b285b31a9725c6dcdc06ffca884223113","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_172/tex_ceiling_textures_9164/tex_floor_textures_98/tex_table_textures_2993/tex_wall_textures_6812","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6900517707199683530,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6900517707199683530,"visual_seed":6900517707199683530,"scene_id":"lab_003","finished_at":"2026-09-02T04:28:11"}
+{"episode_id":"ep_000037","started_at":"2026-09-02T04:28:17","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.5470081200365491,-0.27117208009387817,0.71338606911949],"aabb_xy":[[0.527117080156209,-0.283827891378575],[0.5668991599168894,-0.2585162688091813]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.4966293906989905,-2.3192451407222134,0.71338606911949],"aabb_xy":[[0.4326293884785834,-2.3636182248475017],[0.5606293929193975,-2.274872056596925]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[0.5488855490834363,-1.519366834363973,0.71338606911949],"aabb_xy":[[0.5038929623649859,-1.5643668336384218],[0.5938781358018868,-1.4743668350895243]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.619865748850525,-1.798626365115521,0.71338606911949],"aabb_xy":[[0.5398657455926821,-1.878622872907505],[0.699865752108368,-1.718629857323537]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[-0.5847384845046284,0.41716056035045224,0.71338606911949],"aabb_xy":[[-0.6497384823862762,0.3660368966439113],[-0.5197384866229806,0.4682842240569931]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.4805822499869019,-2.433148142315958,0.71338606911949],"aabb_xy":[[-0.5445822503644355,-2.48289340916677],[-0.41658224960936824,-2.3834028754651455]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.6327376166221435,1.5397067444969772,0.71338606911949],"aabb_xy":[[0.5977376183114479,1.5319917295734315],[0.6677376149328388,1.5474217594205228]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.027768644396557574,-0.019018856346475044,0.71338606911949],"aabb_xy":[[-0.05068435728160749,-0.04192315348289855],[-0.004852931511507675,0.0038854407899484586]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.03678959830647943,-2.5369736418720175,0.71338606911949],"aabb_xy":[[0.00639148720733585,-2.5673805438736865],[0.06718770940562302,-2.5065667398703475]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[-0.17701862490513487,-1.4261422737944442,0.71338606911949],"aabb_xy":[[-0.19890837249407564,-1.5161422710836936],[-0.15512887731619404,-1.3361422765051953]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.032525339832442546,-0.8391867566551259,0.71338606911949],"aabb_xy":[[0.015025339573105919,-0.8532782988438986],[0.050025340091779176,-0.8250952144663534]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.10508224870942828,0.6957904766266876,0.71338606911949],"aabb_xy":[[0.10137898738028941,0.6920884583179696],[0.10878551003856715,0.6994924949354053]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[-0.44608114813080857,-2.0661120928590253,0.71338606911949],"aabb_xy":[[-0.4636278430469275,-2.1036120944232763],[-0.42853445321468964,-2.0286120912947743]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.5051477849398096,-0.03896754810660141,0.71338606911949],"aabb_xy":[[-0.5851477835966956,-0.05347240703086419],[-0.4251477862829236,-0.02446268918233862]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.1715709029299336,-2.396963977662389,0.71338606911949],"aabb_xy":[[0.14705727883292774,-2.4212285709644252],[0.19608452702693946,-2.3726993843603523]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.04123205315227729,1.489795952899558,0.71338606911949],"aabb_xy":[[-0.09623205135402212,1.4492739862731203],[0.013767945049467543,1.5303179195259955]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.1733843227510634,-0.6176497203280331,0.71338606911949],"aabb_xy":[[-0.1934427343643037,-0.6377148072371907],[-0.15332591113782312,-0.5975846334188756]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.4097804539952931,-1.630823395990117,0.71338606911949],"aabb_xy":[[-0.4647727046308041,-1.68582339773343],[-0.3547882033597822,-1.5758233942468045]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.3758166762981012,1.4599075096980711,0.71338606911949],"aabb_xy":[[-0.4398166727254232,1.4127378858759747],[-0.3118166798707794,1.5070771335201676]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.14598587852822686,-1.4000000607212144,0.71338606911949],"aabb_xy":[[0.13727190947829232,-1.4225000613804022],[0.1546998475781613,-1.3775000600620257]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[-0.5238435326106421,0.22571222275664482,0.71338606911949],"aabb_xy":[[-0.5613435310340423,0.2125480087888142],[-0.48634353418724163,0.23887643672447545]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.24591666410190077,-2.2749398772717644,0.71338606911949],"aabb_xy":[[-0.250347293456741,-2.2803882490064473],[-0.24148603474706062,-2.2694915055370823]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.07508398108612535,1.0736467663536855,0.71338606911949],"aabb_xy":[[0.02508398164592973,1.023678841869369],[0.12508398052632097,1.1236146908380016]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.6442146014086969,0.2958150464248277,0.71338606911949],"aabb_xy":[[0.5792146004515697,0.24386683449112215],[0.7092146023658241,0.3477632583585333]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[0.24228316226197255,-1.5730669730970905,0.71338606911949],"aabb_xy":[[0.19230986825871207,-1.6230669736516377],[0.292256456265233,-1.523066972542543]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.5100945658454199,-0.23376292070093374,0.71338606911949],"aabb_xy":[[-0.575094564001339,-0.26005916525084594],[-0.44509456768950084,-0.20746667615102152]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[0.5779465261401813,0.0748455101342218,0.71338606911949],"aabb_xy":[[0.5739860423704469,0.0671776455487012],[0.5819070099099156,0.0825133747197424]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[0.4431447082411035,0.402870497750786,0.71338606911949],"aabb_xy":[[0.4272602149757783,0.3885175574519619],[0.4590292015064286,0.41722343804961004]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[-0.5875357465686697,-0.5680775451726316,0.71338606911949],"aabb_xy":[[-0.667535743972263,-0.6480701163708144],[-0.5075357491650762,-0.4880849739744488]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.6709547664239497,0.6220371004920162,0.71338606911949],"aabb_xy":[[0.6296502233602136,0.5580371009238991],[0.7122593094876856,0.6860371000601333]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_30","position":[-0.11825752680643464,1.1339307382458315,0.71338606911949],"aabb_xy":[[-0.182257528484432,1.0854133467665172],[-0.054257525128437276,1.1824481297251457]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_31","position":[0.37941025757448,0.8111561911143763,0.71338606911949],"aabb_xy":[[0.3154102582803118,0.747170050745522],[0.4434102568686482,0.8751423314832304]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_32","position":[-0.659640303647786,0.6875697229799407,0.71338606911949],"aabb_xy":[[-0.6818128306244369,0.6653940558238174],[-0.6374677766711352,0.7097453901360637]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_33","position":[0.40210994345774487,-0.6056997526600525,0.71338606911949],"aabb_xy":[[0.39399628878436777,-0.6138055691140816],[0.41022359813112197,-0.5975939362060234]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7079827058174765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6528.png","name":"6528"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6528.png","name":"6528"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4289.png","name":"4289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4471.png","name":"4471"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.0313475899636,"rotation_z_degrees":166.62306290495908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0061352628803583754,0.01950369406191908,-0.017867415443541836]},{"name":"camera_2","offset_m":[0.0167184228779256,0.00722617569563316,0.0015416749490415292]},{"name":"camera_3","offset_m":[0.017362763684122148,0.005167982863230686,0.004317448582888565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014047590928461889,0.00013911012229399092,-0.0007244474848511517],"end_effector_yaw_offset_degrees":0.20364202685514066},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018455537542772227,0.001706654054142864,-0.0016519026170048693],"end_effector_yaw_offset_degrees":0.08865489114281178},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009755384006487403,-0.0011000262021504722,0.0005121073709146765],"end_effector_yaw_offset_degrees":0.47134447974944194}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00428421456637043,-0.004293095984035354],"position_m":[0.2680842145663704,0.34140690401596463,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002190157202856215,0.0009409660723848747],"position_m":[0.3445901572028562,0.10224096607238488,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004154673644436181,0.0027593478692727134],"position_m":[0.3255453263555638,-0.04054065213072729,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.9576892420705e-05,0.0003887987023419356],"position_m":[0.2692495768924207,-0.38781120129765806,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5446c5b761add0508faa03869603d08c7554c7c3eb9079d1c53f1e04a8d7ee60","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6528/tex_ceiling_textures_4471/tex_floor_textures_4938/tex_table_textures_4289/tex_wall_textures_3523","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7729198954012705,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7729198954012705,"visual_seed":7729198954012705,"scene_id":"lab_003","finished_at":"2026-09-02T04:31:08"}
+{"episode_id":"ep_000038","started_at":"2026-09-02T04:31:11","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.6046822017523618,-1.8920985941888522,0.71338606911949],"aabb_xy":[[-0.6296822016848796,-1.8989812624097755],[-0.5796822018198439,-1.8852159259679289]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.11199709151684467,-1.158363574169926,0.71338606911949],"aabb_xy":[[0.021997092922374714,-1.174614160483347],[0.20199709011131461,-1.142112987856505]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[0.0027142624707863217,1.6000367488145986,0.71338606911949],"aabb_xy":[[-0.0028674091633424372,1.587536748996823],[0.00829593410491508,1.612536748632374]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.14823789117145147,0.6210860223059758,0.71338606911949],"aabb_xy":[[-0.19432298242618293,0.5570860250534206],[-0.10215279991671998,0.6850860195585309]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.3443607771296804,1.3045662994731222,0.71338606911949],"aabb_xy":[[-0.3993344991660133,1.2495662999088892],[-0.28938705509334756,1.3595662990373556]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.2392223597543639,-0.09593051652295514,0.71338606911949],"aabb_xy":[[-0.2617223597645122,-0.11002673616255841],[-0.2167223597442156,-0.08183429688335185]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.21904415446712672,-2.2497245248625712,0.71338606911949],"aabb_xy":[[-0.26006209785349765,-2.2997245254935286],[-0.17802621108075586,-2.199724524231614]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.12693246730801078,-2.239849746916722,0.71338606911949],"aabb_xy":[[-0.1341762333542561,-2.319849745120324],[-0.11968870126176545,-2.1598497487131194]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.4228819387103757,1.0121235235242176,0.71338606911949],"aabb_xy":[[0.3428819417473365,0.935047881880444],[0.5028819356734149,1.0891991651679909]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.49078773950741494,-1.72253752922152,0.71338606911949],"aabb_xy":[[0.40110066319929943,-1.8125375294759707],[0.5804748158155304,-1.6325375289670696]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.2933435115050479,1.7705555694267994,0.71338606911949],"aabb_xy":[[0.27818063852811087,1.7553901121316806],[0.30850638448198503,1.7857210267219181]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.37798934351395463,-0.7611627736800486,0.71338606911949],"aabb_xy":[[-0.39045670162369034,-0.7736280983133722],[-0.36552198540421904,-0.7486974490467252]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[0.5571481450951241,-0.7789623365310159,0.71338606911949],"aabb_xy":[[0.5271564823612538,-0.8089623358678164],[0.5871398078289944,-0.7489623371942153]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.07465948707198466,-2.1708887631542333,0.71338606911949],"aabb_xy":[[0.010659485663993993,-2.222677714678158],[0.1386594884799753,-2.1190998116303086]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.2155133419023621,0.32464824821178384,0.71338606911949],"aabb_xy":[[-0.27951334519207016,0.2813133292078661],[-0.15151333861265398,0.36798316721570135]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[0.5184688562133359,-0.40006567434134466,0.71338606911949],"aabb_xy":[[0.479923163388135,-0.4386114453975334],[0.5570145490385371,-0.36151990328515604]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.46645009612078403,-1.989146293600436,0.71338606911949],"aabb_xy":[[0.4330099209247644,-2.0225899194313657],[0.49989027131680364,-1.9557026677695055]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.1256596531605242,0.8692129884221234,0.71338606911949],"aabb_xy":[[-0.21565964966139592,0.823301346003665],[-0.03565965665965242,0.9151246308405815]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.30154192946201286,-1.4896877296193247,0.71338606911949],"aabb_xy":[[0.24154192921061163,-1.5439690546557894],[0.361541929713414,-1.43540640458286]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[0.6972118664286187,1.2518706275671567,0.71338606911949],"aabb_xy":[[0.6821095649676003,1.2367691059360943],[0.7123141678896365,1.2669721491982182]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.6477842314936754,-2.243919726864443,0.71338606911949],"aabb_xy":[[-0.657415867714105,-2.2535570396441513],[-0.6381525952732457,-2.2342824140847335]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.5140348917167328,0.7216843890608629,0.71338606911949],"aabb_xy":[[0.5048750127728562,0.7151531710173257],[0.5231947706606094,0.7282156071043998]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.5197498560430125,0.9207284852198128,0.71338606911949],"aabb_xy":[[-0.5847498546000854,0.8909759518059301],[-0.45474985748593977,0.9504810186336954]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[0.5324198844239902,1.3983087710849444,0.71338606911949],"aabb_xy":[[0.5012729655804071,1.3283087723981373],[0.5635668032675734,1.4683087697717516]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.5553674761791993,1.67149186730061,0.71338606911949],"aabb_xy":[[0.4953674745362774,1.6194917180086659],[0.6153674778221211,1.7234920165925542]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[0.2256787813804486,1.412522688756341,0.71338606911949],"aabb_xy":[[0.1656787808725957,1.3556759550704196],[0.28567878188830154,1.4693694224422622]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[-0.322198216028399,-0.47249561300382314,0.71338606911949],"aabb_xy":[[-0.3348009151654754,-0.48509100922868864],[-0.3095955168913225,-0.45990021677895765]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.5770013972619441,-1.7591347672234965,0.71338606911949],"aabb_xy":[[-0.6570013958492635,-1.8384503691616574],[-0.49700139867462473,-1.6798191652853356]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_28","position":[-0.054416071923064635,0.12653976370678421,0.71338606911949],"aabb_xy":[[-0.06786259855710797,0.11306991205369299],[-0.0409695452890213,0.14000961535987544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7046502756549318,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2346.png","name":"2346"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2346.png","name":"2346"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1040.png","name":"1040"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2352.png","name":"2352"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4330.png","name":"4330"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1156.png","name":"1156"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":601.5519031571451,"rotation_z_degrees":27.81282328977502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013090734859577876,-0.01432400706282635,-0.012835558700082643]},{"name":"camera_2","offset_m":[0.0010776005201931123,-0.016595931290451955,0.008337632708321187]},{"name":"camera_3","offset_m":[-0.018959609541330802,0.01682145822555518,0.013923901303929068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019074880153536434,-0.0019948502134591703,0.0002103723142707404],"end_effector_yaw_offset_degrees":-0.380590750907829},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008060217962070496,0.00035534340048440187,-0.00030931928535461316],"end_effector_yaw_offset_degrees":-0.8657526767181285},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018023861346651337,-0.0017886244020309326,-0.0017301953324796427],"end_effector_yaw_offset_degrees":-0.7376390120069138}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002569376297000849,0.00182957529308562],"position_m":[0.2663693762970008,0.34752957529308565,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003633681990034492,-0.004573747286172038],"position_m":[0.3387663180099655,0.09672625271382797,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027467456832807914,0.0026958621550589347],"position_m":[0.3269532543167192,-0.04060413784494106,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029788805991526313,0.001847215459403695],"position_m":[0.26622111940084736,-0.3863527845405963,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ffb1b04840f4c6fb919df8af7b858c54110f6f036d8a332abcfe0d9d66fef975","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2346/tex_ceiling_textures_1156/tex_floor_textures_4330/tex_table_textures_1040/tex_wall_textures_2352","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4806641175375554593,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4806641175375554593,"visual_seed":4806641175375554593,"scene_id":"lab_003","finished_at":"2026-09-02T04:34:10"}
+{"episode_id":"ep_000039","started_at":"2026-09-02T04:34:13","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.09308739642364983,-1.1822608489308417,0.71338606911949],"aabb_xy":[[0.0480948097051994,-1.2272608482052905],[0.13807998314210024,-1.137260849656393]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.4140285697894376,-0.001156190163645654,0.71338606911949],"aabb_xy":[[-0.46400598665469117,-0.051156191652894194],[-0.364051152924184,0.048843811325602886]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.5880739202877907,-1.4801033598263462,0.71338606911949],"aabb_xy":[[-0.5989143985143056,-1.4972896411169947],[-0.5772334420612758,-1.4629170785356973]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[-0.054993140870543966,-0.33579390789252095,0.71338606911949],"aabb_xy":[[-0.10496643487380442,-0.3857939084470683],[-0.005019846867283517,-0.2857939073379736]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.16603354250533353,1.5612497679158577,0.71338606911949],"aabb_xy":[[-0.18961866596922838,1.496249765670426],[-0.14244841904143868,1.6262497701612895]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.24803614479410663,1.343050163671597,0.71338606911949],"aabb_xy":[[0.1830361437936061,1.292263798516922],[0.31303614579460715,1.393836528826272]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.2288932554587742,-0.7187634361841813,0.71338606911949],"aabb_xy":[[-0.24580398789511596,-0.7322356417767957],[-0.2119825230224324,-0.7052912305915666]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.5415033253777362,0.6267873113767819,0.71338606911949],"aabb_xy":[[0.4775033251172653,0.581778512023854],[0.6055033256382069,0.67179611072971]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.20975244745913002,1.239770848502876,0.71338606911949],"aabb_xy":[[-0.2897524461160161,1.2252659895786133],[-0.12975244880224407,1.2542757074271391]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.3922596706934236,-1.3197284351719083,0.71338606911949],"aabb_xy":[[0.3841460160200465,-1.3278342516259374],[0.4003733253668007,-1.3116226187178792]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.6277549659414283,0.3097140158477889,0.71338606911949],"aabb_xy":[[0.6110778299483328,0.2930140918738586],[0.6444321019345238,0.3264139398217191]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.504164007217269,-0.8619191294044994,0.71338606911949],"aabb_xy":[[-0.5841640042315169,-0.8820536810779106],[-0.42416401020302097,-0.8417845777310881]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.14136925768373676,-1.7831522751342288,0.71338606911949],"aabb_xy":[[-0.1494055923850216,-1.7911903944386456],[-0.13333292298245192,-1.775114155829812]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[-0.02207043592717106,-1.2711943966644663,0.71338606911949],"aabb_xy":[[-0.033315491497788896,-1.2824361943885614],[-0.010825380356553227,-1.2599525989403708]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.5120923210918995,0.07333227720494007,0.71338606911949],"aabb_xy":[[0.4480923196839089,0.021543325681015354],[0.5760923224998902,0.12512122872886475]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.70235148633354,-0.7487330455730286,0.71338606911949],"aabb_xy":[[0.6984376131381175,-0.7574820609795854],[0.7062653595289624,-0.7399840301664717]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.27795126056642183,-1.6577022019455376,0.71338606911949],"aabb_xy":[[-0.2931234298480551,-1.6728710588737412],[-0.26277909128478844,-1.6425333450173345]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.101887561848226,-0.07795687360296677,0.71338606911949],"aabb_xy":[[-0.16347832107221882,-0.14195687171201365],[-0.040296802624233186,-0.013956875493919899]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.4553200474870076,1.1580097841210613,0.71338606911949],"aabb_xy":[[-0.5051368269518424,1.108009785636758],[-0.40550326802217285,1.2080097826053646]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.3537370043516337,-1.850957313952871,0.71338606911949],"aabb_xy":[[0.2737370069480402,-1.9309498851510536],[0.43373700175522706,-1.770964742754688]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[-0.356427023273703,-1.08811856641103,0.71338606911949],"aabb_xy":[[-0.40159834112187204,-1.1521185635555686],[-0.31125570542553405,-1.0241185692664918]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.21368287360807076,0.6934556714820679,0.71338606911949],"aabb_xy":[[-0.26867512424358175,0.6384556697387552],[-0.15869062297255984,0.7484556732253808]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.653869795946172,-1.7799516039178234,0.71338606911949],"aabb_xy":[[-0.6618632857414541,-1.7879497358582992],[-0.6458763061508901,-1.771953471977348]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.4262465633082714,1.416784357720711,0.71338606911949],"aabb_xy":[[-0.44752457145174357,1.3517843553946378],[-0.40496855516479907,1.481784360046784]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.46972587061576254,-1.4149916321516127,0.71338606911949],"aabb_xy":[[-0.5197258722772571,-1.4649900744073152],[-0.41972586895426767,-1.3649931898959098]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_25","position":[0.5969493484224699,-1.2509942254968704,0.71338606911949],"aabb_xy":[[0.5826149232963065,-1.263054441051409],[0.6112837735486334,-1.2389340099423314]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.4989833228660578,-1.0829177653071846,0.71338606911949],"aabb_xy":[[-0.5211558498427087,-1.105093432463308],[-0.47681079588940695,-1.0607420981510614]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[0.2068362732029737,0.9154796084830039,0.71338606911949],"aabb_xy":[[0.11683627646736344,0.8622961451657093],[0.29683626993858386,0.9686630718002983]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[0.6256215245803296,-0.20543770834056252,0.71338606911949],"aabb_xy":[[0.6175952539497037,-0.2141892033179151],[0.6336477952109557,-0.19668621336320988]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[-0.41155152125721095,-0.6171916275321798,0.71338606911949],"aabb_xy":[[-0.42975734491845863,-0.6282170281141716],[-0.3933456975959633,-0.6061662269501883]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_30","position":[-0.5505096294069147,-1.2299517987940305,0.71338606911949],"aabb_xy":[[-0.5724183115462658,-1.251852465614121],[-0.5286009472675637,-1.2080511319739395]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[-0.405074719856807,0.868332481572851,0.71338606911949],"aabb_xy":[[-0.46907472207721396,0.8239593974475626],[-0.3410747176363999,0.9127055656981392]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_32","position":[0.45679993227620863,-2.0552299140468886,0.71338606911949],"aabb_xy":[[0.3867999358662468,-2.07566784969857],[0.5267999286861703,-2.0347919783952064]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_33","position":[0.47540245567805783,-0.7876474022689608,0.71338606911949],"aabb_xy":[[0.3954086320994996,-0.8676474048618025],[0.555396279256616,-0.7076473996761193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7079307083007853,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5154.png","name":"5154"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5154.png","name":"5154"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9571.png","name":"9571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2450.png","name":"2450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":790.4485201855102,"rotation_z_degrees":317.19357597370737,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012831028019361642,-0.01645983568231533,0.001708954216303446]},{"name":"camera_2","offset_m":[-0.013546357382477154,0.007839944628626586,-0.009501312369155834]},{"name":"camera_3","offset_m":[-0.006795746073413355,-0.008432606271535753,-0.010138169066431257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012023460246139359,-0.0006229630706116995,0.0010605979245382376],"end_effector_yaw_offset_degrees":-0.017691195497659296},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001956160614477377,0.0004703880322099079,-0.0016713529154167872],"end_effector_yaw_offset_degrees":0.2507781783301519},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005747691527211089,0.0010665849790979314,-0.001587221172494437],"end_effector_yaw_offset_degrees":-0.9535277320245581}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007346303207588422,0.0024888999233773305],"position_m":[0.2645346303207588,0.3481888999233773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002531225869066961,0.0020118636824364086],"position_m":[0.339868774130933,0.10331186368243642,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003482085516442442,4.9738454471786285e-05],"position_m":[0.32935179144835575,-0.04325026154552821,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020814637811013437,-0.002752431975696832],"position_m":[0.26711853621889864,-0.39095243197569685,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b75858f143d120cd0a897e24a759679d9210b1509b7163ffdfd554b2d68df5f2","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5154/tex_ceiling_textures_2437/tex_floor_textures_2450/tex_table_textures_5650/tex_wall_textures_9571","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6010603266146876398,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6010603266146876398,"visual_seed":6010603266146876398,"scene_id":"lab_003","finished_at":"2026-09-02T04:37:04"}
+{"episode_id":"ep_000040","started_at":"2026-09-02T04:37:07","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.307190540916018,-1.2119066559470233,0.71338606911949],"aabb_xy":[[-0.37119054296574994,-1.2520011390363313],[-0.24319053886628594,-1.1718121728577153]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.5523777973608275,-0.28516843773905665,0.71338606911949],"aabb_xy":[[-0.5631507712821953,-0.32016843595809563],[-0.5416048234394597,-0.25016843952001766]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[0.4020470185969891,1.1150088023417566,0.71338606911949],"aabb_xy":[[0.3807690104535168,1.0500088000156838],[0.4233250267404613,1.1800088046678299]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.3124041090767275,-0.3630971374604628,0.71338606911949],"aabb_xy":[[-0.4024041087999016,-0.3861704899956426],[-0.2224041093535533,-0.3400237849252829]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.43979441889691634,1.4914953561435058,0.71338606911949],"aabb_xy":[[-0.5047944170528353,1.4651991115935938],[-0.3747944207409972,1.5177916006934182]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.49070852757654826,1.16340600454267,0.71338606911949],"aabb_xy":[[-0.5707085247361234,1.1518584035848527],[-0.4107085304169729,1.1749536055004868]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.5261040359926206,-2.295947989563538,0.71338606911949],"aabb_xy":[[0.46210403458462995,-2.347736941087463],[0.5901040374006112,-2.2441590380396135]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.46562395562966197,0.7387228001345134,0.71338606911949],"aabb_xy":[[0.42460601224329103,0.6887227995035561],[0.5066418990160328,0.7887228007654707]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.5645785024026773,-0.5657780150987897,0.71338606911949],"aabb_xy":[[0.4945785005939318,-0.587131783862977],[0.6345785042114227,-0.5444242463346023]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[-0.6734510308288085,-1.5095980769380053,0.71338606911949],"aabb_xy":[[-0.6885533322898264,-1.5246995985690668],[-0.6583487293677902,-1.494496555306943]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.12508758186810087,0.03212255531983166,0.71338606911949],"aabb_xy":[[-0.1890875810378708,-0.01464413179913082],[-0.061087582698330915,0.07888924243879412]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.2123344645283297,-1.6253832769828978,0.71338606911949],"aabb_xy":[[0.19523238656996156,-1.6424900825141677],[0.22943654248669787,-1.6082764714516282]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.6327592586867647,0.40786883807494156,0.71338606911949],"aabb_xy":[[0.582661794705691,0.34386883756512976],[0.6828567226678383,0.47186883858475337]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.11975534469131877,1.1126804058921054,0.71338606911949],"aabb_xy":[[0.06475534551472928,1.0576907311171475],[0.17475534386790825,1.1676700806670628]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.10952763778988495,0.6106849898119422,0.71338606911949],"aabb_xy":[[-0.12702763692425206,0.6008053627743544],[-0.09202763865551775,0.62056461684953]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.5979050526215535,-0.41623757428711095,0.71338606911949],"aabb_xy":[[0.5379050523701523,-0.4705188993235756],[0.6579050528729546,-0.3619562492506463]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.006153723112329312,-0.7645901811039475,0.71338606911949],"aabb_xy":[[-0.06384627848995017,-0.7780229743056051],[0.0761537247146088,-0.7511573879022899]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.027133330188924165,-1.3941434718347872,0.71338606911949],"aabb_xy":[[-0.05712499292279449,-1.4241434711715877],[0.002858332544946166,-1.3641434724979866]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.2870870317755497,-1.7429468636142633,0.71338606911949],"aabb_xy":[[-0.35708702818551136,-1.7633847992659444],[-0.2170870353655878,-1.722508927962581]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[-0.6466431581055881,1.282776975902256,0.71338606911949],"aabb_xy":[[-0.6749728680541284,1.2783162337085392],[-0.6183134481570479,1.2872377180959733]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.3257629432452054,0.7952079960707743,0.71338606911949],"aabb_xy":[[-0.33891418921649474,0.7702079963140878],[-0.312611697273916,0.8202079958274608]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.5794368973371151,-1.4005718794227033,0.71338606911949],"aabb_xy":[[0.571309209143802,-1.409485487833411],[0.5875645855304285,-1.3916582710119956]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[0.513700226829167,1.150843390772152,0.71338606911949],"aabb_xy":[[0.4850508944687507,1.1221978314950762],[0.5423495591895832,1.1794889500492278]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.05597524253720387,1.6025645226670124,0.71338606911949],"aabb_xy":[[-0.07788392467655492,1.5806638558469215],[-0.03406656039785283,1.624465189487103]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[0.10989584820565013,-2.2884662772702544,0.71338606911949],"aabb_xy":[[0.029895847735434196,-2.296776984884603],[0.18989584867586612,-2.2801555696559066]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[-0.6590275669462956,-1.2040112925656896,0.71338606911949],"aabb_xy":[[-0.6815412587697528,-1.274011293166697],[-0.6365138751228384,-1.1340112919646819]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[-0.3961914028236347,-0.9695569681978267,0.71338606911949],"aabb_xy":[[-0.4761914008044198,-0.9771585091596787],[-0.3161914048428497,-0.9619554272359748]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_27","position":[-0.4256654756724317,1.6927024469389962,0.71338606911949],"aabb_xy":[[-0.49066547667293214,1.6419160817843212],[-0.3606654746719311,1.7434888120936711]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[0.0014501031929083918,-1.6882442983808772,0.71338606911949],"aabb_xy":[[-0.004644524695209928,-1.6968136929325461],[0.007544731081026712,-1.6796749038292087]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.08933973846923993,-0.5692591148407415,0.71338606911949],"aabb_xy":[[-0.12433973844573577,-0.5787237308883583],[-0.05433973849274411,-0.559794498793125]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_30","position":[-0.10507984512753976,1.7950226630100237,0.71338606911949],"aabb_xy":[[-0.10971496027977314,1.7911553279328747],[-0.10044472997530636,1.7988899980871722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7097956510105603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8692.png","name":"8692"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8692.png","name":"8692"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2454.png","name":"2454"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6550.png","name":"6550"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6498.png","name":"6498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":598.2887879188428,"rotation_z_degrees":128.3374131381056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015030150776619806,-0.017329371531191108,0.000703027040927437]},{"name":"camera_2","offset_m":[-0.001486429272714574,0.004827594993575737,-0.019372945551062972]},{"name":"camera_3","offset_m":[-0.00758483965291723,0.007400416116935003,0.0012214375767980873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00019833521373877408,0.0015846853461349282,-0.00034975047391525124],"end_effector_yaw_offset_degrees":-0.8744920825280742},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001871042060057114,0.001283345650888318,-0.001812787543922159],"end_effector_yaw_offset_degrees":0.0803178740464765},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001172755757183936,-0.0006498847097892559,-0.001235302671000371],"end_effector_yaw_offset_degrees":0.8822635350554229}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004616895398097158,-0.0029525072646755944],"position_m":[0.26841689539809716,0.3427474927353244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004185237760821432,0.0024666061146262977],"position_m":[0.33821476223917857,0.10376660611462629,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013260411404363917,0.002325611135087311],"position_m":[0.3310260411404364,-0.040974388864912684,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032390024204696404,0.0019624417238300077],"position_m":[0.27243900242046964,-0.38623755827616996,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9b00978b92573f8b8857ac8f5df16c5bd766ec98977efd55b43434884b65da05","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8692/tex_ceiling_textures_5589/tex_floor_textures_6498/tex_table_textures_2454/tex_wall_textures_6550","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6906144066525593282,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6906144066525593282,"visual_seed":6906144066525593282,"scene_id":"lab_003","finished_at":"2026-09-02T04:40:02"}
+{"episode_id":"ep_000041","started_at":"2026-09-02T04:40:05","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.2059648880653563,-2.3350207382823083,0.71338606911949],"aabb_xy":[[0.14596488821878953,-2.3918393604753465],[0.2659648879119231,-2.278202116089269]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.03219620005052415,0.8689068170051848,0.71338606911949],"aabb_xy":[[-0.11219619706477213,0.8487722653317735],[0.04780379696372383,0.8890413686785961]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.1924876790050556,0.6938250926487486,0.71338606911949],"aabb_xy":[[0.1549876805816552,0.6806608786809178],[0.2299876774284559,0.7069893066165791]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[0.42557496939941886,1.473832520939014,0.71338606911949],"aabb_xy":[[0.39772993261881173,1.4430480222007023],[0.453420006180026,1.5046170196773256]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.15812030280011513,-1.1780188066688735,0.71338606911949],"aabb_xy":[[-0.22312030283441786,-1.2247194833492008],[-0.0931203027658124,-1.1313181299885462]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.5043438171949266,-1.8320246619487284,0.71338606911949],"aabb_xy":[[-0.5521499848086953,-1.8970246646557871],[-0.45653764958115794,-1.7670246592416692]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.6812536915297835,0.39004618676414804,0.71338606911949],"aabb_xy":[[-0.6865912671957881,0.36504618583500825],[-0.675916115863779,0.4150461876932878]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.447672919576961,-2.075627855451467,0.71338606911949],"aabb_xy":[[-0.5126729181340338,-2.1053803888653495],[-0.38267292101988815,-2.0458753220375843]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.13492414406871944,-1.7915578126082528,0.71338606911949],"aabb_xy":[[-0.1989241472873573,-1.838280924507261],[-0.07092414085008159,-1.7448347007092444]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.18877598146005126,-0.6181554073722635,0.71338606911949],"aabb_xy":[[-0.2687759784230904,-0.6952310490160369],[-0.10877598449701206,-0.54107976572849]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.25397528573503436,-1.0637134592031052,0.71338606911949],"aabb_xy":[[0.1963448168477634,-1.1237134581298158],[0.3116057546223051,-1.0037134602763946]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.3475096114212324,-0.8841577109118803,0.71338606911949],"aabb_xy":[[0.3304075334628642,-0.9012645164431501],[0.36461168937960053,-0.8670509053806106]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.44509332756924536,0.3157248568972708,0.71338606911949],"aabb_xy":[[-0.5090933299120468,0.27078400565313826],[-0.3810933252264438,0.36066570814140325]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.09693324915924983,0.34804699918826465,0.71338606911949],"aabb_xy":[[-0.1070149562378233,0.26804700129614994],[-0.08685154208067634,0.42804699708037924]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.4662049191581098,-2.520020084011063,0.71338606911949],"aabb_xy":[[-0.5161837276684256,-2.5700200840167815],[-0.41622611064779386,-2.470020084005344]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.4585786211791969,0.5315924519284385,0.71338606911949],"aabb_xy":[[0.408583610219745,0.4815924528928469],[0.508573632138649,0.5815924509640303]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.4334526401242562,-1.451392017058714,0.71338606911949],"aabb_xy":[[-0.5134464637028144,-1.5313920196515558],[-0.35345881654569794,-1.3713920144658727]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.10202916868887124,-2.0211673783144026,0.71338606911949],"aabb_xy":[[-0.16602486608396783,-2.0851673766151113],[-0.03803347129377464,-1.957167380013694]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[-0.6672191244778316,-2.275542785218513,0.71338606911949],"aabb_xy":[[-0.6736329381210164,-2.281952605466181],[-0.6608053108346466,-2.269132964970844]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.41281995041542086,1.2484795678620473,0.71338606911949],"aabb_xy":[[0.34881995401984783,1.1845162794433137],[0.476819946810994,1.3124428562807808]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.5566312672683015,-0.11552176615500365,0.71338606911949],"aabb_xy":[[-0.6416312656857247,-0.20039606161728862],[-0.47163126885087825,-0.030647470692718656]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.050753050222497986,1.0327003682104205,0.71338606911949],"aabb_xy":[[-0.08521552823558576,1.0260366910274978],[-0.016290572209410215,1.0393640453933433]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.5721893538855896,0.5388545168133327,0.71338606911949],"aabb_xy":[[-0.5957744773494844,0.47385451456790106],[-0.5486042304216947,0.6038545190587646]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.5300806744105515,-0.382118611735895,0.71338606911949],"aabb_xy":[[-0.5394981489804143,-0.39153478887361404],[-0.5206631998406888,-0.372702434598176]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.18712033969335518,-2.561975783003439,0.71338606911949],"aabb_xy":[[0.18320646649793265,-2.5707247984099957],[0.1910342128887777,-2.553226767596882]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.6196510816038345,-1.087667663383825,0.71338606911949],"aabb_xy":[[-0.684651084241628,-1.1391472620832719],[-0.554651078966041,-1.036188064684378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7035846432777387,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1893.png","name":"1893"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1893.png","name":"1893"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9217.png","name":"9217"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1320.png","name":"1320"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2765.png","name":"2765"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4605.png","name":"4605"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":525.543277679681,"rotation_z_degrees":282.09293215951345,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00910708801657277,0.0014152277408809033,0.001466464952838465]},{"name":"camera_2","offset_m":[0.014909170786827883,-0.018126614662756363,0.015719587640832363]},{"name":"camera_3","offset_m":[-0.015728033892718877,0.0018883249927317373,-0.015140161240367758]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008928436243450597,0.0005229069201556336,-0.00012173936283818988],"end_effector_yaw_offset_degrees":-0.7930509938502217},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007833527500990948,0.00020790151194334658,0.0012292430003351],"end_effector_yaw_offset_degrees":-0.02952470512892913},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00032340170874996027,-0.0019377311600660416,9.178252613852803e-05],"end_effector_yaw_offset_degrees":0.9052064655184342}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004885724610162576,-0.0007775649149510018],"position_m":[0.2589142753898374,0.344922435085049,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014443640754875286,0.004890350044020958],"position_m":[0.34095563592451245,0.10619035004402096,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-2.714879224521849e-05,-0.002161270046991205],"position_m":[0.3296728512077548,-0.0454612700469912,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031252730448558743,0.003569849329088058],"position_m":[0.2660747269551441,-0.38463015067091194,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"82ab20413b1466c1a9492d319bcb66a842c0c2f97fd9948c0f21e5a4c653f49c","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1893/tex_ceiling_textures_4605/tex_floor_textures_2765/tex_table_textures_9217/tex_wall_textures_1320","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8878489147912608745,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8878489147912608745,"visual_seed":8878489147912608745,"scene_id":"lab_003","finished_at":"2026-09-02T04:43:04"}
+{"episode_id":"ep_000042","started_at":"2026-09-02T04:43:07","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.39415390269373407,1.5088541205980088,0.71338606911949],"aabb_xy":[[-0.42915390182368973,1.5031088995223445],[-0.3591539035637784,1.5145993416736727]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[0.5924196595949187,1.4191036779025201,0.71338606911949],"aabb_xy":[[0.528419658186928,1.3673147263785954],[0.6564196610029094,1.4708926294264448]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.08451496809701442,0.0714742633935943,0.71338606911949],"aabb_xy":[[-0.0894142604035779,0.043797344091025536],[-0.07961567579045091,0.09915118269616308]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.2231179219311743,-2.36713743289442,0.71338606911949],"aabb_xy":[[0.1591179198814423,-2.407231915983728],[0.2871179239809063,-2.327042949805112]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.49252617333398807,-0.9632927883597568,0.71338606911949],"aabb_xy":[[0.4285261769066662,-1.0104624121818535],[0.55652616976131,-0.9161231645376605]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.2808027132966125,0.9170165453599646,0.71338606911949],"aabb_xy":[[-0.30108701602001126,0.8967339202172556],[-0.26051841057321373,0.9372991705026733]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5656816795794207,1.4920001782853638,0.71338606911949],"aabb_xy":[[-0.6296816799569543,1.4422549114345513],[-0.5016816792018871,1.5417454451361758]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.3165082967271507,-1.1454439814252209,0.71338606911949],"aabb_xy":[[-0.36649124691463,-1.195443981067781],[-0.2665253465396713,-1.0954439817826602]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.6635049975947767,-1.7631103020193415,0.71338606911949],"aabb_xy":[[0.6260049991713762,-1.7762745159871722],[0.7010049960181769,-1.7499460880515112]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.38652373178040983,-0.6090650329867691,0.71338606911949],"aabb_xy":[[-0.3953257870893825,-0.6168763591416981],[-0.37772167647143706,-0.60125370683184]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.26483030849617084,0.7979903781515572,0.71338606911949],"aabb_xy":[[0.24571800113819198,0.7788555992743151],[0.2839426158541497,0.8171251570287992]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.36106162481810467,-1.2693994968694111,0.71338606911949],"aabb_xy":[[0.28106162780385674,-1.2895340485428224],[0.4410616218323527,-1.2492649451959998]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.13983877899925157,-1.7209255514834165,0.71338606911949],"aabb_xy":[[-0.22356100449933403,-1.8109255550181125],[-0.05611655349916911,-1.6309255479487206]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.04364515362435484,-1.275594176307487,0.71338606911949],"aabb_xy":[[-0.048075782979195014,-1.2810425480421697],[-0.03921452426951466,-1.2701458045728042]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.6681143236986248,-2.0489948853586246,0.71338606911949],"aabb_xy":[[-0.6740808626393605,-2.0549560300179888],[-0.6621477847578888,-2.0430337406992605]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.07620731773458189,1.5055499674903454,0.71338606911949],"aabb_xy":[[0.06305607176329253,1.480549967733659],[0.08935856370587125,1.5305499672470324]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.5625262259208039,1.2105984128976859,0.71338606911949],"aabb_xy":[[-0.5697874734912114,1.1978114026341764],[-0.5552649783503965,1.2233854231611954]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.2021065448076832,1.3847236200907127,0.71338606911949],"aabb_xy":[[-0.2245713147790883,1.362223619211852],[-0.17964177483627805,1.407223620969573]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[-0.3236829175890376,1.0280054252283954,0.71338606911949],"aabb_xy":[[-0.387682914891384,0.9836389982605385],[-0.2596829202866912,1.072371852196252]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.0065592986295681666,0.9310089895212235,0.71338606911949],"aabb_xy":[[-0.029475011514618073,0.9081046923848],[0.016356414255481736,0.953913286657647]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.3820693998284501,0.9353272001126762,0.71338606911949],"aabb_xy":[[0.378628723588393,0.931465767138312],[0.38551007606850735,0.9391886330870409]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.4430137719985032,-2.150806414237619,0.71338606911949],"aabb_xy":[[0.3730137701897578,-2.1721601830018065],[0.5130137738072487,-2.1294526454734317]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.4994933694571295,1.0542753246816003,0.71338606911949],"aabb_xy":[[0.47449336952461163,1.047392656460677],[0.5244933693896474,1.0611579929025237]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.3872982453209237,-1.4606721899293922,0.71338606911949],"aabb_xy":[[0.3232982467343512,-1.507679153328901],[0.4512982439074961,-1.4136652265298835]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.5732803145255359,0.7548351233315365,0.71338606911949],"aabb_xy":[[0.548059477665696,0.7296113724786497],[0.5985011513853753,0.7800588741844232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7080624746590345,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6434.png","name":"6434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6434.png","name":"6434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7356.png","name":"7356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2699.png","name":"2699"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":541.8831293943922,"rotation_z_degrees":14.905141512161793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009556831877646816,-0.015016282801248896,0.007959682570020225]},{"name":"camera_2","offset_m":[-0.015513962635251111,-0.016481729288212003,0.00891792664690064]},{"name":"camera_3","offset_m":[0.002915232587440853,0.004322827939198269,0.0016432773048677858]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011404186609288765,9.78613258158503e-05,-0.0001832075444384506],"end_effector_yaw_offset_degrees":-0.5700874424912716},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0001315406073712003,-0.0017982156753777448,0.0008013188856719347],"end_effector_yaw_offset_degrees":-0.46284937837500273},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001966760765277126,-0.0018556088092464749,0.0014389678539966492],"end_effector_yaw_offset_degrees":0.7830274199668814}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003950829513727934,0.0009097156162920506],"position_m":[0.2677508295137279,0.34660971561629206,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008119481049260954,0.0032788671912025247],"position_m":[0.34321194810492606,0.10457886719120253,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0045515953116050415,0.0011101850833972167],"position_m":[0.33425159531160503,-0.04218981491660278,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00040187858692246597,-0.00044517767236748346],"position_m":[0.2687981214130775,-0.38864517767236745,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b1afa1b066d843ddebcb8e544d07f349269690e28682aa37ecb1236f5e85292c","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6434/tex_ceiling_textures_2699/tex_floor_textures_6553/tex_table_textures_7356/tex_wall_textures_6007","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5687707844086676893,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5687707844086676893,"visual_seed":5687707844086676893,"scene_id":"lab_003","finished_at":"2026-09-02T04:45:58"}
+{"episode_id":"ep_000043","started_at":"2026-09-02T04:46:01","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.46907728830824597,-1.1598134364346964,0.71338606911949],"aabb_xy":[[-0.5191747522893195,-1.2238134369445082],[-0.4189798243271724,-1.0958134359248846]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.4020746891771888,-0.847824583483582,0.71338606911949],"aabb_xy":[[-0.4920746928541069,-0.9092569900606862],[-0.31207468550027057,-0.7863921769064774]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.2297502624910719,-1.1517840286646137,0.71338606911949],"aabb_xy":[[0.17977284562581825,-1.201784030153862],[0.27972767935632536,-1.101784027175365]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.6878762091621249,-1.3945900518027228,0.71338606911949],"aabb_xy":[[0.6806324431158796,-1.4745900500063251],[0.6951199752083702,-1.3145900535991204]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.5362835099094989,1.7084459565970929,0.71338606911949],"aabb_xy":[[0.5249217752562126,1.6970774901908046],[0.547645244562785,1.7198144230033807]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.4010567401339523,1.216334822690138,0.71338606911949],"aabb_xy":[[-0.4510567414177923,1.1663559682995157],[-0.35105673885011235,1.26631367708076]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.37281493298749147,-0.6744412546896774,0.71338606911949],"aabb_xy":[[-0.39169931675600167,-0.6933271794700303],[-0.35393054921898126,-0.6555553299093247]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.5716573373327456,0.5983133788286472,0.71338606911949],"aabb_xy":[[0.5525450299747667,0.5791785999514052],[0.5907696446907245,0.6174481577058892]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.4852221656013638,-2.5564065008302634,0.71338606911949],"aabb_xy":[[0.4685450296082682,-2.5731064248041937],[0.5018993015944593,-2.539706576856333]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.41489470469869194,0.5311004871226808,0.71338606911949],"aabb_xy":[[0.3778605952706321,0.4967232797889713],[0.45192881412675157,0.5654776944563902]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[0.5065751896047592,0.23561834956159755,0.71338606911949],"aabb_xy":[[0.4933442440700778,0.22239093053959808],[0.5198061351394404,0.24884576858359692]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.6417616309840926,1.0446986674366219,0.71338606911949],"aabb_xy":[[0.561761633580499,0.964706096238439],[0.7217616283876859,1.1246912386348045]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.21067195769103703,0.24869011379605288,0.71338606911949],"aabb_xy":[[-0.2474665908159433,0.21178423869947058],[-0.17387732456613075,0.28559598889263516]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.01912317209377723,-1.7520324951217767,0.71338606911949],"aabb_xy":[[-0.065876826323646,-1.8369067905840617],[0.10412317051120046,-1.6671581996594917]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.48449755421512597,-0.4794872392063372,0.71338606911949],"aabb_xy":[[-0.5219975541588924,-0.4877803292411737],[-0.4469975542713595,-0.47119414917150054]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.6518210493601886,-0.36874003271390166,0.71338606911949],"aabb_xy":[[-0.6623885290182876,-0.37928506282691016],[-0.6412535697020896,-0.35819500260089304]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.389032098619462,1.0927089882569088,0.71338606911949],"aabb_xy":[[-0.41687713540006904,1.061924489518597],[-0.3611870618388548,1.1234934869952204]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.45672780321025647,-0.23819391976771387,0.71338606911949],"aabb_xy":[[-0.46314161685344135,-0.24460374001538218],[-0.45031398956707147,-0.2317840995200455]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.2743912839181777,-1.3050956760150225,0.71338606911949],"aabb_xy":[[0.2103912836441994,-1.3551617762123105],[0.33839128419215586,-1.2550295758177346]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.6352421548301588,-1.1108777730635715,0.71338606911949],"aabb_xy":[[0.6181400768717905,-1.1279845785948412],[0.6523442327885268,-1.0937709675323017]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.5993083549239213,-0.46016636012699896,0.71338606911949],"aabb_xy":[[-0.6037389842787616,-0.4656147318616816],[-0.5948777255690813,-0.4547179883923164]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.012475012093639215,1.5306659325530396,0.71338606911949],"aabb_xy":[[-0.02331549032015412,1.5134796512623907],[-0.0016345338671243104,1.547852213843688]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.6146709654811665,0.8418987073868935,0.71338606911949],"aabb_xy":[[-0.6433202978415826,0.8132531481098177],[-0.5860216331207502,0.8705442666639693]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.2267001176645207,-1.7388986204426853,0.71338606911949],"aabb_xy":[[0.18545130663460596,-1.7938986199549025],[0.26794892869443543,-1.6838986209304676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7100833366413936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4247.png","name":"4247"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4247.png","name":"4247"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8100.png","name":"8100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3154.png","name":"3154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9567.png","name":"9567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/753.png","name":"753"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.8150937212681,"rotation_z_degrees":0.15336036520695817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004632787794243582,0.013101884953431956,0.009288647538761036]},{"name":"camera_2","offset_m":[-0.010071684622172117,0.019465217847812858,-0.0001350866148606411]},{"name":"camera_3","offset_m":[0.004761113233800577,0.006772569968549105,-0.005908700902200793]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007384740455331435,-0.0015864013681059865,-0.0008923858078778296],"end_effector_yaw_offset_degrees":-0.03215470851580471},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[2.9197502795246313e-05,6.272729439923616e-05,-0.000933208679129916],"end_effector_yaw_offset_degrees":-0.6021424378450189},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011096503518144378,-0.0014094391966497262,0.0017237792119458128],"end_effector_yaw_offset_degrees":-0.8312008445919239}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004693275851804406,-0.004833038388226366],"position_m":[0.2591067241481956,0.34086696161177366,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016601053829658095,0.0010543500224825444],"position_m":[0.3407398946170342,0.10235435002248254,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[4.248647108011285e-05,0.004159893664177033],"position_m":[0.3297424864710801,-0.03914010633582297,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003366721445280334,0.0016307378163498351],"position_m":[0.2725667214452803,-0.3865692621836502,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6eb232d2abcb97656737f8e28951ff680d829b1f96747dd0b2f7145781987818","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4247/tex_ceiling_textures_753/tex_floor_textures_9567/tex_table_textures_8100/tex_wall_textures_3154","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4897838800040988603,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4897838800040988603,"visual_seed":4897838800040988603,"scene_id":"lab_003","finished_at":"2026-09-02T04:48:51"}
+{"episode_id":"ep_000044","started_at":"2026-09-02T04:48:54","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.2914644594952255,-0.6457550158638885,0.71338606911949],"aabb_xy":[[0.2785925559942853,-0.7257550162777247],[0.30433636299616557,-0.5657550154500524]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[-0.3666442175275386,1.5215868755325759,0.71338606911949],"aabb_xy":[[-0.42664421917046047,1.4695867262406317],[-0.30664421588461677,1.57358702482452]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.557204099913411,-1.976059756576801,0.71338606911949],"aabb_xy":[[-0.5748369355069386,-1.993682702592424],[-0.5395712643198834,-1.958436810561178]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.6707470006907837,-0.8867051989489345,0.71338606911949],"aabb_xy":[[-0.688422631279382,-0.9043854152283372],[-0.6530713701021853,-0.8690249826695317]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.3850865146053962,1.1213101192125778,0.71338606911949],"aabb_xy":[[-0.435086514181731,1.0713295402604721],[-0.33508651502906156,1.171290698164684]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.2585797830628833,-1.8236542579446835,0.71338606911949],"aabb_xy":[[0.21145040406104754,-1.887654258989085],[0.3057091620647189,-1.759654256900281]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[-0.6267875168286717,1.7713731565863857,0.71338606911949],"aabb_xy":[[-0.6617875168051676,1.761908540538769],[-0.5917875168521759,1.7808377726340023]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.4920424705877997,-0.9884194632080658,0.71338606911949],"aabb_xy":[[-0.5420424715383325,-1.019968610211587],[-0.4420424696372669,-0.9568703162045443]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.6586421871813353,-1.8731980721952386,0.71338606911949],"aabb_xy":[[0.5946421900692295,-1.9222304419896492],[0.7226421842934408,-1.824165702400828]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.632189993520803,1.4396345205259524,0.71338606911949],"aabb_xy":[[-0.6821848264487445,1.389634521630709],[-0.5821951605928612,1.4896345194211962]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.3818230771951887,0.32132116397829735,0.71338606911949],"aabb_xy":[[0.37382908861748526,0.31332108388320695],[0.38981706577289205,0.32932124407338764]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.2383964354625629,1.6917213124048547,0.71338606911949],"aabb_xy":[[-0.3183964324768109,1.6715867607314434],[-0.1583964384483149,1.711855864078266]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.5395438860198661,0.10167221534926485,0.71338606911949],"aabb_xy":[[-0.6035438862938445,0.051606115151976883],[-0.475543885745888,0.15173831554655282]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.47630973455240644,0.7598759161715032,0.71338606911949],"aabb_xy":[[-0.4823467475530713,0.7538492151025552],[-0.4702727215517418,0.7659026172404516]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.6524121936592843,-0.7207692238532737,0.71338606911949],"aabb_xy":[[-0.6899121938311561,-0.7534699592361808],[-0.6149121934874122,-0.6880684884703664]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.6622774670889799,1.0650867655635676,0.71338606911949],"aabb_xy":[[-0.690122503869587,1.0343022668252557],[-0.6344324303083727,1.095871264301879]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.16437337959966114,-0.5181079122775967,0.71338606911949],"aabb_xy":[[-0.21436839055911322,-0.5681079113131885],[-0.11437836864020914,-0.46810791324200507]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.06784054388777738,0.9354410585353228,0.71338606911949],"aabb_xy":[[-0.012159454699542034,0.8561254565971618],[0.14784054247509681,1.0147566604734835]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.14962964765367548,1.1178149103960657,0.71338606911949],"aabb_xy":[[0.09965083914335959,1.067814910390347],[0.19960845616399137,1.1678149104017845]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.337960566092729,-1.2347202512582445,0.71338606911949],"aabb_xy":[[-0.40196056337837766,-1.2762269702110884],[-0.27396056880708036,-1.1932135323054005]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.46602066448060386,-1.799444616115763,0.71338606911949],"aabb_xy":[[-0.5300206668234053,-1.8443854673598952],[-0.4020206621378023,-1.7545037648716302]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.5190794843668964,-0.016527016739725564,0.71338606911949],"aabb_xy":[[0.4840794852369408,-0.022272237815389673],[0.5540794834968521,-0.010781795664061455]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.586044551064792,-2.205729449651779,0.71338606911949],"aabb_xy":[[-0.6500445527427893,-2.2542468411310934],[-0.5220445493867946,-2.157212058172465]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.554710014900405,-2.5190126100824557,0.71338606911949],"aabb_xy":[[0.5182141942731262,-2.555496552509213],[0.5912058355276837,-2.4825286676556977]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[0.4073152742942949,-1.9486865578251784,0.71338606911949],"aabb_xy":[[0.3698152735022995,-1.9550543987833688],[0.4448152750862904,-1.9423187168669884]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.6259451406992336,1.2181044612886485,0.71338606911949],"aabb_xy":[[-0.6312827163652381,1.1931044603595087],[-0.620607565033229,1.2431044622177883]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.14420853447478077,-0.31198248620614377,0.71338606911949],"aabb_xy":[[-0.22420853474838773,-0.38493203403186044],[-0.06420853420117377,-0.23903293838042702]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[-0.2938830661629005,-1.0638238176021,0.71338606911949],"aabb_xy":[[-0.31839669025990636,-1.0880884109041364],[-0.26936944206589464,-1.0395592243000635]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7082812888963586,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2059.png","name":"2059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2059.png","name":"2059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9696.png","name":"9696"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4647.png","name":"4647"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4539.png","name":"4539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6942.png","name":"6942"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":665.8047748366489,"rotation_z_degrees":342.57123151639627,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012130679613833318,-0.01779457948552944,-0.0015621946676471557]},{"name":"camera_2","offset_m":[-0.019707838124242278,-0.0078061244703543226,0.0010059800520403964]},{"name":"camera_3","offset_m":[0.012650114766888435,-0.004045960088448448,-0.00544608855126366]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007178966109454622,0.0004710590805730242,-0.0013081701706712454],"end_effector_yaw_offset_degrees":0.16020675048914979},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00012730949860422273,0.001514784619747838,-7.728293442852557e-05],"end_effector_yaw_offset_degrees":-0.8444453187095353},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005775613651528089,0.0008281130736737374,-0.00023614117486909863],"end_effector_yaw_offset_degrees":0.5182589135917879}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017404354799358734,0.002209515035231986],"position_m":[0.26554043547993583,0.347909515035232,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00121938757322954,-0.003403767954454284],"position_m":[0.34118061242677045,0.09789623204554572,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035472265313022952,0.0008472733334704561],"position_m":[0.3332472265313023,-0.04245272666652954,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002387199544441594,0.003432836675274115],"position_m":[0.2715871995444416,-0.3847671633247259,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"96fb6f739c05c6057766b6e8a3b97c199ecedc828c8c5c60f30536b9dc5105f2","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2059/tex_ceiling_textures_6942/tex_floor_textures_4539/tex_table_textures_9696/tex_wall_textures_4647","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7624458558823864499,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7624458558823864499,"visual_seed":7624458558823864499,"scene_id":"lab_003","finished_at":"2026-09-02T04:51:37"}
+{"episode_id":"ep_000045","started_at":"2026-09-02T04:51:41","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.5049777234849471,-2.252424934930916,0.71338606911949],"aabb_xy":[[0.4249777213221845,-2.3323801185570594],[0.5849777256477094,-2.172469751304772]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.34993870957148,0.6322711796992602,0.71338606911949],"aabb_xy":[[-0.4049387087480694,0.5772815049243024],[-0.29493871039489045,0.6872608544742177]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.5175238738007358,-0.9371311706754699,0.71338606911949],"aabb_xy":[[-0.5255501444313619,-0.9458826656528226],[-0.50949760317011,-0.9283796756981174]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.43261728919556525,-2.324624623041592,0.71338606911949],"aabb_xy":[[-0.4826002393830445,-2.374624622684152],[-0.38263433900808586,-2.2746246233990313]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.286036576464362,1.534146161369209,0.71338606911949],"aabb_xy":[[0.2610365769126235,1.5240036775040742],[0.31103657601610046,1.5442886452343436]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.37550773289383055,-1.0297524898861594,0.71338606911949],"aabb_xy":[[0.29178550739374803,-1.1197524934208554],[0.45922995839391295,-0.9397524863514635]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[-0.6667527218375993,1.0598823340678218,0.71338606911949],"aabb_xy":[[-0.6842526552715826,1.0423823341475873],[-0.6492527884036159,1.0773823339880564]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.4665279294523321,-1.7934418777276484,0.71338606911949],"aabb_xy":[[0.4489496272633852,-1.811016367301753],[0.4841062316412789,-1.775867388153543]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.08483947988915719,1.096233535231835,0.71338606911949],"aabb_xy":[[0.020839478211159834,1.0477161437525209],[0.14883948156715454,1.1447509267111493]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.2559810734462268,1.4064807270678559,0.71338606911949],"aabb_xy":[[0.2215187260480849,1.371986844670033],[0.29044342084436847,1.4409746094656783]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.021630917382231774,1.427874670334368,0.71338606911949],"aabb_xy":[[0.013636928804528377,1.4198745902392778],[0.029624905959935163,1.4358747504294584]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.17828392296035955,-2.066803292107487,0.71338606911949],"aabb_xy":[[-0.22327650967880994,-2.1118032913819356],[-0.13329133624190911,-2.021803292833038]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.6239915495304869,0.11338567346078277,0.71338606911949],"aabb_xy":[[0.6113647622432904,0.10383959975920985],[0.6366183368176831,0.12293174716235565]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.31141105151268655,1.5566929136154886,0.71338606911949],"aabb_xy":[[-0.33391105175620195,1.5444882789557166],[-0.28891105126917116,1.5688975482752605]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[0.04441103211126596,1.3082988716112651,0.71338606911949],"aabb_xy":[[-0.020588968845861245,1.2563506596775593],[0.10941103306839317,1.3602470835449705]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.5121159054546615,-2.0716211330116687,0.71338606911949],"aabb_xy":[[-0.5491500148827212,-2.105998340345378],[-0.4750817960266017,-2.0372439256779593]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.2149613176025693,-0.13002477050798067,0.71338606911949],"aabb_xy":[[-0.27896132082120717,-0.17674788240698902],[-0.15096131438393148,-0.08330165860897232]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.005626056262151957,-2.073723155981439,0.71338606911949],"aabb_xy":[[-0.06962605356449836,-2.118089582949296],[0.058373941040194444,-2.0293567290135823]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.4245880892482624,-0.5755483186177677,0.71338606911949],"aabb_xy":[[-0.4470845106821265,-0.5980483184245151],[-0.4020916678143983,-0.5530483188110202]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.35080075022991564,-1.6742678952970298,0.71338606911949],"aabb_xy":[[-0.4148007475155643,-1.7157746142498738],[-0.286800752944267,-1.6327611763441858]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.3235979169022528,-2.1102780601023774,0.71338606911949],"aabb_xy":[[-0.3585979151723727,-2.1173521877973656],[-0.2885979186321329,-2.1032039324073892]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.09233251704950496,1.5070371781477756,0.71338606911949],"aabb_xy":[[0.02233251524075952,1.4856834093835882],[0.1623325188582504,1.528390946911963]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.14692975683651965,1.738225739385633,0.71338606911949],"aabb_xy":[[-0.21692975947310597,1.7181208743897676],[-0.07692975419993328,1.7583306043814986]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.4645109647560588,-0.8268657760351936,0.71338606911949],"aabb_xy":[[-0.5345109668874882,-0.8496277416608891],[-0.39451096262462915,-0.8041038104094977]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[0.35652881658765834,0.6276918582711635,0.71338606911949],"aabb_xy":[[0.30152881696591255,0.5727081654836909],[0.41152881620940424,0.6826755510586363]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.20045764398524613,-1.4735769960080074,0.71338606911949],"aabb_xy":[[0.15045764454505045,-1.5235449204923237],[0.2504576434254417,-1.423609071523691]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.710277871166113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9789.png","name":"9789"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9789.png","name":"9789"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9143.png","name":"9143"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4679.png","name":"4679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":713.0394599388273,"rotation_z_degrees":49.415768507448746,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002047001532977325,0.014054290881850052,-0.007318162161471804]},{"name":"camera_2","offset_m":[0.01332993595404024,0.012098958994008393,0.015524946291688376]},{"name":"camera_3","offset_m":[0.011237243413402261,-0.006201550148288501,-0.005232626586217669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005025441027399053,-0.0004698954670382873,-0.0013377102869317034],"end_effector_yaw_offset_degrees":0.5095018584215907},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00022863084665410236,-0.001287017048305114,-0.00021255309725565978],"end_effector_yaw_offset_degrees":-0.36308941790416216},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005778091783483889,0.001005229166991375,-0.0009842721747502737],"end_effector_yaw_offset_degrees":-0.46051736571626156}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004100700480313674,-0.0024152365802608323],"position_m":[0.26790070048031367,0.3432847634197392,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00029859589454689795,0.0015225922320167371],"position_m":[0.3426985958945469,0.10282259223201674,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015617962950231186,0.004389870887791047],"position_m":[0.3312617962950231,-0.03891012911220895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015318011853877236,-0.001536524826728758],"position_m":[0.2707318011853877,-0.38973652482672877,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"640296bba7d11778b03ce80ce0d0af293265b8e41a4d9e4046c4583eb9ed2c96","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9789/tex_ceiling_textures_4418/tex_floor_textures_4679/tex_table_textures_9143/tex_wall_textures_5601","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":1477596569514845233,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":1477596569514845233,"visual_seed":1477596569514845233,"scene_id":"lab_003","finished_at":"2026-09-02T04:54:30"}
+{"episode_id":"ep_000046","started_at":"2026-09-02T04:54:32","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.08349257359716156,-1.0835462374439433,0.71338606911949],"aabb_xy":[[0.06021073139903021,-1.1685462387411711],[0.10677441579529288,-0.9985462361467151]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.6246526441187561,0.8265793463951261,0.71338606911949],"aabb_xy":[[0.6152351695488933,0.817163169257407],[0.6340701186886188,0.835995523532845]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.3454108065385997,-0.6819125367005805,0.71338606911949],"aabb_xy":[[0.2877803376513288,-0.741912535627291],[0.4030412754258705,-0.6219125377738698]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.0489836267834155,-1.232468848604094,0.71338606911949],"aabb_xy":[[-0.09896786249159273,-1.2824688474175896],[0.0010006089247617256,-1.1824688497905984]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[-0.41305048739522143,1.3378529210152736,0.71338606911949],"aabb_xy":[[-0.4498451205201277,1.3009470459186916],[-0.37625585427031516,1.3747587961118561]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.316215375783416,-2.353410106539179,0.71338606911949],"aabb_xy":[[-0.38621537738569556,-2.3668428997408366],[-0.2462153741811366,-2.3399773133375215]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.4180683498542041,0.18433034217530198,0.71338606911949],"aabb_xy":[[-0.4641534411089356,0.12033034492274687],[-0.3719832585994726,0.2483303394278571]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.09297507095128588,-1.8190431780700205,0.71338606911949],"aabb_xy":[[-0.13515948511211662,-1.8830431783472317],[-0.050790656790455135,-1.7550431777928093]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.3081206317229225,1.1875239624690774,0.71338606911949],"aabb_xy":[[-0.35311321844137283,1.1425239631946287],[-0.263128045004472,1.2325239617435262]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.3169060283141255,0.7498546511131532,0.71338606911949],"aabb_xy":[[-0.4069060269085955,0.7336040647997323],[-0.22690602971965562,0.7661052374265743]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.29313253245208903,-2.4043105733998367,0.71338606911949],"aabb_xy":[[0.2556325321038613,-2.4161019689809202],[0.3306325328003168,-2.392519177818753]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.6493977666057298,1.2469372245052632,0.71338606911949],"aabb_xy":[[0.6318977663606804,1.2294374366656962],[0.6668977668507792,1.2644370123448299]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[0.2969325859949914,-2.1472388632333255,0.71338606911949],"aabb_xy":[[0.2604367653677126,-2.1837228056600826],[0.3334284066222701,-2.1107549208065675]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.1282147678882427,-2.0954313610840183,0.71338606911949],"aabb_xy":[[0.12224822894750692,-2.101392505743382],[0.1341813068289785,-2.0894702164246537]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.047733856775688976,1.243409801870436,0.71338606911949],"aabb_xy":[[0.043617906663616306,1.2392942468375903],[0.05184980688776163,1.2475253569032814]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.28667517882022586,-1.7631984661446078,0.71338606911949],"aabb_xy":[[0.2715030095385925,-1.7783673230728114],[0.3018473481018592,-1.7480296092164047]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.10965825756137049,0.9112772833943121,0.71338606911949],"aabb_xy":[[0.08719348758996537,0.8887772825154517],[0.1321230275327756,0.9337772842731727]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.15564752854959285,-0.23759479861159338,0.71338606911949],"aabb_xy":[[-0.22064753118738634,-0.28907439731104034],[-0.09064752591179936,-0.18611519991214645]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.1983142551994609,-1.3890643594904817,0.71338606911949],"aabb_xy":[[0.1183142519416179,-1.4690608672824657],[0.27831425845730384,-1.3090678516984977]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.23370415853078197,-1.214321574060795,0.71338606911949],"aabb_xy":[[-0.29769985592587855,-1.2783215723615036],[-0.16970846113568536,-1.1503215757600862]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[-0.41785150076407246,-1.2558057030676144,0.71338606911949],"aabb_xy":[[-0.49785149874485757,-1.2634072440294661],[-0.33785150278328746,-1.2482041621057622]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.6008245347878143,-1.4368345457810543,0.71338606911949],"aabb_xy":[[0.5598065914014434,-1.4868345464120114],[0.6418424781741852,-1.3868345451500967]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[0.44597039703247154,0.689981229347401,0.71338606911949],"aabb_xy":[[0.4284703978981043,0.6801016023098131],[0.46347039616683866,0.6998608563849887]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.3158746629374771,-1.6189147337014926,0.71338606911949],"aabb_xy":[[0.25087466505582934,-1.670038397408034],[0.38087466081912497,-1.5677910699949522]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[0.47756418861921723,1.2141583414235764,0.71338606911949],"aabb_xy":[[0.4275812384317379,1.1641583417810157],[0.5275471388066966,1.2641583410661366]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.6032707966963697,-0.8369160561707678,0.71338606911949],"aabb_xy":[[0.5796856732324749,-0.9019160584161996],[0.6268559201602646,-0.771916053925336]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.3534087007853377,-0.6183576777828192,0.71338606911949],"aabb_xy":[[-0.3759223926087949,-0.6883576783838267],[-0.3308950089618805,-0.5483576771818116]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.5609145183620434,-2.395838391227058,0.71338606911949],"aabb_xy":[[-0.5760168198230613,-2.4109399128581193],[-0.5458122169010251,-2.3807368695959954]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[0.01963026254913347,-0.8012619266080261,0.71338606911949],"aabb_xy":[[-0.02564835233201579,-0.8652619259562097],[0.06490887743028273,-0.7372619272598423]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_29","position":[0.6522732498268238,-1.8372941949287864,0.71338606911949],"aabb_xy":[[0.6172732484753419,-1.8576539308856073],[0.6872732511783054,-1.8169344589719656]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[-0.4162413172028108,-1.7106965974571762,0.71338606911949],"aabb_xy":[[-0.4222783302034756,-1.7167232985261247],[-0.41020430420214615,-1.7046698963882285]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_31","position":[-0.2109640979647432,1.0517291793462609,0.71338606911949],"aabb_xy":[[-0.22441062459878652,1.0382593276931695],[-0.19751757133069986,1.0651990309993522]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_32","position":[-0.6267829559073024,-0.2905298903680582,0.71338606911949],"aabb_xy":[[-0.6385511427019599,-0.3755298902732798],[-0.6150147691126449,-0.20552989046283665]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_33","position":[0.16995940785260832,-1.8091734428334987,0.71338606911949],"aabb_xy":[[0.15987770077403482,-1.8891734407256133],[0.18004111493118177,-1.729173444941384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7072851437313279,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4459.png","name":"4459"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4459.png","name":"4459"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6403.png","name":"6403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2883.png","name":"2883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1094.png","name":"1094"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":810.1748579293296,"rotation_z_degrees":108.69712116958024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019031771499285935,-0.01109457161653968,0.010973012075781784]},{"name":"camera_2","offset_m":[-0.009358573587825735,-0.01993258558662414,-0.012866467449574523]},{"name":"camera_3","offset_m":[0.018050718317007556,-0.008749211985155343,-0.009841203122240127]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012430539650198783,0.0009575335652388141,-0.0016966275775948728],"end_effector_yaw_offset_degrees":0.017985492246263668},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001622438319614974,-0.00019728804165791074,-0.001743852474139465],"end_effector_yaw_offset_degrees":0.9068102030305623},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010067753690971113,-0.00026488841418031354,0.0005333148222251287],"end_effector_yaw_offset_degrees":-0.4381157959171176}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034553877549393435,-0.0048337177028049925],"position_m":[0.26725538775493934,0.340866282297195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009570216183376438,0.0016357430221377945],"position_m":[0.34335702161833764,0.1029357430221378,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004334657053626536,0.0031934562097116785],"position_m":[0.3253653429463735,-0.04010654379028832,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004863587466599215,0.0008437105855758952],"position_m":[0.2687136412533401,-0.38735628941442407,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ca9c39efb10c022cfe15907a8631185d9e5356dd988b4ac67c98cba418c05854","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4459/tex_ceiling_textures_1094/tex_floor_textures_8103/tex_table_textures_6403/tex_wall_textures_2883","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":351911781785622455,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":351911781785622455,"visual_seed":351911781785622455,"scene_id":"lab_003","finished_at":"2026-09-02T04:57:27"}
+{"episode_id":"ep_000047","started_at":"2026-09-02T04:57:30","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.20180965013354946,-1.934931983917195,0.71338606911949],"aabb_xy":[[0.15183223326829584,-1.9849319854064436],[0.251787066998803,-1.8849319824279465]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.6363023113325043,-1.9998770493297828,0.71338606911949],"aabb_xy":[[-0.6480704981271619,-2.084877049235004],[-0.6245341245378468,-1.9148770494245615]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.6422467699650041,-1.4148896506084723,0.71338606911949],"aabb_xy":[[0.6186616465011092,-1.4798896528539043],[0.6658318934288989,-1.3498896483630407]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.2641144903978942,-2.401213927513857,0.71338606911949],"aabb_xy":[[-0.35411449407481227,-2.462646334090961],[-0.17411448672097593,-2.3397815209367523]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.5049845217037261,0.7673712270861777,0.71338606911949],"aabb_xy":[[-0.5460024650900969,0.7173712264552203],[-0.4639665783173551,0.817371227717135]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.4068361764214643,-2.0875113221087527,0.71338606911949],"aabb_xy":[[-0.42272066968678945,-2.1018642624075765],[-0.39095168315613915,-2.073158381809929]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.6285141636728999,-2.150608660442744,0.71338606911949],"aabb_xy":[[-0.6372281327228342,-2.173108661101932],[-0.6198001946229652,-2.1281086597835555]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.1610712960561097,-1.7041669452533048,0.71338606911949],"aabb_xy":[[-0.2250712967595791,-1.750185327726226],[-0.09707129535264039,-1.658148562780384]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.30808479621096474,1.770000823074723,0.71338606911949],"aabb_xy":[[-0.3117880575401036,1.766298804766005],[-0.3043815348818258,1.7737028413834406]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.4953739681523983,-2.5384726890525307,0.71338606911949],"aabb_xy":[[-0.5040719304431136,-2.5505976633600054],[-0.4866760058616831,-2.526347714745056]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.49107252913543126,1.3417143955754547,0.71338606911949],"aabb_xy":[[-0.5550725308134286,1.2931970040961402],[-0.42707252745743385,1.3902317870547687]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.5067817916777736,0.21180230316260173,0.71338606911949],"aabb_xy":[[-0.5372660418048038,0.1618023033811058],[-0.47629754155074344,0.2618023029440977]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.37854213935392433,-0.506280408605718,0.71338606911949],"aabb_xy":[[0.37150068840317674,-0.5133071603435126],[0.38558359030467193,-0.49925365686792356]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.5779370759839725,0.5183950743832622,0.71338606911949],"aabb_xy":[[-0.6429370760182752,0.47169439770293475],[-0.5129370759496698,0.5650957510635893]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.4804585382200697,-1.909282234882014,0.71338606911949],"aabb_xy":[[0.43046542611087796,-1.95928223555621],[0.5304516503292618,-1.8592822342078188]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.3997427793941082,-1.5225836991773223,0.71338606911949],"aabb_xy":[[0.31974277832098785,-1.5323617455147067],[0.4797427804672285,-1.5128056528399378]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.5778845878781911,0.8079258185187292,0.71338606911949],"aabb_xy":[[0.5178845876267899,0.7536444934822646],[0.6378845881295923,0.8622071435551939]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.7032402082647322,-1.000048080059324,0.71338606911949],"aabb_xy":[[0.695025663149048,-1.0087246703569652],[0.711454753380416,-0.9913714897616827]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.42088766287425106,-1.2975064279232,0.71338606911949],"aabb_xy":[[0.38974074403066794,-1.3675064266100072],[0.45203458171783417,-1.2275064292363929]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.1806269957660368,1.036591854045871,0.71338606911949],"aabb_xy":[[0.14616464836789497,1.0020979716480478],[0.21508934316417858,1.0710857364436932]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.42902472781063505,-0.10343804331181339,0.71338606911949],"aabb_xy":[[-0.44689383556509055,-0.11727095128902432],[-0.41115562005617956,-0.08960513533460246]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[-0.642285961678682,-1.0895741860891224,0.71338606911949],"aabb_xy":[[-0.6772859608086377,-1.0953194071647865],[-0.6072859625487264,-1.0838289650134583]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.6710876479174332,1.4873744516884675,0.71338606911949],"aabb_xy":[[0.6669517915847332,1.4498744522441107],[0.6752235042501336,1.5248744511328247]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.19920794242265366,-0.23140812753141926,0.71338606911949],"aabb_xy":[[-0.2342079437741354,-0.2517678634882401],[-0.16420794107117193,-0.21104839157459843]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.11080904815867243,-1.281702200739746,0.71338606911949],"aabb_xy":[[-0.12591134961969047,-1.2968037223708073],[-0.0957067466976543,-1.266600679108684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7020703336059197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7287.png","name":"7287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2869.png","name":"2869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2649.png","name":"2649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5514.png","name":"5514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9084.png","name":"9084"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":625.9972227661931,"rotation_z_degrees":322.85858899359164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011818359254737384,-0.0036138048451809512,0.01873970662236347]},{"name":"camera_2","offset_m":[0.0038020036591480642,0.018990344200978452,-0.005380162247580098]},{"name":"camera_3","offset_m":[0.012542948498476748,-0.009602614092925345,0.007875351124228009]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00013604539550981392,-0.001997184104046937,0.0006356796660588813],"end_effector_yaw_offset_degrees":0.2248880514717364},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00037636359740284616,-0.00010677507978463824,2.9259969521165836e-05],"end_effector_yaw_offset_degrees":-0.3522634740578283},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00020876798534198975,-0.0010744058263027774,0.0013470365215823695],"end_effector_yaw_offset_degrees":0.49476214223100135}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004995093944443387,0.004565577954787787],"position_m":[0.2642995093944443,0.3502655779547878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00026898645439653833,0.0033931982260757077],"position_m":[0.34213101354560344,0.10469319822607571,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00215246259864182,0.0025094997356418713],"position_m":[0.32754753740135817,-0.040790500264358126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004756226374678071,0.003842331703773288],"position_m":[0.2644437736253219,-0.3843576682962267,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e0bd439ea8ec1c649215b364ca995b9ac12cd8f59d165bb0c6d7af9af948a94","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7287/tex_ceiling_textures_9084/tex_floor_textures_5514/tex_table_textures_2869/tex_wall_textures_2649","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":879466732683535459,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":879466732683535459,"visual_seed":879466732683535459,"scene_id":"lab_003","finished_at":"2026-09-02T05:00:22"}
+{"episode_id":"ep_000048","started_at":"2026-09-02T05:00:25","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.30442555061855625,-0.9756707369477557,0.71338606911949],"aabb_xy":[[-0.35442038354649785,-1.0256707358429993],[-0.25443071769061465,-0.9256707380525122]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.6205700418577724,-2.529611971980959,0.71338606911949],"aabb_xy":[[0.5981052718863673,-2.552111972859819],[0.6430348118291775,-2.507111971102098]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.22986751454199816,0.7771689076262116,0.71338606911949],"aabb_xy":[[-0.2673675129653985,0.7640046936583809],[-0.1923675161185978,0.7903331215940421]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.551053016703096,1.715683593038292,0.71338606911949],"aabb_xy":[[0.5447409171667575,1.7099166537850732],[0.5573651162394343,1.721450532291511]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.47648597211331234,-1.4126498900748024,0.71338606911949],"aabb_xy":[[0.47115345745869935,-1.4179742183200381],[0.4818184867679253,-1.407325561829567]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.5079767871938006,1.1158130398251611,0.71338606911949],"aabb_xy":[[-0.5532554020749497,1.0518130404769774],[-0.4626981723126512,1.1798130391733448]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[0.17385526855466138,-0.9100433611090677,0.71338606911949],"aabb_xy":[[0.1393927905415736,-0.9167070382919904],[0.20831774656774915,-0.9033796839261448]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.04790546227866199,-2.2542838923236057,0.71338606911949],"aabb_xy":[[0.030229831690063654,-2.2719641086030085],[0.06558109286726031,-2.236603676044203]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.2641584167322551,1.4425359426332283,0.71338606911949],"aabb_xy":[[-0.32815841995089295,1.3958128307342201],[-0.20015841351361724,1.4892590545322368]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[0.6574327587352711,0.5079763364223426,0.71338606911949],"aabb_xy":[[0.6430983336091076,0.4959161208678038],[0.6717671838614345,0.5200365519768815]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.18783171047234737,-0.23490848667523467,0.71338606911949],"aabb_xy":[[-0.23300302832051636,-0.2989084838197731],[-0.1426603926241784,-0.17090848953069626]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.07392041372227742,1.1845281106995444,0.71338606911949],"aabb_xy":[[0.03892041452945913,1.1735610647018817],[0.10892041291509566,1.1954951566972067]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.2206866927853463,-1.2297207185176602,0.71338606911949],"aabb_xy":[[-0.24933602514576253,-1.2583662777947358],[-0.19203736042493008,-1.2010751592405842]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.0963993140181636,1.4996636232656653,0.71338606911949],"aabb_xy":[[-0.13099039687220881,1.4346636229806342],[-0.061808231164118384,1.5646636235506963]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.32289510851389813,-2.0729439910884606,0.71338606911949],"aabb_xy":[[-0.340395107791985,-2.0902820911548066],[-0.30539510923581126,-2.0556058910221147]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.10736917636180732,-2.4062231969435848,0.71338606911949],"aabb_xy":[[0.10329101845475758,-2.410304177191848],[0.11144733426885706,-2.4021422166953217]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.011311378392244498,0.7702477083285135,0.71338606911949],"aabb_xy":[[-0.07868861834336571,0.717064245011219],[0.10131137512785471,0.823431171645808]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.05101493835507598,-1.9545281925864182,0.71338606911949],"aabb_xy":[[-0.0389850653218422,-2.015960599163522],[0.14101494203199413,-1.8930957860093136]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.6293997604335464,-1.1951852972856831,0.71338606911949],"aabb_xy":[[0.5654040630384498,-1.2591852955863918],[0.693395457828643,-1.1311852989849744]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.22429572255393548,-0.7534241375629436,0.71338606911949],"aabb_xy":[[0.21414270699978608,-0.7894936791356836],[0.23444873810808484,-0.717354595990203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7088864835597056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4127.png","name":"4127"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4127.png","name":"4127"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5533.png","name":"5533"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4674.png","name":"4674"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8675.png","name":"8675"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7606.png","name":"7606"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":733.1823933362017,"rotation_z_degrees":340.43202764153335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008465329982551869,-0.016097117672069814,-0.010880189310706058]},{"name":"camera_2","offset_m":[-0.0026276791181053527,0.005213015332579608,0.002281319761525142]},{"name":"camera_3","offset_m":[-0.019707160133465535,0.019241854343330592,0.01043552843426752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001869156079559362,0.0006342578845674987,-0.0007262319740461555],"end_effector_yaw_offset_degrees":-0.5844260662111207},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005611679458775568,-0.0005519485025363667,-0.00016071944726901667],"end_effector_yaw_offset_degrees":0.15063912677124502},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00022645695842639455,0.0013673521307405972,1.7920962028715633e-05],"end_effector_yaw_offset_degrees":0.8589895272538666}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-7.216330870549702e-06,0.0030730205636801946],"position_m":[0.26379278366912945,0.3487730205636802,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028023167404018366,-0.0012755329547568662],"position_m":[0.33959768325959816,0.10002446704524313,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030279058884572522,0.004588951720707577],"position_m":[0.33272790588845724,-0.03871104827929242,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001576805420663627,0.001073995746546417],"position_m":[0.2707768054206636,-0.38712600425345356,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"77f91d018e474fe277f806965bb401b0c6221dca79e1408a074c6d47b4a47acf","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4127/tex_ceiling_textures_7606/tex_floor_textures_8675/tex_table_textures_5533/tex_wall_textures_4674","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3690467604835904508,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3690467604835904508,"visual_seed":3690467604835904508,"scene_id":"lab_003","finished_at":"2026-09-02T05:03:11"}
+{"episode_id":"ep_000049","started_at":"2026-09-02T05:03:14","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.04275933817142741,-1.2152275144075806,0.71338606911949],"aabb_xy":[[0.027596465194490327,-1.2303929717026996],[0.057922211148364496,-1.200062057112462]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.34946680719104806,0.828636483856354,0.71338606911949],"aabb_xy":[[0.34147281861334466,0.8206364037612636],[0.35746079576875145,0.8366365639514443]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.6179796962435684,-1.4419930495507052,0.71338606911949],"aabb_xy":[[0.6004797628095849,-1.4594930494709395],[0.6354796296775517,-1.4244930496304704]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.4569161129153254,-0.8183028190750083,0.71338606911949],"aabb_xy":[[-0.5219161114723982,-0.848055352488891],[-0.3919161143582526,-0.7885502856611257]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.044083121764301514,-0.450881717286022,0.71338606911949],"aabb_xy":[[-0.06599180390365256,-0.4727823841061127],[-0.022174439624950464,-0.4289810504659312]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.6599684029682388,-2.271742752444235,0.71338606911949],"aabb_xy":[[-0.6680117628941938,-2.3567427535396015],[-0.6519250430422835,-2.1867427513488686]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.14957807211243945,0.9877642481505307,0.71338606911949],"aabb_xy":[[-0.15720234020261772,0.9801310246139872],[-0.14195380402226124,0.9953974716870746]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.41821452304816803,1.7392725266526754,0.71338606911949],"aabb_xy":[[-0.4732077343853049,1.6842725263138822],[-0.36322131171103134,1.7942725269914694]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.6338993853043469,0.9881343836823162,0.71338606911949],"aabb_xy":[[0.5698993861345769,0.9413676965633536],[0.6978993844741168,1.0349010708012785]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[-0.18998446022790905,-0.9122792633197121,0.71338606911949],"aabb_xy":[[-0.22748446017167545,-0.9205723533545486],[-0.15248446028414264,-0.9039861732848754]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.14994975484918793,-0.1548066653043314,0.71338606911949],"aabb_xy":[[-0.2299497518122271,-0.23188230694810485],[-0.06994975788614877,-0.07773102366055795]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.38942362256849017,-2.5049136966802874,0.71338606911949],"aabb_xy":[[0.381309967895113,-2.5130195131343163],[0.3975372772418672,-2.4968078802262585]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.09517462088209239,-0.6042665379522436,0.71338606911949],"aabb_xy":[[-0.11275292307103922,-0.6218410275263485],[-0.07759631869314552,-0.5866920483781387]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.3271750255096903,0.5153406997709338,0.71338606911949],"aabb_xy":[[-0.3576592756367205,0.4653406999894377],[-0.2966907753826602,0.5653406995524296]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[-0.5708605137647618,0.4847711333236524,0.71338606911949],"aabb_xy":[[-0.6308605136113286,0.4279525111306138],[-0.510860513918195,0.5415897555166911]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.10046782456726855,-2.058005530895356,0.71338606911949],"aabb_xy":[[0.05098740335330976,-2.1220055288082085],[0.14994824578122734,-1.9940055329825048]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.6123871543132955,-0.27811719335653784,0.71338606911949],"aabb_xy":[[0.5977437487592624,-0.29277591301332206],[0.6270305598673284,-0.2634584736997535]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.5458901176442621,-2.205934536577643,0.71338606911949],"aabb_xy":[[-0.5633901167786292,-2.2158141636152306],[-0.5283901185098948,-2.196054909540055]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.434136465356902,-1.5895341931883848,0.71338606911949],"aabb_xy":[[0.4112207524718521,-1.6124384903248086],[0.4570521782419519,-1.5666298960519616]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.5072721716088004,-0.6650170534676216,0.71338606911949],"aabb_xy":[[0.46450546472938026,-0.7290170568894241],[0.5500388784882206,-0.6010170500458192]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.14946312490307456,-1.4988060950696505,0.71338606911949],"aabb_xy":[[0.06946312164523158,-1.5788026028616344],[0.2294631281609175,-1.4188095872776665]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.1391790288589846,-1.8082320112597454,0.71338606911949],"aabb_xy":[[-0.17364137625712633,-1.842725893657568],[-0.10471668146084274,-1.7737381288619225]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[0.27283797666256004,1.431858158465308,0.71338606911949],"aabb_xy":[[0.24955613446442867,1.3468581571680798],[0.29611981886069133,1.516858159762536]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.3786928474524004,-2.2883321748225396,0.71338606911949],"aabb_xy":[[-0.4199416584823151,-2.343332174334756],[-0.33744403642248566,-2.2333321753103212]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[0.596267899514962,0.7262443754973056,0.71338606911949],"aabb_xy":[[0.5773835157464517,0.7073584507169527],[0.6151522832834722,0.7451303002776583]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[0.5615482902883973,0.1253228605154244,0.71338606911949],"aabb_xy":[[0.4815482928848038,0.04533028931724161],[0.6415482876919906,0.20531543171360722]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.19014797726222188,-1.3049484972581393,0.71338606911949],"aabb_xy":[[0.1698636745388231,-1.3252311224008482],[0.2104322799856206,-1.2846658721154305]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7074785885949644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3923.png","name":"3923"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3923.png","name":"3923"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1997.png","name":"1997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1844.png","name":"1844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1499.png","name":"1499"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":830.9363124291001,"rotation_z_degrees":58.60192090478712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021556018593307663,-0.015618589779561522,-0.011284566970192724]},{"name":"camera_2","offset_m":[-0.003645256041518073,0.006246930430860432,0.007770231107004054]},{"name":"camera_3","offset_m":[-0.0008428671305138261,-0.016337933254749224,-0.0072754118304036025]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015163900240786773,-0.00023630970773554734,0.0014136346907027706],"end_effector_yaw_offset_degrees":-0.09485930667551079},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001581004037850124,-0.0016378143932245766,0.0004400014602947747],"end_effector_yaw_offset_degrees":-0.03067168982919588},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012101128966474253,-0.0004745455401793182,-0.00045949785799619916],"end_effector_yaw_offset_degrees":0.1396511374035987}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046903169903561555,0.004576675479040066],"position_m":[0.26849031699035614,0.35027667547904007,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006078833495918199,-0.003712589298443617],"position_m":[0.34179211665040815,0.09758741070155638,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0028539390519103187,0.0025263429529263715],"position_m":[0.33255393905191033,-0.04077365704707363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002416266173150464,0.004957527095015696],"position_m":[0.27161626617315043,-0.3832424729049843,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"77840f2cd1c9f2a06af445a5872b61087f13b7f1cb2a7a933e8da6f0240e9e3f","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3923/tex_ceiling_textures_1499/tex_floor_textures_367/tex_table_textures_1997/tex_wall_textures_1844","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4906817464234214916,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4906817464234214916,"visual_seed":4906817464234214916,"scene_id":"lab_003","finished_at":"2026-09-02T05:06:17"}
+{"episode_id":"ep_000050","started_at":"2026-09-02T05:06:20","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.4740043710316295,0.6809318448740393,0.71338606911949],"aabb_xy":[[0.4290117843131791,0.6359318455995905],[0.5189969577500799,0.725931844148488]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[-0.49113334251704577,1.2454856186964243,0.71338606911949],"aabb_xy":[[-0.49983130480776106,1.2333606443889495],[-0.4824353802263305,1.257610593003899]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.6360116120925747,1.4547977642351007,0.71338606911949],"aabb_xy":[[0.5720116127984065,1.3908116238662462],[0.700011611386743,1.5187839046039546]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.30607120447768343,-0.8515791165881377,0.71338606911949],"aabb_xy":[[0.3011719121711199,-0.8792560358907063],[0.3109704967842469,-0.8239021972855688]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.6753605368277988,1.1286365892859944,0.71338606911949],"aabb_xy":[[0.6627578376907225,1.116041193061129],[0.6879632359648754,1.14123198551086]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.4721942601416881,0.6770728020321917,0.71338606911949],"aabb_xy":[[-0.5046559610236154,0.646939969917289],[-0.43973255925976057,0.7072056341470941]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.08555908681524449,-1.0228851314195155,0.71338606911949],"aabb_xy":[[-0.09259939674878148,-1.102885130819187],[-0.0785187768817075,-0.9428851320198441]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.2383940091129188,-1.2037659108228034,0.71338606911949],"aabb_xy":[[-0.24710797816285324,-1.2262659114819914],[-0.22968004006298426,-1.181265910163615]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.28154118281406915,0.17183503918940612,0.71338606911949],"aabb_xy":[[-0.3615411860780823,0.15827500688049279],[-0.20154117955005602,0.18539507149831946]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.18872106202370453,1.4343892401426728,0.71338606911949],"aabb_xy":[[0.09872105834678632,1.372956833565568],[0.27872106570062266,1.4958216467197767]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.22287615172717262,-0.5195224915178165,0.71338606911949],"aabb_xy":[[-0.27284921725968814,-0.5695224913303495],[-0.17290308619465716,-0.4695224917052837]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.3224767421670603,-1.8142406321545104,0.71338606911949],"aabb_xy":[[-0.331278797476033,-1.8220519583094392],[-0.3136746868580876,-1.806429305999581]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.5885354222353077,1.0278802306257195,0.71338606911949],"aabb_xy":[[-0.6260354230273032,1.0215123896675293],[-0.5510354214433123,1.0342480715839097]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.5470920869498117,0.4713552147937894,0.71338606911949],"aabb_xy":[[0.4999627079479759,0.4073552137493874],[0.5942214659516473,0.5353552158381913]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.39528630342292115,-1.0358477787838631,0.71338606911949],"aabb_xy":[[-0.4236160133714614,-1.0403085209775802],[-0.3669565934743809,-1.031387036590146]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.2284946770970807,-1.029059409395039,0.71338606911949],"aabb_xy":[[0.22435882076438055,-1.066559408839396],[0.23263053342978093,-0.9915594099506819]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.5680647798495957,-2.1081198427039913,0.71338606911949],"aabb_xy":[[0.5252980729701755,-2.172119846125794],[0.6108314867290159,-2.044119839282189]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[0.5118726846131172,-1.8041180899196068,0.71338606911949],"aabb_xy":[[0.48138843448608704,-1.8541180897011027],[0.5423569347401473,-1.7541180901381108]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.642349821039666,-0.14832574371590201,0.71338606911949],"aabb_xy":[[-0.6923429331488579,-0.19832574439009767],[-0.5923567089304741,-0.09832574304170638]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.19828863302324762,-1.3723271905377235,0.71338606911949],"aabb_xy":[[0.1382886325153947,-1.4291739242236448],[0.25828863353110054,-1.3154804568518021]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[-0.45946630266093197,-1.5534725205985607,0.71338606911949],"aabb_xy":[[-0.5234663029214028,-1.5984813199514885],[-0.39546630240046116,-1.5084637212456324]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.1880445116713204,-0.5994145672717919,0.71338606911949],"aabb_xy":[[0.18005052309361697,-0.607414647366882],[0.19603850024902375,-0.5914144871767013]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.668181476117181,-2.255401143279406,0.71338606911949],"aabb_xy":[[-0.6758846667912581,-2.263110513978144],[-0.6604782854431039,-2.2476917725806675]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[0.16602177677889296,1.0277836949571233,0.71338606911949],"aabb_xy":[[0.11604435991363939,0.9777836934678746],[0.21599919364414655,1.0777836964463716]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.3640632261831078,-1.727182997603569,0.71338606911949],"aabb_xy":[[0.34417218630276764,-1.7398388088882666],[0.3839542660634482,-1.714527186318873]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.0395936770892924,0.6649395602481838,0.71338606911949],"aabb_xy":[[-0.06087168523276464,0.5999395579221107],[-0.018315668945820145,0.7299395625742569]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.49408631529963054,-0.7711876967792548,0.71338606911949],"aabb_xy":[[-0.5190863145715927,-0.7875330603754171],[-0.46908631602766815,-0.7548423331830925]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_27","position":[0.23496732865272896,0.6099094883308647,0.71338606911949],"aabb_xy":[[0.18979601080456002,0.5459094911863263],[0.2801386465008979,0.6739094854754031]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[0.6291632651849177,-0.806687497739428,0.71338606911949],"aabb_xy":[[0.5651632687893446,-0.8706507861581616],[0.6931632615804908,-0.7427242093206945]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[-0.4690540001489729,-2.0944732175702763,0.71338606911949],"aabb_xy":[[-0.4842168731259101,-2.109638674865395],[-0.45389112717203595,-2.0793077602751575]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_30","position":[-0.5735608479838614,1.3947679681684844,0.71338606911949],"aabb_xy":[[-0.6435608497926069,1.373414199404297],[-0.503560846175116,1.4161217369326717]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_31","position":[-0.16981369537272917,-2.2157783939569295,0.71338606911949],"aabb_xy":[[-0.23381369395930163,-2.2627853573564383],[-0.10581369678615671,-2.168771430557421]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_32","position":[-0.5861778483028179,-1.3010689462656135,0.71338606911949],"aabb_xy":[[-0.6438083171900887,-1.361068945192324],[-0.528547379415547,-1.2410689473389027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7082104046766949,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9664.png","name":"9664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9664.png","name":"9664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2056.png","name":"2056"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/729.png","name":"729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4254.png","name":"4254"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":714.761136435677,"rotation_z_degrees":78.5715699869876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01957278492472288,-0.004740071361220469,0.0051589179944682186]},{"name":"camera_2","offset_m":[-0.009964337687195469,-0.004996586794785757,-0.0028182609612833302]},{"name":"camera_3","offset_m":[0.010800832023936505,0.0076875264141356495,0.003962467247069116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002231456066251066,-0.0013026888455572611,0.0007098482952171479],"end_effector_yaw_offset_degrees":-0.893730927835438},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007091276613201756,0.0017593305982118368,-0.0012567818122298847],"end_effector_yaw_offset_degrees":0.5992491070753507},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00011368616511672498,0.00044346486165229267,-0.0011932036313289252],"end_effector_yaw_offset_degrees":0.1214270194696414}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004572856123287699,0.0013209783764908311],"position_m":[0.26837285612328765,0.3470209783764908,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010033119122170838,0.0028417403809409244],"position_m":[0.3413966880877829,0.10414174038094093,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035290343225508067,0.0011863797396842986],"position_m":[0.3332290343225508,-0.0421136202603157,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00033520534621658826,-0.0006131344702200933],"position_m":[0.26886479465378343,-0.3888131344702201,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ce4b4a4780976b6073818d8910a6cdc353c1c6e1a9d373b165a3ae47a5789419","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9664/tex_ceiling_textures_4254/tex_floor_textures_729/tex_table_textures_2056/tex_wall_textures_3671","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6390272243827541419,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6390272243827541419,"visual_seed":6390272243827541419,"scene_id":"lab_003","finished_at":"2026-09-02T05:09:11"}
+{"episode_id":"ep_000051","started_at":"2026-09-02T05:09:14","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.03925325782939937,-1.616273182436386,0.71338606911949],"aabb_xy":[[-0.04074674543461376,-1.6298332147452994],[0.1192532610934125,-1.6027131501274727]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.3722651917705593,1.0243730368938886,0.71338606911949],"aabb_xy":[[0.349765191760411,1.0102768172542855],[0.39476519178070757,1.038469256533492]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.5285913477335491,0.562922680360423,0.71338606911949],"aabb_xy":[[0.48359134626732037,0.5179228234989425],[0.5735913491997781,0.6079225372219038]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.4455805521774595,1.2887762661940965,0.71338606911949],"aabb_xy":[[-0.4490212284175168,1.284914833219732],[-0.44213987593740245,1.292637699168461]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.38348082168890585,-0.6830387083794247,0.71338606911949],"aabb_xy":[[0.35848082213716737,-0.6931811922445594],[0.40848082124064433,-0.67289622451429]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.6065722505861242,1.6666287646140066,0.71338606911949],"aabb_xy":[[-0.6244413583405797,1.6527958566367955],[-0.5887031428316687,1.6804616725912176]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.6600590894501195,1.7077748764675404,0.71338606911949],"aabb_xy":[[0.6295748393230892,1.6577748766860445],[0.6905433395771495,1.7577748762490364]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.5241563642877991,-1.3178034506060003,0.71338606911949],"aabb_xy":[[-0.5891563669255925,-1.369283049305447],[-0.4591563616500055,-1.2663238519065532]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.5297220446811592,-2.4706397214814286,0.71338606911949],"aabb_xy":[[0.5072256232472951,-2.493139721288176],[0.5522184661150233,-2.448139721674681]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.5241166475469459,1.3505221078001948,0.71338606911949],"aabb_xy":[[0.4741336973594665,1.300522108157634],[0.5740995977344251,1.4005221074427547]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.09638223665319479,-1.149951888456515,0.71338606911949],"aabb_xy":[[0.06805252670465456,-1.154412630650232],[0.12471194660173501,-1.145491146262798]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.44244290007234466,-1.1592450776834011,0.71338606911949],"aabb_xy":[[0.3924478891128927,-1.209245076718993],[0.49243791103179674,-1.1092450786478096]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.20587591756465812,-2.2261604241944686,0.71338606911949],"aabb_xy":[[-0.26746667678865094,-2.2901604223035155],[-0.1442851583406653,-2.1621604260854217]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.14016186289659427,-1.9699554775106953,0.71338606911949],"aabb_xy":[[-0.16233438987324508,-1.9921311446668182],[-0.1179893359199434,-1.9477798103545716]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.17545096921668324,0.3103924242573406,0.71338606911949],"aabb_xy":[[-0.19299766413280217,0.2728924226930893],[-0.1579042743005643,0.3478924258215918]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.3225551006709184,1.7608045740212979,0.71338606911949],"aabb_xy":[[-0.38255510231384027,1.7088044247293537],[-0.26255509902799656,1.812804723313242]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[-0.24516943513008427,1.4587595245919105,0.71338606911949],"aabb_xy":[[-0.3351694348532584,1.4356861720567307],[-0.15516943540691006,1.4818328771270903]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[0.5721971411059215,-1.5434824214878264,0.71338606911949],"aabb_xy":[[0.5590458951346321,-1.5684824212445134],[0.5853483870772108,-1.5184824217311403]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.3908043042577912,-1.6375314268380077,0.71338606911949],"aabb_xy":[[-0.445929509887382,-1.6975314282792946],[-0.33567909862820045,-1.5775314253967203]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.6151021831571095,0.38913142566058445,0.71338606911949],"aabb_xy":[[0.6070759125264836,0.3803799306832319],[0.6231284537877356,0.3978829206379371]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7057328664500392,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9997.png","name":"9997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9997.png","name":"9997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3772.png","name":"3772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4452.png","name":"4452"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2194.png","name":"2194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/782.png","name":"782"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":513.585997069132,"rotation_z_degrees":303.6144517327001,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007354580448148403,-0.018659461691255968,0.01940620077774206]},{"name":"camera_2","offset_m":[0.0032956784233017615,0.003077213828473771,-0.013125088898267792]},{"name":"camera_3","offset_m":[-0.006976269496823404,4.751248352120527e-05,0.014438889080923816]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013547206621252771,0.0008028900700548258,-0.0014974234710509009],"end_effector_yaw_offset_degrees":0.8727898791083462},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019465234674810603,-2.0129940464624387e-05,0.0017151908528192862],"end_effector_yaw_offset_degrees":-0.4589086569160292},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006107071234324642,0.0019961955495434334,-0.0004033053182675745],"end_effector_yaw_offset_degrees":0.20469357438017144}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003507763564819127,0.0043168328399894014],"position_m":[0.2673077635648191,0.3500168328399894,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003676586067388291,-0.0037625188488811558],"position_m":[0.3387234139326117,0.09753748115111885,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004785722897065892,-0.0018771463164958349],"position_m":[0.3344857228970659,-0.04517714631649583,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010140289970697117,0.002874449462209814],"position_m":[0.2681859710029303,-0.38532555053779016,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c5bd15a6ab11fefb1666fefea2b9cfaae1bdeca4ff13df283e1b34b425d16d35","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0052.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9997/tex_ceiling_textures_782/tex_floor_textures_2194/tex_table_textures_3772/tex_wall_textures_4452","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5223070249064441911,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5223070249064441911,"visual_seed":5223070249064441911,"scene_id":"lab_003","finished_at":"2026-09-02T05:12:02"}
+{"episode_id":"ep_000052","started_at":"2026-09-02T05:12:05","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[-0.07738610023251158,-1.1699266004543367,0.71338606911949],"aabb_xy":[[-0.11238609854320702,-1.1776416153778826],[-0.04238610192181613,-1.1622115855307913]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.22459456725978155,1.2313111055756694,0.71338606911949],"aabb_xy":[[-0.2481796907236764,1.1663111033302374],[-0.2010094437958867,1.296311107821101]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.5797275755998137,-2.503488517818602,0.71338606911949],"aabb_xy":[[0.5411818827746125,-2.542034288874791],[0.6182732684250146,-2.4649427467624134]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.32359986217916614,-0.47370205545893906,0.71338606911949],"aabb_xy":[[-0.38759986452196765,-0.5186429067030716],[-0.2595998598363645,-0.42876120421480657]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.08886745468793344,1.3531806003315188,0.71338606911949],"aabb_xy":[[0.056405753806005966,1.323047768216616],[0.12132915556986087,1.3833134324464211]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.46672118017245734,-1.255464893751897,0.71338606911949],"aabb_xy":[[0.41674788616919684,-1.3054648943064442],[0.5166944741757178,-1.2054648931973495]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.35948291812125044,1.406876616372331,0.71338606911949],"aabb_xy":[[-0.4234829188247199,1.36085823389941],[-0.29548291741778115,1.452894998845252]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.17926095334042857,0.9511372058826781,0.71338606911949],"aabb_xy":[[0.11526095112002155,0.9067641217573899],[0.2432609555608356,0.9955102900079664]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.4023706333301478,-2.446871479307952,0.71338606911949],"aabb_xy":[[0.3223706322570275,-2.456649525645336],[0.48237063440326816,-2.437093432970567]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.6421480917947915,1.0146165988014073,0.71338606911949],"aabb_xy":[[-0.6786439124220701,0.9781326563746495],[-0.6056522711675126,1.0511005412281647]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[0.6038533866742768,1.3841283988652386,0.71338606911949],"aabb_xy":[[0.5867513087159086,1.3670215933339687],[0.620955464632645,1.4012352043965082]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.4953224934032857,-0.23814153750662737,0.71338606911949],"aabb_xy":[[-0.5061740996521613,-0.24900082823427838],[-0.48447088715441017,-0.22728224677897635]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[0.6075197610835341,1.275584003786578,0.71338606911949],"aabb_xy":[[0.5700197604189553,1.2598969457863556],[0.6450197617481127,1.2912710617868]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[0.6845902653754403,0.9427501626817163,0.71338606911949],"aabb_xy":[[0.6511110981143994,0.9092710493106094],[0.7180694326364813,0.9762292760528234]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.2448509352142797,-1.7661721810694422,0.71338606911949],"aabb_xy":[[0.20735093663865886,-1.778908476733],[0.28235093378990045,-1.753435885405884]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.37867331177324487,1.0445814160567206,0.71338606911949],"aabb_xy":[[-0.4426733088853505,0.99554904626231],[-0.3146733146611391,1.0936137858511312]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.27844949096376137,-2.1995861495817213,0.71338606911949],"aabb_xy":[[-0.36844949038213226,-2.232961646425911],[-0.18844949154539048,-2.1662106527375316]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.22876095650623507,-0.844716214786374,0.71338606911949],"aabb_xy":[[0.21126095624689853,-0.8588077569751469],[0.24626095676557178,-0.8306246725976016]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.04376722941356315,-1.2907775073006948,0.71338606911949],"aabb_xy":[[-0.08595164357439389,-1.354777507577906],[-0.0015828152527324127,-1.2267775070234836]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.45301735693330236,-1.634900217930959,0.71338606911949],"aabb_xy":[[-0.46379033085467014,-1.669900216149998],[-0.4422443830119346,-1.59990021971192]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.2729832125348659,-1.652193497098412,0.71338606911949],"aabb_xy":[[-0.32798321171145534,-1.7071831718733694],[-0.21798321335827636,-1.5972038223234541]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.5981830384997814,-0.015415621586631012,0.71338606911949],"aabb_xy":[[-0.6231830384322993,-0.022298289807554328],[-0.5731830385672635,-0.008532953365707698]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.5842492052529009,0.04134107862384573,0.71338606911949],"aabb_xy":[[0.5042492080933256,0.02979347766602869],[0.6642492024124762,0.05288867958166277]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[-0.32203005231102483,-1.8682484448604377,0.71338606911949],"aabb_xy":[[-0.3720300532615576,-1.8997975918639587],[-0.27203005136049196,-1.8366992978569159]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[-0.040883450477285255,0.4860053938590072,0.71338606911949],"aabb_xy":[[-0.04646512211141401,0.4735053940412317],[-0.03530177884315649,0.4985053936767827]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.6863741180462946,-1.988540728466178,0.71338606911949],"aabb_xy":[[0.6600852937258538,-2.014812162120829],[0.7126629423667351,-1.9622692948115266]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.3440698733811407,-1.939420284053631,0.71338606911949],"aabb_xy":[[0.25438279707302525,-2.0294202843080815],[0.43375694968925615,-1.8494202837991804]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_27","position":[-0.006475141291705677,0.7043036551538249,0.71338606911949],"aabb_xy":[[-0.02397507472568905,0.6868036552335902],[0.011024792142277695,0.7218036550740593]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.3345609368673371,-0.7147790009248709,0.71338606911949],"aabb_xy":[[-0.39856093415298577,-0.7562857198777149],[-0.2705609395816885,-0.6732722819720269]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_29","position":[0.6029102686933334,-1.8217720554366768,0.71338606911949],"aabb_xy":[[0.5915485340400471,-1.8331405218429646],[0.6142720033466195,-1.8104035890303884]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[0.21391148531456428,1.666337297227075,0.71338606911949],"aabb_xy":[[0.18276456647098116,1.5963372985402675],[0.2450584041581474,1.7363372959138819]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_31","position":[-0.4978413911816602,-1.4833299223152572,0.71338606911949],"aabb_xy":[[-0.5328413925331419,-1.503689658272078],[-0.4628413898301785,-1.4629701863584363]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_32","position":[0.16089222416500948,-2.1844310977569745,0.71338606911949],"aabb_xy":[[0.14828952502793305,-2.1970264939818405],[0.17349492330208596,-2.1718357015321095]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_33","position":[-0.47863124331641327,1.5598199765491008,0.71338606911949],"aabb_xy":[[-0.5286312449779079,1.5098215342933978],[-0.42863124165491845,1.6098184188048033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7071332399590954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/407.png","name":"407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/407.png","name":"407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8361.png","name":"8361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8555.png","name":"8555"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4888.png","name":"4888"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9946.png","name":"9946"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":563.1511723047186,"rotation_z_degrees":114.26640806581771,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003899251398652881,0.003407994963811091,0.010192265458189038]},{"name":"camera_2","offset_m":[-0.009691759468044788,0.012165825929784064,-0.006518330780730488]},{"name":"camera_3","offset_m":[0.013039566790843771,0.0010605291158050714,0.0101734809790208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005223250701592804,0.00137804490643623,-0.0015426299165045886],"end_effector_yaw_offset_degrees":-0.10435366388095346},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019898808740341683,0.001139390496529528,0.0015880137580740962],"end_effector_yaw_offset_degrees":-0.5076210451640484},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011673902319663783,-0.00034974440930682837,0.0010347159856422556],"end_effector_yaw_offset_degrees":0.18430838088416324}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00020820284350020913,-0.002031566694236563],"position_m":[0.2640082028435002,0.34366843330576347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011466380580052748,-1.9735832193516246e-05],"position_m":[0.3412533619419947,0.10128026416780649,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013760160436346843,0.001015984622832358],"position_m":[0.3310760160436347,-0.04228401537716764,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016556203239431137,0.004415744745275019],"position_m":[0.2708556203239431,-0.383784255254725,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ccd83738c2066bbb9d5a0c5c4e0b4f1ef5566b791630eb159bb656cbd3131cd2","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_407/tex_ceiling_textures_9946/tex_floor_textures_4888/tex_table_textures_8361/tex_wall_textures_8555","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4110241263963955362,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4110241263963955362,"visual_seed":4110241263963955362,"scene_id":"lab_003","finished_at":"2026-09-02T05:14:47"}
+{"episode_id":"ep_000053","started_at":"2026-09-02T05:14:49","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.6548442213180453,0.17838503868028566,0.71338606911949],"aabb_xy":[[-0.6898442212140642,0.17001080316834571],[-0.6198442214220264,0.1867592741922256]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.37656319321096077,-1.1897773580239572,0.71338606911949],"aabb_xy":[[-0.38140678797219074,-1.1946290105029413],[-0.3717195984497308,-1.1849257055449731]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.35796684858559424,-1.7153299542952918,0.71338606911949],"aabb_xy":[[0.267966844908676,-1.7767623608723957],[0.4479668522625123,-1.653897547718187]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.33058013496749056,0.08975839127377494,0.71338606911949],"aabb_xy":[[-0.34320692225468685,0.08021231757220204],[-0.31795334768029415,0.09930446497534784]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.13748339014749544,1.0299268570464677,0.71338606911949],"aabb_xy":[[0.13215087549288243,1.0246025288012321],[0.1428159048021084,1.0352511852917032]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.4781688581785327,-1.977692932775536,0.71338606911949],"aabb_xy":[[-0.5421688573483026,-2.0244596198944986],[-0.41416885900876277,-1.9309262456565734]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.26304241440316223,0.6939025292130454,0.71338606911949],"aabb_xy":[[-0.3005424155879549,0.6894843065169848],[-0.22554241321836935,0.6983207519091058]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.6377713011944954,-1.6479466360193862,0.71338606911949],"aabb_xy":[[-0.6552713014538322,-1.6620381782081592],[-0.6202713009351589,-1.633855093830614]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.14180956644393328,-1.5444362136546719,0.71338606911949],"aabb_xy":[[-0.16430956596764068,-1.5669321611052922],[-0.11930956692022589,-1.5219402662040507]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.08038052227373937,1.366221687292294,0.71338606911949],"aabb_xy":[[0.04538052400361946,1.3591475595973057],[0.11538052054385926,1.373295814987282]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.4005566066140729,-1.5280640457148502,0.71338606911949],"aabb_xy":[[0.36940968777048966,-1.5980640444016572],[0.4317035254576559,-1.4580640470280428]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.4942631310717318,-1.9437023617769311,0.71338606911949],"aabb_xy":[[0.4042631316533609,-1.9770778586211206],[0.5842631304901027,-1.9103268649327412]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.5881651366271935,0.2932124527803799,0.71338606911949],"aabb_xy":[[-0.5925957659820338,0.2877640810456973],[-0.5837345072723534,0.2986608245150625]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.6440541197226546,-0.35725752629911334,0.71338606911949],"aabb_xy":[[0.5940548445542183,-0.4072575275750605],[0.6940533948910906,-0.30725752502316617]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.11886096732004736,1.6532205281968424,0.71338606911949],"aabb_xy":[[0.08886930458617702,1.6232205288600419],[0.1488526300539177,1.683220527533643]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.6870232704731676,-1.5933841892805498,0.71338606911949],"aabb_xy":[[0.6830627867034332,-1.6010520538660702],[0.6909837542429019,-1.585716324695029]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.279771279509205,-2.2409623883495584,0.71338606911949],"aabb_xy":[[0.21477127687141145,-2.292441987049005],[0.3447712821469984,-2.189482789650111]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.29593780278620196,1.1295682101104507,0.71338606911949],"aabb_xy":[[0.27402912064685087,1.1076675432903598],[0.31784648492555295,1.1514688769305412]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.10781681963161627,-1.008405048531893,0.71338606911949],"aabb_xy":[[-0.144312640258895,-1.0448889909586505],[-0.07132099900433751,-0.9719211061051354]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.11592969447256729,-0.8798554029047285,0.71338606911949],"aabb_xy":[[0.10551813579208356,-0.885201136240627],[0.126341253153051,-0.87450966956883]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.6365196891973,1.4984579610914879,0.71338606911949],"aabb_xy":[[0.6311821135312954,1.4734579601623479],[0.6418572648633045,1.5234579620206274]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.45277292174252337,-0.04906926877593243,0.71338606911949],"aabb_xy":[[-0.5167729210366916,-0.11305540914478662],[-0.38877292244835515,0.014916871592921765]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.5023239106463185,1.1838059746027354,0.71338606911949],"aabb_xy":[[-0.5124056177248919,1.1038059767106205],[-0.49224220356774495,1.2638059724948498]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[-0.15055611756115173,-0.46298410188205574,0.71338606911949],"aabb_xy":[[-0.23054994113970995,-0.5429841044748973],[-0.0705622939825935,-0.3829840992892141]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[0.6761519395012534,0.015349566813937177,0.71338606911949],"aabb_xy":[[0.6724486781721145,0.011647548505219318],[0.6798552008303923,0.019051585122655035]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[0.1989687818335284,0.6766147661662467,0.71338606911949],"aabb_xy":[[0.19092542190757322,0.5916147650708804],[0.20701214175948357,0.7616147672616133]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[0.31427724599614626,0.6402375760466326,0.71338606911949],"aabb_xy":[[0.2805016868054533,0.6261990808334674],[0.34805280518683923,0.6542760712597975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7063015637408019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5029.png","name":"5029"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5029.png","name":"5029"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2835.png","name":"2835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4716.png","name":"4716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/484.png","name":"484"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":688.949689678504,"rotation_z_degrees":324.24509355170346,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002975225153925072,-0.011124869999348492,0.015963547159644296]},{"name":"camera_2","offset_m":[0.013801123304250842,-0.0073193121525959755,-0.01074542715464089]},{"name":"camera_3","offset_m":[0.0005717995543479265,-7.958245657711804e-07,0.01383467157371061]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011655210231541124,0.001699451944026494,-2.2526665741815985e-05],"end_effector_yaw_offset_degrees":-0.10288366262495097},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015161474447669804,-0.0006555047954950024,0.0009010487976440105],"end_effector_yaw_offset_degrees":0.1219632948266951},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013686873651059688,-0.000717545283643635,-0.0003294614967195373],"end_effector_yaw_offset_degrees":0.4046609461173607}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004904495603762749,0.004158374331773838],"position_m":[0.2588955043962372,0.34985837433177386,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-3.6259792464295e-05,0.0048470941022830385],"position_m":[0.3423637402075357,0.10614709410228304,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002687531326583664,-0.002466057449939788],"position_m":[0.3270124686734163,-0.045766057449939786,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007764228089263327,0.0045876822986367855],"position_m":[0.2699764228089263,-0.3836123177013632,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"377f133f978ce501ade77b4949694869f21d7eb8e47e2c04c8baf1058754a17b","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5029/tex_ceiling_textures_484/tex_floor_textures_4716/tex_table_textures_2835/tex_wall_textures_3446","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4002675930883532442,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4002675930883532442,"visual_seed":4002675930883532442,"scene_id":"lab_003","finished_at":"2026-09-02T05:17:42"}
+{"episode_id":"ep_000054","started_at":"2026-09-02T05:17:49","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.5324140205237708,-0.9808800342440247,0.71338606911949],"aabb_xy":[[-0.5363278937191932,-0.9896290496505814],[-0.5285001473283483,-0.9721310188374678]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[-0.12981663051253167,-0.2941208852915591,0.71338606911949],"aabb_xy":[[-0.15170637810147244,-0.38412088258080823],[-0.10792688292359086,-0.20412088800231]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.3160555319902588,-1.4438543182294585,0.71338606911949],"aabb_xy":[[-0.34105553126222105,-1.4601996818256209],[-0.2910555327182965,-1.4275089546332962]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.10428325139578909,-1.9854291386034628,0.71338606911949],"aabb_xy":[[-0.11505622531715687,-2.020429136822502],[-0.09351027747442131,-1.9504291403844238]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.5058506414560848,-1.2984542533814496,0.71338606911949],"aabb_xy":[[0.48827233926713787,-1.3160287429555548],[0.5234289436450316,-1.2808797638073448]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.28603759495958303,-2.398947080044734,0.71338606911949],"aabb_xy":[[0.22603759470818185,-2.4532284050811985],[0.3460375952109842,-2.344665755008269]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.18096610154140458,-1.8456568449758028,0.71338606911949],"aabb_xy":[[-0.24496610476004246,-1.8923799568748112],[-0.11696609832276675,-1.7989337330767945]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.5205739929933153,-1.6564930014345123,0.71338606911949],"aabb_xy":[[-0.6102610693014308,-1.7464930016889628],[-0.43088691668519985,-1.5664930011800617]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.5171733256077974,0.13657617405399325,0.71338606911949],"aabb_xy":[[-0.5521733248006155,0.1256091280563306],[-0.482173326414979,0.14754322005165585]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.4430842986191789,-0.1631092500271678,0.71338606911949],"aabb_xy":[[-0.48058429704257927,-0.17627346399499844],[-0.40558430019577857,-0.14994503605933718]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.26346606404944106,-2.164194681166773,0.71338606911949],"aabb_xy":[[0.2554720754717376,-2.172194761261863],[0.2714600526271444,-2.156194601071682]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.31907784607925355,-1.2395263333114699,0.71338606911949],"aabb_xy":[[-0.3490695088131238,-1.2695263326482702],[-0.28908618334538316,-1.2095263339746691]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[-0.007133089105391677,0.7936218919936455,0.71338606911949],"aabb_xy":[[-0.08713308708617672,0.7860203510317935],[0.07286690887539336,0.8012234329554974]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.0681402271786885,0.3451354460421663,0.71338606911949],"aabb_xy":[[-0.07617656187997333,0.3370973267377495],[-0.06010389247740365,0.35317356534658306]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.5815600876181053,-1.5426127449671017,0.71338606911949],"aabb_xy":[[0.501560086544985,-1.552390791304486],[0.6615600886912256,-1.5328346986297172]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.4688721171424648,-2.018259928415142,0.71338606911949],"aabb_xy":[[0.4048721178482965,-2.0822460687839963],[0.532872116436633,-1.954273788046288]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.5320336404848645,0.2567846837847245,0.71338606911949],"aabb_xy":[[0.48205069029738506,0.20678468414216408],[0.5820165906723437,0.3067846834272849]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.2942241920258559,-0.1789201023951219,0.71338606911949],"aabb_xy":[[-0.33172419321064867,-0.18333832509118242],[-0.25672419084106307,-0.17450187969906134]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.2441317555820513,-0.6025852488528869,0.71338606911949],"aabb_xy":[[-0.3081317578024583,-0.6469583329781751],[-0.18013175336164425,-0.5582121647275985]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.11809845355287407,-0.9947640420611055,0.71338606911949],"aabb_xy":[[-0.14309845348539196,-1.0016467102820288],[-0.09309845362035617,-0.9878813738401823]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.2181829700492487,-2.137928671353195,0.71338606911949],"aabb_xy":[[-0.28218296733489734,-2.179435390306039],[-0.15418297276360005,-2.096421952400351]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.7019661262354415,1.1255724800529956,0.71338606911949],"aabb_xy":[[0.6868032532585044,1.110407022757877],[0.7171289992123786,1.1407379373481146]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.5997594195245215,0.41058945941642877,0.71338606911949],"aabb_xy":[[-0.6425261264039416,0.3465894559946263],[-0.5569927126451012,0.4745894628382312]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.20904424553426526,1.7615781267224864,0.71338606911949],"aabb_xy":[[0.20492829542219257,1.7574625716896408],[0.2131601956463379,1.765693681755332]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_24","position":[-0.6418872547687631,-1.0924556017652722,0.71338606911949],"aabb_xy":[[-0.691887255129329,-1.142435588974875],[-0.5918872544081969,-1.042475614555669]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[0.08240359230684824,-0.9366848677151338,0.71338606911949],"aabb_xy":[[0.0024035937195288205,-1.0160004696532945],[0.16240359089416767,-0.8573692657769729]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[0.334950338815712,0.78152311637945,0.71338606911949],"aabb_xy":[[0.2974503373000803,0.7702963433633049],[0.3724503403313437,0.792749889395595]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[0.07789559234751675,-1.3419049788718584,0.71338606911949],"aabb_xy":[[-0.0021044050560766743,-1.4218975500700413],[0.15789558975111015,-1.2619124076736756]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[-0.1880828213058039,0.8545928421658004,0.71338606911949],"aabb_xy":[[-0.1920433050755383,0.8469249775802798],[-0.18412233753606955,0.862260706751321]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.3427740421149612,1.61595977002781,0.71338606911949],"aabb_xy":[[-0.38407858517869714,1.5519597704596928],[-0.30146949905122516,1.679959769595927]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.5595032684557331,0.5436426062100028,0.71338606911949],"aabb_xy":[[0.5245032671042513,0.5232828702531819],[0.5945032698072148,0.5640023421668235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.707172551807591,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4688.png","name":"4688"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4688.png","name":"4688"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8640.png","name":"8640"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2382.png","name":"2382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9442.png","name":"9442"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4849.png","name":"4849"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":540.1578890527184,"rotation_z_degrees":172.7589502856539,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01853599937755515,-0.017489420710523236,-0.006693176984033959]},{"name":"camera_2","offset_m":[0.001408178335810667,-0.0004297880458003604,-0.008677718705710592]},{"name":"camera_3","offset_m":[0.01875912501950647,-0.0062596242232582575,-0.019895383192502118]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005718302733290202,0.0016014629923340878,-0.00029279975766027333],"end_effector_yaw_offset_degrees":-0.8862742927652019},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014837050929197185,-0.00045975219818852734,0.0018062442800025106],"end_effector_yaw_offset_degrees":-0.9346178312214015},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017196908711859492,0.0007972161891895216,-0.001168822675208847],"end_effector_yaw_offset_degrees":0.11586463794673607}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035546363910467825,-0.0024317353321855317],"position_m":[0.2602453636089532,0.34326826466781446,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004758997001334221,0.0013143924888573359],"position_m":[0.3376410029986658,0.10261439248885734,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010638694781386505,0.001920656841607601],"position_m":[0.33076386947813863,-0.041379343158392395,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014969222609055215,0.004097889438715251],"position_m":[0.2706969222609055,-0.38410211056128474,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"195b42c05014ca5f7d0c620a23fbc607ee29ce0b9d299416ebc8cedef248ec88","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4688/tex_ceiling_textures_4849/tex_floor_textures_9442/tex_table_textures_8640/tex_wall_textures_2382","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":1640518301115462964,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":1640518301115462964,"visual_seed":1640518301115462964,"scene_id":"lab_003","finished_at":"2026-09-02T05:20:33"}
+{"episode_id":"ep_000055","started_at":"2026-09-02T05:20:36","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.2812710270567274,-1.8700436215820697,0.71338606911949],"aabb_xy":[[-0.3234554412175581,-1.934043621859281],[-0.2390866128958966,-1.8060436213048585]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.4842262049688547,-1.6864068484843844,0.71338606911949],"aabb_xy":[[-0.5066909749402597,-1.7089068493632449],[-0.46176143499744954,-1.6639068476055239]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[-0.4474419876933963,1.2400403999378629,0.71338606911949],"aabb_xy":[[-0.5274419879670034,1.167090852112146],[-0.36744198741978934,1.3129899477635794]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.17615585968100522,0.7209975108219004,0.71338606911949],"aabb_xy":[[0.15865586040291832,0.7036594107555546],[0.19365585895909207,0.7383356108882465]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.09036874625913027,-1.1474187696949127,0.71338606911949],"aabb_xy":[[0.06786874644522788,-1.1518933860653935],[0.11286874607303264,-1.142944153324432]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.07097973441930905,-1.040584147683251,0.71338606911949],"aabb_xy":[[0.06226576536937454,-1.0630841483424387],[0.07969370346924351,-1.0180841470240622]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.5221732291462482,-0.27955642554842,0.71338606911949],"aabb_xy":[[0.4421794055676901,-0.35955642814126154],[0.6021670527248065,-0.1995564229555784]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.019560598264036555,-1.7683645017143323,0.71338606911949],"aabb_xy":[[-0.015439400046658894,-1.776079516637878],[0.054560596574732,-1.7606494867907867]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.10670443990532463,-0.12019744985975933,0.71338606911949],"aabb_xy":[[-0.18670443691957261,-0.1403320015331706],[-0.026704442891076652,-0.10006289818634805]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.4809761167683704,-2.0410091381358857,0.71338606911949],"aabb_xy":[[0.4736938003917066,-2.131009141745394],[0.4882584331450339,-1.951009134526376]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.5688470670598549,0.7848280403702312,0.71338606911949],"aabb_xy":[[0.504847070632533,0.7376584165481349],[0.6328470634871768,0.8319976641923278]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[0.5171906481311728,0.48196709474515975,0.71338606911949],"aabb_xy":[[0.43719064705805255,0.47218904840777537],[0.5971906492042932,0.49174514108254425]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.10893976738101896,0.9430655535378403,0.71338606911949],"aabb_xy":[[-0.1322216095791503,0.8580655522406122],[-0.08565792518288763,1.0280655548350683]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.5574140587306715,-0.31543681063711615,0.71338606911949],"aabb_xy":[[-0.5670456949511011,-0.32507412341682507],[-0.5477824225102419,-0.30579949785740723]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.43716027254686785,-1.1834853072037759,0.71338606911949],"aabb_xy":[[-0.4870429694245641,-1.2334853064500508],[-0.3872775756691717,-1.1334853079575014]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.31453515860405007,1.0361111980955302,0.71338606911949],"aabb_xy":[[-0.32578021417466785,1.024869400371435],[-0.3032901030334322,1.0473529958196255]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.619836834552082,1.756212940214248,0.71338606911949],"aabb_xy":[[-0.6317695689139101,1.7438307874063885],[-0.607904100190254,1.7685950930221073]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.2988174362700462,-0.5924163710329342,0.71338606911949],"aabb_xy":[[0.28537090963600287,-0.6058862226860254],[0.31226396290408953,-0.578946519379843]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.2776804664239276,-0.8386382279841904,0.71338606911949],"aabb_xy":[[-0.3039692907443682,-0.8649096616388415],[-0.25139164210348686,-0.8123667943295391]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.5870410163975501,-2.4175552972692294,0.71338606911949],"aabb_xy":[[-0.6245410148209504,-2.430719511237059],[-0.5495410179741497,-2.4043910833013977]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.3280882577013138,-2.219144585828969,0.71338606911949],"aabb_xy":[[0.2780882573407477,-2.2691245730385714],[0.37808825806187984,-2.1691645986193655]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.0621215924398697,0.9532931796431123,0.71338606911949],"aabb_xy":[[0.05412760386216629,0.9452930995480218],[0.07011558101757308,0.9612932597382025]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.2598718127333422,-0.6651115669553334,0.71338606911949],"aabb_xy":[[-0.31486406336885314,-0.7201115686986461],[-0.20487956209783126,-0.6101115652120206]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.3251782648624173,-2.4080318804020746,0.71338606911949],"aabb_xy":[[0.3202222446775361,-2.430531880604196],[0.33013428504729847,-2.385531880199953]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.6044978244977157,-0.4523964957637028,0.71338606911949],"aabb_xy":[[0.5965745442589674,-0.4748964960017062],[0.612421104736464,-0.4298964955256995]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.6245081455974941,-0.01480622849062252,0.71338606911949],"aabb_xy":[[0.5745293370871782,-0.06480622849634132],[0.67448695410781,0.035193771515096284]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.17749303848844544,1.596258655986928,0.71338606911949],"aabb_xy":[[0.17152649954770965,1.590297511327564],[0.18345957742918123,1.6022198006462922]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.48986745832022527,0.8442652184737693,0.71338606911949],"aabb_xy":[[-0.5097584982005656,0.8316094071890726],[-0.4699764184398851,0.8569210297584663]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[-0.4333306392160858,-1.3530943968153462,0.71338606911949],"aabb_xy":[[-0.4464818851873752,-1.3780943965720327],[-0.4201793932447965,-1.3280943970586596]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[0.05837902545882656,-2.4475065292065823,0.71338606911949],"aabb_xy":[[-0.03162097395954433,-2.4808820260507716],[0.14837902487719745,-2.414131032362392]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.03351311901498877,1.017161767668735,0.71338606911949],"aabb_xy":[[-0.04121630968906581,1.0094523969699967],[-0.025809928340911725,1.024871138367473]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[-0.0715076064299236,0.4316734747750992,0.71338606911949],"aabb_xy":[[-0.08900760667497297,0.41417368693553236],[-0.054007606184874206,0.44917326261466606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7056824324973843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7067.png","name":"7067"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7067.png","name":"7067"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1187.png","name":"1187"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4009.png","name":"4009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3118.png","name":"3118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/629.png","name":"629"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":509.26250523035645,"rotation_z_degrees":223.00565084476824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01652601120022142,0.005860489075351173,-0.01750711729527738]},{"name":"camera_2","offset_m":[0.004572401237410751,0.014284430963463584,0.016628493942218745]},{"name":"camera_3","offset_m":[-0.006751316583881915,0.0016968246597738844,-0.01852635219575276]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013511981656917204,0.0014682451641611681,-0.00019331361924418249],"end_effector_yaw_offset_degrees":-0.7602970331400609},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008590425997118953,0.000664094655284336,-0.0003194256688190725],"end_effector_yaw_offset_degrees":-0.482988486493213},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007842148505054405,-0.0013907204063601526,-0.00043740882130447606],"end_effector_yaw_offset_degrees":0.618106833494199}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021324730516211164,-0.003012060929562831],"position_m":[0.2659324730516211,0.34268793907043715,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009509544841876747,0.0008413179646188486],"position_m":[0.3414490455158123,0.10214131796461885,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017651566259916309,-0.0013486187933118999],"position_m":[0.32793484337400836,-0.044648618793311896,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004539956034730402,-0.0023912108290720224],"position_m":[0.2646600439652696,-0.390591210829072,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e06c6f5f86a24b58859a23067ac595909bdfd9ee60a4cfc8a5d090957736fbcf","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7067/tex_ceiling_textures_629/tex_floor_textures_3118/tex_table_textures_1187/tex_wall_textures_4009","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6710136947700847556,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6710136947700847556,"visual_seed":6710136947700847556,"scene_id":"lab_003","finished_at":"2026-09-02T05:23:39"}
+{"episode_id":"ep_000056","started_at":"2026-09-02T05:23:42","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.4595721631930305,0.36992598087227124,0.71338606911949],"aabb_xy":[[-0.5095454571962909,0.31992598031772385],[-0.40959886918976995,0.41992598142681853]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.09815876924715183,-1.4341305677255671,0.71338606911949],"aabb_xy":[[-0.10750577682944705,-1.4484341899432114],[-0.08881176166485659,-1.4198269455079233]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.2798061423520813,-1.712570521876449,0.71338606911949],"aabb_xy":[[-0.2878495022780364,-1.7975705229718155],[-0.27176278242612606,-1.6275705207810827]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.6559068683154203,0.06070943911761262,0.71338606911949],"aabb_xy":[[0.6446618127448024,0.04946764139351732],[0.6671519238860381,0.07195123684170789]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.20283272584589018,-1.6557671047320524,0.71338606911949],"aabb_xy":[[0.17991701296084028,-1.678671401868476],[0.2257484387309401,-1.632862807595629]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.20233930552410118,-1.9222195668133444,0.71338606911949],"aabb_xy":[[0.17982561370064395,-1.9922195674143517],[0.22485299734755834,-1.8522195662123366]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.44029543011112565,-1.6979008234952182,0.71338606911949],"aabb_xy":[[-0.44958904834827623,-1.7354008219833519],[-0.43100181187397507,-1.660400825007084]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.2220930221824048,-0.39086307416185395,0.71338606911949],"aabb_xy":[[-0.29209301859236647,-0.4113010098135355],[-0.15209302577244294,-0.37042513851017206]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.48709134190135417,-0.46848324494186055,0.71338606911949],"aabb_xy":[[-0.5059757256698643,-0.4873691697222134],[-0.4682069581328439,-0.44959732016150783]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.17631681953833245,0.5750230041084778,0.71338606911949],"aabb_xy":[[-0.2663168232152506,0.5135905975313733],[-0.08631681586141425,0.636455410685582]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.664341300752207,1.5677699641560943,0.71338606911949],"aabb_xy":[[-0.6876231429503382,1.4827699628588662],[-0.6410594585540755,1.6527699654533223]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.2212996213281106,-0.9677356125594372,0.71338606911949],"aabb_xy":[[-0.23647179060974394,-0.9829044694876407],[-0.20612745204647726,-0.9525667556312339]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.4131881613337647,1.7476071749865354,0.71338606911949],"aabb_xy":[[0.3718836182700287,1.6836071754184183],[0.45449270439750067,1.8116071745546525]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[-0.08487285162071467,-1.7731845095755814,0.71338606911949],"aabb_xy":[[-0.12172339955770228,-1.8106845103986153],[-0.04802230368372706,-1.7356845087525479]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.6418667776937602,0.7103824101941822,0.71338606911949],"aabb_xy":[[-0.6536349644884178,0.6253824102889607],[-0.6300985908991028,0.7953824100994039]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[-0.2533997038799495,-0.6841165240081939,0.71338606911949],"aabb_xy":[[-0.30339281598914136,-0.7341165246823894],[-0.2034065917707576,-0.6341165233339981]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[0.6273278951721863,1.315886190663131,0.71338606911949],"aabb_xy":[[0.59867856281177,1.287240631386055],[0.6559772275326025,1.3445317499402065]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.28407113087757485,1.6892272209688293,0.71338606911949],"aabb_xy":[[0.24844197497761505,1.653594554211976],[0.31970028677753454,1.724859887725682]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.002756966707308517,1.606719397334865,0.71338606911949],"aabb_xy":[[-0.06124302968826456,1.5427561089161315],[0.0667569631028816,1.6706826857535986]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.5865692560243014,-0.8735168172285745,0.71338606911949],"aabb_xy":[[0.5165692538928718,-0.8962787828542701],[0.6565692581557309,-0.8507548516028788]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.6663795406888575,0.6735675235511329,0.71338606911949],"aabb_xy":[[0.6288795400242787,0.6578804655509106],[0.7038795413534361,0.689254581551355]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.6902227933462592,0.33625410393336486,0.71338606911949],"aabb_xy":[[0.6862623095765249,0.3285862393478443],[0.6941832771159936,0.3439219685188855]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.7128476042325114,1.050478149461342,0.71338606911949],"aabb_xy":[[0.7046330591168273,1.0418015591637002],[0.7210621493481952,1.0591547397589829]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.17277784602228652,-0.04476407909779434,0.71338606911949],"aabb_xy":[[-0.1781103606768995,-0.050088407343029946],[-0.16744533136767353,-0.03943975085255875]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[-0.3295359056536397,1.5212659321041913,0.71338606911949],"aabb_xy":[[-0.3705538490400106,1.471265931473234],[-0.28851796226726883,1.5712659327351486]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.20723687276613767,-2.1018112200583188,0.71338606911949],"aabb_xy":[[-0.25723687404997764,-2.1517900744489404],[-0.1572368714822977,-2.0518323656676962]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.5737089517939895,1.2616499413221614,0.71338606911949],"aabb_xy":[[-0.5912089510720764,1.2443118412558154],[-0.5562089525159026,1.2789880413885073]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_27","position":[-0.3711445931530881,0.8140532731087982,0.71338606911949],"aabb_xy":[[-0.435144596371726,0.7673301612097899],[-0.30714458993445026,0.8607763850078066]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[0.5008868876670636,-0.3542630607794357,0.71338606911949],"aabb_xy":[[0.4508868863061764,-0.40424096535485127],[0.5508868890279508,-0.30428515620402]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[0.589775619964569,-2.515382410425474,0.71338606911949],"aabb_xy":[[0.525775623537247,-2.5625520342475707],[0.6537756163918909,-2.468212786603378]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[-0.25291258941512895,-1.445852485320773,0.71338606911949],"aabb_xy":[[-0.2569907473221787,-1.4499334655690366],[-0.2488344315080792,-1.44177150507251]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7071041822354679,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4871.png","name":"4871"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4871.png","name":"4871"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3131.png","name":"3131"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7104.png","name":"7104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6735.png","name":"6735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4317.png","name":"4317"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":557.4502492934076,"rotation_z_degrees":289.69795130100766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01377288386355063,-0.015788566720836637,-0.017850434638156557]},{"name":"camera_2","offset_m":[-0.002882269790638506,-0.013031744624935922,0.010030711972843161]},{"name":"camera_3","offset_m":[-0.017584111737093514,0.015760893243282902,0.013632407726102243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008519783420978119,-0.00044168149327307796,-0.0016113052102988844],"end_effector_yaw_offset_degrees":-0.9714846912906678},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014456904792956868,0.00033150695780106293,-0.0008891413176374879],"end_effector_yaw_offset_degrees":0.49395047706240325},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001154794938589185,5.212334172694172e-05,0.0011070331272299422],"end_effector_yaw_offset_degrees":-0.10984939198718768}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010543251748332087,0.004564829815045809],"position_m":[0.26274567482516675,0.3502648298150458,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008584409015364629,-0.004791236969013045],"position_m":[0.34325844090153645,0.09650876303098696,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002553982482264724,-0.0013282195416012875],"position_m":[0.32714601751773525,-0.04462821954160129,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000396449737770972,0.0013117321424208298],"position_m":[0.268803550262229,-0.3868882678575792,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"393ab29aae4d5bdc87a784edf953c0db0fe014ff37f4e067d11d42a1229666e6","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4871/tex_ceiling_textures_4317/tex_floor_textures_6735/tex_table_textures_3131/tex_wall_textures_7104","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":1924084273518932990,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":1924084273518932990,"visual_seed":1924084273518932990,"scene_id":"lab_003","finished_at":"2026-09-02T05:26:33"}
+{"episode_id":"ep_000057","started_at":"2026-09-02T05:26:36","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.42811776636411963,-2.1996662113473073,0.71338606911949],"aabb_xy":[[-0.4394795010174058,-2.2110346777535947],[-0.4167560317108335,-2.188297744941019]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[-0.37068645550994794,0.4923048960136369,0.71338606911949],"aabb_xy":[[-0.40568645382064333,0.48458988109009127],[-0.33568645719925244,0.5000199109371826]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.19469051097769485,-1.1507830324210944,0.71338606911949],"aabb_xy":[[0.17219408954383078,-1.1732830322278418],[0.21718693241155898,-1.128283032614347]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.6052928704019371,-2.4764816265287344,0.71338606911949],"aabb_xy":[[0.5402928722460181,-2.5027778710786466],[0.6702928685578562,-2.450185381978822]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.2294796768437527,1.1383518853012955,0.71338606911949],"aabb_xy":[[-0.2789600980577115,1.0743518873884437],[-0.1799992556297939,1.2023518832141473]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.0011380210016760373,-1.8044889911493929,0.71338606911949],"aabb_xy":[[-0.038638021349903795,-1.816280386730476],[0.03636197934655172,-1.7926975955683089]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.5831380946894387,-2.075323408752182,0.71338606911949],"aabb_xy":[[0.5743568675422025,-2.0841031560407126],[0.5919193218366751,-2.066543661463652]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[0.5923368287453721,0.8400470786157967,0.71338606911949],"aabb_xy":[[0.5756596927522767,0.8233471546418665],[0.6090139647384677,0.856747002589727]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.5548162678918311,-2.2438883523114423,0.71338606911949],"aabb_xy":[[0.5373162686137442,-2.2612264523777883],[0.5723162671699179,-2.2265502522450964]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.4307657598734258,-0.40004563725189923,0.71338606911949],"aabb_xy":[[0.42372430892267815,-0.4070723889896937],[0.43780721082417334,-0.39301888551410463]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.07820661412843144,1.750995512754987,0.71338606911949],"aabb_xy":[[-0.011793384466038503,1.734744926441566],[0.16820661272290138,1.767246099068408]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[0.487743671866139,-0.9313167129318942,0.71338606911949],"aabb_xy":[[0.4377443966977028,-0.9813167142078414],[0.5377429470345751,-0.881316711655947]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.4100756177782326,0.9063183753025994,0.71338606911949],"aabb_xy":[[-0.44453796517637434,0.8718244929047766],[-0.37561327038009074,0.940812257700422]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.48619901069015115,-1.3766352231997525,0.71338606911949],"aabb_xy":[[-0.5361940216496033,-1.4266352222353442],[-0.4362039997306992,-1.3266352241641608]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.5508812631589944,-0.012873655715766041,0.71338606911949],"aabb_xy":[[-0.5753948872560003,-0.037138249017802494],[-0.5263676390619886,0.01139093758627041]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.1386572632863332,-0.1254160013884027,0.71338606911949],"aabb_xy":[[-0.20265726496433056,-0.1739333928677169],[-0.07465726160833586,-0.07689860990908845]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.22266660771205354,-2.1201778284780204,0.71338606911949],"aabb_xy":[[-0.2505116444926606,-2.150962327216332],[-0.1948215709314464,-2.0893933297397087]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.510507442784635,1.0728382824492622,0.71338606911949],"aabb_xy":[[-0.5256097442456529,1.0577367608181998],[-0.49540514132361674,1.0879398040803236]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.27017143986803205,0.5398478669852174,0.71338606911949],"aabb_xy":[[-0.292670575594259,0.5173478662069544],[-0.24767230414180508,0.5623478677634803]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.3341818739875282,-0.49919960257822993,0.71338606911949],"aabb_xy":[[0.3116818734754876,-0.5216914609436283],[0.3566818744995688,-0.4767077442128315]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.42185774058189573,1.463926074005769,0.71338606911949],"aabb_xy":[[0.3381355150818133,1.373926070471073],[0.5055799660819782,1.5539260775404649]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.23806357794132882,-0.730180801802202,0.71338606911949],"aabb_xy":[[0.2324819063072001,-0.7426808016199774],[0.2436452495754576,-0.7176808019844264]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[0.18032475359704891,1.3970300254729313,0.71338606911949],"aabb_xy":[[0.13035145959378847,1.3470300249183838],[0.23029804760030936,1.4470300260274784]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.4925495578272452,0.5575076750578183,0.71338606911949],"aabb_xy":[[0.47003586600378794,0.48750767445681065],[0.5150632496507024,0.6275076756588257]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.36303632348955417,0.7545396729298233,0.71338606911949],"aabb_xy":[[0.3130589066243005,0.7045396714405747],[0.4130137403548077,0.8045396744190718]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[0.4244545135402946,-1.3621569372101348,0.71338606911949],"aabb_xy":[[0.41841750053962995,-1.368183638279083],[0.4304915265409594,-1.3561302361411864]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[-0.1445782145972836,1.7843838542002461,0.71338606911949],"aabb_xy":[[-0.15891263972344705,1.7723236386457073],[-0.13024378947112014,1.796444069754785]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_27","position":[0.2400628681381647,0.515127359927372,0.71338606911949],"aabb_xy":[[0.23030687862899077,0.5053648258681375],[0.24981885764733855,0.5248898939866063]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[-0.11863974930760124,-0.890659215748846,0.71338606911949],"aabb_xy":[[-0.15241530849829418,-0.9046977109620108],[-0.08486419011690824,-0.8766207205356807]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[-0.05431361775896093,1.6292112742505203,0.71338606911949],"aabb_xy":[[-0.11831362097759879,1.582488162351512],[0.009686385459676927,1.6759343861495286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.710945295187984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6273.png","name":"6273"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3913.png","name":"3913"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3058.png","name":"3058"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9441.png","name":"9441"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":619.6135767314066,"rotation_z_degrees":205.4729248007852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[2.0978702658550757e-05,-0.011533201660287627,0.002715487110676356]},{"name":"camera_2","offset_m":[0.004719823868870047,0.019684030051673507,0.018750967061323304]},{"name":"camera_3","offset_m":[-0.00842347797589245,0.015799642069003837,-0.01408775099993083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016666946051101662,0.0017018479126214296,0.0003578920327213073],"end_effector_yaw_offset_degrees":-0.4409421612665516},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016034260628853105,0.00011393465237313685,0.0014629640463541213],"end_effector_yaw_offset_degrees":-0.5466016570803618},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014268248536910499,0.0016859552931044281,-0.0015448147551739898],"end_effector_yaw_offset_degrees":0.7319696966526528}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00018409920866742716,-0.0016074048695064245],"position_m":[0.26361590079133257,0.34409259513049356,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000572673518709271,-0.002096180214374455],"position_m":[0.34297267351870925,0.09920381978562555,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030666452067152966,-0.0002883398466805168],"position_m":[0.3327666452067153,-0.043588339846680514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00017242990033596375,-0.004808393579938742],"position_m":[0.26937242990033594,-0.3930083935799387,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6904568d14150e89cdc1998fb2d8d4637932c39713dfc79cbe64dd50996fdca9","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7938/tex_ceiling_textures_9441/tex_floor_textures_3058/tex_table_textures_6273/tex_wall_textures_3913","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2652122017938480498,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2652122017938480498,"visual_seed":2652122017938480498,"scene_id":"lab_003","finished_at":"2026-09-02T05:29:32"}
+{"episode_id":"ep_000058","started_at":"2026-09-02T05:29:36","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.5899851908239158,0.0762908039597936,0.71338606911949],"aabb_xy":[[-0.6068959232602574,0.06281859836717905],[-0.5730744583875739,0.08976300955240811]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.19724946364386603,0.4415809319862949,0.71338606911949],"aabb_xy":[[-0.2612494609295147,0.4000742130334509],[-0.13324946635821738,0.48308765093913886]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.4644440044801543,-2.563077086831631,0.71338606911949],"aabb_xy":[[0.44194758304629017,-2.585577086638378],[0.48694042591401837,-2.540577087024883]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[-0.13355969421507496,1.6130981337437276,0.71338606911949],"aabb_xy":[[-0.13845898652163843,1.5854212144411586],[-0.12866040190851144,1.6407750530462961]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.5046938024661194,-0.6583093585936703,0.71338606911949],"aabb_xy":[[0.4246938054518714,-0.6784439102670815],[0.5846937994803674,-0.638174806920259]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.12373173479324606,1.3039033843244483,0.71338606911949],"aabb_xy":[[0.10081602190819618,1.2809990871880248],[0.14664744767829596,1.3268076814608718]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.14491969331986188,-2.148850437581734,0.71338606911949],"aabb_xy":[[0.0849196927238457,-2.2036629101269574],[0.20491969391587805,-2.0940379650365104]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.2589999356565651,0.8914159772278465,0.71338606911949],"aabb_xy":[[0.24149993637847822,0.8740778771615005],[0.27649993493465197,0.9087540772941924]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.4134503329498389,-1.0370198565373256,0.71338606911949],"aabb_xy":[[0.40259872670096336,-1.0478791472649764],[0.42430193919871456,-1.0261605658096744]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.45821078644442026,1.3607655781473125,0.71338606911949],"aabb_xy":[[0.42071078565242476,1.3543977371891223],[0.49571078723641565,1.3671334191055027]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.6258225420846271,1.097417883546644,0.71338606911949],"aabb_xy":[[0.5458225434973076,1.0181022816084828],[0.7058225406719465,1.1767334854848046]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.20779213460674995,-0.9823898297389586,0.71338606911949],"aabb_xy":[[-0.22968188219569075,-1.0723898270282075],[-0.18590238701780915,-0.8923898324497093]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.5329159318202135,0.32328638089003947,0.71338606911949],"aabb_xy":[[-0.6129159287832526,0.24621073924626596],[-0.4529159348571743,0.40036202253381287]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.29216463274481796,-1.7745427985402245,0.71338606911949],"aabb_xy":[[-0.32662698014295966,-1.809036680938047],[-0.25770228534667605,-1.7400489161424015]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.08737014835734969,-0.9986564491298622,0.71338606911949],"aabb_xy":[[0.0648701481138343,-1.0108610837896341],[0.1098701486008651,-0.9864518144700903]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.05869400618357645,1.4565501883896848,0.71338606911949],"aabb_xy":[[-0.11869400643497763,1.40226886335322],[0.0013059940678247298,1.5108315134261494]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.35783815711569666,-1.3867435680274518,0.71338606911949],"aabb_xy":[[-0.4178381569622634,-1.4435621902204905],[-0.2978381572691298,-1.3299249458344131]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.22630566240373118,-1.1559037357750788,0.71338606911949],"aabb_xy":[[0.21383830429399553,-1.1683690604084023],[0.23877302051346683,-1.1434384111417553]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[0.6925111917123248,-0.3348740784213198,0.71338606911949],"aabb_xy":[[0.6852674256660795,-0.41487407662492215],[0.6997549577585701,-0.2548740802177174]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.32989854559390097,1.5087289511287127,0.71338606911949],"aabb_xy":[[0.31101416182539077,1.48984302634836],[0.3487829293624112,1.5276148759090655]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.4752253725524367,-1.5329570632302625,0.71338606911949],"aabb_xy":[[0.4465760401920204,-1.5616026225073383],[0.5038747049128529,-1.5043115039531867]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.5625389125578699,1.588323989055207,0.71338606911949],"aabb_xy":[[0.5075651905215371,1.5333239894909738],[0.6175126345942029,1.6433239886194402]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[-0.41834503513174964,-2.0950288672753894,0.71338606911949],"aabb_xy":[[-0.5083450318673599,-2.1482123305926835],[-0.3283450383961394,-2.0418454039580944]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.552820580318086,-0.04426841269127069,0.71338606911949],"aabb_xy":[[-0.6078160581387453,-0.09926841412517762],[-0.4978251024974265,0.010731588742636251]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[-0.15928002958384424,-1.2479026625401732,0.71338606911949],"aabb_xy":[[-0.1655921291201827,-1.2536696017933922],[-0.15296793004750583,-1.2421357232869543]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.1624811801717826,0.9464146232690247,0.71338606911949],"aabb_xy":[[0.14219687744838383,0.9261319981263157],[0.18276548289518135,0.9666972484117334]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.19356625905877023,-1.5919600613711338,0.71338606911949],"aabb_xy":[[-0.22471317790235332,-1.6619600600579407],[-0.16241934021518709,-1.5219600626843264]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.6032811774440135,1.1164782744076018,0.71338606911949],"aabb_xy":[[-0.6532542429765291,1.0664782745950692],[-0.5533081119114982,1.166478274220135]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.016957941209003846,-1.5264291203802158,0.71338606911949],"aabb_xy":[[-0.03304206045249091,-1.5764275626359183],[0.0669579428704986,-1.476430678124513]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[0.315330566869541,0.9849566875818052,0.71338606911949],"aabb_xy":[[0.23533056639932504,0.976645979967457],[0.39533056733975697,0.9932673951961537]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[0.6461458370288806,0.5917217904775631,0.71338606911949],"aabb_xy":[[0.6156615869018505,0.5417217906960672],[0.6766300871559108,0.6417217902590591]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_31","position":[-0.02420073715347082,0.898577378793632,0.71338606911949],"aabb_xy":[[-0.04670073716361911,0.8844811591540287],[-0.0017007371433225282,0.9126735984332353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7115061026962335,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3253.png","name":"3253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3253.png","name":"3253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5962.png","name":"5962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5771.png","name":"5771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6916.png","name":"6916"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":809.3625807112819,"rotation_z_degrees":15.010729312915313,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01606099929060836,-0.000585740595529436,-0.006716195458934657]},{"name":"camera_2","offset_m":[-0.005327761821429045,-0.013706876722361643,0.003734323996717647]},{"name":"camera_3","offset_m":[-0.010860418072607278,0.002825527312649529,0.011696983550095196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001053899312889327,-0.0007624629644948882,-0.0013209538295459616],"end_effector_yaw_offset_degrees":0.25127802300608315},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017054039773321463,-0.001487568267703191,-0.00023387151779802285],"end_effector_yaw_offset_degrees":0.7284241281846007},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008552893083842536,-0.0001775264114089667,-0.001944881616159531],"end_effector_yaw_offset_degrees":0.6860153408942951}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003966811758873391,-0.0033626353173838554],"position_m":[0.2598331882411266,0.34233736468261616,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014052271845623556,0.0024338480646537543],"position_m":[0.3409947728154376,0.10373384806465376,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032908092461908555,0.0029709869640299107],"position_m":[0.33299080924619084,-0.040329013035970085,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004622994469905274,0.0009529934681769877],"position_m":[0.27382299446990527,-0.387247006531823,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f33725a203fd7a73237f9d5d9fe9d6e807536c4eb49456c853da0350acecce5a","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3253/tex_ceiling_textures_6916/tex_floor_textures_716/tex_table_textures_5962/tex_wall_textures_5771","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2952804021411208297,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2952804021411208297,"visual_seed":2952804021411208297,"scene_id":"lab_003","finished_at":"2026-09-02T05:32:26"}
+{"episode_id":"ep_000059","started_at":"2026-09-02T05:32:31","dimensions":{"distractor":{"count":29,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.6001542505185892,0.061925896546518366,0.71338606911949],"aabb_xy":[[-0.6115159851718753,0.05055743014023028],[-0.588792515865303,0.07329436295280645]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.3659258872194086,0.7272102283447244,0.71338606911949],"aabb_xy":[[-0.3959175499532789,0.6972102290079238],[-0.3359342244855382,0.7572102276815249]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[-0.586795003481797,-1.5989694495853717,0.71338606911949],"aabb_xy":[[-0.650795002651567,-1.6457361367043344],[-0.5227950043120271,-1.5522027624664094]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.6159126421541852,-0.5319889893620848,0.71338606911949],"aabb_xy":[[-0.633490944343132,-0.5495634789361897],[-0.5983343399652383,-0.5144144997879799]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.559897045479335,-1.200535857628636,0.71338606911949],"aabb_xy":[[0.5098970441184478,-1.2505137622040514],[0.6098970468402223,-1.1505579530532202]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.3514714632604895,-0.5812328140762717,0.71338606911949],"aabb_xy":[[-0.36663433623742664,-0.5963982713713906],[-0.3363085902835525,-0.566067356781153]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.1716781049580448,1.0511367502092082,0.71338606911949],"aabb_xy":[[-0.20667810415086305,1.0401697042115454],[-0.13667810576522652,1.0621037962068705]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.43478382942392235,0.46792412414521944,0.71338606911949],"aabb_xy":[[0.4048162725140967,0.43792412384733376],[0.464751386333748,0.49792412444310524]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.09372143379493059,0.8009437209366457,0.71338606911949],"aabb_xy":[[-0.1637214359263601,0.7781817553109499],[-0.02372143166350102,0.8237056865623412]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.32995419607918075,0.663318297811196,0.71338606911949],"aabb_xy":[[0.26595419896707506,0.6142859280167853],[0.39395419319128644,0.7123506676056065]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.13683148984168192,0.9240928623800633,0.71338606911949],"aabb_xy":[[-0.17433148978544832,0.9157997723452267],[-0.09933148989791551,0.9323859524148999]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.6435531700784275,-2.383879301095863,0.71338606911949],"aabb_xy":[[-0.6887244879265966,-2.4478792982404016],[-0.5983818522302586,-2.319879303951325]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.0007357352246810667,1.7807686002718799,0.71338606911949],"aabb_xy":[[-0.07926426524553488,1.7724578926575316],[0.08073573569489702,1.7890793078862282]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.1832035730332906,-0.728254624342052,0.71338606911949],"aabb_xy":[[0.1606898812098334,-0.7982546249430595],[0.2057172648567478,-0.6582546237410445]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.39214050347558416,-2.191425162737394,0.71338606911949],"aabb_xy":[[-0.42714050178627966,-2.1991401776609396],[-0.35714050516488877,-2.1837101478138483]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.45946690039821303,-2.30151849210087,0.71338606911949],"aabb_xy":[[-0.47030737862472793,-2.3187047733915187],[-0.4486264221716981,-2.2843322108102213]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.0949142587404882,1.535466429173526,0.71338606911949],"aabb_xy":[[-0.15891426065283054,1.4795552799155156],[-0.030914256828145872,1.5913775784315365]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.08968812672074611,-1.1619605862307871,0.71338606911949],"aabb_xy":[[-0.15468812772124663,-1.212746951385462],[-0.02468812572024559,-1.1111742210761122]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.6832397715093563,1.0371025216121796,0.71338606911949],"aabb_xy":[[0.659957929311225,0.9521025203149515],[0.7065216137074877,1.1221025229094075]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.36829044935185107,1.1189832743355006,0.71338606911949],"aabb_xy":[[0.3574388431029755,1.1081239836078496],[0.3791420556007267,1.1298425650631516]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.0013502188548918381,-1.05065572971617,0.71338606911949],"aabb_xy":[[-0.023850219098407233,-1.062860364375942],[0.021149781388623556,-1.038451095056398]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[-0.4691670302301873,-0.38933635083766527,0.71338606911949],"aabb_xy":[[-0.5331670266257604,-0.4532996392563988],[-0.4051670338346142,-0.3253730624189317]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.5084108838694057,0.28841288156169753,0.71338606911949],"aabb_xy":[[0.4976379099480379,0.25341288334265855],[0.5191838577907735,0.3234128797807365]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.20382748092889158,-0.8182064184656663,0.71338606911949],"aabb_xy":[[-0.20979401986962734,-0.8241675631250303],[-0.19786094198815576,-0.8122452738063022]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[-0.2713656180468533,-1.2031689733536501,0.71338606911949],"aabb_xy":[[-0.3263393400831861,-1.2581689729178833],[-0.21639189601052033,-1.148168973789417]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.036932733942511065,-2.1887850153919657,0.71338606911949],"aabb_xy":[[0.027176744433337174,-2.1985475494511997],[0.046688723451684955,-2.179022481332731]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[0.1006185714828618,1.3328002988601648,0.71338606911949],"aabb_xy":[[0.020618571209254807,1.259850751034448],[0.18061857175646875,1.4057498466858815]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[-0.37953055016557397,-1.6946441511303012,0.71338606911949],"aabb_xy":[[-0.42962801414664764,-1.758644151640113],[-0.3294330861845004,-1.6306441506204894]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.26033288274443556,-2.5245324483531446,0.71338606911949],"aabb_xy":[[-0.26832637253971764,-2.5325305802936207],[-0.2523393929491536,-2.5165343164126694]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7061472577553162,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/102.png","name":"102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/102.png","name":"102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2344.png","name":"2344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4634.png","name":"4634"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6106.png","name":"6106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/381.png","name":"381"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":663.5732804321004,"rotation_z_degrees":274.7371397673006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019491568040644485,-0.01656619071005104,-0.00808645119997261]},{"name":"camera_2","offset_m":[0.01945949013809425,0.014393734922354604,-0.0035987022450448027]},{"name":"camera_3","offset_m":[0.005724269612498712,0.017659791533388692,-0.018178265229819957]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00017187439658387146,-0.00014147981739116985,0.00019530570073694438],"end_effector_yaw_offset_degrees":-0.4108867701106791},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008616927033318377,0.0018933807792841616,0.001248766603254662],"end_effector_yaw_offset_degrees":0.4486726053646828},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001040894609052545,-0.000583721523493265,-0.0008685523402006728],"end_effector_yaw_offset_degrees":-0.025945704156822957}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007389143933715639,0.0026657668429392245],"position_m":[0.26306108560662844,0.34836576684293924,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026367026634209713,0.0007011014157338527],"position_m":[0.339763297336579,0.10200110141573385,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-9.002587810888907e-05,-0.0006695891413054343],"position_m":[0.3296099741218911,-0.04396958914130543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002602540553716285,-0.0003057193548674205],"position_m":[0.2665974594462837,-0.3885057193548674,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"92e776e1a88575bddee30ecbb99becffa5eb090f233bdf5de94f16e156c02963","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_102/tex_ceiling_textures_381/tex_floor_textures_6106/tex_table_textures_2344/tex_wall_textures_4634","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7485302912821372007,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7485302912821372007,"visual_seed":7485302912821372007,"scene_id":"lab_003","finished_at":"2026-09-02T05:35:18"}
+{"episode_id":"ep_000060","started_at":"2026-09-02T05:35:21","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.542715400418684,-0.2766944644292222,0.71338606911949],"aabb_xy":[[0.5182017763216782,-0.30095905773125864],[0.5672290245156899,-0.25242987112718573]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.0633183249703968,-1.3788221448328783,0.71338606911949],"aabb_xy":[[-0.0016816731855222589,-1.4051183893827905],[0.12831832312631586,-1.3525259002829662]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.04272514968684149,1.5814424543151113,0.71338606911949],"aabb_xy":[[-0.04227484900523315,1.5494565909202322],[0.12772514837891613,1.61342831770999]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.22651393742504045,-0.8839731450793815,0.71338606911949],"aabb_xy":[[0.18901393707681266,-0.895764540660465],[0.2640139377732682,-0.8721817494982979]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.14228867420852742,1.0324466518708664,0.71338606911949],"aabb_xy":[[-0.14991294229870566,1.0248134283343227],[-0.13466440611834918,1.04007987540741]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.09967268474958413,1.426255261844895,0.71338606911949],"aabb_xy":[[-0.1409214957794988,1.3712552623326772],[-0.058423873719669374,1.4812552613571122]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.4589984966758742,-2.3579601928847613,0.71338606911949],"aabb_xy":[[0.3789984996616262,-2.3780947445581724],[0.5389984936901222,-2.3378256412113503]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.12727047592166518,-0.5003723364061781,0.71338606911949],"aabb_xy":[[-0.2072704769947855,-0.5101503827435625],[-0.04727047484854485,-0.4905942900687936]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.19916356915175232,-1.2548006683882362,0.71338606911949],"aabb_xy":[[-0.2216635686754597,-1.2772966158388568],[-0.1766635696280449,-1.2323047209376152]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[0.5973031359095999,-1.822005663315863,0.71338606911949],"aabb_xy":[[0.5333031336891929,-1.866378747441151],[0.661303138130007,-1.7776325791905745]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.5706471812020787,-1.9401854645260679,0.71338606911949],"aabb_xy":[[-0.5755464735086421,-1.9678623838286362],[-0.5657478888955151,-1.9125085452234987]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.089181431837969,1.1759616730512938,0.71338606911949],"aabb_xy":[[-0.09476310347209776,1.1634616732335181],[-0.08359976020384025,1.1884616728690691]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.4985667600599013,0.3082226971826776,0.71338606911949],"aabb_xy":[[-0.5089783187403849,0.30287696384677903],[-0.48815520137941754,0.313568430518576]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.4853548492659452,0.4983471122379557,0.71338606911949],"aabb_xy":[[-0.5066328574094174,0.4333471099118826],[-0.46407684112247294,0.5633471145640288]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.40304634108525694,1.5622320923322301,0.71338606911949],"aabb_xy":[[-0.4103075886556644,1.549445082068721],[-0.3957850935148496,1.5750191025957399]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.11842980566776129,-0.9138304875997714,0.71338606911949],"aabb_xy":[[0.10962775035878855,-0.9216418137547004],[0.12723186097673395,-0.9060191614448423]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.2824392594061381,0.16011251700454476,0.71338606911949],"aabb_xy":[[-0.2904327492014202,0.1521143850640691],[-0.27444576961085615,0.16811064894502042]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.48558914438195866,1.734806294359783,0.71338606911949],"aabb_xy":[[0.4791753307387737,1.7283964741121147],[0.4920029580251436,1.7412161146074514]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[0.1863983074362554,1.357279029194273,0.71338606911949],"aabb_xy":[[0.1688983083018882,1.3473994021566849],[0.20389830657062255,1.3671586562318605]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.2138164634975871,-0.36676984747730623,0.71338606911949],"aabb_xy":[[-0.22203100861327102,-0.37544643777494746],[-0.20560191838190306,-0.3580932571796649]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.2503676912836023,-1.5627418349672553,0.71338606911949],"aabb_xy":[[-0.26501109683763524,-1.5774005546240395],[-0.23572428572956927,-1.548083115310471]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.20992610638423903,1.131997482052539,0.71338606911949],"aabb_xy":[[0.15993299427504717,1.0819974813783435],[0.25991921849343097,1.1819974827267348]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[0.0540505560380925,1.4417373710376356,0.71338606911949],"aabb_xy":[[0.006244388424323849,1.3767373683305764],[0.10185672365186113,1.506737373744694]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.17864788057355752,0.6651090052345956,0.71338606911949],"aabb_xy":[[-0.1942036499838228,0.6495585719901884],[-0.16309211116329225,0.6806594384790028]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.5315302125751759,-2.159607372297849,0.71338606911949],"aabb_xy":[[-0.6215302149091949,-2.2370897268829615],[-0.4415302102411568,-2.082125017712736]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.4564259961932564,1.745681512208391,0.71338606911949],"aabb_xy":[[-0.4741016267818547,1.728001295928988],[-0.438750365604658,1.7633617284877936]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.7104598367501591,-1.5780062778937665,0.71338606911949],"aabb_xy":[[0.6996193585236442,-1.595192559184415],[0.721300314976674,-1.5608199966031175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7088559270253958,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8725.png","name":"8725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8725.png","name":"8725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6523.png","name":"6523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/109.png","name":"109"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7361.png","name":"7361"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1041.png","name":"1041"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":803.1142748496752,"rotation_z_degrees":9.891426375678613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002837040213580732,0.005891552680313324,0.01482904295434773]},{"name":"camera_2","offset_m":[0.008196372397446732,-0.013498889216446451,-0.007414963270837776]},{"name":"camera_3","offset_m":[0.012310633223562236,-0.0198056365754883,-0.013207153480782413]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002957701857319141,0.0001342031752169376,-0.0006343229790943359],"end_effector_yaw_offset_degrees":0.5630962794445218},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[5.793245307045541e-06,-0.001496365381993575,0.0016205768753080334],"end_effector_yaw_offset_degrees":0.16917520588322588},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00035435293068996915,-0.0004946755792470086,-0.0012418261081488633],"end_effector_yaw_offset_degrees":0.38039946270372704}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004304631916115703,-0.004617358455282465],"position_m":[0.2594953680838843,0.34108264154471757,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004981804672968366,0.0038882829339029227],"position_m":[0.3374181953270316,0.10518828293390292,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003976609444302695,0.002098195297451373],"position_m":[0.33367660944430266,-0.041201804702548625,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008758625071072076,5.6711620752428714e-05],"position_m":[0.2700758625071072,-0.38814328837924755,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4356ac7ca47ff4ec7c2a0635911b0553baadaf2eb2ad2ed423cb8d715b0743ef","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8725/tex_ceiling_textures_1041/tex_floor_textures_7361/tex_table_textures_6523/tex_wall_textures_109","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6007855445648812724,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6007855445648812724,"visual_seed":6007855445648812724,"scene_id":"lab_003","finished_at":"2026-09-02T05:38:05"}
+{"episode_id":"ep_000061","started_at":"2026-09-02T05:38:09","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.38204501869573093,1.2674287818906875,0.71338606911949],"aabb_xy":[[0.3204542594717382,1.2034287837816409],[0.44363577791972386,1.3314287799997346]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.3050858845510088,0.6048854640745325,0.71338606911949],"aabb_xy":[[-0.36908588166311457,0.5558530942801219],[-0.2410858874389032,0.6539178338689431]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.005678316818716556,1.5648892128052814,0.71338606911949],"aabb_xy":[[0.0008347220574865819,1.5600375603262975],[0.01052191157994653,1.5697408652842657]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.22506124365434266,-2.00234069996385,0.71338606911949],"aabb_xy":[[0.20256124413063523,-2.02483664741447],[0.24756124317805003,-1.9798447525132288]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.38419958918108943,1.3595508524285655,0.71338606911949],"aabb_xy":[[-0.39354659676338466,1.3452472302109215],[-0.3748525815987942,1.3738544746462096]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[0.5778720255241616,1.7506362746787514,0.71338606911949],"aabb_xy":[[0.5565940173806894,1.685636272352678],[0.5991500336676339,1.8156362770048242]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.23980951614883012,-1.8771129024548676,0.71338606911949],"aabb_xy":[[-0.2643231402458359,-1.901377495756904],[-0.21529589205182423,-1.8528483091528312]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.3674193386327227,-2.4675838653225797,0.71338606911949],"aabb_xy":[[0.28741933755960236,-2.4773619116599637],[0.447419339705843,-2.457805818985195]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.3833638094866963,0.1805238144287924,0.71338606911949],"aabb_xy":[[-0.44836381044382356,0.1285756024950868],[-0.31836380852956914,0.23247202636249795]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.08621048310954704,-1.0096148875657731,0.71338606911949],"aabb_xy":[[-0.11405551989015417,-1.0403993863040848],[-0.05836544632893992,-0.9788303888274614]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.5994522437511307,1.2755213915262513,0.71338606911949],"aabb_xy":[[-0.6219522435650331,1.2710467751557704],[-0.5769522439372283,1.2799960078967318]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.17956339246466668,-1.2101053111191178,0.71338606911949],"aabb_xy":[[-0.19719622805819423,-1.2277282571347408],[-0.16193055687113908,-1.1924823651034948]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.609690626112381,-0.5094124846395451,0.71338606911949],"aabb_xy":[[-0.6157276391130458,-0.5154391857084933],[-0.6036536131117164,-0.5033857835705969]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.49835419700848155,0.4183629189720981,0.71338606911949],"aabb_xy":[[-0.5411209038879017,0.35436291555029564],[-0.4555874901290614,0.48236292239390055]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.12053359757885052,0.6261887064937004,0.71338606911949],"aabb_xy":[[0.0980688276074454,0.6036887056148399],[0.14299836755025563,0.6486887073725609]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.04479842239701948,1.4945939420949421,0.71338606911949],"aabb_xy":[[-0.07979842374850121,1.474234206138121],[-0.009798421045537747,1.5149536780517627]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.6440426205399041,0.1694945072541656,0.71338606911949],"aabb_xy":[[-0.6559147035514054,0.08449450756051524],[-0.6321705375284031,0.25449450694781595]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.6129602507913299,-1.0216207782523965,0.71338606911949],"aabb_xy":[[0.5986258256651665,-1.0336809938069353],[0.6272946759174934,-1.0095605626978577]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.14273790016895738,-2.3924900980696155,0.71338606911949],"aabb_xy":[[0.09273789888511737,-2.442468952460237],[0.1927379014527973,-2.342511243678993]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.5495356383809702,-2.3031850720244798,0.71338606911949],"aabb_xy":[[0.5276269562416191,-2.32508573884457],[0.5714443205203212,-2.2812844052043886]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7052507941209815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3458.png","name":"3458"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3458.png","name":"3458"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5788.png","name":"5788"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9363.png","name":"9363"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4330.png","name":"4330"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":758.1130755158257,"rotation_z_degrees":183.22922067462943,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01785786574479848,-0.012116496922501416,-0.006980385680496953]},{"name":"camera_2","offset_m":[0.0014211431107630026,0.015002797270833989,-0.0005565961604258492]},{"name":"camera_3","offset_m":[0.012451440599290414,0.01787019714304904,0.018756502312328654]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001658236504599213,0.00023613934387786998,-0.0001896079382280437],"end_effector_yaw_offset_degrees":-0.13916623079925805},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015250590722558541,-6.220496487258217e-05,-0.00022327624066308571],"end_effector_yaw_offset_degrees":-0.6228373222805212},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0001769929425237517,0.00029795499259197434,-0.0016784225037503515],"end_effector_yaw_offset_degrees":-0.9604267071265045}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000850081204658998,0.0025544157737493953],"position_m":[0.264650081204659,0.3482544157737494,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036044556833643724,-0.003200287834965557],"position_m":[0.34600445568336435,0.09809971216503445,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00038983191801302344,-0.0024127916773304947],"position_m":[0.329310168081987,-0.04571279167733049,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027607348657007692,0.0010850481068468724],"position_m":[0.2664392651342992,-0.3871149518931531,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b2fc1f5b15a11b8f731d341a88ebaf30c83d8aa8bad84a1863c3ab1f02d6a690","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3458/tex_ceiling_textures_4330/tex_floor_textures_6925/tex_table_textures_5788/tex_wall_textures_9363","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2452601987274945202,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2452601987274945202,"visual_seed":2452601987274945202,"scene_id":"lab_003","finished_at":"2026-09-02T05:41:03"}
+{"episode_id":"ep_000062","started_at":"2026-09-02T05:41:06","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.4204492297560924,0.9274845186827845,0.71338606911949],"aabb_xy":[[-0.5054492284481671,0.8954986552879055],[-0.33544923106401775,0.9594703820776632]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.4741569834628787,0.911512402950795,0.71338606911949],"aabb_xy":[[0.42417274775470143,0.8615124041372995],[0.5241412191710559,0.9615124017642906]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.17313570906781584,0.04767297089989864,0.71338606911949],"aabb_xy":[[-0.1994245333882565,0.021401537245247394],[-0.14684688474737517,0.07394440455454984]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.16800063750153982,0.4891893529483573,0.71338606911949],"aabb_xy":[[-0.21800063694173544,0.439221428464041],[-0.1180006380613442,0.5391572774326736]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[-0.17833558424073348,-0.13861170223808683,0.71338606911949],"aabb_xy":[[-0.1958822791568524,-0.1761117038023381],[-0.16078888932461455,-0.10111170067383557]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.07638481461066626,-1.5206338180093473,0.71338606911949],"aabb_xy":[[-0.1403848148846445,-1.570699918206635],[-0.012384814336688033,-1.470567717812059]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.5627176247642933,0.4464636185265225,0.71338606911949],"aabb_xy":[[0.49871762559452343,0.39969693140756],[0.6267176239340633,0.493230305645485]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.2296864433981639,1.4456597371052555,0.71338606911949],"aabb_xy":[[-0.2634620025888569,1.4316212418920906],[-0.19591088420747094,1.4596982323184204]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.3187174811200483,-0.4692822968985957,0.71338606911949],"aabb_xy":[[-0.3365109880549647,-0.48708204249439335],[-0.30092397418513184,-0.451482551302798]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.47406266528680535,1.4707335986961891,0.71338606911949],"aabb_xy":[[-0.5380626645809736,1.406747458327335],[-0.41006266599263713,1.5347197390650433]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.1996040101175771,-1.934702168502604,0.71338606911949],"aabb_xy":[[-0.2084060654265498,-1.9425134946575329],[-0.19080195480860437,-1.9268908423476747]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.0862109043002054,1.4687336147066703,0.71338606911949],"aabb_xy":[[0.06853527371160706,1.4510533984272675],[0.10388653488880373,1.486413830986073]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[-0.24518913887642424,-1.8537603260835995,0.71338606911949],"aabb_xy":[[-0.28018913714654414,-1.8608344537785875],[-0.21018914060630434,-1.8466861983886111]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.4232037136931399,-1.0126330301555058,0.71338606911949],"aabb_xy":[[0.4161622627423924,-1.0196597818933002],[0.43024516464388757,-1.0056062784177113]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.5576497125504432,1.2325652876882458,0.71338606911949],"aabb_xy":[[-0.5650621680918316,1.2267140772666179],[-0.5502372570090547,1.2384164981098738]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.39069466634206157,-0.33127915447988254,0.71338606911949],"aabb_xy":[[-0.4081946665871109,-0.34877894231944934],[-0.37319466609701213,-0.31377936664031564]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.3374862731280287,-0.6532412030871693,0.71338606911949],"aabb_xy":[[-0.4074862765195907,-0.6885569767906],[-0.2674862697364667,-0.6179254293837383]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.3910956674192865,1.6570411428802658,0.71338606911949],"aabb_xy":[[0.3819357884754099,1.6505099248367288],[0.4002555463631631,1.663572360923803]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.04920193000309392,-2.237763071524177,0.71338606911949],"aabb_xy":[[0.0373298469915928,-2.3227630712178273],[0.06107401301459502,-2.1527630718305266]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.03520763281335282,-1.2742541867479444,0.71338606911949],"aabb_xy":[[-0.09920762992545851,-1.3232865565423548],[0.028792364298752877,-1.2252218169535336]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.04476432837685673,-1.6434883681727985,0.71338606911949],"aabb_xy":[[-0.1347643281000309,-1.6665617207079781],[0.045235671346317445,-1.6204150156376185]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.3286028466616069,-2.060271005569784,0.71338606911949],"aabb_xy":[[0.25860284505932735,-2.0737037987714415],[0.3986028482638863,-2.0468382123681264]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.1073692382586412,0.6436068976560749,0.71338606911949],"aabb_xy":[[-0.11499350634881947,0.6359736741195313],[-0.09974497016846298,0.6512401211926188]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[-0.5183480338980204,-1.1957012243213458,0.71338606911949],"aabb_xy":[[-0.5487461449971639,-1.226108126323015],[-0.4879499227988768,-1.165294322319676]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.1269888049250918,-0.388771517888582,0.71338606911949],"aabb_xy":[[-0.1342500524954992,-0.4015585281520915],[-0.11972755735468438,-0.3759845076250725]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[-0.06418958140581554,-0.605722658630697,0.71338606911949],"aabb_xy":[[-0.1281895837486171,-0.6506635098748293],[-0.00018957906301399205,-0.5607818073865644]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[-0.17659702571034575,-2.47662469583076,0.71338606911949],"aabb_xy":[[-0.2565970267834661,-2.4864027421681443],[-0.09659702463722541,-2.4668466494933754]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.46725872193706375,0.6454094976356122,0.71338606911949],"aabb_xy":[[-0.5472587252010769,0.6318494653266988],[-0.3872587186730506,0.6589695299445255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7058458234796416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8792.png","name":"8792"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8792.png","name":"8792"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9942.png","name":"9942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6753.png","name":"6753"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8989.png","name":"8989"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1005.png","name":"1005"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":505.3124103980866,"rotation_z_degrees":309.82823692053074,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00904812828798348,0.007103626873642903,-0.01869758477259713]},{"name":"camera_2","offset_m":[-0.006247475367858165,0.007519480190936484,-0.00161511661203197]},{"name":"camera_3","offset_m":[0.016338268905338047,0.009012515085704841,0.007998173972432673]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022235013386486414,0.0016733529380937163,-0.0007668363801614868],"end_effector_yaw_offset_degrees":0.2001945450071958},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012742645595901982,-0.0013055869126893263,-3.139676011095112e-05],"end_effector_yaw_offset_degrees":0.601096080091734},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006956176405596248,-0.0011174708300616142,-0.0003795560831193533],"end_effector_yaw_offset_degrees":-0.5599708421743204}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025840127559322787,-0.0005858860597321124],"position_m":[0.26638401275593226,0.3451141139402679,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033815786970429395,0.003392508508286005],"position_m":[0.3457815786970429,0.104692508508286,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021617824315196413,-0.003913957807250639],"position_m":[0.33186178243151965,-0.047213957807250635,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018333108884858486,0.004510098931510924],"position_m":[0.2693833310888486,-0.38368990106848905,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e988de44c015160f230edc659913d290f68c3207ddd6013be7d30975d05c0040","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8792/tex_ceiling_textures_1005/tex_floor_textures_8989/tex_table_textures_9942/tex_wall_textures_6753","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6146748579889453796,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6146748579889453796,"visual_seed":6146748579889453796,"scene_id":"lab_003","finished_at":"2026-09-02T05:43:53"}
+{"episode_id":"ep_000063","started_at":"2026-09-02T05:43:56","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[-0.511643648291664,0.8185268478483096,0.71338606911949],"aabb_xy":[[-0.542790567135247,0.7485268491615025],[-0.48049672944808075,0.8885268465351168]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.2549613244817898,-0.6435224284026186,0.71338606911949],"aabb_xy":[[-0.2799613237537521,-0.6598677919987811],[-0.22996132520982757,-0.6271770648064564]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.1357925098508974,-0.7334282426911123,0.71338606911949],"aabb_xy":[[0.11220738638700256,-0.7984282449365442],[0.15937763331479227,-0.6684282404456806]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.23639566839347725,-1.7277717240901196,0.71338606911949],"aabb_xy":[[0.17239567110782864,-1.7692784430429636],[0.3003956656791259,-1.6862650051372756]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.15304012568815129,0.42672778354590246,0.71338606911949],"aabb_xy":[[-0.23304012270239927,0.40659323187249113],[-0.0730401286739033,0.4468623352193137]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.06747810396070442,-2.058491554308959,0.71338606911949],"aabb_xy":[[0.003482406565607818,-2.122491552609668],[0.131473801355801,-1.9944915560082506]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.05263447927557563,-0.6039438744675978,0.71338606911949],"aabb_xy":[[-0.07291878199897436,-0.6242264996103065],[-0.032350176552176854,-0.5836612493248888]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.10678830644384463,-2.2848079792246976,0.71338606911949],"aabb_xy":[[0.08891919868938913,-2.2986408872019086],[0.12465741419830012,-2.2709750712474865]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.24082570677726212,-2.334293030894088,0.71338606911949],"aabb_xy":[[-0.2461582214318751,-2.339617359139324],[-0.23549319212264913,-2.3289687026488526]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.06040788261719776,0.6588886496591453,0.71338606911949],"aabb_xy":[[-0.07016387212637165,0.6491261155999108],[-0.050651893108023864,0.6686511837183797]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.056931923623506187,-0.16135878303775053,0.71338606911949],"aabb_xy":[[-0.11190564565983907,-0.21635878260198374],[-0.0019582015871733097,-0.10635878347351738]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.5810745548150222,-0.053148009039378774,0.71338606911949],"aabb_xy":[[0.5160745538145217,-0.10393437419405371],[0.6460745558155228,-0.0023616438847038346]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.6168783246086469,-0.3007245242114709,0.71338606911949],"aabb_xy":[[0.5809648201836571,-0.3366380324282255],[0.6527918290336364,-0.2648110159947163]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.2384795853509914,-2.5366167981452565,0.71338606911949],"aabb_xy":[[-0.2668092952995316,-2.541077540338974],[-0.21014987540245117,-2.53215605595154]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.1991337922758572,0.5276586099130283,0.71338606911949],"aabb_xy":[[-0.23413379146867544,0.5166915639153656],[-0.1641337930830389,0.5386256559106909]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.25171524015593527,1.5208428174446982,0.71338606911949],"aabb_xy":[[0.23461316219756706,1.5037360119134286],[0.26881731811430337,1.5379496229759682]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.57842091099718,0.6436664601737512,0.71338606911949],"aabb_xy":[[-0.5953316434335216,0.6301942545811365],[-0.5615101785608381,0.6571386657663656]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.4854066948054288,0.22346713419305075,0.71338606911949],"aabb_xy":[[-0.5099203189024346,0.19920254089101433],[-0.460893070708423,0.24773172749508723]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.5341445511410466,-2.3862731217727866,0.71338606911949],"aabb_xy":[[-0.5839613306058814,-2.43627312025709],[-0.4843277716762119,-2.3362731232884832]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.6041421974317627,0.3904308323807828,0.71338606911949],"aabb_xy":[[0.5631242540453918,0.34043083174982547],[0.6451601408181336,0.44043083301174013]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.11809849240116777,-1.1420541678999119,0.71338606911949],"aabb_xy":[[0.048098495991205935,-1.1624921035515932],[0.1880984888111295,-1.1216162322482297]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.15427200228435767,0.8144423330614878,0.71338606911949],"aabb_xy":[[-0.19557654534809366,0.7504423334933708],[-0.11296745922062168,0.8784423326296049]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7047474102520109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2832.png","name":"2832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2832.png","name":"2832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9022.png","name":"9022"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6162.png","name":"6162"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8940.png","name":"8940"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1593.png","name":"1593"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":789.4900924140986,"rotation_z_degrees":123.0946705247565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01723144011469512,0.00650496639191693,0.00643368454182271]},{"name":"camera_2","offset_m":[0.008042101443098804,-0.015578845071675649,0.017163994179165417]},{"name":"camera_3","offset_m":[0.003324611069761188,-0.00043646771123075426,0.019034229447768423]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011441819883829013,0.0007719995207993483,0.0016316435086514724],"end_effector_yaw_offset_degrees":0.4862158389980078},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000344186436977163,0.0005189414385913678,0.0014166269867678968],"end_effector_yaw_offset_degrees":0.03213359000188132},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012897939066555085,0.00134961073865711,-0.0011285166202620249],"end_effector_yaw_offset_degrees":0.49907277132882144}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0005827593215565682,-0.001121261190584033],"position_m":[0.26321724067844343,0.344578738809416,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004410721274849853,0.001667849011189132],"position_m":[0.34681072127484985,0.10296784901118913,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003783221323011587,-0.0017766214590061637],"position_m":[0.33348322132301156,-0.045076621459006164,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023979887834045034,0.0025571254212830652],"position_m":[0.26680201121659547,-0.38564287457871693,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8046d1b1c0b00d0ee74bf15d0ee1a05be0e7ebed7fb6c20141a871881f3fb7d5","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2832/tex_ceiling_textures_1593/tex_floor_textures_8940/tex_table_textures_9022/tex_wall_textures_6162","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8638514959266596507,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8638514959266596507,"visual_seed":8638514959266596507,"scene_id":"lab_003","finished_at":"2026-09-02T05:46:48"}
+{"episode_id":"ep_000064","started_at":"2026-09-02T05:46:51","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.39903421447775206,-1.3872647132336116,0.71338606911949],"aabb_xy":[[-0.43606832390581174,-1.421641920567321],[-0.36200010504969227,-1.3528875058999021]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.1970414829712867,-0.14769242209151345,0.71338606911949],"aabb_xy":[[-0.20679747248046057,-0.1574549561507479],[-0.1872854934621128,-0.137929888032279]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.43255249068534224,0.9759270006038316,0.71338606911949],"aabb_xy":[[-0.4659926658813618,0.9424833747729014],[-0.3991123154893226,1.0093706264347615]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.462351886894103,0.2927104846983344,0.71338606911949],"aabb_xy":[[0.3823518858209826,0.28293243836094994],[0.5423518879672233,0.3024885310357188]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.3847602588728387,0.5159092740140934,0.71338606911949],"aabb_xy":[[0.3147602572705593,0.5024764808124358],[0.45476026047511825,0.5293420672157509]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.3068617269229369,-1.6887199874050762,0.71338606911949],"aabb_xy":[[-0.3147850071616852,-1.7112199876430796],[-0.29893844668418856,-1.6662199871670729]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.5099682591728448,-0.7136512718934946,0.71338606911949],"aabb_xy":[[-0.5649682573745896,-0.7541732385199322],[-0.45496826097109994,-0.673129305267057]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.31675858152697933,0.6263045032229169,0.71338606911949],"aabb_xy":[[0.3041558823899029,0.6137091069980515],[0.3293612806640558,0.6388998994477825]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.05255462260870203,-1.7365674475244675,0.71338606911949],"aabb_xy":[[0.033442315250723165,-1.7557022264017095],[0.07166692996668089,-1.7174326686472254]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.43993991792413795,-0.8258537488396331,0.71338606911949],"aabb_xy":[[-0.4440180758311877,-0.8299347290878965],[-0.4358617600170882,-0.8217727685913698]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.6327726593798344,-1.432027536533005,0.71338606911949],"aabb_xy":[[0.5983103119816925,-1.4665214189308273],[0.6672350067779761,-1.397533654135182]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[-0.17794331047252543,-1.093156458904139,0.71338606911949],"aabb_xy":[[-0.18278690523375546,-1.0980081113831233],[-0.1730997157112955,-1.088304806425155]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[-0.5819892271218946,-2.422531685064491,0.71338606911949],"aabb_xy":[[-0.5978737203872198,-2.4368846253633154],[-0.5661047338565695,-2.4081787447656677]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.2658052801484568,-2.372157420349937,0.71338606911949],"aabb_xy":[[-0.3158052810989896,-2.403706567353458],[-0.21580527919792397,-2.3406082733464153]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[0.24347784992428378,-0.7220409688864451,0.71338606911949],"aabb_xy":[[0.23418423168713318,-0.759540967374579],[0.25277146816143437,-0.6845409703983112]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.011495049650143474,-1.9056624313296657,0.71338606911949],"aabb_xy":[[-0.02350494954267479,-1.9166294773273278],[0.04649504884296174,-1.8946953853320028]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[-0.33188558323009754,0.7005851633415219,0.71338606911949],"aabb_xy":[[-0.34365377002475506,0.6155851634363003],[-0.32011739643544,0.7855851632467435]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.17725849227535073,-0.3147288038248903,0.71338606911949],"aabb_xy":[[-0.18595645456606602,-0.32685377813236505],[-0.16856052998463544,-0.3026038295174156]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.5964998803434858,0.6973115124988083,0.71338606911949],"aabb_xy":[[-0.6464998817043729,0.6473336079233927],[-0.5464998789825984,0.7472894170742239]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.3579435629631522,0.8327588474277787,0.71338606911949],"aabb_xy":[[0.3079435633868175,0.7827782684756728],[0.40794356253948694,0.8827394263798847]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.1263136038527627,1.0770654128941937,0.71338606911949],"aabb_xy":[[-0.1372193799403254,0.9970654164953645],[-0.11540782776519998,1.1570654092930228]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.4546722128219657,0.04839362659817725,0.71338606911949],"aabb_xy":[[-0.4638320917658423,0.04186240855464024],[-0.4455123338780891,0.054924844641714266]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.2074163977270037,0.8974940348522402,0.71338606911949],"aabb_xy":[[0.19726338217285427,0.8614244932794994],[0.21756941328115303,0.9335635764249801]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.6603034273826147,-0.4081733841293995,0.71338606911949],"aabb_xy":[[0.649891868702131,-0.413519117465298],[0.6707149860630984,-0.402827650793501]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.04114349637887038,-2.2043022657582805,0.71338606911949],"aabb_xy":[[-0.004027821469298588,-2.2683022629028193],[0.08631481422703936,-2.1403022686137425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7041343704830584,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3201.png","name":"3201"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3201.png","name":"3201"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7622.png","name":"7622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3255.png","name":"3255"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5231.png","name":"5231"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":583.4406186586235,"rotation_z_degrees":280.3537359785812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009959148716715407,0.009452676289643497,0.003234502486707414]},{"name":"camera_2","offset_m":[-9.283512195278065e-06,0.005270489669333179,0.0011776205359695265]},{"name":"camera_3","offset_m":[-0.0068391671316172745,0.009064188125278035,0.010392420862793211]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001134509819676059,-0.0007232310032315992,0.0012174302405860678],"end_effector_yaw_offset_degrees":0.6769242399870765},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015556898792242451,0.0017740561038866076,0.0011148841477177408],"end_effector_yaw_offset_degrees":0.17127869377293625},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000730072413213695,0.0017067220789375045,0.0016645030217436476],"end_effector_yaw_offset_degrees":0.44465506018938994}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017337618675340293,0.004825966510594109],"position_m":[0.265533761867534,0.3505259665105941,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003557641407477078,-0.0013304050973388503],"position_m":[0.33884235859252293,0.09996959490266115,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036915509878306654,0.0031304751095648795],"position_m":[0.33339155098783063,-0.04016952489043512,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032315804195524843,0.00240284554455509],"position_m":[0.26596841958044753,-0.3857971544554449,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0c9ad8f3236884889183ea9434cd3493b0ff4180aebc4c0c5f1f33fa26904939","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3201/tex_ceiling_textures_5231/tex_floor_textures_3255/tex_table_textures_7622/tex_wall_textures_2299","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6013582218687371171,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6013582218687371171,"visual_seed":6013582218687371171,"scene_id":"lab_003","finished_at":"2026-09-02T05:49:51"}
+{"episode_id":"ep_000065","started_at":"2026-09-02T05:49:54","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.28254463478962155,-1.1156679871234167,0.71338606911949],"aabb_xy":[[0.26486900420102316,-1.1333482034028193],[0.30022026537821983,-1.0979877708440138]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.4393720829894687,-0.6411211512725938,0.71338606911949],"aabb_xy":[[0.37537207969976055,-0.6844560702765113],[0.5033720862791767,-0.5977862322686761]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.18763580394892654,-1.6866826599940183,0.71338606911949],"aabb_xy":[[-0.2516315013440231,-1.7506826582947268],[-0.12364010655382995,-1.6226826616933094]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.10885977888652598,-1.418460492697338,0.71338606911949],"aabb_xy":[[0.10489929511679162,-1.4261283572828587],[0.11282026265626037,-1.4107926281118175]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.16781871432265327,-0.5417912279553883,0.71338606911949],"aabb_xy":[[-0.18449585031574875,-0.5584911519293186],[-0.15114157832955774,-0.5250913039814581]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.2942826462098604,-2.369371554145579,0.71338606911949],"aabb_xy":[[-0.38396972251797584,-2.4593715544000294],[-0.20459556990174493,-2.2793715538911283]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.6599578512941973,-2.2425154854727336,0.71338606911949],"aabb_xy":[[0.6128284722923614,-2.3065154865171347],[0.7070872302960327,-2.1785154844283308]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.6210844055686499,1.2979950618899356,0.71338606911949],"aabb_xy":[[-0.6435835412948768,1.2754950611116727],[-0.5985852698424229,1.3204950626681986]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.5499642534932527,0.39470799837859216,0.71338606911949],"aabb_xy":[[0.5344084840829875,0.379157565134185],[0.565520022903518,0.4102584316229994]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.37557062966739324,-0.5564119100487073,0.71338606911949],"aabb_xy":[[-0.41687517273112923,-0.6204119096168244],[-0.33426608660365725,-0.4924119104805902]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.26631268047031964,-0.9406282213602817,0.71338606911949],"aabb_xy":[[-0.3563126790647896,-0.9568788076737027],[-0.1763126818758497,-0.9243776350468607]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.4145851320249081,-2.1657888354995127,0.71338606911949],"aabb_xy":[[-0.4233871873338808,-2.173600161654442],[-0.4057830767159354,-2.1579775093445837]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.5499884947351596,-0.9388430855372052,0.71338606911949],"aabb_xy":[[-0.5927552016145798,-1.0028430889590076],[-0.5072217878557395,-0.8748430821154027]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.48863488429620205,1.4327389453790613,0.71338606911949],"aabb_xy":[[0.46613488405268666,1.4205343107192892],[0.5111348845397174,1.444943580038833]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[0.6217066168162724,-0.896347797060157,0.71338606911949],"aabb_xy":[[0.5717066164557062,-0.9463277842697598],[0.6717066171768383,-0.8463678098505539]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.2852520334242431,-1.529382203185837,0.71338606911949],"aabb_xy":[[-0.3402520316259879,-1.5699041698122747],[-0.23025203522249824,-1.4888602365593995]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.06339733129325431,-1.327304360038283,0.71338606911949],"aabb_xy":[[-0.09798841414729952,-1.3923043603233138],[-0.02880624843920909,-1.2623043597532517]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.30139724499346787,-2.412890354135007,0.71338606911949],"aabb_xy":[[0.2838972447341313,-2.42698189632378],[0.31889724525280455,-2.398798811946235]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.12273182895178769,-2.1381599426380156,0.71338606911949],"aabb_xy":[[0.08773182760030598,-2.1585196785948364],[0.15773183030326943,-2.1178002066811947]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.5944346485396075,-0.5640311730368217,0.71338606911949],"aabb_xy":[[0.5445519516619113,-0.6140311722830966],[0.6443173454173037,-0.5140311737905471]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.4754733355546654,0.8075862948680426,0.71338606911949],"aabb_xy":[[-0.5079350364365928,0.7774534627531398],[-0.4430116346727379,0.8377191269829449]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.3716413512349497,-2.223358835372742,0.71338606911949],"aabb_xy":[[0.35135704851155086,-2.2436414605154504],[0.3919256539583484,-2.2030762102300323]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.705976097149957,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9886.png","name":"9886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9886.png","name":"9886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8751.png","name":"8751"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7117.png","name":"7117"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4457.png","name":"4457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":751.2191929269261,"rotation_z_degrees":238.09804127350083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0044243638319969095,0.007536194663092105,0.0065143356687787785]},{"name":"camera_2","offset_m":[0.0054274844266462945,-0.01744142612666515,0.010761220636584176]},{"name":"camera_3","offset_m":[-0.015409762421005665,0.008742457542985766,0.007366739555940395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017063985203463203,0.0010382557091567993,-0.0012275896726322406],"end_effector_yaw_offset_degrees":0.9545985597615998},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015043687331101263,-0.0014992014600518299,0.0018858625868867136],"end_effector_yaw_offset_degrees":0.3608639054054108},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015856811415209116,0.0008703462341951252,0.00027609407072879755],"end_effector_yaw_offset_degrees":-0.7032044897639564}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0013695560258379777,0.0033004258133609984],"position_m":[0.26516955602583797,0.349000425813361,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046023765519650995,0.0009227727930809001],"position_m":[0.3377976234480349,0.1022227727930809,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037659736160448086,-0.0036410179599329785],"position_m":[0.3259340263839552,-0.046941017959932975,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019090191231141852,0.0010609447381278603],"position_m":[0.2672909808768858,-0.38713905526187214,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c449d36094784e3acdec5d5e467ad21d621d577d513c32af7b42a0652f72a8c4","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9886/tex_ceiling_textures_2934/tex_floor_textures_4457/tex_table_textures_8751/tex_wall_textures_7117","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":9089799681479851800,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":9089799681479851800,"visual_seed":9089799681479851800,"scene_id":"lab_003","finished_at":"2026-09-02T05:53:12"}
+{"episode_id":"ep_000066","started_at":"2026-09-02T05:53:16","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.2224055520904451,1.7200653041357312,0.71338606911949],"aabb_xy":[[0.16838995580854504,1.656065301243474],[0.27642114837234505,1.7840653070279884]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.2485571064450598,-1.8018344054178523,0.71338606911949],"aabb_xy":[[0.23105710731069257,-1.81171403245544],[0.26605710557942686,-1.7919547783802643]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.26642807093875887,1.0117253074624624,0.71338606911949],"aabb_xy":[[-0.3514280696308335,0.9797394440675835],[-0.18142807224668422,1.0437111708573412]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.19701759723263357,1.4967326838705532,0.71338606911949],"aabb_xy":[[-0.22085381487323869,1.4067326830620668],[-0.17318137959202853,1.58673268467904]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[0.28324779055212845,1.2596840106423022,0.71338606911949],"aabb_xy":[[0.20324778947900812,1.2499059643049177],[0.3632477916252488,1.2694620569796866]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.3774844640425706,-0.3616487866674487,0.71338606911949],"aabb_xy":[[-0.43247994186322997,-0.41664878810135564],[-0.3224889862219112,-0.3066487852335418]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.6319256793179231,-0.6758587885449199,0.71338606911949],"aabb_xy":[[0.5969256801879674,-0.681604009620584],[0.6669256784478788,-0.6701135674692558]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.22914734972565587,-1.7408146269835556,0.71338606911949],"aabb_xy":[[-0.3141473481430791,-1.8256889224458406],[-0.14414735130823264,-1.6559403315212706]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.5919476987452914,-0.7964797097365743,0.71338606911949],"aabb_xy":[[-0.6110600061032702,-0.8156144886138164],[-0.5728353913873124,-0.7773449308593323]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.33894344863101705,-1.0536533287008512,0.71338606911949],"aabb_xy":[[-0.40294345184965497,-1.1003764405998595],[-0.27494344541237925,-1.0069302168018428]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.00891216415711571,-1.8365316109353436,0.71338606911949],"aabb_xy":[[0.004277049004882321,-1.8403989460124919],[0.013547279309349096,-1.8326642758581944]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.17915997228698932,0.34153926618608255,0.71338606911949],"aabb_xy":[[-0.1947157416972546,0.3259888329416754],[-0.16360420287672406,0.3570896994304898]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.0678020479322552,-2.4323994049369744,0.71338606911949],"aabb_xy":[[0.0607605969815076,-2.439426156674769],[0.07484349888300279,-2.42537265319918]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.3851867850015587,-1.1428473255147806,0.71338606911949],"aabb_xy":[[0.3758931667644081,-1.1803473240029143],[0.39448040323870925,-1.1053473270266465]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.44786566791670834,-0.12966075533321142,0.71338606911949],"aabb_xy":[[-0.47003819489335913,-0.1518364224893346],[-0.42569314094005745,-0.10748508817708824]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.1263804820891633,-2.1183247915611005,0.71338606911949],"aabb_xy":[[0.03638048267079241,-2.15170028840529],[0.2163804815075342,-2.0849492947169104]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.4696147523458507,-0.4758337156579864,0.71338606911949],"aabb_xy":[[0.41963180215837126,-0.5258337153005468],[0.5195977025333298,-0.42583371601542597]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.6127446615441103,-0.35080555669531055,0.71338606911949],"aabb_xy":[[0.5902455258178834,-0.3733055574735736],[0.6352437972703373,-0.32830555591704763]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.6296430269575057,-1.724689804684931,0.71338606911949],"aabb_xy":[[-0.6641053743556474,-1.7591836870827533],[-0.5951806795593638,-1.690195922287108]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.30450391154644174,-1.446787333035469,0.71338606911949],"aabb_xy":[[-0.31174767759268707,-1.5267873312390714],[-0.2972601455001964,-1.3667873348318667]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.45151165428491,-2.4456148096863535,0.71338606911949],"aabb_xy":[[0.4180714790888903,-2.4790584355172838],[0.4849518294809295,-2.412171183855423]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.6612999277230803,1.545140665592721,0.71338606911949],"aabb_xy":[[-0.6825779358665526,1.4801406632666476],[-0.6400219195796081,1.6101406679187937]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.29030582196141996,-1.3990183654175212,0.71338606911949],"aabb_xy":[[0.27142143819290976,-1.417904290197874],[0.30919020572993017,-1.3801324406371684]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.5490227660438036,-1.7416431181622132,0.71338606911949],"aabb_xy":[[0.48502276578333275,-1.7866519175151412],[0.6130227663042743,-1.6966343188092852]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[0.5492906900163996,-0.0005862390018585018,0.71338606911949],"aabb_xy":[[0.5117906914407787,-0.01332253466541644],[0.5867906885920203,0.012150056661699436]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7090826758157658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2696.png","name":"2696"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2696.png","name":"2696"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9230.png","name":"9230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9494.png","name":"9494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/402.png","name":"402"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3818.png","name":"3818"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":809.4273571895349,"rotation_z_degrees":5.949195188652525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0072783536738971095,0.014062654619364613,0.015983557952184677]},{"name":"camera_2","offset_m":[0.0033229915075059027,-0.005692148192700865,-0.009702263378830773]},{"name":"camera_3","offset_m":[-0.0012112341624753824,0.017255436261960192,0.00829586111872523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007729179805567577,-0.0013256212013631856,-0.00023699584970697887],"end_effector_yaw_offset_degrees":-0.07158620750421574},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00033394952093963957,-0.0008032988081403416,0.001171670033157842],"end_effector_yaw_offset_degrees":0.9554316059570791},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016763006404435427,0.0011818561545248224,-0.0005831796782977423],"end_effector_yaw_offset_degrees":0.4757502046303266}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003910661385081602,-0.0017325873305405206],"position_m":[0.25988933861491836,0.34396741266945946,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006165831075604488,-0.00012603472526255717],"position_m":[0.3417834168924395,0.10117396527473745,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002601775790643085,-0.0030740764075638163],"position_m":[0.3270982242093569,-0.046374076407563816,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022176080003111533,0.0016986845582174347],"position_m":[0.2714176080003112,-0.38650131544178257,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6c5b5111325b7edc3e7582c5837789bbaf3a25bacf3f1dbeb575d5f3c6bcc5be","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2696/tex_ceiling_textures_3818/tex_floor_textures_402/tex_table_textures_9230/tex_wall_textures_9494","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6505138666344357001,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6505138666344357001,"visual_seed":6505138666344357001,"scene_id":"lab_003","finished_at":"2026-09-02T05:56:13"}
+{"episode_id":"ep_000067","started_at":"2026-09-02T05:56:17","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.24846305181781714,-0.7080727224388221,0.71338606911949],"aabb_xy":[[-0.3034585296384765,-0.763072723872729],[-0.19346757399715772,-0.6530727210049151]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.678182068896614,-0.2386496586927227,0.71338606911949],"aabb_xy":[[0.6700543807033008,-0.24756326710343035],[0.6863097570899273,-0.22973605028201505]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.6229842028102017,-0.15287818348541915,0.71338606911949],"aabb_xy":[[0.5854842029931681,-0.157516394796561],[0.6604842026272352,-0.14823997217427726]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.5992781609009622,-2.067394548980217,0.71338606911949],"aabb_xy":[[-0.6632781572965352,-2.1313578373989506],[-0.535278164505389,-2.0034312605614835]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.25371001112584296,-1.4400204121601787,0.71338606911949],"aabb_xy":[[-0.2577881690328927,-1.444101392408442],[-0.24963185321879322,-1.4359394319119154]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.4493966301561186,-1.8585683467966394,0.71338606911949],"aabb_xy":[[-0.5034122264380185,-1.9225683496888966],[-0.3953810338742185,-1.7945683439043822]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.15118511885575114,-2.0955408540454585,0.71338606911949],"aabb_xy":[[-0.15462579509580832,-2.099402287019823],[-0.14774444261569397,-2.091679421071094]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.5880077972059083,0.1739331617406834,0.71338606911949],"aabb_xy":[[-0.6520077986138989,0.12214421021675871],[-0.5240077957979176,0.22572211326460812]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.10736797020407418,0.6694204929338174,0.71338606911949],"aabb_xy":[[-0.12988166202753137,0.5994204923328098],[-0.08485427838061699,0.7394204935348249]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.259971836723914,1.1677585855882984,0.71338606911949],"aabb_xy":[[0.21895389333754312,1.117758584957341],[0.3009897801102849,1.2177585862192557]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.6259902682819944,0.4322848095992109,0.71338606911949],"aabb_xy":[[-0.6308895605885578,0.404607890296642],[-0.6210909759754308,0.45996172890177955]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.30177302649324356,-0.8028435502611504,0.71338606911949],"aabb_xy":[[0.2937366917919586,-0.8108816695655672],[0.3098093611945283,-0.7948054309567336]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.004246524898112614,-0.817999691251593,0.71338606911949],"aabb_xy":[[-0.08575347369635733,-0.8342502775650141],[0.09424652349258256,-0.8017491049381721]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.17425154882611793,-1.3133241369046518,0.71338606911949],"aabb_xy":[[0.16268256807918136,-1.3383241370215835],[0.1858205295730545,-1.28832413678772]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.6439273260321094,0.47440006588962813,0.71338606911949],"aabb_xy":[[0.5789273250316088,0.4236137007349532],[0.7089273270326099,0.5251864310443031]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.12811373022907058,0.6803122368094043,0.71338606911949],"aabb_xy":[[0.0782310333513744,0.6303122375631297],[0.1779964271067668,0.7303122360556792]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.5489755205838814,-2.4127535230707013,0.71338606911949],"aabb_xy":[[-0.5801224394274646,-2.482753521757508],[-0.5178286017402983,-2.3427535243838937]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.5441923781651319,-0.38119368288289524,0.71338606911949],"aabb_xy":[[-0.5816923796807636,-0.39242045589904023],[-0.5066923766495002,-0.3699669098667501]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.640138658362796,0.8258768579083591,0.71338606911949],"aabb_xy":[[-0.6901160752280494,0.7758768564191104],[-0.5901612414975422,0.8758768593976075]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.21507228981526505,0.9150601818685935,0.71338606911949],"aabb_xy":[[-0.22040480446987804,0.909735853623358],[-0.20973977516065206,0.920384510113829]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.33003784022216215,-0.9540759932565135,0.71338606911949],"aabb_xy":[[-0.3940378421345045,-1.009987142514524],[-0.2660378383098198,-0.8981648439985032]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.3722092765633245,1.519400691821747,0.71338606911949],"aabb_xy":[[0.3222263263758451,1.4694006921791862],[0.42219222675080376,1.569400691464307]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.16668146208514922,-0.8722067806451979,0.71338606911949],"aabb_xy":[[0.147797078316639,-0.8910927054255507],[0.1855658458536594,-0.8533208558648452]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.6140089004407481,1.4435757143914434,0.71338606911949],"aabb_xy":[[0.5979469729822302,1.3585757125788513],[0.6300708278992655,1.528575716204035]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[-0.034741900837158,-1.107843781595534,0.71338606911949],"aabb_xy":[[-0.06822106809819894,-1.141322894966641],[-0.0012627335761170658,-1.074364668224427]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.6230856461963605,-0.015033417178567543,0.71338606911949],"aabb_xy":[[0.5730856451772253,-0.05149963291639549],[0.6730856472154958,0.021432798559260394]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_26","position":[-0.33972785967630653,1.6589376209735618,0.71338606911949],"aabb_xy":[[-0.42345008517638894,1.5689376174388658],[-0.256005634176224,1.7489376245082577]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[-0.357289822488442,-1.2138596031321987,0.71338606911949],"aabb_xy":[[-0.42128982274891275,-1.2588684024851264],[-0.2932898222279711,-1.1688508037792704]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[0.2322315500711304,1.6789206877557326,0.71338606911949],"aabb_xy":[[0.18723896335267998,1.6339206884812838],[0.2772241367895808,1.7239206870301813]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_29","position":[-0.6228851494573754,1.778326960307163,0.71338606911949],"aabb_xy":[[-0.628466821091504,1.7658269604893873],[-0.6173034778232466,1.7908269601249382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.710952645326189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1772.png","name":"1772"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1772.png","name":"1772"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4736.png","name":"4736"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9309.png","name":"9309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6599.png","name":"6599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1048.png","name":"1048"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":705.760505681201,"rotation_z_degrees":118.23749866288188,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008276304617706787,-0.007145966530090133,-0.009780215001755467]},{"name":"camera_2","offset_m":[-0.01632532993717807,-0.01286165892498997,-0.004499870815606641]},{"name":"camera_3","offset_m":[-0.0014395469506414162,0.003622004981920758,-0.015468127369991713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004822831262595935,0.0006733258385625929,0.001916740613391455],"end_effector_yaw_offset_degrees":-0.9344341316627183},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001342144935612115,0.0006440817176939012,0.0014555444992382922],"end_effector_yaw_offset_degrees":-0.1415016287151014},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014654961673193241,8.205640767459336e-05,-0.00018659070655902888],"end_effector_yaw_offset_degrees":-0.14703902672562297}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007373139725609925,0.0015808875193660202],"position_m":[0.264537313972561,0.34728088751936603,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00230820768365128,0.0010998802840580706],"position_m":[0.34470820768365124,0.10239988028405807,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004017190399948378,0.0030576456390090353],"position_m":[0.33371719039994835,-0.04024235436099096,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002044560016805589,-0.0019850201162842575],"position_m":[0.2712445600168056,-0.39018502011628425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fbc2be12ee3f0cc133d0d75002ef1f4eafed11cc497ff876516542d2c4222bfb","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1772/tex_ceiling_textures_1048/tex_floor_textures_6599/tex_table_textures_4736/tex_wall_textures_9309","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":50506213819774375,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":50506213819774375,"visual_seed":50506213819774375,"scene_id":"lab_003","finished_at":"2026-09-02T05:59:09"}
+{"episode_id":"ep_000068","started_at":"2026-09-02T05:59:12","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.14806316280921195,-0.350371599022981,0.71338606911949],"aabb_xy":[[-0.19806316382834724,-0.386837814760809],[-0.09806316179007668,-0.31390538328515305]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.1025341211785682,1.6422744193465557,0.71338606911949],"aabb_xy":[[-0.11410310192550478,1.617274419229624],[-0.09096514043163163,1.6672744194634874]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[0.6658570391229517,1.2349369393993426,0.71338606911949],"aabb_xy":[[0.6529851356220115,1.1549369389855062],[0.6787289426238918,1.3149369398131785]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.3441112513900946,-1.5053230986648167,0.71338606911949],"aabb_xy":[[0.3322391683785934,-1.590323098358467],[0.35598333440159563,-1.4203230989711664]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.23339338772645313,-0.16119894429100334,0.71338606911949],"aabb_xy":[[-0.243149377235627,-0.17096147835023778],[-0.2236373982172792,-0.1514364102317689]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.5875495711398195,-1.3331357349899426,0.71338606911949],"aabb_xy":[[0.570049570880483,-1.3472272771787155],[0.6050495713991563,-1.3190441928011702]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.5084840285294419,-0.9378245578374884,0.71338606911949],"aabb_xy":[[0.45348402935285226,-0.992814232612446],[0.5634840277060312,-0.8828348830625307]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.08507436798477075,0.9116652689628548,0.71338606911949],"aabb_xy":[[-0.1687965934848532,0.8216652654281589],[-0.0013521424846882901,1.0016652724975508]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.18971704333440909,-1.854845047590126,0.71338606911949],"aabb_xy":[[-0.19784473152772233,-1.8637586560008337],[-0.1815893551410959,-1.8459314391794186]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.610458167386424,-1.5231014583200286,0.71338606911949],"aabb_xy":[[0.6031758510097601,-1.6131014619295374],[0.6177404837630874,-1.4331014547105194]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[-0.0775026913858119,-1.7779253077305959,0.71338606911949],"aabb_xy":[[-0.13513316027308273,-1.837925306657306],[-0.019872222498541033,-1.7179253088038848]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[-0.3677831797566544,1.0358775652516874,0.71338606911949],"aabb_xy":[[-0.40208009077439494,1.0015806790417459],[-0.3334862687389137,1.0701744514616285]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.6458647033230219,1.1028416910974341,0.71338606911949],"aabb_xy":[[-0.6550245822668984,1.096310473053897],[-0.6367048243791452,1.1093729091409712]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.3071325989610949,1.5690012446363473,0.71338606911949],"aabb_xy":[[-0.38713259612067014,1.5574536436785302],[-0.22713260180151956,1.5805488455941643]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.3866361235834572,-0.6571077447487765,0.71338606911949],"aabb_xy":[[0.3688426166485408,-0.6749074903445742],[0.40442963051837366,-0.6393079991529789]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.5623687140171305,0.10115841676080528,0.71338606911949],"aabb_xy":[[0.5073687158153857,0.060636450134367685],[0.6173687122188753,0.14168038338724284]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[0.22142697912045461,-0.9661285103548785,0.71338606911949],"aabb_xy":[[0.18696450110736682,-0.9727921875378012],[0.2558894571335424,-0.9594648331719555]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.375186651255939,1.696394103078679,0.71338606911949],"aabb_xy":[[-0.43918664836804466,1.6473617332842685],[-0.3111866541438333,1.7454264728730897]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.03551332591729606,-0.9323612579507436,0.71338606911949],"aabb_xy":[[-0.02948667672049743,-0.9838408566501905],[0.10051332855508954,-0.8808816592512966]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.1455824805477376,1.117108963759971,0.71338606911949],"aabb_xy":[[0.08158248137796766,1.0703422766410082],[0.20958247971750754,1.1638756508789332]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.675415167257456,-2.0198722392897603,0.71338606911949],"aabb_xy":[[0.6680027117160675,-2.0257234497113883],[0.6828276227988445,-2.0140210288681324]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[-0.02778349411690817,-1.3418352532941797,0.71338606911949],"aabb_xy":[[-0.03482380405044517,-1.4218352526938514],[-0.02074318418337118,-1.2618352538945086]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.2768247737322775,0.3629462888510253,0.71338606911949],"aabb_xy":[[-0.2847480539710258,0.3404462886130219],[-0.26890149349352915,0.3854462890890286]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.6049858629323801,-0.33057711270098755,0.71338606911949],"aabb_xy":[[-0.6689858593279532,-0.3945404011197211],[-0.540985866536807,-0.266613824282254]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[0.0975704944972875,-2.2521408228641886,0.71338606911949],"aabb_xy":[[0.05229187961613825,-2.3161408222123727],[0.14284910937843676,-2.1881408235160054]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[-0.6399285994933682,0.5220894218778684,0.71338606911949],"aabb_xy":[[-0.6460232273814865,0.5135200273261997],[-0.6338339716052499,0.5306588164295372]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.4003606377410839,-2.067195218177755,0.71338606911949],"aabb_xy":[[-0.46436063801506205,-2.117261318375043],[-0.3363606374671056,-2.017129117980467]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.20041884017940903,1.45981844963034,0.71338606911949],"aabb_xy":[[0.15541883871318016,1.4148185927688595],[0.24541884164563788,1.504818306491821]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[-0.49778713418471104,-1.0113544794454734,0.71338606911949],"aabb_xy":[[-0.5874742104928266,-1.101354479699924],[-0.40810005787659565,-0.9213544791910229]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[-0.5483199938816474,1.5437007408496046,0.71338606911949],"aabb_xy":[[-0.5642044871469726,1.5293478005507806],[-0.5324355006163223,1.5580536811484287]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[-0.19214455631679328,-2.286645417708668,0.71338606911949],"aabb_xy":[[-0.25214455682464615,-2.343492151394589],[-0.13214455580894033,-2.229798684022746]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[0.07038577764447063,-2.0129840980666183,0.71338606911949],"aabb_xy":[[0.04173644528405439,-2.0416296573436936],[0.09903511000488684,-1.984338538789542]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_32","position":[-0.036259166120953146,0.07174544428806184,0.71338606911949],"aabb_xy":[[-0.04229617912161788,0.06571874321911365],[-0.030222153120288427,0.07777214535701006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7064662565141816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7977.png","name":"7977"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7977.png","name":"7977"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7596.png","name":"7596"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5119.png","name":"5119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5488.png","name":"5488"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.3575348961288,"rotation_z_degrees":117.09145389534766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00923195611849394,0.003372347621926425,-0.01259205032410858]},{"name":"camera_2","offset_m":[-0.0147270068908721,0.007307774985346606,0.008360422069905556]},{"name":"camera_3","offset_m":[-0.0004929022855626984,0.005595763573497205,-0.019655231495396865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00042534128678537006,-0.00020162162701986433,0.0005554632609209229],"end_effector_yaw_offset_degrees":-0.38961185499418916},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013150107010735986,-0.0001619469718074397,-0.00017405557264006124],"end_effector_yaw_offset_degrees":0.7780595574286133},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007918274328765421,0.0012537592777546163,0.0010249054170254719],"end_effector_yaw_offset_degrees":-0.27195185388691634}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005019355599543427,0.0038627671657987814],"position_m":[0.26430193555995435,0.3495627671657988,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028491582396036473,0.00279188298041035],"position_m":[0.33955084176039635,0.10409188298041035,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004302643598295325,0.0035731127753854197],"position_m":[0.32539735640170464,-0.03972688722461458,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005276119464263105,0.0022776785557304183],"position_m":[0.2686723880535737,-0.3859223214442696,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"becff656ac34995cc8a02b86464b6bc151517a3bed3829d4142816097f2a3c35","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7977/tex_ceiling_textures_5488/tex_floor_textures_2050/tex_table_textures_7596/tex_wall_textures_5119","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2074895392145641842,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2074895392145641842,"visual_seed":2074895392145641842,"scene_id":"lab_003","finished_at":"2026-09-02T06:02:00"}
+{"episode_id":"ep_000069","started_at":"2026-09-02T06:02:02","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.2500712483617419,-0.7164983462965033,0.71338606911949],"aabb_xy":[[0.21257124769716315,-0.7321854042967254],[0.28757124902632053,-0.700811288296281]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.2956720173995455,-1.319038101233443,0.71338606911949],"aabb_xy":[[0.24567274223110935,-1.3690381025093898],[0.3456712925679817,-1.2690380999574955]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.5614520139604123,-2.152206797217824,0.71338606911949],"aabb_xy":[[-0.5695656686337893,-2.1603126136718527],[-0.5533383592870351,-2.144100980763794]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.23858420652787415,-2.3211395381002764,0.71338606911949],"aabb_xy":[[0.2305907167325922,-2.3291376700407525],[0.24657769632315626,-2.3131414061598012]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.15595718944400516,0.6592848897722354,0.71338606911949],"aabb_xy":[[0.11845718792837343,0.6480581167560904],[0.19345719095963684,0.6705116627883805]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.03673108735737052,0.9362516194712462,0.71338606911949],"aabb_xy":[[-0.0513744929114035,0.921592899814462],[-0.022087681803337533,0.9509103391280305]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.6852490001678408,-0.8783380709709032,0.71338606911949],"aabb_xy":[[0.6547647500408107,-0.9283380707523993],[0.715733250294871,-0.8283380711894074]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.20504206715038453,1.5997671957264417,0.71338606911949],"aabb_xy":[[0.1550578314422073,1.549767196912946],[0.25502630285856176,1.6497671945399373]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.1320596419582144,1.470922445495543,0.71338606911949],"aabb_xy":[[-0.1820596429773497,1.434456229757715],[-0.08205964093907915,1.5073886612333711]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.10630414589617943,1.10644434073778,0.71338606911949],"aabb_xy":[[-0.17030414519034764,1.0424582003689258],[-0.042304146602011206,1.1704304811066342]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.5933868938476299,1.7229550200215153,0.71338606911949],"aabb_xy":[[0.5846889315569147,1.7108300457140408],[0.6020848561383453,1.7350799943289903]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.46995629509397285,-1.5466124540971409,0.71338606911949],"aabb_xy":[[0.3999562924573864,-1.566717319093006],[0.5399562977305591,-1.526507589101275]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.29809295105709266,-1.6325932868350637,0.71338606911949],"aabb_xy":[[0.2782019111767524,-1.6452490981197612],[0.3179839909374329,-1.6199374755503675]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.4659762777316212,0.699255343295694,0.71338606911949],"aabb_xy":[[-0.5459762757124063,0.6916538023338421],[-0.38597627975083615,0.706856884257546]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.07905970522064665,-1.7153193692608553,0.71338606911949],"aabb_xy":[[0.019059704359833823,-1.7667457992673412],[0.1390597060814594,-1.6638929392543684]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.2791959349980035,-2.3286025145726255,0.71338606911949],"aabb_xy":[[-0.28263661123806066,-2.33246394754699],[-0.2757552587579463,-2.324741081598261]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.048199856590124046,-0.21324161451528534,0.71338606911949],"aabb_xy":[[-0.05470149309812867,-0.22300943654159514],[-0.04169822008211943,-0.2034737924889756]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[0.029553169622684283,-2.356658582693768,0.71338606911949],"aabb_xy":[[0.007054033896457309,-2.379158583472031],[0.052052305348911254,-2.3341585819155046]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.23247311515036972,-2.0096005793453116,0.71338606911949],"aabb_xy":[[-0.3224731116512414,-2.0555122217637694],[-0.1424731186494979,-1.963688936926853]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.20684807373038383,-1.9078435577163209,0.71338606911949],"aabb_xy":[[0.1568480733698177,-1.9578235449259238],[0.2568480740909498,-1.857863570506718]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.1875102655616312,0.2699101898568217,0.71338606911949],"aabb_xy":[[-0.25251026411870403,0.24015765644293907],[-0.12251026700455836,0.2996627232707043]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.34215533328176173,0.5728980475686893,0.71338606911949],"aabb_xy":[[0.308715158085742,0.539454421737759],[0.3755955084777812,0.6063416733996192]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.2237679439533492,-1.6294936671894513,0.71338606911949],"aabb_xy":[[0.21361492839919977,-1.6655632087621912],[0.23392095950749853,-1.5934241256167105]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[0.34287456565794994,-0.622378441041,0.71338606911949],"aabb_xy":[[0.32537456652358276,-0.6322580680785878],[0.3603745647923171,-0.6124988140034121]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.31584293548310477,1.6627802010765094,0.71338606911949],"aabb_xy":[[-0.32741191623004134,1.6377802009595777],[-0.3042739547361682,1.687780201193441]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.4509720151921839,-2.2830244012034204,0.71338606911949],"aabb_xy":[[0.4377410696575026,-2.2962518202254194],[0.4642029607268652,-2.2697969821814206]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.12490639657801672,-2.524473267567807,0.71338606911949],"aabb_xy":[[0.10935062716775147,-2.5400237008122146],[0.14046216598828198,-2.5089228343234002]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.6560561962549023,-1.631091900929804,0.71338606911949],"aabb_xy":[[0.6204270403549426,-1.6667245676866564],[0.691685352154862,-1.5954592341729505]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_28","position":[-0.338181829400053,0.9225993934730985,0.71338606911949],"aabb_xy":[[-0.34759930396991573,0.9131832163353796],[-0.32876435483019023,0.9320155706108176]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[0.46598489181754665,-0.18204094759353984,0.71338606911949],"aabb_xy":[[0.46207101862212413,-0.1907899630000966],[0.4698987650129692,-0.17329193218698308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7044163799774564,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2427.png","name":"2427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2427.png","name":"2427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9727.png","name":"9727"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8170.png","name":"8170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1263.png","name":"1263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4219.png","name":"4219"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":686.1899029875585,"rotation_z_degrees":129.5400169559001,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006369197175111996,-0.0052040095773978785,-0.013198340141104815]},{"name":"camera_2","offset_m":[-0.018011024725216186,-0.008008675961299101,-0.003782421135211083]},{"name":"camera_3","offset_m":[-0.009029212533469338,0.011770356665811856,-0.016768957718831804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012740513780906061,-0.0007344752436980184,-0.0006829090717114467],"end_effector_yaw_offset_degrees":0.8575688377468142},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007015846834340657,-9.079404764309688e-05,-0.0008365300038897887],"end_effector_yaw_offset_degrees":-0.3269673821929111},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009207119916543305,0.0017185701287049486,-0.0012015246161684516],"end_effector_yaw_offset_degrees":-0.9923505221186946}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002066222058941707,-0.0021136904660644783],"position_m":[0.26586622205894167,0.34358630953393554,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003091107777827698,-0.0001750756016292319],"position_m":[0.34549110777782766,0.10112492439837077,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008178000277341627,0.00434437410855146],"position_m":[0.3305178000277342,-0.03895562589144854,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004840628639935599,-0.0005539047397770495],"position_m":[0.2643593713600644,-0.38875390473977706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7d65c93155517362662d30baae0e2e3492d5c229d464345642e11dc9c77c4312","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2427/tex_ceiling_textures_4219/tex_floor_textures_1263/tex_table_textures_9727/tex_wall_textures_8170","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5026465779852163728,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5026465779852163728,"visual_seed":5026465779852163728,"scene_id":"lab_003","finished_at":"2026-09-02T06:04:52"}
+{"episode_id":"ep_000070","started_at":"2026-09-02T06:04:55","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.5417490040506953,0.24106000913264447,0.71338606911949],"aabb_xy":[[-0.6017490045585481,0.18421327544672314],[-0.4817490035428423,0.2979067428185657]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.5394978831792177,0.33569513978658394,0.71338606911949],"aabb_xy":[[0.5234359557206999,0.25069513797399207],[0.5555598106377352,0.4206951415991757]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.19044693080563446,-1.2437824710994236,0.71338606911949],"aabb_xy":[[-0.2741691563057169,-1.3337824746341196],[-0.106724705305552,-1.1537824675647277]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[-0.08033273082438341,-1.737017163935487,0.71338606911949],"aabb_xy":[[-0.0847633601792236,-1.7424655356701702],[-0.07590210146954325,-1.7315687922008047]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.08444583592676425,0.6127655758268369,0.71338606911949],"aabb_xy":[[-0.1182213951174572,0.5987270806136719],[-0.05067027673607126,0.6268040710400019]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.47005964467304673,-0.8521064068831299,0.71338606911949],"aabb_xy":[[0.3850596462556235,-0.9369807023454149],[0.55505964309047,-0.7672321114208449]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.547194426833262,1.3308007341377124,0.71338606911949],"aabb_xy":[[0.5250218998566111,1.308625066981589],[0.5693669538099128,1.3529764012938352]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.6441870661562661,-0.43018659369437584,0.71338606911949],"aabb_xy":[[0.6014203592768458,-0.4941865971161783],[0.6869537730356862,-0.3661865902725734]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.41401412930410136,0.9257766535655612,0.71338606911949],"aabb_xy":[[-0.4194720749411214,0.8457766502579019],[-0.40855618366708124,1.0057766568732203]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.1534667090915821,-2.378684285986376,0.71338606911949],"aabb_xy":[[-0.20334940596927836,-2.4286842852326513],[-0.10358401221388594,-2.328684286740102]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.36497934426536727,0.36941007636037426,0.71338606911949],"aabb_xy":[[-0.45497934285983727,0.35315949004695324],[-0.2749793456708974,0.3856606626737953]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.06640122453362796,-1.49974952340721,0.71338606911949],"aabb_xy":[[0.0608195528994992,-1.5122495232249855],[0.07198289616775672,-1.4872495235894345]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.4705763556088665,1.13553545207274,0.71338606911949],"aabb_xy":[[-0.47699016925205134,1.1291256318250715],[-0.46416254196568146,1.1419452723204082]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.6060104715437415,-1.0974430093667038,0.71338606911949],"aabb_xy":[[-0.6910104702358161,-1.1294288727615827],[-0.5210104728516668,-1.065457145971825]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.5956487454788681,1.7928258759783477,0.71338606911949],"aabb_xy":[[0.5731487456649658,1.788351259607867],[0.6181487452927705,1.7973004923488285]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.4318439773337628,0.4244989326741888,0.71338606911949],"aabb_xy":[[0.38186516882344684,0.37449893266847006],[0.4818227858440786,0.47449893267990767]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.05478106371520308,-0.9767169985431825,0.71338606911949],"aabb_xy":[[0.03023484809245237,-1.0069658950922196],[0.0793272793379538,-0.9464681019941454]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.0031911915046556327,0.7606684845630762,0.71338606911949],"aabb_xy":[[-0.019075684769980783,0.7463155442642522],[0.012693301760669518,0.7750214248619003]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[0.5935511012275305,-0.2663243575684042,0.71338606911949],"aabb_xy":[[0.5601109260315107,-0.29976798339933425],[0.6269912764235499,-0.23288073173747412]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.6310681564832685,-2.05024304436485,0.71338606911949],"aabb_xy":[[-0.6810674316517047,-2.1002430456407972],[-0.5810688813148324,-2.000243043088903]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.12626595398649576,-1.048041792544067,0.71338606911949],"aabb_xy":[[-0.16376595380352932,-1.0526800038552087],[-0.0887659541694622,-1.043403581232925]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.4017510433583775,-0.3155717871262107,0.71338606911949],"aabb_xy":[[0.3937247727277515,-0.32432328210356337],[0.4097773139890035,-0.30682029214885814]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7089182052537312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9719.png","name":"9719"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9719.png","name":"9719"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8355.png","name":"8355"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1694.png","name":"1694"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":561.7266641491145,"rotation_z_degrees":336.30291570529164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005619720049814045,-0.00646480717909808,-0.012443313257895276]},{"name":"camera_2","offset_m":[-0.002701092442482532,-0.0029100028649564173,0.007281877388381153]},{"name":"camera_3","offset_m":[0.007680264283941873,0.01640681639464139,-0.017741434327542986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011102437691569236,-0.0016987368467614684,0.0019055729240099492],"end_effector_yaw_offset_degrees":-0.2997407305678279},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013977884040721417,0.00013893173342184465,0.0011952938145121648],"end_effector_yaw_offset_degrees":-0.17632489563373022},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005240000505296232,-0.000897698861829146,0.0013783755567491588],"end_effector_yaw_offset_degrees":0.5389544153356458}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029017843700612955,-0.00477372623841597],"position_m":[0.2608982156299387,0.340926273761584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003776035526564787,0.0028486255245050484],"position_m":[0.3386239644734352,0.10414862552450505,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011254778642632367,0.00460947897809665],"position_m":[0.32857452213573674,-0.038690521021903346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022280456988651807,0.0020165691718687104],"position_m":[0.2714280456988652,-0.3861834308281313,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0849e27fa161612068422174f41b91ca807a0f5d8d56294cf3a4520b09271e1f","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9719/tex_ceiling_textures_1694/tex_floor_textures_7073/tex_table_textures_8355/tex_wall_textures_86","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6794745094566084683,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6794745094566084683,"visual_seed":6794745094566084683,"scene_id":"lab_003","finished_at":"2026-09-02T06:07:43"}
+{"episode_id":"ep_000071","started_at":"2026-09-02T06:07:49","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.3830666289417979,-1.7911675616898484,0.71338606911949],"aabb_xy":[[0.3378953110936289,-1.8551675588343872],[0.4282379467899669,-1.7271675645453104]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.6758836555819854,0.8177049305616277,0.71338606911949],"aabb_xy":[[-0.6884863547190619,0.8051095343367624],[-0.663280956444909,0.8303003267864933]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[0.4550577410964489,0.9353857289487593,0.71338606911949],"aabb_xy":[[0.37505774250912954,0.8560701270105984],[0.5350577396837684,1.0147013308869202]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.20671922856293645,-1.9262229001701738,0.71338606911949],"aabb_xy":[[0.14271923213561455,-1.9733925239922705],[0.27071922499025836,-1.8790532763480776]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.36166146925037357,0.2061812260455267,0.71338606911949],"aabb_xy":[[-0.3722289489084725,0.1956361959325181],[-0.3510939895922745,0.21672625615853522]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.12477710282779286,-1.6761090740390419,0.71338606911949],"aabb_xy":[[-0.14264621058224836,-1.689941982016253],[-0.10690799507333737,-1.6622761660618308]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.14734356020775718,-2.4650263765966205,0.71338606911949],"aabb_xy":[[-0.21734355661771892,-2.4854643122483013],[-0.07734356379779535,-2.444588440944938]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5046819262501121,0.6596197209832089,0.71338606911949],"aabb_xy":[[-0.5686776236452087,0.5956197226825002],[-0.4406862288550155,0.7236197192839176]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.31596135019275623,-1.449899026286796,0.71338606911949],"aabb_xy":[[-0.3658440470704525,-1.4998990255330709],[-0.2660786533150601,-1.3998990270405214]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.6811793913106773,1.7700998483456387,0.71338606911949],"aabb_xy":[[-0.6891728811059593,1.7621017164051633],[-0.6731859015153953,1.7780979802861145]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.055846741041386205,1.7399100926749846,0.71338606911949],"aabb_xy":[[0.045073767120018426,1.7049100944559457],[0.06661971496275398,1.7749100908940236]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.2221929791393158,-0.40655458607381467,0.71338606911949],"aabb_xy":[[-0.27219297857951136,-0.456522510558131],[-0.17219297969912012,-0.35658666158949837]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.18210939161206896,-2.4570934780287415,0.71338606911949],"aabb_xy":[[0.15960939136855357,-2.469298112688514],[0.20460939185558435,-2.44488884336897]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.16023009636414287,1.4623213146659793,0.71338606911949],"aabb_xy":[[-0.2252300949212157,1.4325687812520969],[-0.09523009780707004,1.492073848079862]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.24705709097099726,-1.1908527335470602,0.71338606911949],"aabb_xy":[[-0.2706422144348921,-1.2558527357924922],[-0.22347196750710244,-1.1258527313016287]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.09354193888975393,0.09173791284934962,0.71338606911949],"aabb_xy":[[-0.14354193753567512,0.04181836918988724],[-0.04354194024383272,0.141657456508812]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.2182355569005655,-1.5504952766544846,0.71338606911949],"aabb_xy":[[0.2106112888103873,-1.5581285001910286],[0.22585982499074378,-1.5428620531179411]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.26411806088973966,0.33041262755919565,0.71338606911949],"aabb_xy":[[-0.3281180601839079,0.26642648719034145],[-0.20011806159557144,0.39439876792804984]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.4609740115527696,-0.8319909234122997,0.71338606911949],"aabb_xy":[[0.4390842639638288,-0.9219909207015488],[0.4828637591417104,-0.7419909261230505]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.18618174123205755,0.8724447018018222,0.71338606911949],"aabb_xy":[[-0.1942251011580127,0.7874447007064558],[-0.17813838130610235,0.9574447028971886]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.5534325340322522,0.9336174073963099,0.71338606911949],"aabb_xy":[[-0.5627261522694028,0.896117408908176],[-0.5441389157951017,0.9711174058844438]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.48207326939641826,-1.6824705827958106,0.71338606911949],"aabb_xy":[[-0.5620732726604314,-1.6960306151047237],[-0.4020732661324051,-1.668910550486897]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.1296511459954578,-0.8738969036874864,0.71338606911949],"aabb_xy":[[-0.1335650191908803,-0.8826459190940431],[-0.12573727280003524,-0.8651478882809295]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.17919195545476208,1.2170756834594503,0.71338606911949],"aabb_xy":[[0.11519195216505397,1.1737407644555324],[0.2431919587444702,1.2604106024633677]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[-0.4357264210094937,-1.0658024367053787,0.71338606911949],"aabb_xy":[[-0.5257264207326678,-1.0888757892405583],[-0.3457264212863195,-1.0427290841701986]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.4663484690171058,-2.4036651762743606,0.71338606911949],"aabb_xy":[[-0.5363484711485353,-2.4264271419000565],[-0.3963484668856762,-2.3809032106486647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7138694627013152,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5147.png","name":"5147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5147.png","name":"5147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2102.png","name":"2102"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7737.png","name":"7737"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9551.png","name":"9551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4254.png","name":"4254"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":838.4725539575736,"rotation_z_degrees":184.256355213601,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01598175338192147,0.009084150965420236,-0.016295730648019494]},{"name":"camera_2","offset_m":[-0.000649800400416848,0.013269966821585915,-0.009480257878144003]},{"name":"camera_3","offset_m":[0.013149960081745942,-0.01942234901042275,-0.01838161163607878]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011255198705512393,-0.00032184025554150733,-0.001907095414287029],"end_effector_yaw_offset_degrees":-0.18134779871223294},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007430520261269503,0.0006378662178908828,0.00013789298639791617],"end_effector_yaw_offset_degrees":0.1823678555537176},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0017297211423246057,-0.0015359746387728938,0.0012128462836102048],"end_effector_yaw_offset_degrees":0.06821654721777648}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026261714824221457,-0.004412341549974028],"position_m":[0.26642617148242215,0.34128765845002595,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004467482069028742,0.0028607189107534596],"position_m":[0.34686748206902873,0.10416071891075346,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032535962596095752,9.70054962781729e-05],"position_m":[0.3329535962596096,-0.04320299450372182,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004601416972795117,-0.0034051707631259577],"position_m":[0.2738014169727951,-0.39160517076312595,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d8f5d862cf9f02a4fdc091cfe63cc70d85cd06c6ad0d6639127faa9fe51e8503","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5147/tex_ceiling_textures_4254/tex_floor_textures_9551/tex_table_textures_2102/tex_wall_textures_7737","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4457618238210079944,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4457618238210079944,"visual_seed":4457618238210079944,"scene_id":"lab_003","finished_at":"2026-09-02T06:10:29"}
+{"episode_id":"ep_000072","started_at":"2026-09-02T06:10:32","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.08933387480153965,1.2767812515400827,0.71338606911949],"aabb_xy":[[0.052539241676633375,1.2398753764435004],[0.12612850792644592,1.313687126636665]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.36208172329532096,0.36492025878459255,0.71338606911949],"aabb_xy":[[-0.44208172655316397,0.2849237509926085],[-0.28208172003747806,0.4449167665765765]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.16723851816218493,-1.9668416994328395,0.71338606911949],"aabb_xy":[[0.10323851790171411,-2.0118504987857664],[0.23123851842265572,-1.921832900079911]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.24460180556329597,-0.27905949373440375,0.71338606911949],"aabb_xy":[[-0.29960180376504075,-0.31958146036084134],[-0.18960180736155113,-0.2385375271079662]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.17714735818728655,-1.194151280537347,0.71338606911949],"aabb_xy":[[0.1396473578390588,-1.2059426761184306],[0.2146473585355143,-1.1823598849562635]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.45286432960989464,1.7240384847481116,0.71338606911949],"aabb_xy":[[-0.4704110245260135,1.6865384831838601],[-0.43531763469377566,1.7615384863123627]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.48302385701550593,1.0791677639111033,0.71338606911949],"aabb_xy":[[-0.5330238586770006,1.0291693216554003],[-0.43302385535401117,1.1291662061668057]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.0023390530072682214,1.7611383514532277,0.71338606911949],"aabb_xy":[[-0.009593681354559846,1.7487561986453684],[0.01427178736909629,1.773520504261087]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.4386970018528865,-0.27783418534106596,0.71338606911949],"aabb_xy":[[-0.4505690848643876,-0.3628341850347163],[-0.4268249188413854,-0.1928341856474156]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[-0.495667227259012,-0.5726359344808829,0.71338606911949],"aabb_xy":[[-0.530667227235508,-0.5821005505284995],[-0.46066722728251625,-0.5631713184332663]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.1511819692491817,1.5292124602038801,0.71338606911949],"aabb_xy":[[-0.1736819694926971,1.517007825544108],[-0.1286819690056663,1.5414170948636519]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.11495275767866375,-2.1363255167415875,0.71338606911949],"aabb_xy":[[0.10417978375729597,-2.1713255149606265],[0.12572573160003153,-2.1013255185225486]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.6664501758014418,-1.4423252740262342,0.71338606911949],"aabb_xy":[[0.656038617120958,-1.4476710073621324],[0.6768617344819254,-1.4369795406903356]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.05847776964844398,-0.6799420799104017,0.71338606911949],"aabb_xy":[[-0.06719173869837847,-0.7024420805695898],[-0.04976380059850949,-0.6574420792512133]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.3205837522852695,1.509036010382173,0.71338606911949],"aabb_xy":[[0.312589763707566,1.5010359302870826],[0.3285777408629728,1.5170360904772633]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[0.5160959168656778,-1.6643780536541957,0.71338606911949],"aabb_xy":[[0.5096821032224929,-1.6707878739018636],[0.5225097305088627,-1.6579682334065269]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.32745450720207914,-1.714453488910988,0.71338606911949],"aabb_xy":[[0.2969702570750489,-1.764453488692484],[0.35793875732910924,-1.6644534891294922]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[0.6557220835219042,-2.145942989722573,0.71338606911949],"aabb_xy":[[0.6182220834163111,-2.152765151575554],[0.693222083627497,-2.1391208278695912]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.30107781507422965,-2.0136855218470107,0.71338606911949],"aabb_xy":[[-0.36507781534820793,-2.0637516220442986],[-0.23707781480025147,-1.9636194216497227]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[0.26566487385256954,1.7137511842348903,0.71338606911949],"aabb_xy":[[0.2615867159455198,1.709670203986627],[0.2697430317596193,1.7178321644831536]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.6713761555259268,-0.27178514228535455,0.71338606911949],"aabb_xy":[[0.6589087974161912,-0.28425046691867806],[0.6838435136356625,-0.25931981765203105]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7086162035908411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6282.png","name":"6282"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6282.png","name":"6282"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1251.png","name":"1251"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3763.png","name":"3763"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7786.png","name":"7786"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":738.4242429306497,"rotation_z_degrees":83.57814266926142,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016393948503738952,-0.008320692422473913,-0.0036891870217013734]},{"name":"camera_2","offset_m":[0.005776366265433451,0.011382193360129137,-0.01974072319547569]},{"name":"camera_3","offset_m":[0.012921687375486237,0.010774445476720271,-0.010878027201300369]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007694230217992781,-0.001233947660395467,-0.0006265560008434407],"end_effector_yaw_offset_degrees":0.8558898398970314},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005553212603079845,0.0007233467407550724,-0.0019065609163564138],"end_effector_yaw_offset_degrees":0.43097813298381604},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008531637214172268,-0.00043859525872818055,-0.0016623029279231832],"end_effector_yaw_offset_degrees":0.13327942679051819}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046071097835381275,0.0019220531582546429],"position_m":[0.2684071097835381,0.3476220531582547,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045370326173957394,-0.0030468445817865564],"position_m":[0.3469370326173957,0.09825315541821344,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029365752361443483,-0.0034782704834956856],"position_m":[0.3326365752361443,-0.046778270483495685,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002091850318870363,-0.0040079556689279],"position_m":[0.2671081496811296,-0.3922079556689279,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3d4dec818681f2fdb5fa939135b17dcfe972f89d9dd470a5d49bb00673f95490","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6282/tex_ceiling_textures_7786/tex_floor_textures_7157/tex_table_textures_1251/tex_wall_textures_3763","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":363086212803420503,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":363086212803420503,"visual_seed":363086212803420503,"scene_id":"lab_003","finished_at":"2026-09-02T06:13:23"}
+{"episode_id":"ep_000073","started_at":"2026-09-02T06:13:26","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.3006133189948924,-2.29043495581858,0.71338606911949],"aabb_xy":[[0.22061332198064443,-2.3105695074919916],[0.3806133160091404,-2.2703004041451686]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.5732168903946684,-2.0695091237234444,0.71338606911949],"aabb_xy":[[-0.6282168885964131,-2.1100310903498816],[-0.5182168921929234,-2.0289871570970064]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.17749460977127485,0.19391367185830388,0.71338606911949],"aabb_xy":[[-0.23248686040678582,0.13891367011499114],[-0.1225023591357639,0.2489136736016167]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.4203633418381829,-2.014933027283994,0.71338606911949],"aabb_xy":[[0.4095117355893073,-2.0257923180116446],[0.4312149480870585,-2.004073736556343]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.5680206334617994,-0.4890992106692815,0.71338606911949],"aabb_xy":[[-0.5787936073831672,-0.5240992088883205],[-0.5572476595404317,-0.4540992124502426]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.12407986544896532,-1.369481596483765,0.71338606911949],"aabb_xy":[[0.12063918920890816,-1.3733430294581297],[0.1275205416890225,-1.3656201635094007]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.12405119678362042,-0.6358663083978551,0.71338606911949],"aabb_xy":[[-0.15905119505374032,-0.6429404360928431],[-0.0890511985135005,-0.6287921807028668]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.36144874460797727,1.4521036673727576,0.71338606911949],"aabb_xy":[[0.2974487413893394,1.4053805554737495],[0.4254487478266151,1.4988267792717662]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[0.38597037585388505,-0.6489886349149578,0.71338606911949],"aabb_xy":[[0.3219703751504157,-0.6950070173878788],[0.44997037655735445,-0.6029702524420368]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.6570816715759866,-1.8195324032644673,0.71338606911949],"aabb_xy":[[0.6529458152432865,-1.8570324027088243],[0.6612175279086869,-1.7820324038201103]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.15738818680868727,-0.1976874260149879,0.71338606911949],"aabb_xy":[[-0.16895716755562384,-0.2226874261319196],[-0.1458192060617507,-0.1726874258980562]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.4591048897491985,-1.5545042651686665,0.71338606911949],"aabb_xy":[[0.43125985296859143,-1.5852887639069781],[0.4869499265298057,-1.5237197664303548]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.691815936239315,1.3223317203017833,0.71338606911949],"aabb_xy":[[0.6668159370736818,1.3153794745964267],[0.716815935404948,1.3292839660071398]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.19777600755169528,-0.9643577430299402,0.71338606911949],"aabb_xy":[[-0.24777600699189087,-1.0143256675142562],[-0.14777600811149963,-0.9143898185456236]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.3941573264629595,1.225770323059241,0.71338606911949],"aabb_xy":[[-0.45815732285853256,1.1618070346405074],[-0.3301573300673864,1.2897336114779745]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.27073199512274715,0.5390559466583236,0.71338606911949],"aabb_xy":[[-0.35072581870130537,0.4590559440654821],[-0.19073817154418893,0.6190559492511652]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.40776233976253984,-1.7713054734190292,0.71338606911949],"aabb_xy":[[-0.4450936162877824,-1.8059585282138815],[-0.3704310632372972,-1.736652418624177]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.46109112284451426,0.6786165065926753,0.71338606911949],"aabb_xy":[[0.4510094157659407,0.5986165087005605],[0.4711728299230877,0.7586165044847898]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.18154386020150082,-1.3791320518315695,0.71338606911949],"aabb_xy":[[-0.23153697231069273,-1.4291320525057651],[-0.13155074809230893,-1.3291320511573739]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.4671897473204593,-0.7202629573273416,0.71338606911949],"aabb_xy":[[-0.5009653065111523,-0.7343014525405066],[-0.43341418812976634,-0.7062244621141766]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[-0.6298574376584821,-0.6799680688899428,0.71338606911949],"aabb_xy":[[-0.6644485205125271,-0.7449680691749737],[-0.5952663548044367,-0.6149680686049116]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.2728007335167083,-0.9411538847675895,0.71338606911949],"aabb_xy":[[0.25091098592776745,-1.0311538820568384],[0.29469048110564905,-0.8511538874783404]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.705696804279163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7323.png","name":"7323"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9897.png","name":"9897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5477.png","name":"5477"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":823.9964251710467,"rotation_z_degrees":189.76337031177835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01469225816317864,-0.014688517616271653,-0.019204817095134826]},{"name":"camera_2","offset_m":[0.01650060555974602,-0.007002628802309197,0.018727991289024425]},{"name":"camera_3","offset_m":[-0.009891817814044294,-0.016007865424824422,0.0031081182941576913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015459829999997592,-0.0010417932319952393,0.0002750882091097596],"end_effector_yaw_offset_degrees":-0.0864044060133049},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00021869707113002582,-0.000630765201860883,0.001729281262785071],"end_effector_yaw_offset_degrees":-0.47651265181414204},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-8.085053923815623e-05,-0.0006524420339775784,-0.0019643013704012946],"end_effector_yaw_offset_degrees":0.6346360166675049}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00037236702922247705,0.001750317526824685],"position_m":[0.2641723670292225,0.3474503175268247,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028699717229354335,0.0005629845501162337],"position_m":[0.34526997172293544,0.10186298455011623,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003492826615164121,0.0004629229465486374],"position_m":[0.33319282661516414,-0.04283707705345136,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024201291895636777,0.0007911904672633311],"position_m":[0.2667798708104363,-0.38740880953273665,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"11f88770f880f587a159e0eb53a72521dab939ff3352611dd20a61fde94e37be","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5971/tex_ceiling_textures_1908/tex_floor_textures_5477/tex_table_textures_7323/tex_wall_textures_9897","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5963075625303156000,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5963075625303156000,"visual_seed":5963075625303156000,"scene_id":"lab_003","finished_at":"2026-09-02T06:16:17"}
+{"episode_id":"ep_000074","started_at":"2026-09-02T06:16:20","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.6144798434932577,-0.7492474160860736,0.71338606911949],"aabb_xy":[[0.5494798449361847,-0.7789999494999561],[0.6794798420503304,-0.7194948826721909]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.6503043821644641,1.364002298074162,0.71338606911949],"aabb_xy":[[-0.6738895056283589,1.2990022958287302],[-0.6267192587005692,1.4290023003195937]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[-0.47558114510496163,-0.3142961714121246,0.71338606911949],"aabb_xy":[[-0.5255759780329032,-0.36429617030736816],[-0.4255863121770201,-0.2642961725168811]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.7081689285896524,0.015978118639027095,0.71338606911949],"aabb_xy":[[0.7009076810192449,0.0031911083755176185],[0.7154301761600599,0.028765128902536578]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.48308025687265754,-2.267148921855953,0.71338606911949],"aabb_xy":[[0.3980802584552343,-2.352023217318238],[0.5680802552900808,-2.182274626393668]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.3338737768576431,1.5580193208573125,0.71338606911949],"aabb_xy":[[-0.367352944118684,1.5245402074862058],[-0.30039460959660214,1.5914984342284197]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[-0.45573283041880114,-0.8201752122571104,0.71338606911949],"aabb_xy":[[-0.5197328277211475,-0.8645416392249672],[-0.3917328331164547,-0.7758087852892537]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.0136880669633902,1.1719023791150893,0.71338606911949],"aabb_xy":[[-0.022847945907266798,1.1653711610715523],[-0.0045281880195136,1.1784335971586264]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.3498583572343961,-2.184905700039617,0.71338606911949],"aabb_xy":[[-0.3723583572445444,-2.1990019196792203],[-0.32735835722424783,-2.1708094804000138]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.20759590918720333,1.5589879319910351,0.71338606911949],"aabb_xy":[[-0.244630018615263,1.5246107246573257],[-0.1705617997591436,1.5933651393247446]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.5571677095946483,0.9175414907629111,0.71338606911949],"aabb_xy":[[0.49316770932067,0.8674753905656232],[0.6211677098686265,0.9676075909601991]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.4121018326962124,-0.610259448854021,0.71338606911949],"aabb_xy":[[-0.42403456705804043,-0.6226416016618802],[-0.4001690983343843,-0.5978772960461615]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.36251107614001216,1.3393967462164036,0.71338606911949],"aabb_xy":[[-0.39084078608855244,1.3349360040226865],[-0.334181366191472,1.3438574884101206]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.6110370202603667,0.7516435448691992,0.71338606911949],"aabb_xy":[[-0.6197509893103009,0.7291435442100107],[-0.602323051210432,0.7741435455283872]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.14558288125803465,0.8595497098223626,0.71338606911949],"aabb_xy":[[-0.20957857865313123,0.7955497115216539],[-0.08158718386293806,0.9235497081230712]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.5979768000501409,1.6174856016023225,0.71338606911949],"aabb_xy":[[-0.6779767987070269,1.6029807426780596],[-0.5179768013932549,1.6319904605265854]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.33478872963355233,-0.4641440558021719,0.71338606911949],"aabb_xy":[[0.2997887313228568,-0.4718590707257176],[0.3697887279442477,-0.4564290408786263]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.49952719501405896,1.0306980690768586,0.71338606911949],"aabb_xy":[[-0.5054937339547947,1.0247369244174944],[-0.4935606560733231,1.0366592137362227]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[0.2184109370044338,0.8837169261679407,0.71338606911949],"aabb_xy":[[0.20234900954591611,0.7987169243553488],[0.2344728644629514,0.9687169279805324]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.22495566487108593,1.7044626647474321,0.71338606911949],"aabb_xy":[[-0.26626020793482186,1.640462665179315],[-0.1836511218073499,1.7684626643155492]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[0.37904954770402166,1.3428188625008692,0.71338606911949],"aabb_xy":[[0.36814377161645895,1.26281886610204],[0.3899553237915844,1.4228188588996984]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.03970046557926821,1.6011634686602991,0.71338606911949],"aabb_xy":[[-0.05314699221331154,1.5876936170072076],[-0.026253938945224875,1.6146333203133902]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.43840431336540986,-2.4755161454904338,0.71338606911949],"aabb_xy":[[-0.5034043133997126,-2.522216822170761],[-0.3734043133311071,-2.4288154688101065]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[-0.15710593793747218,-2.2810448895889337,0.71338606911949],"aabb_xy":[[-0.19395648587445982,-2.3185448904119674],[-0.1202553900004846,-2.2435448887659]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[-0.09872353950816992,1.3039314688666805,0.71338606911949],"aabb_xy":[[-0.1324990986988629,1.2898929736535154],[-0.06494798031747695,1.3179699640798452]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.6434363619791668,0.32387614449970226,0.71338606911949],"aabb_xy":[[0.5634363650161277,0.24680050285592875],[0.723436358942206,0.40095178614347565]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7139230903964104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/150.png","name":"150"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/150.png","name":"150"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8168.png","name":"8168"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4286.png","name":"4286"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6319.png","name":"6319"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3930.png","name":"3930"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":647.0186497628591,"rotation_z_degrees":174.30353216736782,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0003888668641077696,0.005061211315412043,0.014441525849933658]},{"name":"camera_2","offset_m":[0.01716518176179756,-0.010051086217845012,-0.0014278099618149562]},{"name":"camera_3","offset_m":[0.013189409573579749,-0.008522054372169872,-0.01686685368226868]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017854319208527474,0.0017960419415165509,-0.0017238293000966705],"end_effector_yaw_offset_degrees":-0.5021351803524354},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001971561290910554,0.0008248731435624187,0.0015663585397083647],"end_effector_yaw_offset_degrees":0.530705108275562},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[6.383262725713533e-05,0.0004940623427700944,0.0015169727747827316],"end_effector_yaw_offset_degrees":-0.35564411681095365}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00480525008418702,-0.0006687476449205873],"position_m":[0.268605250084187,0.3450312523550794,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004232432222705678,-0.001062379090508281],"position_m":[0.3381675677772943,0.10023762090949172,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004652911656176558,0.0036408447455707526],"position_m":[0.32504708834382345,-0.03965915525442924,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00429034355463376,-0.003976505563153046],"position_m":[0.27349034355463375,-0.39217650556315303,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9fa02137281af9bc7bd32251d0c96a47c2c4fd83ca9472bc4448849283d11ba3","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_150/tex_ceiling_textures_3930/tex_floor_textures_6319/tex_table_textures_8168/tex_wall_textures_4286","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3524020303031276522,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3524020303031276522,"visual_seed":3524020303031276522,"scene_id":"lab_003","finished_at":"2026-09-02T06:19:11"}
+{"episode_id":"ep_000075","started_at":"2026-09-02T06:19:14","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.13122257702239104,1.0490136472849239,0.71338606911949],"aabb_xy":[[0.12396132945198363,1.0362266370214144],[0.13848382459279845,1.0618006575484333]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.3675755749809044,-0.6904001137012319,0.71338606911949],"aabb_xy":[[-0.39805982510793453,-0.7404001134827277],[-0.3370913248538742,-0.6404001139197358]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.6273892285004999,-2.076707379947405,0.71338606911949],"aabb_xy":[[-0.6406201740351811,-2.0899347989694044],[-0.6141582829658185,-2.0634799609254055]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[-0.23497611698649778,1.0344136954402559,0.71338606911949],"aabb_xy":[[-0.26875167617719076,1.0203752002270907],[-0.20120055779580479,1.0484521906534205]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.18109409122440245,-2.330481050441397,0.71338606911949],"aabb_xy":[[0.091407014916287,-2.4204810506958476],[0.2707811675325179,-2.2404810501869465]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.5215182238834652,0.5702980099124764,0.71338606911949],"aabb_xy":[[0.4970045997864595,0.5460334166104399],[0.5460318479804712,0.5945626032145128]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.5434494183141668,-2.4279987902520475,0.71338606911949],"aabb_xy":[[-0.5543010245630423,-2.4388580809796983],[-0.5325978120652911,-2.4171394995243967]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.3988802626689982,0.8390090518061624,0.71338606911949],"aabb_xy":[[-0.43638026109239847,0.8258448378383316],[-0.36138026424559777,0.8521732657739929]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.010615755111956782,-1.5887253120504563,0.71338606911949],"aabb_xy":[[0.005980639959723393,-1.5925926471276048],[0.015250870264190168,-1.5848579769733073]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.11282901918086385,-1.3493479461479878,0.71338606911949],"aabb_xy":[[-0.19282901614390302,-1.4264235877917613],[-0.032829022217824674,-1.2722723045042144]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.005738559988967551,1.0406165447652382,0.71338606911949],"aabb_xy":[[0.0008949652277375772,1.0357648922862541],[0.010582154750197525,1.0454681972442224]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.01987393201401022,-2.415850140090722,0.71338606911949],"aabb_xy":[[-0.028001620207323445,-2.4247637485014297],[-0.011746243820697003,-2.406936531680014]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.29399840325312887,-1.616653745756012,0.71338606911949],"aabb_xy":[[-0.30199239183083226,-1.624653825851102],[-0.2860044146754255,-1.6086536656609214]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.28281900189291154,0.6930869911640589,0.71338606911949],"aabb_xy":[[0.24157019086299678,0.6380869916518415],[0.3240678129228262,0.7480869906762764]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.2883523871512852,1.1927375670196212,0.71338606911949],"aabb_xy":[[0.21835238375972318,1.15742179331619],[0.3583523905428471,1.2280533407230518]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.006324183237090275,-2.5250751304039034,0.71338606911949],"aabb_xy":[[-0.06367581939949607,-2.545179995399769],[0.07632418587367662,-2.504970265408038]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.6350602038273527,-0.6500969169689645,0.71338606911949],"aabb_xy":[[0.5750602029665398,-0.7015233469754507],[0.6950602046881654,-0.5986704869624779]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.37655782322101033,-2.236972488526245,0.71338606911949],"aabb_xy":[[-0.4265578227973451,-2.2869530674783514],[-0.32655782364467567,-2.1869919095741395]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.2988625927262698,1.7213954474582933,0.71338606911949],"aabb_xy":[[0.23486259544062116,1.6798887285054491],[0.36286259001191845,1.762902166411137]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.02969612032672886,1.3717404969091653,0.71338606911949],"aabb_xy":[[-0.09369611675405076,1.3245708730870691],[0.034303876100593045,1.418910120731262]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[-0.2412909757081504,-1.7416889380323664,0.71338606911949],"aabb_xy":[[-0.25391776299534674,-1.751235011733939],[-0.228664188420954,-1.7321428643307932]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.5940051652635367,0.28480446846808327,0.71338606911949],"aabb_xy":[[0.5615434643816091,0.2546716363531805],[0.626466866145464,0.3149373005829858]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.5359982692578293,1.5072719365804184,0.71338606911949],"aabb_xy":[[-0.5663963803569728,1.4768650345787486],[-0.5056001581586856,1.5376788385820876]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.3168323566494058,-1.9798147138334665,0.71338606911949],"aabb_xy":[[0.3007704291908881,-2.0648147156460577],[0.3328942841079234,-1.8948147120208745]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[-0.40542623703133246,-0.24142056989207106,0.71338606911949],"aabb_xy":[[-0.45542623798186527,-0.27296971689559246],[-0.35542623608079965,-0.20987142288854962]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.3801746599160442,-1.4303134794336403,0.71338606911949],"aabb_xy":[[-0.39527696137706225,-1.4454150010647018],[-0.36507235845502606,-1.415211957802578]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[0.2554666016271586,-2.5086263031063423,0.71338606911949],"aabb_xy":[[0.2304666024615255,-2.515578548811699],[0.28046660079279173,-2.5016740574009857]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.5949122613459994,0.42254572170545135,0.71338606911949],"aabb_xy":[[0.5499122598797705,0.37754586484397085],[0.6399122628122282,0.4675455785669322]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.11868343765857237,0.6226997064101312,0.71338606911949],"aabb_xy":[[-0.12748549296754505,0.614888380255202],[-0.10988138234959964,0.6305110325650601]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[0.5576504409861283,-2.3983307078255938,0.71338606911949],"aabb_xy":[[0.512371826104979,-2.4623307071737774],[0.6029290558672775,-2.33433070847741]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[-0.01876581595575655,1.5612017173517807,0.71338606911949],"aabb_xy":[[-0.07876581646360946,1.5043549836658592],[0.04123418455209636,1.6180484510377018]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_31","position":[0.6505752786510695,1.4507798777238086,0.71338606911949],"aabb_xy":[[0.5805752822411074,1.4303419420721264],[0.720575275061031,1.4712178133754898]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[0.3580985891067143,-0.6980907358360033,0.71338606911949],"aabb_xy":[[0.32246943320675453,-0.7337234025928563],[0.393727745006674,-0.6624580690791504]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_33","position":[-0.4084734777706426,-1.005047716089628,0.71338606911949],"aabb_xy":[[-0.4138110534366472,-1.0300477170187678],[-0.40313590210463807,-0.9800477151604883]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_34","position":[-0.4546117012882789,-1.9284825568654926,0.71338606911949],"aabb_xy":[[-0.48575862013186194,-1.9984825555522998],[-0.4234647824446957,-1.8584825581786855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7071971993540431,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2589.png","name":"2589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2589.png","name":"2589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8246.png","name":"8246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3196.png","name":"3196"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3295.png","name":"3295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8759.png","name":"8759"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":594.9490195890638,"rotation_z_degrees":166.89696529956996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010004460721928649,-0.016942104222681977,0.019256527714614457]},{"name":"camera_2","offset_m":[0.0174676611163893,0.00699638015226681,0.01197321627184061]},{"name":"camera_3","offset_m":[0.0027312686456439222,-0.01968945553003149,0.01900452769482659]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018713975317402017,-0.0006923831147660796,0.0009087022702227009],"end_effector_yaw_offset_degrees":-0.7081222884024427},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018551209714781558,-0.0019975895810947896,-0.0016642926374801452],"end_effector_yaw_offset_degrees":0.9833755203369614},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0002620229965094637,-0.0001578763806039643,0.001277470664499011],"end_effector_yaw_offset_degrees":-0.6763044147471204}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001830607508739405,0.0038158715856008484],"position_m":[0.26196939249126056,0.3495158715856009,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009191489240007655,-0.002764229158000643],"position_m":[0.34148085107599924,0.09853577084199935,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0017305230720914455,0.0009011620649924598],"position_m":[0.32796947692790857,-0.04239883793500754,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004126991185935006,-0.0045035198953776055],"position_m":[0.265073008814065,-0.3927035198953776,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69c6d79bff94b04a72e474ff351fdc109ece708329072175dfc19467febc7dde","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2589/tex_ceiling_textures_8759/tex_floor_textures_3295/tex_table_textures_8246/tex_wall_textures_3196","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5180689810677208947,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5180689810677208947,"visual_seed":5180689810677208947,"scene_id":"lab_003","finished_at":"2026-09-02T06:22:07"}
+{"episode_id":"ep_000076","started_at":"2026-09-02T06:22:12","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.4968853727192275,-1.0363782017738743,0.71338606911949],"aabb_xy":[[0.44688537105773274,-1.0863766440295768],[0.5468853743807223,-0.9863797595181715]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.403820955160668,1.620748139343617,0.71338606911949],"aabb_xy":[[-0.4678209554211388,1.5757393399906887],[-0.33982095490019715,1.6657569386965447]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.579191164261629,-0.3833280329387798,0.71338606911949],"aabb_xy":[[0.5686236846035299,-0.39387306305178843],[0.5897586439197279,-0.3727830028257713]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.5024287548289832,0.9698119593969783,0.71338606911949],"aabb_xy":[[-0.592428751329855,0.9239003169785198],[-0.4124287583281115,1.015723601815436]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.11253133349025468,0.9227785904520456,0.71338606911949],"aabb_xy":[[-0.13611645695414953,0.8577785882066138],[-0.08894621002635983,0.9877785926974774]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.42181930980906246,-2.3882420231220194,0.71338606911949],"aabb_xy":[[-0.47179672667431594,-2.4382420246112675],[-0.37184189294380876,-2.3382420216327704]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.2032968358220058,-0.8591506134772258,0.71338606911949],"aabb_xy":[[-0.21576419393174143,-0.8716159381105494],[-0.19082947771227013,-0.8466852888439024]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[-0.06083067825914723,-0.23223566129645823,0.71338606911949],"aabb_xy":[[-0.09833067668254758,-0.24539987526428883],[-0.023330679835746874,-0.21907144732862757]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.56553831468549,0.3164015182037838,0.71338606911949],"aabb_xy":[[-0.5880383151975305,0.2939096598383854],[-0.5430383141734493,0.3388933765691821]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[-0.4245331130129312,-0.40215556250420903,0.71338606911949],"aabb_xy":[[-0.4885331101250369,-0.45118793229861964],[-0.36053311590082554,-0.3531231927097984]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.15304834224113006,-1.715238916914826,0.71338606911949],"aabb_xy":[[0.14505485244584804,-1.7232370488553017],[0.1610418320364121,-1.7072407849743505]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.19661522262478204,-1.1339541700078757,0.71338606911949],"aabb_xy":[[0.17444269564813117,-1.156129837163999],[0.21878774960143282,-1.1117785028517524]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.5656014269543554,0.5886120234662835,0.71338606911949],"aabb_xy":[[0.4756014302187451,0.5354285601489889],[0.6556014236899655,0.6417954867835779]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.6452410201815559,-1.3681641013120245,0.71338606911949],"aabb_xy":[[0.5802410201472531,-1.4148647779923516],[0.7102410202158586,-1.321463424631697]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.4394840092281429,-1.4047018200779555,0.71338606911949],"aabb_xy":[[0.42198400896880633,-1.4187933622667284],[0.4569840094874796,-1.3906102778891831]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.3218441686036161,1.065436225999175,0.71338606911949],"aabb_xy":[[-0.3568441684996349,1.0570619904872347],[-0.28684416870759716,1.0738104615111148]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.6379604493723712,0.00407904128024672,0.71338606911949],"aabb_xy":[[0.5739604502026011,-0.04268764583871575],[0.701960448542141,0.05084572839920919]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[0.3467439224411437,-2.3546367581383767,0.71338606911949],"aabb_xy":[[0.3242475010072796,-2.377136757945124],[0.3692403438750078,-2.3321367583316293]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.4445503350467024,0.2965726241493569,0.71338606911949],"aabb_xy":[[0.42668122729224695,0.282739716172146],[0.46241944280115793,0.31040553212656785]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.47703773626331003,-2.527826784389531,0.71338606911949],"aabb_xy":[[-0.5104779114593296,-2.56127041022046],[-0.4435975610672904,-2.4943831585586005]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[0.6299040644853964,-1.4964523781455545,0.71338606911949],"aabb_xy":[[0.6129933320490546,-1.509924583738169],[0.6468147969217382,-1.4829801725529397]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.711973220976271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6011.png","name":"6011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6011.png","name":"6011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9359.png","name":"9359"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4293.png","name":"4293"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4614.png","name":"4614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5679.png","name":"5679"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":533.1457803646346,"rotation_z_degrees":34.05385559804388,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037737865997703075,0.008705265453669116,0.01818878210194815]},{"name":"camera_2","offset_m":[-0.014457266726929242,-0.0150694123817845,-0.0032020072808589747]},{"name":"camera_3","offset_m":[-0.009444448782453341,-0.0011409023425435587,0.0017079160152644775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014946346977640968,-0.00039426682995317855,-0.0005240882995207227],"end_effector_yaw_offset_degrees":0.963993187790938},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006214478431072474,-0.0011620510896094434,-0.0008673165411441782],"end_effector_yaw_offset_degrees":-0.24651479976367185},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012299063842493366,-0.00021101393010714464,0.0005992933147474858],"end_effector_yaw_offset_degrees":-0.46782887782773486}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035409520417482706,0.0010532549437194784],"position_m":[0.26734095204174824,0.3467532549437195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014906471477289214,0.0037168708496414958],"position_m":[0.3438906471477289,0.1050168708496415,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023419651722056114,-0.0037558542509926176],"position_m":[0.3320419651722056,-0.04705585425099262,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002134275829518385,-0.0037054486009800813],"position_m":[0.27133427582951836,-0.3919054486009801,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ddcee5cbdad3eff3fb666c69a5d0f8693becfe70b54c4c214b8b316a67339bd7","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6011/tex_ceiling_textures_5679/tex_floor_textures_4614/tex_table_textures_9359/tex_wall_textures_4293","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":863162123892186351,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":863162123892186351,"visual_seed":863162123892186351,"scene_id":"lab_003","finished_at":"2026-09-02T06:25:04"}
+{"episode_id":"ep_000077","started_at":"2026-09-02T06:25:09","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.5334749616095757,-1.892985061695604,0.71338606911949],"aabb_xy":[[0.5281424469549627,-1.8983093899408396],[0.5388074762641888,-1.8876607334503686]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.13670573732607816,-2.120156032907988,0.71338606911949],"aabb_xy":[[-0.2167057405839211,-2.200152540699972],[-0.0567057340682352,-2.040159525116004]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.5921309386117539,0.04185020662161687,0.71338606911949],"aabb_xy":[[0.542130936950259,-0.008148235634085841],[0.6421309402732486,0.09184864887731957]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.25615982894991907,0.17529948381292781,0.71338606911949],"aabb_xy":[[-0.2929544620748253,0.13839360871634554],[-0.21936519582501274,0.2122053589095101]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.6286894202670565,1.7099343332486323,0.71338606911949],"aabb_xy":[[-0.646558528021512,1.6961014252714213],[-0.610820312512601,1.7237672412258433]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[-0.3483335490744717,-1.5989935111133944,0.71338606911949],"aabb_xy":[[-0.4283335523384849,-1.6125535434223075],[-0.26833354581045865,-1.5854334788044808]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.2997101124191537,0.6132151500244083,0.71338606911949],"aabb_xy":[[0.2197101152595784,0.6016675490665913],[0.37971010957872897,0.6247627509822253]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.15661777449161818,0.3377438139949116,0.71338606911949],"aabb_xy":[[-0.16603524906148093,0.3283276368571926],[-0.14720029992175543,0.34715999113263063]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[0.5164649594124928,-2.1937332852221667,0.71338606911949],"aabb_xy":[[0.505219903841875,-2.204975082946262],[0.5277100149831107,-2.1824914874980714]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.30153840453345543,-0.4192741803327533,0.71338606911949],"aabb_xy":[[-0.33531396372414835,-0.43331267554591835],[-0.2677628453427624,-0.4052356851195883]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.49518601609970253,0.5250728139376659,0.71338606911949],"aabb_xy":[[-0.5429921837134712,0.46007281123060695],[-0.4473798484859339,0.5900728166447249]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.17314635028348946,1.5730037542667614,0.71338606911949],"aabb_xy":[[-0.1905770653624959,1.5557316396029106],[-0.1557156352044829,1.5902758689306122]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.5707457873595894,1.5462271072465277,0.71338606911949],"aabb_xy":[[0.5457457881939562,1.539274861541171],[0.5957457865252225,1.5531793529518843]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.39887663632349946,1.3189403176651617,0.71338606911949],"aabb_xy":[[0.37637663607998406,1.3067356830053898],[0.42137663656701485,1.3311449523249337]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.6907272512332328,-1.0523198874479802,0.71338606911949],"aabb_xy":[[0.6731805563171138,-1.0898198890122317],[0.7082739461493517,-1.0148198858837292]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.3090153228510465,1.391657126974763,0.71338606911949],"aabb_xy":[[-0.37301532476338883,1.3357459777167526],[-0.24501532093870415,1.4475682762327735]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.2900159359980387,-0.8602100615128396,0.71338606911949],"aabb_xy":[[-0.32041404709718224,-0.8906169635145091],[-0.25961782489889507,-0.8298031595111701]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.5704557472662618,0.11059621079034931,0.71338606911949],"aabb_xy":[[-0.63445574656043,0.046610070421495106],[-0.5064557479720936,0.1745823511592035]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.05520126551198212,0.9665945567335688,0.71338606911949],"aabb_xy":[[-0.024798733144903884,0.952089697809306],[0.13520126416886813,0.9810994156578315]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[0.31482123111506355,1.0418890446747788,0.71338606911949],"aabb_xy":[[0.29493019123472336,1.029233233390082],[0.33471227099540385,1.0545448559594757]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.16513853416996738,1.2650626713654676,0.71338606911949],"aabb_xy":[[0.14263853464625997,1.2425667239148466],[0.18763853369367478,1.2875586188160881]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.15598528582714166,1.7600231598346459,0.71338606911949],"aabb_xy":[[0.11913473789015405,1.722523159011612],[0.19283583376412927,1.7975231606576794]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.3749017663486136,-1.7403687285089484,0.71338606911949],"aabb_xy":[[0.3597295970669803,-1.755537585437152],[0.390073935630247,-1.7251998715807453]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.6471424549895708,-1.2521934296348352,0.71338606911949],"aabb_xy":[[0.643026504877498,-1.2563089846676805],[0.6512584051016433,-1.2480778746019894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7046384264997972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/870.png","name":"870"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/870.png","name":"870"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2750.png","name":"2750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6004.png","name":"6004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3748.png","name":"3748"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":563.3817628786685,"rotation_z_degrees":351.3383105834473,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026674883768019048,-0.00589674483618436,-0.014929271373788279]},{"name":"camera_2","offset_m":[-0.015104334730103135,-0.013445072519796798,-0.017685188132312107]},{"name":"camera_3","offset_m":[-0.017907009704941676,0.004886861823828425,0.007597205103452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005011358401371901,-0.0010745795925589602,-0.0018400674580904797],"end_effector_yaw_offset_degrees":0.7851806592405091},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012190120253307703,-0.00012157701477973678,-6.094040051255866e-05],"end_effector_yaw_offset_degrees":-0.41108252591550576},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018435730473080271,8.335256057183079e-05,0.0010818601354120484],"end_effector_yaw_offset_degrees":-0.10841454292632768}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021090296890036997,0.0028030984922296056],"position_m":[0.2616909703109963,0.3485030984922296,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043745075010858305,0.0034716271498748544],"position_m":[0.33802549249891417,0.10477162714987485,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011498446575375744,-0.004330638641179559],"position_m":[0.3308498446575376,-0.04763063864117956,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019575330182028416,0.003431204440093617],"position_m":[0.26724246698179716,-0.3847687955599064,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"33bbf09e8bfe5e87943a35ac9de5cee61053e5fa9ad341f6e5140002840b4581","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_870/tex_ceiling_textures_3748/tex_floor_textures_6085/tex_table_textures_2750/tex_wall_textures_6004","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6149456250017995484,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6149456250017995484,"visual_seed":6149456250017995484,"scene_id":"lab_003","finished_at":"2026-09-02T06:28:17"}
+{"episode_id":"ep_000078","started_at":"2026-09-02T06:28:19","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.25486072042977614,-1.1441333041416357,0.71338606911949],"aabb_xy":[[-0.2628542102250582,-1.1521314360821113],[-0.24686723063449417,-1.1361351722011601]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.19716656131776344,1.2808949970045629,0.71338606911949],"aabb_xy":[[0.13216656031726293,1.230108631849888],[0.26216656231826396,1.3316813621592378]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.46840244672488895,0.652069738668962,0.71338606911949],"aabb_xy":[[-0.5584024432257606,0.6061580962505037],[-0.37840245022401714,0.6979813810874201]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.02530453513661146,1.2591568450631967,0.71338606911949],"aabb_xy":[[-0.03869546815309665,1.2158219260592789],[0.08930453842631957,1.302491764067114]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[0.44072981676674305,-1.0358341686098618,0.71338606911949],"aabb_xy":[[0.36072981817942357,-1.1151497705480227],[0.5207298153540624,-0.956518566671701]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.5885941427810109,-0.4736922614034613,0.71338606911949],"aabb_xy":[[0.553594142804515,-0.48315687745107794],[0.6235941427575067,-0.4642276453558447]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.43057033090290775,0.2503582770195574,0.71338606911949],"aabb_xy":[[-0.4557911677627473,0.2251345261666706],[-0.40534949404306797,0.27558202787244407]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.2633663850226044,0.8129920107972861,0.71338606911949],"aabb_xy":[[-0.28527506716195544,0.7910913439771953],[-0.24145770288325336,0.8348926776173767]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.572555500324643,0.6034819082878986,0.71338606911949],"aabb_xy":[[0.5175632496891321,0.5484819065445858],[0.627547750960154,0.6584819100312114]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.35742606190029835,-2.5069731296615236,0.71338606911949],"aabb_xy":[[-0.3654200504780017,-2.5149732097566138],[-0.3494320733225949,-2.4989730495664326]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.07209768263277871,-0.5099780307100974,0.71338606911949],"aabb_xy":[[-0.12709768180936817,-0.5649677054850549],[-0.0170976834561892,-0.45498835593513964]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.45868461045695175,-1.401657551083597,0.71338606911949],"aabb_xy":[[-0.4890827215560953,-1.4320644530852662],[-0.4282864993578081,-1.3712506490819272]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.3396602206446142,-1.4533813606768142,0.71338606911949],"aabb_xy":[[0.3146602214789811,-1.460333606382171],[0.3646602198102473,-1.4464291149714579]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.423944261062427,1.2038787823690678,0.71338606911949],"aabb_xy":[[-0.43186754130117533,1.1813787821310644],[-0.41602098082367867,1.2263787826070711]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[-0.06376797857326044,-1.8182348939902795,0.71338606911949],"aabb_xy":[[-0.1137679798571004,-1.868213748380901],[-0.013767977289420473,-1.7682560395996567]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.11082849259488947,-1.3401066815349216,0.71338606911949],"aabb_xy":[[-0.20082849118935941,-1.3563572678483427],[-0.020828494000419542,-1.3238560952215006]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.41584381672745285,0.46119367043593007,0.71338606911949],"aabb_xy":[[-0.49584381719766885,0.45288296282158175],[-0.3358438162572369,0.4695043780502785]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.6282847647309466,1.0982148658248128,0.71338606911949],"aabb_xy":[[0.5907847644387718,1.0941733904242092],[0.6657847650231214,1.1022563412254163]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[0.6617020624329031,1.689817379875317,0.71338606911949],"aabb_xy":[[0.6503403277796168,1.6784489134690288],[0.6730637970861891,1.701185846281605]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.3028218224331227,-2.481308209090084,0.71338606911949],"aabb_xy":[[0.2806492954564719,-2.5034838762462073],[0.32499434940977356,-2.459132541933961]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.5784582728817429,-1.4913462141795784,0.71338606911949],"aabb_xy":[[0.49473604738166044,-1.5813462177142745],[0.6621804983818254,-1.4013462106448826]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[0.5167220476928793,0.27634449147954276,0.71338606911949],"aabb_xy":[[0.4810928917929196,0.24071182472268982],[0.5523512035928391,0.3119771582363957]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[-0.6149104633957955,-1.911674607279502,0.71338606911949],"aabb_xy":[[-0.6256834373171632,-1.9466746054985407],[-0.6041374894744277,-1.8766746090604627]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.31269419343014776,-1.5930066232357238,0.71338606911949],"aabb_xy":[[-0.40238126973826327,-1.6830066234901744],[-0.22300711712203236,-1.5030066229812733]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[-0.562432034746606,1.512474136445737,0.71338606911949],"aabb_xy":[[-0.6124270457060581,1.4624741374101453],[-0.5124370237871541,1.562474135481329]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.3390399568503768,0.5192835140261645,0.71338606911949],"aabb_xy":[[0.31612424396532696,0.49637921688974107],[0.36195566973542675,0.5421878111625881]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[0.27692506697552455,0.8729493367431456,0.71338606911949],"aabb_xy":[[0.2698847570419876,0.7929493373434744],[0.2839653769090616,0.9529493361428172]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[0.6288439377250252,1.4840910255900757,0.71338606911949],"aabb_xy":[[0.591343937227667,1.4801223420419571],[0.6663439382223835,1.4880597091381942]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_28","position":[0.026671296834719804,-2.355318628632835,0.71338606911949],"aabb_xy":[[-0.023328702605475815,-2.4052865531171514],[0.07667129627491542,-2.305350704148519]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.0413909229316235,-0.67928733530692,0.71338606911949],"aabb_xy":[[0.026747517377590513,-0.6939460549637041],[0.05603432848565648,-0.6646286156501356]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[0.3505609924921753,1.7451316709527211,0.71338606911949],"aabb_xy":[[0.29543578686258454,1.6851316695114338],[0.4056861981217661,1.805131672394008]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[-0.07515995335426506,0.7345234816171762,0.71338606911949],"aabb_xy":[[-0.08005924566082855,0.7068465623146074],[-0.07026066104770155,0.762200400919745]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[0.058638847163568375,1.727513403222345,0.71338606911949],"aabb_xy":[[0.047787240914692775,1.7166541124946937],[0.06949045341244398,1.7383726939499957]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_33","position":[0.6458207313818805,-1.2187334685959528,0.71338606911949],"aabb_xy":[[0.5858207297389586,-1.270733617887897],[0.7058207330248023,-1.1667333193040086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.711394482646929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9597.png","name":"9597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9597.png","name":"9597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2101.png","name":"2101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2853.png","name":"2853"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3272.png","name":"3272"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":805.7601807493352,"rotation_z_degrees":46.23471583364597,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029185240178163166,-0.017067844991055955,-0.019645568401513772]},{"name":"camera_2","offset_m":[0.0018624352114797564,-0.0024725672822637386,0.009358047896825122]},{"name":"camera_3","offset_m":[-0.004493888178617062,-0.018669318298791957,-0.004855568533778323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002298307459056481,0.0009058534294222077,0.001594675301319043],"end_effector_yaw_offset_degrees":-0.47223122113182137},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004980580483941012,0.0001723640724805354,-0.00023538879952250723],"end_effector_yaw_offset_degrees":0.18359882677736206},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016868933174509094,-0.0001648708778979179,0.0009330833802189856],"end_effector_yaw_offset_degrees":0.12138538287074851}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004038715667254609,0.0042955520168960456],"position_m":[0.25976128433274537,0.349995552016896,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004219716817161443,-0.0001890553855645712],"position_m":[0.33818028318283855,0.10111094461443543,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0029084700019022204,-0.002632892816816861],"position_m":[0.3326084700019022,-0.04593289281681686,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008291191256876492,-0.004630717105077949],"position_m":[0.27002911912568767,-0.39283071710507794,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b451b85275f5fa47c53eb037449512e3108a8219af489e2eed070fc530f626d6","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9597/tex_ceiling_textures_3272/tex_floor_textures_2853/tex_table_textures_2101/tex_wall_textures_1908","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2858906152730310930,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2858906152730310930,"visual_seed":2858906152730310930,"scene_id":"lab_003","finished_at":"2026-09-02T06:31:05"}
+{"episode_id":"ep_000079","started_at":"2026-09-02T06:31:11","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.48903205650419657,-0.29458224685070267,0.71338606911949],"aabb_xy":[[0.45048636367899547,-0.33312801790689134],[0.5275777493293976,-0.256036475794514]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.3803557221845264,1.1880614333627935,0.71338606911949],"aabb_xy":[[0.34535572083304467,1.1677016974059726],[0.41535572353600814,1.2084211693196143]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.6229691437924789,0.6405297393979037,0.71338606911949],"aabb_xy":[[0.6052935132038804,0.6228495231185008],[0.640644774381077,0.6582099556773063]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[0.5636545477221127,-2.533556647215073,0.71338606911949],"aabb_xy":[[0.5414820207454618,-2.555732314371196],[0.5858270746987635,-2.51138098005895]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.6293927369631969,-0.8333850253651414,0.71338606911949],"aabb_xy":[[-0.6943927396009903,-0.8848646240645883],[-0.5643927343254034,-0.7819054266656944]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.49346013914727727,0.11842953938791068,0.71338606911949],"aabb_xy":[[-0.5014541277249807,0.11042945929282032],[-0.4854661505695738,0.12642961948300102]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.12005175945074487,-0.2934503618713862,0.71338606911949],"aabb_xy":[[-0.16504434616919525,-0.3384503611458349],[-0.07505917273229443,-0.24845036259693737]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.2440215262035313,-1.4179605126526114,0.71338606911949],"aabb_xy":[[-0.29402152564372686,-1.4679284371369277],[-0.1940215267633356,-1.367992588168295]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.5243011755759586,-1.5018490235134043,0.71338606911949],"aabb_xy":[[0.45930117701888573,-1.531601556927287],[0.5893011741330314,-1.4720964900995217]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.20193359348305162,-2.4467896897234382,0.71338606911949],"aabb_xy":[[0.16747111546996385,-2.453453366906361],[0.2363960714961394,-2.4401260125405155]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.4694793273285046,0.7195666119927924,0.71338606911949],"aabb_xy":[[-0.49447932649413767,0.7126143662874358],[-0.44447932816287145,0.726518857698149]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.3258756989738629,-2.132725430896923,0.71338606911949],"aabb_xy":[[0.23587570037939304,-2.148976017210344],[0.4158756975683329,-2.1164748445835024]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.15114333448731865,-1.6077417037489412,0.71338606911949],"aabb_xy":[[-0.1591368242826007,-1.615739835689417],[-0.14314984469203665,-1.5997435718084658]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.08711750068213786,-1.492019474240908,0.71338606911949],"aabb_xy":[[0.07987373463589252,-1.5720194724445102],[0.09436126672838317,-1.4120194760373055]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.1988756448650142,1.3488948905693552,0.71338606911949],"aabb_xy":[[-0.2628756452425478,1.299149623718543],[-0.13487564448748057,1.3986401574201675]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.3645642907354163,0.16009956755172183,0.71338606911949],"aabb_xy":[[-0.400477795160406,0.12418605933496721],[-0.3286507863104266,0.19601307576847646]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.46530470522355394,-0.8020655802351977,0.71338606911949],"aabb_xy":[[-0.4824067831819221,-0.8191723857664673],[-0.4482026272651858,-0.7849587747039278]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.6373837446807111,1.4140621852385649,0.71338606911949],"aabb_xy":[[0.6334232609109768,1.4063943206530445],[0.6413442284504455,1.4217300498240857]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.23424277897033075,-1.9481725443397315,0.71338606911949],"aabb_xy":[[-0.26883386182437596,-2.013172544624762],[-0.19965169611628553,-1.8831725440547]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.6756883690693933,-2.245965276523019,0.71338606911949],"aabb_xy":[[0.6406883690928975,-2.2554298925706355],[0.7106883690458892,-2.2365006604754027]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.5294155427709637,-0.3674620909800219,0.71338606911949],"aabb_xy":[[-0.593415544448961,-0.41597948245933614],[-0.46541554109296635,-0.3189446995007077]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.6165513612193185,0.3326514057639054,0.71338606911949],"aabb_xy":[[0.5790513600345256,0.3282331830678448],[0.6540513624041112,0.33706962845996585]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.2317539678163998,-1.1409694459333597,0.71338606911949],"aabb_xy":[[0.16775396754242156,-1.1910355461306479],[0.295753968090378,-1.090903345736072]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.3234816533686813,-1.4128657284277963,0.71338606911949],"aabb_xy":[[0.24348782979012307,-1.492865731020638],[0.4034754769472395,-1.3328657258349548]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[0.5774721730541126,-0.4253921637851428,0.71338606911949],"aabb_xy":[[0.5404380636260528,-0.4597693711188522],[0.6145062824821723,-0.39101495645143325]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.18475680553137774,-2.115865657034131,0.71338606911949],"aabb_xy":[[-0.23475680648191055,-2.1474148040376524],[-0.13475680458084494,-2.0843165100306096]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.46214201202361366,1.1958293029329936,0.71338606911949],"aabb_xy":[[-0.47964201226866304,1.1783295150934263],[-0.4446420117785643,1.21332909077256]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[0.0687963928622688,-1.8114563390157443,0.71338606911949],"aabb_xy":[[-0.021203603638602946,-1.8573679814342021],[0.15879638936314056,-1.7655446965972856]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_28","position":[0.5626048932599024,1.329135279781291,0.71338606911949],"aabb_xy":[[0.5577056009533388,1.301458360478722],[0.5675041855664658,1.3568121990838595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7068989174693984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/946.png","name":"946"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/946.png","name":"946"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7026.png","name":"7026"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3675.png","name":"3675"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5027.png","name":"5027"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":636.7779228531942,"rotation_z_degrees":272.9687720081192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005135982477358719,0.018782852173757535,0.016946409807848856]},{"name":"camera_2","offset_m":[0.01329660490694919,0.0024247613236293153,0.012383724636347907]},{"name":"camera_3","offset_m":[-0.013314093230408513,-0.00607606705978676,-0.006025830485396448]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008414186301330142,0.0019123661218465376,-0.0008582848850561221],"end_effector_yaw_offset_degrees":0.2856835931616264},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000669674400306765,0.0009055068265505814,7.45822647893685e-06],"end_effector_yaw_offset_degrees":0.7789049736352391},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010974190322298421,0.0011056215147371502,0.0016478256213989556],"end_effector_yaw_offset_degrees":0.742110279069232}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004814024389983631,-0.0037965771363737523],"position_m":[0.25898597561001635,0.34190342286362624,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00022141598773704665,-0.004183311737323848],"position_m":[0.3421785840122629,0.09711668826267615,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015489840484410478,0.004968675584587437],"position_m":[0.33124898404844105,-0.03833132441541256,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001602564344470655,0.004765468795331257],"position_m":[0.27080256434447064,-0.38343453120466875,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ef581b89dc73b0a2927ced4bce5ba9472d0b9e10a2b833149f23662d3e55f29a","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_946/tex_ceiling_textures_5027/tex_floor_textures_39/tex_table_textures_7026/tex_wall_textures_3675","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7832877852793284061,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7832877852793284061,"visual_seed":7832877852793284061,"scene_id":"lab_003","finished_at":"2026-09-02T06:34:17"}
+{"episode_id":"ep_000080","started_at":"2026-09-02T06:34:20","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[-0.3256060031880418,1.7118346538722071,0.71338606911949],"aabb_xy":[[-0.3631060033599137,1.6791339184893],[-0.28810600301616984,1.7445353892551143]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.591290818780484,-1.282118048209435,0.71338606911949],"aabb_xy":[[-0.6237525196624113,-1.3122508803243373],[-0.5588291178985564,-1.2519852160945322]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.18756107241401232,-1.9955059934062875,0.71338606911949],"aabb_xy":[[0.1788471033640778,-2.0180059940654753],[0.19627504146394678,-1.973005992747099]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.1032996817323295,-0.38859022398331344,0.71338606911949],"aabb_xy":[[-0.1258133735557867,-0.4585902245843209],[-0.08078598990887231,-0.31859022338230586]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.19596263060946556,-0.7565577334220364,0.71338606911949],"aabb_xy":[[-0.25996262919603796,-0.8035646968215451],[-0.13196263202289307,-0.7095507700225276]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[-0.11999034752770399,0.6339163248146735,0.71338606911949],"aabb_xy":[[-0.1287924028366767,0.6261049986597443],[-0.11118829221873128,0.6417276509696025]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.05155395428679699,0.7733114409004678,0.71338606911949],"aabb_xy":[[-0.0890539558024287,0.7620846678843227],[-0.014053952771165279,0.7845382139166128]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.6184563387436752,1.5679669075183411,0.71338606911949],"aabb_xy":[[-0.6784563389950764,1.5136855824818762],[-0.558456338492274,1.6222482325548055]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.11153183887217444,1.5917373487631195,0.71338606911949],"aabb_xy":[[0.10348847894621926,1.5067373476677532],[0.11957519879812961,1.676737349858486]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.6704410066938076,1.1311027393456858,0.71338606911949],"aabb_xy":[[0.6622264615781235,1.1224261490480443],[0.6786555518094914,1.139779329643327]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.36081420771064937,-0.9156858478077299,0.71338606911949],"aabb_xy":[[-0.371719983798212,-0.9956858442065589],[-0.34990843162308655,-0.8356858514089006]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.499134786925836,-0.26723102550131284,0.71338606911949],"aabb_xy":[[-0.5366347877178315,-0.27359886645950293],[-0.4616347861338405,-0.26086318454312274]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.4037750572803483,-0.4627042954743197,0.71338606911949],"aabb_xy":[[-0.4198369847388659,-0.5477042972869114],[-0.3877131298218306,-0.3777042936617278]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.6187678714028819,-1.3160194694384109,0.71338606911949],"aabb_xy":[[0.5537678687650884,-1.367499068137858],[0.6837678740406754,-1.2645398707389641]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[0.47873222948262595,-2.1305682216778665,0.71338606911949],"aabb_xy":[[0.44223640885534715,-2.167052164104624],[0.5152280501099047,-2.094084279251109]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.2964904436407124,1.187438136685127,0.71338606911949],"aabb_xy":[[0.2464954326812604,1.1374381376495353],[0.34648545460016444,1.2374381357207187]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.09717760152912047,1.7120432665696534,0.71338606911949],"aabb_xy":[[-0.15230280715871122,1.652043265128366],[-0.042052395899529686,1.7720432680109404]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.17638934926960992,0.9422616336494127,0.71338606911949],"aabb_xy":[[0.08638934559269172,0.8808292270723082],[0.26638935294652805,1.0036940402265169]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.3396019917943167,-2.331925574651157,0.71338606911949],"aabb_xy":[[0.2896019931483955,-2.3818451183106193],[0.3896019904402379,-2.2820060309916945]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.5538197128790019,-1.8398635012323945,0.71338606911949],"aabb_xy":[[0.5437380058004283,-1.919863499124509],[0.5639014199575753,-1.7598635033402796]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.15739251799395904,-1.331607646809601,0.71338606911949],"aabb_xy":[[-0.22139251967195636,-1.3801250382889152],[-0.09339251631596165,-1.2830902553302868]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.5805075140069893,0.07632026916810197,0.71338606911949],"aabb_xy":[[0.563007514872622,0.06644064213051412],[0.5980075131413564,0.08619989620568977]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.3460254671866647,0.4606449960327277,0.71338606911949],"aabb_xy":[[0.31254629992562377,0.42716588266162075],[0.37950463444770566,0.4941241094038347]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.566264448918393,0.9694142610960275,0.71338606911949],"aabb_xy":[[0.5614208541571631,0.9645626086170435],[0.5711080436796231,0.9742659135750117]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.6868830801609767,-1.7631766123865802,0.71338606911949],"aabb_xy":[[0.6713273107507114,-1.7787270456309878],[0.7024388495712419,-1.7476261791421734]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.22267306860843417,-2.0629616307502836,0.71338606911949],"aabb_xy":[[-0.23777537006945218,-2.0780631523813446],[-0.20757076714741599,-2.047860109119221]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[-0.5484198379292133,1.3729892393656415,0.71338606911949],"aabb_xy":[[-0.6284136615077716,1.2929892367727998],[-0.4684260143506551,1.452989241958483]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[0.4748466883196216,-1.273940132834353,0.71338606911949],"aabb_xy":[[0.45156484612149034,-1.3589401341315808],[0.498128530517753,-1.1889401315371246]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[0.4436070254224973,-0.8168549166009356,0.71338606911949],"aabb_xy":[[0.39360702413865734,-0.8668337709915577],[0.49360702670633727,-0.7668760622103135]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_29","position":[-0.1800500051431947,-0.14385065165552646,0.71338606911949],"aabb_xy":[[-0.19715208310156285,-0.16095745718679622],[-0.16294792718482654,-0.1267438461242567]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.31257215162681407,-2.170951390173255,0.71338606911949],"aabb_xy":[[0.24857215432446766,-2.215317817141112],[0.37657214892916047,-2.1265849632053984]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_31","position":[0.02628212038559541,-1.6293471770351586,0.71338606911949],"aabb_xy":[[0.007397736617085201,-1.6482331018155114],[0.04516650415410561,-1.6104612522548059]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_32","position":[-0.5510719087567556,0.34983399255422176,0.71338606911949],"aabb_xy":[[-0.5687047443502832,0.3322110465385988],[-0.533439073163228,0.36745693856984474]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_33","position":[0.533454955990917,-1.0800756889805307,0.71338606911949],"aabb_xy":[[0.5089413318939112,-1.1043402822825674],[0.5579685800879229,-1.0558110956784945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7055211907157254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8842.png","name":"8842"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8842.png","name":"8842"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1047.png","name":"1047"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5885.png","name":"5885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3403.png","name":"3403"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":773.1019133491077,"rotation_z_degrees":27.2246613103692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017931785433566553,-0.007294500167967679,0.017893051404182844]},{"name":"camera_2","offset_m":[-0.01847730645287992,-0.008889212797860679,-0.0031659042337117034]},{"name":"camera_3","offset_m":[0.010791417320027082,-0.012531356640579031,0.00671885673031062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000427077389378757,0.0015461265441280036,-0.0012350141281110192],"end_effector_yaw_offset_degrees":0.9800197918884193},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00013076870149816757,0.0017345481076625202,0.00027144080193802593],"end_effector_yaw_offset_degrees":0.9874473557516925},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0001423789764366315,0.0004417943149329965,-0.0008389719087913089],"end_effector_yaw_offset_degrees":-0.7657023676333752}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016161983067903866,-0.0009938674737395544],"position_m":[0.26541619830679036,0.3447061325262605,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004066292739861868,-0.003959509154958289],"position_m":[0.34646629273986185,0.0973404908450417,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003248649833881303,-0.004548765057969698],"position_m":[0.3264513501661187,-0.0478487650579697,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002055567533711408,0.0016672481996032988],"position_m":[0.2671444324662886,-0.3865327518003967,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0984941a70a4f4554afc95047363e39a778f2a0a82207b0b8c31bc46dcf9ff22","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0081.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8842/tex_ceiling_textures_3403/tex_floor_textures_1372/tex_table_textures_1047/tex_wall_textures_5885","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4835425612922051262,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4835425612922051262,"visual_seed":4835425612922051262,"scene_id":"lab_003","finished_at":"2026-09-02T06:37:07"}
+{"episode_id":"ep_000081","started_at":"2026-09-02T06:37:12","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.48630951769663877,0.7189563911167673,0.71338606911949],"aabb_xy":[[0.4638095181729313,0.6964604436661465],[0.5088095172203461,0.741452338567388]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.3241120449677357,1.445651348661094,0.71338606911949],"aabb_xy":[[0.32040878363859676,1.4419493303523763],[0.32781530629687455,1.4493533669698118]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.5115455273510843,-1.5191467416998372,0.71338606911949],"aabb_xy":[[0.4315455259209571,-1.5986638967124465],[0.5915455287812115,-1.4396295866872275]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.3952259625945972,-1.792311379314051,0.71338606911949],"aabb_xy":[[-0.4652259647260267,-1.8150733449397467],[-0.3252259604631676,-1.7695494136883554]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.07700940190195882,-1.9186370489221474,0.71338606911949],"aabb_xy":[[-0.1269824674344743,-1.9686370487346805],[-0.027036336369443366,-1.8686370491096147]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.4610525547354838,-0.26149575091143706,0.71338606911949],"aabb_xy":[[0.43650633911273307,-0.2917446474604741],[0.4855987703582345,-0.23124685436240003]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.3918575099970312,1.041690245348689,0.71338606911949],"aabb_xy":[[-0.4558575091668012,0.9949235582297263],[-0.3278575108272613,1.0884569324676512]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.5878145865286122,-0.3896113762879847,0.71338606911949],"aabb_xy":[[0.5503145863567401,-0.42231211167089183],[0.625314586700484,-0.35691064090507746]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.5103165690186766,0.5882853840422708,0.71338606911949],"aabb_xy":[[0.46251040140490796,0.5232853813352117],[0.5581227366324453,0.6532853867493297]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.45522633127348033,-1.7936971417561254,0.71338606911949],"aabb_xy":[[0.43022633134096244,-1.8005798099770487],[0.4802263312059982,-1.786814473535202]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.6557778257814937,-1.737642440857662,0.71338606911949],"aabb_xy":[[0.5917778293859206,-1.8016057292763956],[0.7197778221770668,-1.6736791524389285]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.4479052701053159,0.987115180764655,0.71338606911949],"aabb_xy":[[0.4134429227071741,0.952621298366832],[0.4823676175034577,1.0216090631624772]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.5752724380332115,-2.3831739540203096,0.71338606911949],"aabb_xy":[[-0.5927031531122179,-2.4004460686841598],[-0.5578417229542049,-2.3659018393564586]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.40309220384646505,-2.0477187341058363,0.71338606911949],"aabb_xy":[[-0.41120585851984215,-2.055824550559866],[-0.39497854917308794,-2.0396129176518074]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[0.09624910655251473,-1.4352306463075186,0.71338606911949],"aabb_xy":[[0.07635806667217448,-1.4478864575922157],[0.11614014643285499,-1.422574835022822]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.3032725098122592,0.4707696613024588,0.71338606911949],"aabb_xy":[[-0.38327251028247517,0.46245895368811046],[-0.22327250934204323,0.4790803689168072]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[-0.5172344109493008,1.705233057064976,0.71338606911949],"aabb_xy":[[-0.5643637899511365,1.641233056020574],[-0.4701050319474651,1.7692330581093778]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.5991013906163751,-1.941628099307197,0.71338606911949],"aabb_xy":[[0.5530162993616436,-2.0056280965597515],[0.6451864818711066,-1.8776281020546417]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.3461176451093058,0.19403612447077556,0.71338606911949],"aabb_xy":[[-0.35157559074632583,0.11403612116311646],[-0.3406596994722857,0.27403612777843467]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.6191952428776835,-1.0286490539461557,0.71338606911949],"aabb_xy":[[0.5764285359982633,-1.092649057367958],[0.6619619497571037,-0.964649050524353]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.21998423161508862,-0.8569202522298762,0.71338606911949],"aabb_xy":[[-0.2424842316252369,-0.8710164718694794],[-0.19748423160494033,-0.8428240325902728]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.11941085709399712,-0.09633110345983154,0.71338606911949],"aabb_xy":[[-0.17440310772950807,-0.1513311052031443],[-0.06441860645848618,-0.04133110171651875]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.5987960674228272,-2.1092495131977027,0.71338606911949],"aabb_xy":[[0.5411655985355561,-2.169249512124413],[0.6564265363100978,-2.0492495142709917]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.006840888320147398,1.7693835828851419,0.71338606911949],"aabb_xy":[[-0.012178463986151966,1.744383581956002],[-0.0015033126541428308,1.7943835838142816]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.2781206405032728,-0.6765678697567952,0.71338606911949],"aabb_xy":[[0.21652988127927997,-0.7405678678658422],[0.3397113997272656,-0.6125678716477484]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[-0.3983790037811031,-0.5466768491095548,0.71338606911949],"aabb_xy":[[-0.4333790037575989,-0.5561414651571714],[-0.36337900380460725,-0.5372122330619382]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[0.45806445364796033,1.4844942299764852,0.71338606911949],"aabb_xy":[[0.3940644504293225,1.437771118077477],[0.5220644568665982,1.5312173418754937]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.3082423338099882,-1.354403121441538,0.71338606911949],"aabb_xy":[[0.22824233665041288,-1.3659507223993548],[0.38824233096956345,-1.3428555204837207]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[-0.06661822416878693,1.213418736515265,0.71338606911949],"aabb_xy":[[-0.13061822584678429,1.1649013450359509],[-0.002618222490789579,1.2619361279945793]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[-0.2900026186702556,-0.5465004102607272,0.71338606911949],"aabb_xy":[[-0.29490191097681906,-0.5741773295632958],[-0.28510332636369207,-0.5188234909581583]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[-0.2815792698826907,1.453314127420399,0.71338606911949],"aabb_xy":[[-0.28882303592893604,1.3733141292167963],[-0.2743355038364454,1.533314125624001]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[0.5151102363747952,-1.2798780005357973,0.71338606911949],"aabb_xy":[[0.49261023586275465,-1.3023698589011956],[0.5376102368868358,-1.257386142170399]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_32","position":[0.07078569095486986,-0.9729072639196708,0.71338606911949],"aabb_xy":[[0.05410855496177436,-0.989607187893601],[0.08746282694796537,-0.9562073399457405]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7062302656100509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9878.png","name":"9878"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3665.png","name":"3665"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6890.png","name":"6890"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":712.123721572829,"rotation_z_degrees":351.25655399034673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019765451357731893,-0.002704936967105498,-0.003712656258373522]},{"name":"camera_2","offset_m":[0.0020367864735672987,0.0034639751021081945,0.016574811582577956]},{"name":"camera_3","offset_m":[0.009997975190409406,-0.0038976618748155986,0.013634549844024669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017483735319736007,0.0014584155393138373,0.00020236130543861653],"end_effector_yaw_offset_degrees":-0.3870133975992036},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011226691331472373,-0.000759849422345968,0.0016596824161787022],"end_effector_yaw_offset_degrees":-0.35888278277809293},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00028144930027080325,0.0005310342481115271,0.00044894604342594945],"end_effector_yaw_offset_degrees":-0.2571519710905701}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0012342848732076095,-0.004147556260370319],"position_m":[0.2625657151267924,0.3415524437396297,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010366791925878914,0.0027062264889622925],"position_m":[0.3413633208074121,0.1040062264889623,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014388947679283212,-0.001828838299038872],"position_m":[0.3311388947679283,-0.04512883829903887,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035797737609240387,-0.0019351386050045806],"position_m":[0.26562022623907594,-0.3901351386050046,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7909145d328be79f8819e0f5fd89a665d31b3207550cfbb0b10bbeaa0725a1e6","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9697/tex_ceiling_textures_6890/tex_floor_textures_75/tex_table_textures_9878/tex_wall_textures_3665","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":1519960352884752569,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":1519960352884752569,"visual_seed":1519960352884752569,"scene_id":"lab_003","finished_at":"2026-09-02T06:40:10"}
+{"episode_id":"ep_000082","started_at":"2026-09-02T06:40:13","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.19999543332295783,-1.5524481469312863,0.71338606911949],"aabb_xy":[[-0.23749543411495327,-1.5588159878894763],[-0.16249543253096238,-1.5460803059730959]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.4355571716434211,1.719412212917367,0.71338606911949],"aabb_xy":[[-0.5192793971435036,1.6294122093826708],[-0.35183494614333866,1.8094122164520627]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.17719107159176417,1.4102272207987943,0.71338606911949],"aabb_xy":[[0.11319106991376679,1.36170982931948],[0.2411910732697615,1.4587446122781085]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.15002473956348494,-0.8307437550266012,0.71338606911949],"aabb_xy":[[-0.1670348368535356,-0.8468782435248751],[-0.1330146422734343,-0.8146092665283272]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.20618413114950096,0.628973161864443,0.71338606911949],"aabb_xy":[[-0.2611841307712468,0.5739894690769702],[-0.15118413152775512,0.6839568546519157]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.5650428361870138,-0.44245877354614516,0.71338606911949],"aabb_xy":[[-0.5793772613131772,-0.454518989100684],[-0.5507084110608503,-0.4303985579916063]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.5402709602099507,-1.1867795957078262,0.71338606911949],"aabb_xy":[[0.5097867100829205,-1.2367795954893221],[0.5707552103369808,-1.1367795959263303]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.37637585114746175,0.7416150015914424,0.71338606911949],"aabb_xy":[[-0.4138758509644953,0.7369767902803004],[-0.3388758513304282,0.7462532129025841]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.2657390534587871,-1.1136782343003,0.71338606911949],"aabb_xy":[[0.25644543522163654,-1.1511782327884337],[0.2750326716959377,-1.0761782358121659]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.7154115968108392,0.2652171736566533,0.71338606911949],"aabb_xy":[[0.710980967455999,0.2597688019219707],[0.7198422261656794,0.2706655453913359]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.20093827834871641,-2.0513327502254297,0.71338606911949],"aabb_xy":[[-0.2649382769352889,-2.098339713624938],[-0.13693827976214396,-2.0043257868259206]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.1398045581220152,1.0802618578100125,0.71338606911949],"aabb_xy":[[-0.17835025094721624,1.0417160867538238],[-0.10125886529681416,1.1188076288662012]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.47925106045298604,-1.7060144438894023,0.71338606911949],"aabb_xy":[[0.4631891329944684,-1.791014445701994],[0.4953129879115037,-1.6210144420768104]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.33764469435466443,-0.9611927235841933,0.71338606911949],"aabb_xy":[[-0.34490594192507185,-0.9739797338477026],[-0.330383446784257,-0.9484057133206837]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.5744824997611064,0.23312118065733456,0.71338606911949],"aabb_xy":[[0.5104825026490007,0.18408881086292392],[0.6384824968732121,0.28215355045174517]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.36329120807478565,-2.3617239204943656,0.71338606911949],"aabb_xy":[[0.3457912087966987,-2.379062020560711],[0.3807912073528725,-2.3443858204280192]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.006269340794743394,-2.326113783292076,0.71338606911949],"aabb_xy":[[-0.03459905074328362,-2.330574525485793],[0.022060369153796833,-2.321653041098359]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[0.009400396702915925,-1.3248875792836945,0.71338606911949],"aabb_xy":[[-0.040577020162337656,-1.3748875807729428],[0.059377813568169506,-1.2748875777944457]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.2078525254057375,0.8338177854332569,0.71338606911949],"aabb_xy":[[-0.21394715329385586,0.8252483908815882],[-0.20175789751761922,0.8423871799849256]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.23953204117854598,-0.6311830559986549,0.71338606911949],"aabb_xy":[[0.19828323014863122,-0.6861830555108722],[0.28078085220846066,-0.5761830564864373]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.2146243954952307,0.23395479483818393,0.71338606911949],"aabb_xy":[[-0.294624392654806,0.22240719388036684],[-0.13462439833565543,0.24550239579600092]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[0.6889976190621236,-1.0884789656868314,0.71338606911949],"aabb_xy":[[0.6774286383151872,-1.1134789658037634],[0.7005665998090603,-1.0634789655699]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.1585820052670348,1.3501059670566793,0.71338606911949],"aabb_xy":[[-0.16679655038271873,1.3414293767590375],[-0.15036746015135077,1.3587825573543202]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.08358040422253887,-1.2064070655292125,0.71338606911949],"aabb_xy":[[-0.08728366555167773,-1.2101090838379303],[-0.07987714289339999,-1.2027050472204943]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.4354562241857516,-1.8852418889827547,0.71338606911949],"aabb_xy":[[0.38546139125781004,-1.9352418878779984],[0.48545105711369324,-1.8352418900875114]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.5017789991363946,0.39479629186904663,0.71338606911949],"aabb_xy":[[0.47931422916498934,0.3722962909901861],[0.5242437691077996,0.4172962927479071]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.31598666047984064,-0.5166850540145984,0.71338606911949],"aabb_xy":[[-0.3330887384382088,-0.5337918595458682],[-0.2988845825214725,-0.49957824848332866]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[0.5582677214939,-2.08924721400827,0.71338606911949],"aabb_xy":[[0.5486360852734704,-2.098884526787979],[0.5678993577143296,-2.079609901228561]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_28","position":[-0.4940680756076848,1.3439250368944373,0.71338606911949],"aabb_xy":[[-0.5285304230058264,1.3094311544966144],[-0.45960572820954293,1.3784189192922598]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[-0.5748659384500554,-0.07835517444622697,0.71338606911949],"aabb_xy":[[-0.6548659406128178,-0.1583103580723706],[-0.4948659362872928,0.0016000091799166644]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_30","position":[-0.4688275722420773,-0.9928433044808163,0.71338606911949],"aabb_xy":[[-0.4758678821756144,-1.0728433038804877],[-0.4617872623085404,-0.912843305081145]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_31","position":[0.5955057420770276,0.0703396937986911,0.71338606911949],"aabb_xy":[[0.5405320200406948,0.015339694234457912],[0.6504794641133606,0.12533969336292428]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_32","position":[0.6429739012520865,-0.7001542213568441,0.71338606911949],"aabb_xy":[[0.6335564266822239,-0.709570398494563],[0.6523913758219494,-0.690738044219125]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_33","position":[0.1961564024093353,-1.7577686901701033,0.71338606911949],"aabb_xy":[[0.1461564011254953,-1.8077475445607252],[0.24615640369317524,-1.707789835779481]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_34","position":[0.5615725757276098,-1.8721381739145455,0.71338606911949],"aabb_xy":[[0.5265725758315908,-1.8805124094264856],[0.5965725756236285,-1.8637639384026055]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7085265169346177,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1748.png","name":"1748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1748.png","name":"1748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9804.png","name":"9804"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/422.png","name":"422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6528.png","name":"6528"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3058.png","name":"3058"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":602.93795044341,"rotation_z_degrees":206.92170465909055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018930220441677574,-0.000424317058733234,0.010744041221116642]},{"name":"camera_2","offset_m":[0.007731721299682134,0.006622088912001695,-0.014989736059775417]},{"name":"camera_3","offset_m":[-0.0017972521802781805,-0.01836536472265879,0.0011300575701647386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-5.841053688988005e-05,0.000377063225253803,-0.0016654356928641968],"end_effector_yaw_offset_degrees":-0.04251066482381649},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000356707681097887,-0.0019323179790975429,-0.000744171777588858],"end_effector_yaw_offset_degrees":-0.33450012257288475},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015180180890535379,-0.0014656443310037451,0.001236988669614351],"end_effector_yaw_offset_degrees":-0.49524735536307496}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007182539980894916,0.0010083470651547997],"position_m":[0.2645182539980895,0.3467083470651548,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004798798611382153,0.004231687235644026],"position_m":[0.3428798798611382,0.10553168723564403,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0021186362048827238,0.00400644595174443],"position_m":[0.3318186362048827,-0.03929355404825557,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002160044636582963,-0.003948531571498125],"position_m":[0.267039955363417,-0.3921485315714981,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e4707501de6bbee018e74cb52b363c30bdaa1a11718058ef18b3636d528557bd","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1748/tex_ceiling_textures_3058/tex_floor_textures_6528/tex_table_textures_9804/tex_wall_textures_422","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3199906068116769559,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3199906068116769559,"visual_seed":3199906068116769559,"scene_id":"lab_003","finished_at":"2026-09-02T06:43:05"}
+{"episode_id":"ep_000083","started_at":"2026-09-02T06:43:09","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.38810596841596534,-2.148997031536042,0.71338606911949],"aabb_xy":[[0.370430337827367,-2.166677247815444],[0.4057815990045637,-2.1313168152566386]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.6078330699716352,-0.286215232554619,0.71338606911949],"aabb_xy":[[-0.6311149121697665,-0.37121523385184707],[-0.5845512277735038,-0.20121523125739096]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.13265768125949506,1.7848462774527305,0.71338606911949],"aabb_xy":[[-0.14241367076866893,1.7750837433934958],[-0.12290169175032115,1.7946088115119647]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.31648748644123864,1.2254830858423658,0.71338606911949],"aabb_xy":[[-0.35333803437822625,1.187983085019332],[-0.27963693850425103,1.2629830866653995]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.37260464415110234,0.7959158739231396,0.71338606911949],"aabb_xy":[[-0.38961474144115293,0.7797813854248656],[-0.35559454686105163,0.8120503624214135]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.5065776084478206,-1.2656569279622394,0.71338606911949],"aabb_xy":[[-0.5565605586352997,-1.3156569276047994],[-0.4565946582603411,-1.2156569283196785]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.35705943673821094,-0.7550499238213217,0.71338606911949],"aabb_xy":[[0.3225970893400691,-0.7895438062191442],[0.3915217841363527,-0.7205560414234988]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.6389286609500798,0.7804716061688257,0.71338606911949],"aabb_xy":[[-0.6493402196305634,0.7751258728329271],[-0.628517102269596,0.7858173395047241]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.11466039298569808,-1.0538903727327582,0.71338606911949],"aabb_xy":[[-0.15216039348305632,-1.0578590562808765],[-0.07716039248833982,-1.04992168918464]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.6252614026055119,-0.4573503868044346,0.71338606911949],"aabb_xy":[[0.5602614016483846,-0.5092985987381402],[0.690261403562639,-0.40540217487072905]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[0.5873877622308636,-0.7835893132867693,0.71338606911949],"aabb_xy":[[0.537392929302922,-0.8335893121820128],[0.6373825951588052,-0.7335893143915257]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.469747457384277,0.3480150557512127,0.71338606911949],"aabb_xy":[[-0.5597474571074511,0.32494170321603283],[-0.37974745766110274,0.3710884082863925]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.1464188182737759,1.030932402937231,0.71338606911949],"aabb_xy":[[-0.15412200894785294,1.0232230322384928],[-0.13871562759969885,1.038641773635969]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.07786664724771297,-0.7778471507610303,0.71338606911949],"aabb_xy":[[0.05898226347920277,-0.7967330755413831],[0.09675103101622318,-0.7589612259806775]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.04403395332838678,-0.6007834893593966,0.71338606911949],"aabb_xy":[[-0.08153395350025872,-0.6334842247423037],[-0.006533953156514838,-0.5680827539764893]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.33392894723102734,-1.5110296738483624,0.71338606911949],"aabb_xy":[[-0.4239289495650464,-1.588512028433475],[-0.24392894489700828,-1.4335473192632497]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.07218025601739164,-1.0278599253442855,0.71338606911949],"aabb_xy":[[0.034680255225396195,-1.0342277663024755],[0.10968025680938709,-1.021492084386095]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.4184739398335786,-2.4223993007252838,0.71338606911949],"aabb_xy":[[0.37066777221981,-2.4873993034323423],[0.46628010744734727,-2.3573992980182243]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.6445890764647171,-2.0067686793157984,0.71338606911949],"aabb_xy":[[-0.6820890779803487,-2.0179954523319434],[-0.6070890749490853,-1.9955419062996533]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.4675159023881148,-1.455422242727338,0.71338606911949],"aabb_xy":[[0.41252269105097816,-1.510422243066132],[0.5225091137252517,-1.4004222423885446]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.4844936687695277,-2.2617756837402294,0.71338606911949],"aabb_xy":[[-0.5201228246694874,-2.2974083504970824],[-0.44886451286956797,-2.2261430169833765]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.3023809541127187,-0.2853686131105877,0.71338606911949],"aabb_xy":[[-0.32489464593617584,-0.35536861371159517],[-0.27986726228926145,-0.21536861250958012]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.08891818288124953,-2.344529643270908,0.71338606911949],"aabb_xy":[[-0.10408105585818664,-2.359695100566027],[-0.07375530990431246,-2.3293641859757894]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[-0.28068831112247744,1.0279401603833365,0.71338606911949],"aabb_xy":[[-0.2886818009177595,1.019942028442861],[-0.27269482132719547,1.0359382923238123]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.0804889116047166,1.050787455796074,0.71338606911949],"aabb_xy":[[0.06269540466980017,1.0329877102002762],[0.09828241853963304,1.0685872013918716]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[0.48451876598842025,0.23831277680803487,0.71338606911949],"aabb_xy":[[0.4345187664120856,0.18833219785592895],[0.534518765564755,0.2882933557601408]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7079870264678753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8920.png","name":"8920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8633.png","name":"8633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":815.7529791617021,"rotation_z_degrees":246.5936233359355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012390631401911979,-0.00045675125766776736,-0.010448083352004294]},{"name":"camera_2","offset_m":[0.0013958486087472625,0.0039879821511177825,-0.01791934090775736]},{"name":"camera_3","offset_m":[-0.014692158915686013,0.0113451351560909,-0.00607972739656557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00180528923629677,-0.0010435435055425853,0.001040518284166709],"end_effector_yaw_offset_degrees":-0.201499957600366},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002515218474111048,0.0014407803876911752,0.0011046193813304497],"end_effector_yaw_offset_degrees":-0.8088556991214957},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011458667274297347,-0.001990376542743011,-0.0014367434468144365],"end_effector_yaw_offset_degrees":-0.9141835024287703}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002338232174688344,-0.0004935917352462084],"position_m":[0.2614617678253116,0.3452064082647538,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010027779283264728,0.001367724640509574],"position_m":[0.34340277792832646,0.10266772464050958,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0024963139387831805,-0.004554185531532008],"position_m":[0.3321963139387832,-0.047854185531532006,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032291370860283945,-0.004580950119071978],"position_m":[0.2659708629139716,-0.392780950119072,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8b3bcefda907fa8fa7998abcfde433c6ddfdf7be2d29a0f132710f83689678d9","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6190/tex_ceiling_textures_4480/tex_floor_textures_8633/tex_table_textures_8920/tex_wall_textures_8226","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4141005200015679440,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4141005200015679440,"visual_seed":4141005200015679440,"scene_id":"lab_003","finished_at":"2026-09-02T06:45:55"}
+{"episode_id":"ep_000084","started_at":"2026-09-02T06:45:58","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.1533497058297585,-1.066041265145755,0.71338606911949],"aabb_xy":[[-0.1883497040998784,-1.073115392840743],[-0.11834970755963858,-1.0589671374507668]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.24561133639077837,-2.054037117437075,0.71338606911949],"aabb_xy":[[0.21061133719796005,-2.065004163434737],[0.2806113355835966,-2.043070071439412]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.3989665380406555,-2.411156148376907,0.71338606911949],"aabb_xy":[[0.33496654164508244,-2.4751194367956404],[0.4629665344362286,-2.3471928599581733]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.3678863122629657,0.6356486179148257,0.71338606911949],"aabb_xy":[[-0.37322388792897027,0.6106486169856861],[-0.36254873659696113,0.6606486188439656]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.6122465654948974,-1.5086047669160438,0.71338606911949],"aabb_xy":[[0.5839168555463572,-1.5130655091097611],[0.6405762754434376,-1.504144024722327]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[-0.27590172429136084,0.6422788814080578,0.71338606911949],"aabb_xy":[[-0.3102180014659788,0.5922788814348801],[-0.2415854471167429,0.6922788813812355]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.20792795610134895,1.2668025606613171,0.71338606911949],"aabb_xy":[[0.200887646167812,1.1868025612616457],[0.21496826603488597,1.3468025600609885]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.28431330458633586,-0.3530629853827736,0.71338606911949],"aabb_xy":[[-0.32080912521361454,-0.3895469278095311],[-0.24781748395905706,-0.31657904295601597]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.023402449886335108,1.0340902101032938,0.71338606911949],"aabb_xy":[[-0.031597548315409715,0.9935682434768563],[0.07840244808807993,1.0746121767297314]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.1587062470437518,-1.8868506062059978,0.71338606911949],"aabb_xy":[[0.10870624760355618,-1.936818530690314],[0.20870624648394742,-1.8368826817216815]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.45237160453074987,1.732425336506593,0.71338606911949],"aabb_xy":[[-0.532371603187636,1.7179204775823305],[-0.3723716058738639,1.7469301954308563]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.6004801531144985,-0.35970669052474813,0.71338606911949],"aabb_xy":[[-0.6504801543983385,-0.4096855449153702],[-0.5504801518306586,-0.30972783613412597]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[0.4955572723664323,-0.8745855289008948,0.71338606911949],"aabb_xy":[[0.458762639241526,-0.9114914039974772],[0.5323519054913386,-0.8376796538043126]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.39332727481053176,-0.6553603617276285,0.71338606911949],"aabb_xy":[[-0.4306585513357743,-0.6900134165224808],[-0.3559959982852891,-0.6207073069327763]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[-0.370951382505454,-1.2021467364546008,0.71338606911949],"aabb_xy":[[-0.4349513817996223,-1.266132876823455],[-0.30695138321128584,-1.1381605960857466]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.35660602941574354,-1.8055708204187586,0.71338606911949],"aabb_xy":[[-0.3643092200898206,-1.8132801911174965],[-0.3489028387416665,-1.7978614497200203]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.059543164710036955,1.5480542493582026,0.71338606911949],"aabb_xy":[[-0.12354316508757057,1.49830898250739],[0.004456835667496668,1.5977995162090146]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[-0.20079840998021853,-1.529723901288383,0.71338606911949],"aabb_xy":[[-0.2607984104880714,-1.586570634974304],[-0.14079840947236558,-1.4728771676024615]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.5434248175554406,-0.10595597593989403,0.71338606911949],"aabb_xy":[[0.5315527345439395,-0.19095597563354438],[0.5552969005669417,-0.02095597624624368]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.5783026483778936,-1.1961278584586763,0.71338606911949],"aabb_xy":[[-0.603523485237733,-1.2213516093115628],[-0.5530818115180537,-1.1709041076057893]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.6153542435287844,0.9755133683853789,0.71338606911949],"aabb_xy":[[-0.6342386272972946,0.9566274436050263],[-0.5964698597602742,0.9943992931657318]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.6516511033041998,-2.08696682824107,0.71338606911949],"aabb_xy":[[0.6429531410134846,-2.0990918025485445],[0.6603490655949151,-2.074841853933595]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[-0.18377025998857732,-0.1466795028963359,0.71338606911949],"aabb_xy":[[-0.21491717883216044,-0.21667950158314306],[-0.1526233411449942,-0.07667950420952871]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[0.11611075614224442,1.4660187738699988,0.71338606911949],"aabb_xy":[[0.05211075422990209,1.4101076246119886],[0.18011075805458676,1.5219299231280095]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[0.2834849946522954,-0.9576861344844871,0.71338606911949],"aabb_xy":[[0.26320069192889656,-0.977968759627196],[0.3037692973756941,-0.9374035093417783]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.6938332525759925,1.5093415199015943,0.71338606911949],"aabb_xy":[[0.6713195607525353,1.4393415193005865],[0.7163469443994497,1.5793415205026016]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.13317167453564827,0.3061067793104,0.71338606911949],"aabb_xy":[[-0.16316333726951862,0.27610677997359945],[-0.10318001180177797,0.3361067786472005]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[-0.18897913468412086,-1.3747188589029113,0.71338606911949],"aabb_xy":[[-0.21397913423585935,-1.3848613427680458],[-0.16397913513238238,-1.3645763750377764]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.1513567533705381,-1.8422382834373996,0.71338606911949],"aabb_xy":[[-0.23135675135132316,-1.8498398243992515],[-0.07135675538975307,-1.8346367424755476]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[-0.06900373151433803,-0.6632669387302066,0.71338606911949],"aabb_xy":[[-0.11898668170181735,-0.7132669383727669],[-0.01902078132685869,-0.6132669390876461]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7065844563843877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7469.png","name":"7469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7469.png","name":"7469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3989.png","name":"3989"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":599.2997994521166,"rotation_z_degrees":337.39497829520997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011549543362057336,-0.007363816787181943,-0.009806335536801911]},{"name":"camera_2","offset_m":[-0.006068788366432916,0.0194482262698266,0.0050920081998361635]},{"name":"camera_3","offset_m":[0.015814464808409433,0.01713071489320499,-0.018264076827648867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016678348630837507,-0.0004895730463096819,-0.0010863145518264874],"end_effector_yaw_offset_degrees":0.22875279791661973},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011163479809747176,-0.0012483974304801572,-0.001818041783554169],"end_effector_yaw_offset_degrees":0.279095112369955},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001976273278916247,-0.0015763173921148183,0.0001017271551536688],"end_effector_yaw_offset_degrees":0.6477007453974732}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004279485137331498,0.0031200265939067317],"position_m":[0.25952051486266847,0.34882002659390676,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003283809906409629,0.004895851164955489],"position_m":[0.33911619009359034,0.10619585116495549,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002016764202192564,0.001092438638631889],"position_m":[0.33171676420219254,-0.04220756136136811,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037945646571034873,-0.002899296004783276],"position_m":[0.2654054353428965,-0.39109929600478327,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f8a027abd94afca4b89bee3ba4b60ac0e4e7586e96d14e0afbd575e09b23b8e4","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7469/tex_ceiling_textures_3989/tex_floor_textures_8121/tex_table_textures_376/tex_wall_textures_3038","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":698905446550820561,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":698905446550820561,"visual_seed":698905446550820561,"scene_id":"lab_003","finished_at":"2026-09-02T06:48:45"}
+{"episode_id":"ep_000085","started_at":"2026-09-02T06:48:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.5693498518309223,1.360616939831536,0.71338606911949],"aabb_xy":[[0.5471773248542713,1.338441272675413],[0.591522378807573,1.382792606987659]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.2207728812873243,-1.518106690871839,0.71338606911949],"aabb_xy":[[0.18427706066004557,-1.5545906332985964],[0.25726870191460305,-1.4816227484450812]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.6783210421191415,0.5246404708967685,0.71338606911949],"aabb_xy":[[0.6408210406035098,0.5134136978806233],[0.7158210436347732,0.5358672439129134]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.39837804137136845,0.5646362735132522,0.71338606911949],"aabb_xy":[[0.38968007908065316,0.5525112992057775],[0.40707600366208374,0.5767612478207269]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.6732774142880663,0.7540903569996731,0.71338606911949],"aabb_xy":[[-0.6805386618584738,0.7413033467361636],[-0.6660161667176591,0.7668773672631826]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.559104317618714,-2.200375859112694,0.71338606911949],"aabb_xy":[[0.4694172413105986,-2.2903758593671446],[0.6487913939268295,-2.1103758588582435]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.5188768508509245,1.7027361485000987,0.71338606911949],"aabb_xy":[[0.438876848688162,1.6227809648739553],[0.598876853013687,1.7826913321262425]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.20478655321801476,-0.6232721120840856,0.71338606911949],"aabb_xy":[[-0.21535403287611377,-0.6338171421970941],[-0.19421907355991574,-0.612727081971077]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.5641773975951501,-1.1869735324327282,0.71338606911949],"aabb_xy":[[0.5298611204205321,-1.2369735324059057],[0.598493674769768,-1.1369735324595502]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.25471914410726326,-2.1652374414599667,0.71338606911949],"aabb_xy":[[-0.2957370874936342,-2.215237442090924],[-0.21370120072089244,-2.1152374408290093]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.5590672075278752,1.2588091319561627,0.71338606911949],"aabb_xy":[[-0.6090620404558168,1.2088091330609192],[-0.5090723745999336,1.3088091308514063]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.40234463528283027,1.7529659449938735,0.71338606911949],"aabb_xy":[[-0.43734463517884914,1.7445917094819332],[-0.3673446353868114,1.7613401805058133]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.5886469024876849,-2.1863668833697543,0.71338606911949],"aabb_xy":[[-0.6536469010447578,-2.216119416783637],[-0.5236469039306121,-2.1566143499558716]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.5507858094630169,-0.023296780767491754,0.71338606911949],"aabb_xy":[[0.5262721853660111,-0.047561374069528206],[0.5752994335600228,0.0009678125345446986]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.47480972449475956,1.2007044619788916,0.71338606911949],"aabb_xy":[[0.4639692462682446,1.1835181806882429],[0.4856502027212744,1.2178907432695403]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[-0.4682717002155797,0.2974781275256526,0.71338606911949],"aabb_xy":[[-0.4834438694972131,0.28230927059744926],[-0.4530995309339464,0.31264698445385597]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.015435572315302348,-2.230200748903062,0.71338606911949],"aabb_xy":[[-0.07943557160947057,-2.294186889271916],[0.04856442697886587,-2.1662146085342076]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.15907880798671514,0.7465879692775959,0.71338606911949],"aabb_xy":[[0.09407881010506736,0.695464305571055],[0.22407880586836296,0.7977116329841368]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.19955948464566098,1.3479917383930173,0.71338606911949],"aabb_xy":[[0.14974270518082622,1.297991739908714],[0.24937626411049574,1.3979917368773207]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.2365890495648243,-0.8598377398980543,0.71338606911949],"aabb_xy":[[0.2324531932321241,-0.8973377393424113],[0.2407249058975245,-0.8223377404536973]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.5706411937330977,-0.18620340671542834,0.71338606911949],"aabb_xy":[[0.4856411953156744,-0.2710777021777133],[0.6556411921505209,-0.1013291112531434]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.3004532194914638,0.2105834220559668,0.71338606911949],"aabb_xy":[[-0.35044823045091583,0.1605834230203751],[-0.2504582085320118,0.2605834210915585]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[0.2912428035571698,-1.2855123940751931,0.71338606911949],"aabb_xy":[[0.2674065859165648,-1.3755123948836796],[0.3150790211977749,-1.1955123932667067]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.5613544951271927,1.416334917175528,0.71338606911949],"aabb_xy":[[-0.6253544953876635,1.3713261178226],[-0.49735449486672195,1.461343716528456]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.4310438941673116,-1.5373588706308834,0.71338606911949],"aabb_xy":[[0.38105078205811976,-1.5873588713050792],[0.48103700627650353,-1.4873588699566878]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[0.34595064253052565,-0.9305656132844493,0.71338606911949],"aabb_xy":[[0.32894054524047495,-0.9467001017827232],[0.36296073982057625,-0.9144311247861754]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[-0.05571144590339261,-2.3435055586074087,0.71338606911949],"aabb_xy":[[-0.09071144503334827,-2.349250779683073],[-0.020711446773436948,-2.3377603375317446]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[-0.4549921223935022,-1.4693976002444495,0.71338606911949],"aabb_xy":[[-0.4726249579870297,-1.487020546260072],[-0.43735928679997454,-1.4517746542288261]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[-0.06089392951201589,0.7475702044227015,0.71338606911949],"aabb_xy":[[-0.11089393079585586,0.6975913500320792],[-0.010893928228175925,0.7975490588133234]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_29","position":[0.45034935233851225,-1.764572000238504,0.71338606911949],"aabb_xy":[[0.390349352087111,-1.8188533252749686],[0.5103493525899134,-1.7102906752020393]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_30","position":[-0.2659712161404507,-1.4994545553865333,0.71338606911949],"aabb_xy":[[-0.29097121541241294,-1.5157999189826956],[-0.2409712168684884,-1.483109191790371]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[-0.4754347333163639,-0.09059255561201685,0.71338606911949],"aabb_xy":[[-0.5254135418266798,-0.14059255561773565],[-0.425455924806048,-0.04059255560629804]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_32","position":[-0.39341833425229983,-1.953247538502647,0.71338606911949],"aabb_xy":[[-0.4116241579135475,-1.9642729390846387],[-0.37521251059105215,-1.9422221379206555]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_33","position":[-0.5815023779039182,1.655440330294295,0.71338606911949],"aabb_xy":[[-0.6152779370946112,1.64140183508113],[-0.5477268187132253,1.6694788255074597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038299731814385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1895.png","name":"1895"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1895.png","name":"1895"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/79.png","name":"79"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8678.png","name":"8678"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7540.png","name":"7540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7776.png","name":"7776"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":706.2250971053728,"rotation_z_degrees":316.1262336616549,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006538722251195658,-0.004800378583828783,-0.01898747281814115]},{"name":"camera_2","offset_m":[-0.0033349775114428354,0.01285346302887445,0.013654389735090876]},{"name":"camera_3","offset_m":[-0.011067816245215197,0.017462824308613737,-0.004518746854016093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011146687129138097,0.000940485595618355,0.0019205146432123392],"end_effector_yaw_offset_degrees":-0.9602669174229228},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009426670947440411,0.0004456835959586146,-0.0009922963363032014],"end_effector_yaw_offset_degrees":-0.9724214028164881},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018616012459537208,-0.000286461214596803,0.0004291899890910408],"end_effector_yaw_offset_degrees":0.034479158665697174}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036080864031287603,0.0033962738086877166],"position_m":[0.26740808640312874,0.34909627380868774,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004595298207649202,0.004522697341129283],"position_m":[0.3469952982076492,0.10582269734112928,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003894282829428766,-0.00249688029495992],"position_m":[0.3258057171705712,-0.045796880294959916,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003734585269291655,0.0021906992007316066],"position_m":[0.26546541473070834,-0.3860093007992684,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"01e8fe86c757d58e3fe326f1c8487a5e0b442eb8ad47a31432042d0b03be3a53","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1895/tex_ceiling_textures_7776/tex_floor_textures_7540/tex_table_textures_79/tex_wall_textures_8678","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7835564246201387093,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7835564246201387093,"visual_seed":7835564246201387093,"scene_id":"lab_003","finished_at":"2026-09-02T06:51:30"}
+{"episode_id":"ep_000086","started_at":"2026-09-02T06:51:33","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.2788400492583279,-2.058112758151628,0.71338606911949],"aabb_xy":[[-0.34284005117067023,-2.1140239074096385],[-0.21484004734598555,-2.0022016088936176]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.537678175503179,-2.2850583008815724,0.71338606911949],"aabb_xy":[[0.5026781756071601,-2.293432536393512],[0.5726781753991979,-2.276684065369632]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.4738657268479378,1.3746015101622175,0.71338606911949],"aabb_xy":[[0.44886572768230476,1.367649264456861],[0.498865726013571,1.3815537558675741]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.6556343579043513,-0.6803895328521226,0.71338606911949],"aabb_xy":[[-0.6727364358627195,-0.6974963383833923],[-0.6385322799459832,-0.6632827273208528]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.0859373765631064,0.8133526647324598,0.71338606911949],"aabb_xy":[[0.021941679168009806,0.749352666431751],[0.149933073958203,0.8773526630331684]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.05251512698274208,0.15196303538504408,0.71338606911949],"aabb_xy":[[-0.06574607251742337,0.13873561636304463],[-0.03928418144806078,0.16519045440704347]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.17782763749056507,1.6021042557065353,0.71338606911949],"aabb_xy":[[-0.2678276411674832,1.5406718491294304],[-0.08782763381364687,1.6635366622836392]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.2556240084809287,1.449784938331288,0.71338606911949],"aabb_xy":[[0.24921019483774373,1.4433751180836196],[0.2620378221241136,1.4561947585789563]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.507649401416672,-2.364946052411216,0.71338606911949],"aabb_xy":[[-0.5576494024358073,-2.401412268149044],[-0.45764940039753677,-2.328479836673388]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.345852142611488,-2.3258311582136857,0.71338606911949],"aabb_xy":[[0.33569912705733856,-2.361900699786425],[0.3560051581656373,-2.2897616166409445]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.23731363277541395,0.6950417481014295,0.71338606911949],"aabb_xy":[[-0.26231363270793184,0.6881590798805063],[-0.2123136328428961,0.7019244163223529]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.3654080701525058,-1.1735496785732595,0.71338606911949],"aabb_xy":[[-0.39580618125164935,-1.2039565805749288],[-0.33500995905336217,-1.1431427765715898]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.3173334624644517,-1.0807380948417433,0.71338606911949],"aabb_xy":[[-0.3233000014051875,-1.0866992395011075],[-0.3113669235237159,-1.0747769501823796]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.3170347684210142,0.5808399912003996,0.71338606911949],"aabb_xy":[[0.2951260862816631,0.5589393243803089],[0.3389434505603652,0.6027406580204904]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.04841544717188495,-1.14351052780735,0.71338606911949],"aabb_xy":[[-0.05719667431912119,-1.1522902750958803],[-0.03963422002464873,-1.1347307805188203]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.5778982613675927,0.14282354690540888,0.71338606911949],"aabb_xy":[[-0.6394890205915855,0.07882354879636203],[-0.5163075021435999,0.2068235450144558]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.39223167684140847,-0.978776785622814,0.71338606911949],"aabb_xy":[[0.34695306196025927,-1.0427767849709975],[0.4375102917225578,-0.9147767862746302]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.03598828860818215,-1.8864549949768783,0.71338606911949],"aabb_xy":[[0.011442072985431434,-1.9167038915259154],[0.06053450423093287,-1.8562060984278412]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[0.0321566438384604,1.5161708118409618,0.71338606911949],"aabb_xy":[[-0.0037568605865292842,1.480257303624207],[0.06807014826345008,1.5520843200577161]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.5757416189221503,-1.8598826542061384,0.71338606911949],"aabb_xy":[[0.5677153482915243,-1.8686341491834912],[0.5837678895527763,-1.851131159228786]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.7066114416887612,0.7271315081293235,0.71338606911949],"aabb_xy":[[0.6984977870153841,0.7190256916752943],[0.7147250963621383,0.7352373245833524]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.45523647829577407,1.611870851596636,0.71338606911949],"aabb_xy":[[0.3752364780221671,1.5389213037709193],[0.5352364785693811,1.6848203994223527]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.07876283035068254,-1.4492657657778247,0.71338606911949],"aabb_xy":[[0.02888013347298634,-1.4992657650240995],[0.12864552722837874,-1.39926576653155]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.49095232673926825,-0.5437009210244597,0.71338606911949],"aabb_xy":[[-0.5252492377570088,-0.5779978072344009],[-0.45665541572152757,-0.5094040348145182]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.19067859934821785,1.6241485010432348,0.71338606911949],"aabb_xy":[[0.15317859899999006,1.612357105462151],[0.22817859969644558,1.6359398966243182]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.19248825275632797,0.9761987813876023,0.71338606911949],"aabb_xy":[[-0.23350619614269885,0.926198780756645],[-0.1514703093699571,1.0261987820185596]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[-0.1665930051265998,-0.7377965736256888,0.71338606911949],"aabb_xy":[[-0.2305930084163079,-0.7811314926296063],[-0.10259300183689167,-0.6944616546217711]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_27","position":[0.46912504058198246,-1.3647393043223213,0.71338606911949],"aabb_xy":[[0.4191408048738053,-1.4147393031358169],[0.5191092762901597,-1.3147393055088257]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_28","position":[-0.2473677914141703,-1.5727421263109422,0.71338606911949],"aabb_xy":[[-0.29746525539524393,-1.636742126820754],[-0.19727032743309672,-1.5087421258011304]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[-0.47586549415960594,1.1490578042371729,0.71338606911949],"aabb_xy":[[-0.5308392161959388,1.0940578046729397],[-0.42089177212327306,1.204057803801406]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_30","position":[0.4979236649001284,-0.39591740608752435,0.71338606911949],"aabb_xy":[[0.4827607919231913,-0.41108286338264316],[0.5130865378770655,-0.38075194879240565]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[0.6447941797314518,0.22460597895624357,0.71338606911949],"aabb_xy":[[0.6222941802077443,0.20211003150562276],[0.6672941792551591,0.24710192640686432]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_32","position":[0.4720638042906411,0.6928311448640048,0.71338606911949],"aabb_xy":[[0.41443333540337013,0.6328311459372941],[0.5296942731779118,0.7528311437907151]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_33","position":[0.19465445989088848,1.2422060547055094,0.71338606911949],"aabb_xy":[[0.17214076806743125,1.1722060541045016],[0.21716815171434564,1.3122060553065167]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_34","position":[-0.47719059662101687,-1.878791470920805,0.71338606911949],"aabb_xy":[[-0.5371905964675836,-1.9356100931138434],[-0.4171905967744501,-1.821972848727766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7072368769916044,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1975.png","name":"1975"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1975.png","name":"1975"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8806.png","name":"8806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8664.png","name":"8664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7138.png","name":"7138"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5207.png","name":"5207"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":839.4300476815803,"rotation_z_degrees":157.47214845536138,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01480635090262811,0.0013204964796740375,-0.01960784538184504]},{"name":"camera_2","offset_m":[-0.016629565378838126,-0.0111767522980711,-0.018736115417741173]},{"name":"camera_3","offset_m":[-0.0063956309058085335,-0.0043771131864191355,-0.01530412863209055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017386483107239199,0.0015279954781197134,-0.0010243530690226595],"end_effector_yaw_offset_degrees":0.03376230417192572},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011655152278305801,-0.0008963165463153754,0.0007968603219383683],"end_effector_yaw_offset_degrees":0.7584858231874139},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017315937648171085,-1.7917761694630652e-05,-0.0014051560445508494],"end_effector_yaw_offset_degrees":-0.8146872115581301}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020932263397676724,-0.0028703869859303733],"position_m":[0.26589322633976764,0.3428296130140696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029226541167153607,-0.003866857389851275],"position_m":[0.34532265411671537,0.09743314261014872,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003474133270637194,0.0029044561499416985],"position_m":[0.3300474133270637,-0.0403955438500583,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000514086428149145,0.002464907054574316],"position_m":[0.26971408642814915,-0.3857350929454257,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0dd3e59decb1395dddfdcba8da76ef2056581106b0d96a76234501481e02ca68","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1975/tex_ceiling_textures_5207/tex_floor_textures_7138/tex_table_textures_8806/tex_wall_textures_8664","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":5969218552088459223,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":5969218552088459223,"visual_seed":5969218552088459223,"scene_id":"lab_003","finished_at":"2026-09-02T06:54:09"}
+{"episode_id":"ep_000087","started_at":"2026-09-02T06:54:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.17237831579502771,-0.9260382832158269,0.71338606911949],"aabb_xy":[[-0.22247577977610136,-0.9900382837256386],[-0.12228085181395412,-0.862038282706015]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.04192876533702594,-1.6693200328483369,0.71338606911949],"aabb_xy":[[0.031847058258452465,-1.7493200307404513],[0.05201047241559942,-1.589320034956222]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.548650617710738,1.5586184991494423,0.71338606911949],"aabb_xy":[[-0.5535499100173014,1.530941579846873],[-0.5437513254041744,1.5862954184520106]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.37689463525423833,0.6430809903025536,0.71338606911949],"aabb_xy":[[-0.44089463168156023,0.5959113664804572],[-0.3128946388269164,0.69025061412465]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.37266730966726946,-2.381389434532425,0.71338606911949],"aabb_xy":[[0.3501673098533671,-2.385864050902905],[0.39516730948117185,-2.376914818161944]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.6804870924911708,0.6555614225911213,0.71338606911949],"aabb_xy":[[-0.6865817203792892,0.6469920280394525],[-0.6743924646030526,0.66413081714279]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.6403518552971426,-0.824839395735999,0.71338606911949],"aabb_xy":[[-0.6476131028675501,-0.8376264059995084],[-0.6330906077267352,-0.8120523854724895]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5733495238547726,0.6767011583163574,0.71338606911949],"aabb_xy":[[-0.5908495241141093,0.6626096161275848],[-0.555849523595436,0.6907927005051301]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.6188046485057177,-2.007349040950596,0.71338606911949],"aabb_xy":[[0.5548046512033712,-2.0517154679184526],[0.682804645808064,-1.962982613982739]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.06953172685898912,0.40070442910140125,0.71338606911949],"aabb_xy":[[-0.1345317278161163,0.34875621716769567],[-0.004531725901861904,0.45265264103510683]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.365585503837198,-0.2198678283340021,0.71338606911949],"aabb_xy":[[-0.4154022833020327,-0.26986782681830546],[-0.3157687243723632,-0.16986782984969875]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.6325916020992031,0.2253228905304292,0.71338606911949],"aabb_xy":[[0.6150449071830841,0.18782288896617794],[0.650138297015322,0.26282289209468046]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.5470773965317,0.8719691150501783,0.71338606911949],"aabb_xy":[[-0.6120773975322005,0.8211827498955033],[-0.48207739553119944,0.9227554802048532]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.4862744398047858,-2.1901354431926974,0.71338606911949],"aabb_xy":[[0.463358726919736,-2.213039740329121],[0.5091901526898358,-2.167231146056274]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.004134349359766087,0.732104623427273,0.71338606911949],"aabb_xy":[[-0.04163435054455888,0.7276864007312125],[0.0333656518250267,0.7365228461233335]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.4763197611537045,-0.4683222312950033,0.71338606911949],"aabb_xy":[[-0.5015405980135439,-0.49354598214789],[-0.4510989242938647,-0.4430984804421165]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.6311990681754074,-1.4707693367318357,0.71338606911949],"aabb_xy":[[-0.637700704683412,-1.4805371587581455],[-0.6246974316674028,-1.461001514705526]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.05188557520373693,1.0178406507182727,0.71338606911949],"aabb_xy":[[-0.13188557627685726,1.0080626043808882],[0.028114425869383404,1.0276186970556571]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.1833804067663719,-0.8824463865571921,0.71338606911949],"aabb_xy":[[0.13389998555241311,-0.9464463844700439],[0.2328608279803307,-0.8184463886443403]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[0.36659358733492486,-0.6575920447275019,0.71338606911949],"aabb_xy":[[0.3322773101603069,-0.7075920447006796],[0.4009098645095428,-0.6075920447543242]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.24190313582760253,1.5839969752845016,0.71338606911949],"aabb_xy":[[-0.3218969594061607,1.50399697269166],[-0.16190931224904428,1.6639969778773431]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.3511107762883676,-0.9269422496780131,0.71338606911949],"aabb_xy":[[0.3136107754963721,-0.9333100906362032],[0.388610777080363,-0.920574408719823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7120718508629373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/542.png","name":"542"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3596.png","name":"3596"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/557.png","name":"557"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":585.4326815833276,"rotation_z_degrees":128.01916389183452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013004247597740229,0.006280758307163299,0.0019555509431886837]},{"name":"camera_2","offset_m":[0.004364959808334595,-0.011750052705147014,0.006924800584615337]},{"name":"camera_3","offset_m":[0.012913065889528067,-0.019569377692381994,0.007469185874383787]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007899058121784161,-0.001203577619060662,0.0004994724386995874],"end_effector_yaw_offset_degrees":-0.45892846804744813},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005180180928305743,-7.077803872871107e-05,0.001090390670451703],"end_effector_yaw_offset_degrees":-0.03068698058062358},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017333565744824142,-0.0007821299287079251,0.0008821711765960335],"end_effector_yaw_offset_degrees":-0.20153433259637765}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007909739017642244,0.004973822498405607],"position_m":[0.26300902609823573,0.3506738224984056,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026887090581841503,-0.0016635238680077235],"position_m":[0.3450887090581841,0.09963647613199228,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012997669253699672,0.004509641745796066],"position_m":[0.32840023307463,-0.03879035825420393,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004452980238142193,-0.00034670271832510074],"position_m":[0.27365298023814216,-0.3885467027183251,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"44533646f2aa8aae67ce534e4c4a284f967b779dcba244ef76b3d60d14d762ea","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2536/tex_ceiling_textures_557/tex_floor_textures_3596/tex_table_textures_5077/tex_wall_textures_542","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2639235274063032301,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2639235274063032301,"visual_seed":2639235274063032301,"scene_id":"lab_003","finished_at":"2026-09-02T06:56:34"}
+{"episode_id":"ep_000088","started_at":"2026-09-02T06:56:39","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.2612997985977552,-1.4589408535921897,0.71338606911949],"aabb_xy":[[-0.2717113572782389,-1.4642865869280879],[-0.2508882399172715,-1.4535951202562911]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.0339864219908238,-2.0553900665439873,0.71338606911949],"aabb_xy":[[-0.08398642143101942,-2.1053579910283036],[0.016013577449371826,-2.005422142059671]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.5660359580236045,-1.798053539777206,0.71338606911949],"aabb_xy":[[0.5310359580471086,-1.8075181558248226],[0.6010359580001002,-1.7885889237295893]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.4152142186573031,-1.2596322594275833,0.71338606911949],"aabb_xy":[[-0.49521421606089655,-1.339624830625766],[-0.3352142212537097,-1.1796396882294005]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.20932757575309935,0.28420850171108114,0.71338606911949],"aabb_xy":[[-0.2733275776654417,0.22829735245307076],[-0.145327573840757,0.34011965096909164]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.23555408806890404,-2.389954890948721,0.71338606911949],"aabb_xy":[[-0.2805466747873544,-2.4349548902231692],[-0.1905615013504536,-2.3449548916742717]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.18298158273851917,1.4853944396316998,0.71338606911949],"aabb_xy":[[-0.22428612580225515,1.4213944400635827],[-0.14167703967478318,1.549394439199817]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.16502521192105002,0.6997126860109364,0.71338606911949],"aabb_xy":[[-0.18170234791414555,0.6830127620370061],[-0.14834807592795454,0.7164126099848667]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.5004251643608424,-2.0681533702391093,0.71338606911949],"aabb_xy":[[-0.5132970678617824,-2.1481533706529454],[-0.4875532608599022,-1.9881533698252734]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.5366789514650256,-1.031864801392903,0.71338606911949],"aabb_xy":[[0.48266335518312564,-1.0958648042851602],[0.5906945477469256,-0.9678647985006459]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.28013723365791204,-1.7671161607014423,0.71338606911949],"aabb_xy":[[-0.2845678630127523,-1.772564532436125],[-0.2757066043030719,-1.7616677889667596]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.19780442701733014,-1.629009689539112,0.71338606911949],"aabb_xy":[[-0.21538272920627696,-1.646584179113217],[-0.18022612482838327,-1.611435199965007]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.29078617142555985,-1.9041704311656376,0.71338606911949],"aabb_xy":[[0.253286170240767,-1.9085886538616978],[0.3282861726103526,-1.8997522084695768]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.1895379258338774,1.0013206907538117,0.71338606911949],"aabb_xy":[[-0.2695379279966399,0.9213655071276681],[-0.10953792367111492,1.0812758743799553]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.3157405915834271,-1.569951938645816,0.71338606911949],"aabb_xy":[[-0.333240590861514,-1.587290038712162],[-0.2982405923053402,-1.55261383857947]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.6169914372643834,-0.18777718688681144,0.71338606911949],"aabb_xy":[[0.5668939732833098,-0.25177718739662325],[0.667088901245457,-0.12377718637699964]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.31899096696303825,-1.0869854766049816,0.71338606911949],"aabb_xy":[[-0.36899096732360426,-1.136965463814584],[-0.2689909666024721,-1.0370054893953782]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.4464802182664982,1.6820121791482454,0.71338606911949],"aabb_xy":[[0.43943876731575066,1.674985427410451],[0.45352166921724585,1.6890389308860398]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.14734128753451448,1.10037914041984,0.71338606911949],"aabb_xy":[[0.1365683136131467,1.065379142200801],[0.15811426145588225,1.135379138638879]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.16559782593036854,1.6289594292628995,0.71338606911949],"aabb_xy":[[0.13445090708678542,1.558959430576092],[0.19674474477395165,1.6989594279497064]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.0600829823131922,-1.8961829758184705,0.71338606911949],"aabb_xy":[[0.010082981029352232,-1.9461618302090924],[0.11008298359703216,-1.8462041214278482]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.1895959479176419,-0.2932933361152914,0.71338606911949],"aabb_xy":[[-0.23959594893677721,-0.32975955185311934],[-0.13959594689850666,-0.25682712037746347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7076955031021241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6158.png","name":"6158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6158.png","name":"6158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6885.png","name":"6885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8550.png","name":"8550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7443.png","name":"7443"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":641.2498115588194,"rotation_z_degrees":258.7012969641072,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01923813677646104,-0.010366211154131251,-0.013359592658628143]},{"name":"camera_2","offset_m":[0.013527681207708472,-0.013453117712654068,0.017667099524904032]},{"name":"camera_3","offset_m":[0.0036374031488903245,-0.002666001158240259,-0.019341862036684594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000921861063167742,-0.0014759392874223198,0.0019261644255572962],"end_effector_yaw_offset_degrees":-0.49203083194162045},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019698555792899246,-0.0014712727762920248,0.0003274933462385243],"end_effector_yaw_offset_degrees":0.3948788103423555},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001118505095838104,-0.0019401286388111751,0.0015004585200750452],"end_effector_yaw_offset_degrees":0.9616999936124822}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027988263012158274,-0.0015140744664411399],"position_m":[0.2665988263012158,0.34418592553355887,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001896178839127449,-0.0011876140878875376],"position_m":[0.3405038211608725,0.10011238591211247,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004088663608400777,0.0042233877333042085],"position_m":[0.3256113363915992,-0.03907661226669579,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021092415628123588,0.00408176284288683],"position_m":[0.27130924156281233,-0.3841182371571132,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a03f919be1d96b9b25847e58ad9c62aa530068346730645c6e03269d041d6875","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6158/tex_ceiling_textures_7443/tex_floor_textures_8550/tex_table_textures_4192/tex_wall_textures_6885","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":4505157334428607458,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":4505157334428607458,"visual_seed":4505157334428607458,"scene_id":"lab_003","finished_at":"2026-09-02T06:59:28"}
+{"episode_id":"ep_000089","started_at":"2026-09-02T06:59:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.5441194105233829,-2.0903741750006213,0.71338606911949],"aabb_xy":[[-0.5775595857194024,-2.1238178008315507],[-0.5106792353273631,-2.056930549169691]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[-0.3880898343215378,-0.18363153588487569,0.71338606911949],"aabb_xy":[[-0.44308983394328366,-0.23861522867234844],[-0.333089834699792,-0.128647843097403]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.6407389275544958,-0.3251952017704953,0.71338606911949],"aabb_xy":[[-0.6498988064983724,-0.33172641981403234],[-0.6315790486106192,-0.3186639837269583]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.5532352930248698,-1.5686339530560174,0.71338606911949],"aabb_xy":[[0.511986481994955,-1.6236339525682346],[0.5944841040547845,-1.5136339535437997]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.44611380897455155,0.8059089369823855,0.71338606911949],"aabb_xy":[[-0.4661722205877919,0.785843850073228],[-0.4260553973613113,0.8259740238915431]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.42815304013264566,-1.371270816373562,0.71338606911949],"aabb_xy":[[-0.4881530409934584,-1.4226972463800482],[-0.3681530392718328,-1.3198443863670755]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.3974665710239944,-2.464292148271985,0.71338606911949],"aabb_xy":[[0.37117774670355363,-2.4905635819266356],[0.42375539534443496,-2.438020714617333]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.06908052147846544,-1.0203852962021307,0.71338606911949],"aabb_xy":[[0.019080520527932632,-1.0519344432056519],[0.11908052242899825,-0.9888361491986091]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[0.07716082865804386,1.3008968015064761,0.71338606911949],"aabb_xy":[[-0.0028391716155631154,1.2279472536807592],[0.15716082893165084,1.3738463493321926]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.44511674469678636,-1.0168004050533364,0.71338606911949],"aabb_xy":[[-0.46298585245124185,-1.0306333130305472],[-0.42724763694233087,-1.0029674970761255]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.5743093332044991,0.4715942746353128,0.71338606911949],"aabb_xy":[[0.5689717575384945,0.44659427370617305],[0.5796469088705036,0.4965942755644526]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[0.35598614250753435,1.6438347698731586,0.71338606911949],"aabb_xy":[[0.34405340814570634,1.6314526170652994],[0.3679188768693625,1.6562169226810182]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.3054741991198824,0.8713835784231376,0.71338606911949],"aabb_xy":[[0.2414742020077767,0.8223512086287271],[0.3694741962319881,0.9204159482175484]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.035249236206941426,-1.9275139724973616,0.71338606911949],"aabb_xy":[[-0.11524923947095456,-1.9410740048062747],[0.044750767057071705,-1.913953940188448]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.3407083061909426,-2.0080878222080614,0.71338606911949],"aabb_xy":[[0.30320830467531085,-2.0193145952242064],[0.37820830770657426,-1.9968610491919163]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.6227259625584629,-2.530527413857919,0.71338606911949],"aabb_xy":[[0.6111569818115263,-2.5555274139748505],[0.6342949433053995,-2.505527413740987]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.259199168860225,1.3697463349964134,0.71338606911949],"aabb_xy":[[0.23536295121961998,1.279746334187927],[0.2830353865008301,1.4597463358048999]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.020981315805443046,-1.2534526834366821,0.71338606911949],"aabb_xy":[[-0.0640186828866316,-1.285438546831561],[0.10598131449751769,-1.2214668200418033]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.47503865092426384,-1.928310375496873,0.71338606911949],"aabb_xy":[[-0.47915460103633645,-1.9324259305297184],[-0.4709227008121911,-1.9241948204640273]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.35695810756824553,-2.236864408990677,0.71338606911949],"aabb_xy":[[0.34351158093420225,-2.2503342606437684],[0.3704046342022889,-2.2233945573375857]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.33173167285008287,-1.8731049968237945,0.71338606911949],"aabb_xy":[[-0.41173167428021007,-1.9526221518364035],[-0.25173167141995567,-1.7935878418111846]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7118065183612089,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1902.png","name":"1902"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6987.png","name":"6987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1728.png","name":"1728"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6595.png","name":"6595"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":688.0440286026336,"rotation_z_degrees":257.4972519514803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006929548409582393,-0.006762313276631406,0.005870204113690519]},{"name":"camera_2","offset_m":[0.007693064886620148,-0.016589467130738843,-0.007613378126857157]},{"name":"camera_3","offset_m":[-0.019571319397716197,0.013958907586036611,0.005100214982421733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019480075440183732,-0.0009640686356011373,0.0011594108651837316],"end_effector_yaw_offset_degrees":0.14838944145416133},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0006932095336473023,-0.001605673244564021,0.0007672981412565763],"end_effector_yaw_offset_degrees":-0.32915005181097245},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010471756991607887,0.0013731567552834655,0.0006851508910437599],"end_effector_yaw_offset_degrees":0.8943713732140315}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007483731269545928,0.0009914284112810994],"position_m":[0.26454837312695456,0.3466914284112811,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002845807159995307,-0.0029558587670972048],"position_m":[0.33955419284000465,0.09834414123290279,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003972929565495206,-0.0029303879838499646],"position_m":[0.3257270704345048,-0.046230387983849965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002702426332095593,-0.0025388032817170746],"position_m":[0.2719024263320956,-0.39073880328171706,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b06a80854539f02e143e8eb6a4f58859c532af8aca8bc567c485b7683270b097","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7916/tex_ceiling_textures_6595/tex_floor_textures_1728/tex_table_textures_1902/tex_wall_textures_6987","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2055228702151380320,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2055228702151380320,"visual_seed":2055228702151380320,"scene_id":"lab_003","finished_at":"2026-09-02T07:02:13"}
+{"episode_id":"ep_000090","started_at":"2026-09-02T07:02:19","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.45892640235597515,-0.014533893230365802,0.71338606911949],"aabb_xy":[[0.439035362475635,-0.027189704515062644],[0.4788174422363155,-0.0018780819456689604]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.2048538433013558,-1.1723175241085788,0.71338606911949],"aabb_xy":[[0.18456954057795702,-1.1926001492512874],[0.22513814602475454,-1.1520348989658697]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.622812268172855,0.2881998007723334,0.71338606911949],"aabb_xy":[[0.6153998126314665,0.2823485903507055],[0.6302247237142434,0.2940510111939614]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.2696454606221486,-0.47965937422061655,0.71338606911949],"aabb_xy":[[-0.349645458025742,-0.5596519454187994],[-0.18964546321855516,-0.39966680302243374]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.2438623388007607,-2.2848937189164498,0.71338606911949],"aabb_xy":[[0.196732959798925,-2.3488937199608513],[0.29099171780259636,-2.2208937178720474]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.1914521684416456,-0.6187886018644633,0.71338606911949],"aabb_xy":[[-0.21395216825554797,-0.623263218234944],[-0.1689521686277432,-0.6143139854939825]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.1891389605316779,0.5848861590822416,0.71338606911949],"aabb_xy":[[0.18101127233836467,0.575972550671534],[0.1972666487249911,0.5937997674929493]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.5504950907328017,-2.241839913153084,0.71338606911949],"aabb_xy":[[-0.6004901016922537,-2.291839912188676],[-0.5005000797733496,-2.1918399141174927]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.09219166394270573,-2.067966754504219,0.71338606911949],"aabb_xy":[[0.0849478978964604,-2.1479667527078212],[0.09943542998895105,-1.9879667563006165]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.4328840692138145,1.367535878428721,0.71338606911949],"aabb_xy":[[0.4210119862023134,1.282535878735071],[0.4447561522253156,1.4525358781223716]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.04285776037894751,-0.05723518064937538,0.71338606911949],"aabb_xy":[[-0.05630428701299083,-0.07070503230246661],[-0.029411233744904168,-0.04376532899628416]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.2244361626066379,0.9502912064028668,0.71338606911949],"aabb_xy":[[0.18225174844580716,0.8862912061256556],[0.26662057676746864,1.014291206680078]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.6599206510409581,-1.1060268540330378,0.71338606911949],"aabb_xy":[[0.6099418425306421,-1.1560268540387566],[0.7098994595512739,-1.056026854027319]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.3761660813943522,1.375977273800793,0.71338606911949],"aabb_xy":[[-0.3834273289647596,1.3631902635372835],[-0.3689048338239448,1.3887642840643024]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.22184464801626624,0.8181788504738661,0.71338606911949],"aabb_xy":[[-0.2768401258369256,0.7631788490399591],[-0.1668491701956068,0.873178851907773]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.2999987719361619,-1.1095940271716402,0.71338606911949],"aabb_xy":[[-0.3799987733662891,-1.1891111821842497],[-0.21999877050603472,-1.0300768721590308]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.19653630853906207,1.5490176103062434,0.71338606911949],"aabb_xy":[[-0.26153630709613485,1.5192650768923608],[-0.1315363099819892,1.578770143720126]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.38186406614489343,0.16456170052217134,0.71338606911949],"aabb_xy":[[-0.44686406714539395,0.11377533536749637],[-0.3168640651443929,0.21534806567684625]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.3854462868365127,-1.907012439130163,0.71338606911949],"aabb_xy":[[0.30544628357866976,-1.987008946922147],[0.4654462900943557,-1.827015931338179]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.27975083656579586,-2.5088830674455393,0.71338606911949],"aabb_xy":[[-0.28382899447284554,-2.5129640476938033],[-0.27567267865874606,-2.5048020871972763]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.3235211244192895,-0.6925049990764418,0.71338606911949],"aabb_xy":[[0.25952112512512127,-0.756491139445296],[0.3875211237134577,-0.6285188587075876]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[-0.4434265041936592,0.3254476676749478,0.71338606911949],"aabb_xy":[[-0.45383806287414286,0.32010193433904927],[-0.43301494551317543,0.33079340101084626]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.04086652383050171,-2.240396317493719,0.71338606911949],"aabb_xy":[[-0.02413347432541734,-2.266692562043631],[0.10586652198642077,-2.2141000729438067]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.4957989017270561,1.5256043954816128,0.71338606911949],"aabb_xy":[[0.48024313231679094,1.5100539622372056],[0.5113546711373215,1.54115482872602]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[0.6426765135003549,0.11156407448159644,0.71338606911949],"aabb_xy":[[0.5826765136537881,0.05474545228855776],[0.7026765133469217,0.16838269667463512]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[-0.08407418887149343,-0.47283923418954377,0.71338606911949],"aabb_xy":[[-0.13406902179943503,-0.5228392330847873],[-0.03407935594355184,-0.4228392352943003]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[0.3581671774778563,-1.5816363243833225,0.71338606911949],"aabb_xy":[[0.3487497029079935,-1.5910525015210413],[0.367584652047719,-1.5722201472456032]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[0.5984022014582178,0.664598199775873,0.71338606911949],"aabb_xy":[[0.5919883878150327,0.6581883795282045],[0.6048160151014026,0.6710080200235412]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[-0.4242591776063653,-0.07751351698615805,0.71338606911949],"aabb_xy":[[-0.494259174016327,-0.09795145263783975],[-0.3542591811964034,-0.0570755813344763]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_29","position":[0.563986208308237,-0.6034946318730112,0.71338606911949],"aabb_xy":[[0.5039862080568357,-0.6577759569094759],[0.623986208559638,-0.5492133068365466]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[0.04550203307483203,-1.1906560509762745,0.71338606911949],"aabb_xy":[[0.04060274076826853,-1.218332970278843],[0.05040132538139552,-1.1629791316737055]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_31","position":[-0.25966581821866563,1.2119087316426786,0.71338606911949],"aabb_xy":[[-0.27050629644518054,1.19472245035203],[-0.24882533999215073,1.2290950129333273]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7074086969621087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4761.png","name":"4761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9601.png","name":"9601"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5914.png","name":"5914"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3757.png","name":"3757"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6583.png","name":"6583"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":809.8373181678431,"rotation_z_degrees":201.33615809976425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014530233394121558,0.008021654961935125,0.014215651148502814]},{"name":"camera_2","offset_m":[0.01987803909843829,0.011562560107035751,0.010970038248393613]},{"name":"camera_3","offset_m":[0.010016057199539737,0.019937907410658148,0.010051767013204826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001057410790892967,0.0002477107418606397,-0.0011954894435796332],"end_effector_yaw_offset_degrees":-0.4655495820237179},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018461301968143839,-0.0008965987392738923,0.0007053046886671688],"end_effector_yaw_offset_degrees":-0.1589115473798468},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0001977163970401086,0.0008326702220306484,0.0006483535842235831],"end_effector_yaw_offset_degrees":-0.45370183646109763}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038204229859373673,7.477834014815807e-05],"position_m":[0.2599795770140626,0.3457747783401482,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002208359201469221,-0.0018062382143690095],"position_m":[0.34019164079853076,0.09949376178563099,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004601480460938807,0.0002949226252355556],"position_m":[0.32509851953906116,-0.043005077374764444,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004127684010485985,-0.004885295179940304],"position_m":[0.26507231598951403,-0.3930852951799403,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b608ae93e1b0677c5874055cfbdea5048057ba2a4b796725937c5c62037b0400","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4761/tex_ceiling_textures_6583/tex_floor_textures_3757/tex_table_textures_9601/tex_wall_textures_5914","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":7465787072731389240,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":7465787072731389240,"visual_seed":7465787072731389240,"scene_id":"lab_003","finished_at":"2026-09-02T07:05:02"}
+{"episode_id":"ep_000091","started_at":"2026-09-02T07:05:07","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.13855939056131206,-2.019916536627096,0.71338606911949],"aabb_xy":[[0.13151793961056446,-2.02694328836489],[0.14560084151205965,-2.012889784889301]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.31865371269698994,-0.35035852458013883,0.71338606911949],"aabb_xy":[[-0.3826537150397915,-0.39529937582427127],[-0.2546537103541884,-0.3054176733360063]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[-0.05545487204123711,-1.4977592469843541,0.71338606911949],"aabb_xy":[[-0.11045487024298192,-1.5382812136107915],[-0.0004548738394922688,-1.4572372803579163]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.5656483184968877,-1.4248010867628842,0.71338606911949],"aabb_xy":[[0.5016483182229095,-1.4748671869601724],[0.6296483187708659,-1.3747349865655965]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.5180439211776044,0.4218191223154055,0.71338606911949],"aabb_xy":[[0.4530439202204773,0.36987091038169995],[0.5830439221347317,0.4737673342491111]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.2576571850175876,0.8387809552055945,0.71338606911949],"aabb_xy":[[0.24954353034421056,0.8306751387515653],[0.26577083969096477,0.8468867716596234]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.08452685286456019,0.3240599726626554,0.71338606911949],"aabb_xy":[[-0.09715364015175652,0.31451389896108245],[-0.07190006557736382,0.33360604636422825]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[-0.1485228028249096,-0.14691823868405152,0.71338606911949],"aabb_xy":[[-0.18602280293050252,-0.15374040053703264],[-0.11102280271931662,-0.1400960768310704]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.20915371632542024,-1.010347028396964,0.71338606911949],"aabb_xy":[[0.19824794023785755,-1.090347024795793],[0.22005949241298298,-0.9303470319981346]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.20145085942370333,1.432904380490371,0.71338606911949],"aabb_xy":[[-0.25145086037423614,1.4013552334868493],[-0.1514508584731705,1.4644535274938921]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.5897470637904001,-0.5609958702233571,0.71338606911949],"aabb_xy":[[0.5745841908134631,-0.5761613275184758],[0.6049099367673373,-0.5458304129282383]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.6281689025841142,0.173967834791231,0.71338606911949],"aabb_xy":[[0.6205446344939359,0.16633461125468726],[0.6357931706742924,0.1816010583277747]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.1369188344685559,-1.3564271848273382,0.71338606911949],"aabb_xy":[[-0.14323093400489434,-1.362194124080557],[-0.13060673493221747,-1.3506602455741192]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.21363624388064228,1.6595944124179645,0.71338606911949],"aabb_xy":[[-0.27863624498658557,1.6346290393498364],[-0.14863624277469903,1.684559785486093]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.45814747191185723,-1.552671210262227,0.71338606911949],"aabb_xy":[[-0.5481474705063272,-1.5689217965756481],[-0.36814747331738734,-1.536420623948806]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.5724646214939652,-1.8721172805005843,0.71338606911949],"aabb_xy":[[-0.5842328082886227,-1.9571172804058063],[-0.5606964346993076,-1.7871172805953632]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.18352989369420492,-0.638625066346292,0.71338606911949],"aabb_xy":[[-0.2475298908063106,-0.6876574361407026],[-0.11952989658209923,-0.5895926965518814]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.1710678293348873,-1.22449245593882,0.71338606911949],"aabb_xy":[[-0.20756364996216603,-1.2609763983655775],[-0.13457200870760855,-1.1880085135120624]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.5302456939085345,1.077184861126145,0.71338606911949],"aabb_xy":[[0.517642994771458,1.0645894649012797],[0.5428483930456109,1.0897802573510107]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.010168691968209798,-1.787867207259556,0.71338606911949],"aabb_xy":[[-0.02717878925826045,-1.80400169575783],[0.006841405321840856,-1.7717327187612821]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.2730104983815099,-0.7296718473316637,0.71338606911949],"aabb_xy":[[0.2624430187234109,-0.7402168774446722],[0.28357797803960894,-0.7191268172186551]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.10087761451697597,-2.243894973834191,0.71338606911949],"aabb_xy":[[-0.1708776163257214,-2.265248742598379],[-0.030877612708230542,-2.222541205070004]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.5794835075189944,-0.3475070886117617,0.71338606911949],"aabb_xy":[[-0.6434835061055667,-0.39451405201127043],[-0.5154835089324218,-0.300500125212253]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.3676137363753861,-2.228746950445214,0.71338606911949],"aabb_xy":[[-0.3780252950558697,-2.234092683781112],[-0.35720217769490226,-2.2234012171093154]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.38292119474291075,-2.083145125340726,0.71338606911949],"aabb_xy":[[0.36781889328189254,-2.0982466469717873],[0.39802349620392874,-2.0680436037096634]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.10089714484735435,0.9399585435804787,0.71338606911949],"aabb_xy":[[0.09385683491381738,0.8599585441808074],[0.10793745478089137,1.01995854298015]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[-0.42764293260546116,0.38172101511908485,0.71338606911949],"aabb_xy":[[-0.4776162266087215,0.33172101456453745],[-0.3776696386022006,0.43172101567363214]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[-0.19523167194193997,-0.5119014350218953,0.71338606911949],"aabb_xy":[[-0.22969401934008174,-0.5463953174197177],[-0.16076932454379814,-0.47740755262407236]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[-0.4271279018091859,0.8591672556604459,0.71338606911949],"aabb_xy":[[-0.45167411743193664,0.8289183591114088],[-0.4025816861864352,0.8894161522094829]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.707435301005869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2558.png","name":"2558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2558.png","name":"2558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5975.png","name":"5975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8668.png","name":"8668"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/736.png","name":"736"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":807.2015205540021,"rotation_z_degrees":160.0848384550148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0002531213987366429,0.00943542948472001,-0.003348551925332323]},{"name":"camera_2","offset_m":[-0.01801304043355669,-0.0026684025096693174,0.010651193909406182]},{"name":"camera_3","offset_m":[-0.019409277295044047,0.016197932162196855,-0.013058229176076477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010664087934843455,-5.116493035595138e-05,0.0009297855156633898],"end_effector_yaw_offset_degrees":0.07849071110579264},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012488943059542508,-0.0010840673249857655,0.001007666111130335],"end_effector_yaw_offset_degrees":-0.8559410877710243},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001937802189923858,0.0015698608601980926,6.0922022035996004e-05],"end_effector_yaw_offset_degrees":0.8626034029231295}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021256794528556476,0.001724593048944332],"position_m":[0.26167432054714435,0.34742459304894435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004933522292667247,6.24138198448785e-05],"position_m":[0.33746647770733273,0.10136241381984488,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012276708003500234,-0.004843821856553038],"position_m":[0.33092767080035,-0.04814382185655303,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037406358293542797,-0.004353529879705611],"position_m":[0.2654593641706457,-0.3925535298797056,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1086883a4f79dae797803f9c396c5db4f4e9832a94a1c88bdf7c50a7a58b9352","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2558/tex_ceiling_textures_3393/tex_floor_textures_736/tex_table_textures_5975/tex_wall_textures_8668","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6891551799187915759,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6891551799187915759,"visual_seed":6891551799187915759,"scene_id":"lab_003","finished_at":"2026-09-02T07:07:53"}
+{"episode_id":"ep_000092","started_at":"2026-09-02T07:07:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.43628379328864697,-0.32620152696127525,0.71338606911949],"aabb_xy":[[-0.444310063919273,-0.33495302193862786],[-0.42825752265802103,-0.31745003198392263]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.5498930942279443,1.2397332329669175,0.71338606911949],"aabb_xy":[[-0.5950644120761133,1.175733235822379],[-0.5047217763797753,1.303733230111456]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.6106588291993602,0.9405398438642139,0.71338606911949],"aabb_xy":[[0.5873769870012289,0.8555398425669857],[0.6339406713974916,1.0255398451614417]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.6010166487473798,-1.0048403988859727,0.71338606911949],"aabb_xy":[[0.5110166490242055,-1.027913751421152],[0.6910166484705539,-0.9817670463507925]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.10743951883321579,-2.5210918772262247,0.71338606911949],"aabb_xy":[[0.043439518455682155,-2.5708371440770366],[0.1714395192107494,-2.471346610375412]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[0.22357902722954215,1.3373386233854436,0.71338606911949],"aabb_xy":[[0.2016703450901911,1.315437956565353],[0.2454877093688932,1.3592392902055344]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.6262866939832226,0.8775714775558217,0.71338606911949],"aabb_xy":[[-0.6803022902651225,0.8135714746635644],[-0.5722710977013225,0.9415714804480787]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.5697113726411658,1.4476479477723916,0.71338606911949],"aabb_xy":[[0.5311656798159647,1.4091021767162029],[0.6082570654663668,1.4861937188285803]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.37999198799505507,-1.7851935927412568,0.71338606911949],"aabb_xy":[[0.3599335763818148,-1.8052586796504146],[0.40005039960829536,-1.7651285058320993]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.43941399910425916,-0.49918833126732043,0.71338606911949],"aabb_xy":[[0.34941400050978927,-0.5154389175807415],[0.5294139976987291,-0.4829377449538994]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.5719273369741527,0.6626610460890014,0.71338606911949],"aabb_xy":[[0.5344273363095738,0.6469739880887792],[0.6094273376387312,0.6783481040892235]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.39844445824046687,-1.534560146251152,0.71338606911949],"aabb_xy":[[-0.4784444556440603,-1.6145527174493344],[-0.31844446083687344,-1.4545675750529687]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[0.3430700493202967,-1.9089558365380839,0.71338606911949],"aabb_xy":[[0.33773247365429215,-1.9339558374672239],[0.3484076249863013,-1.8839558356089443]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.2590002410969847,1.161092554247296,0.71338606911949],"aabb_xy":[[0.25175647505073934,1.0810925560436937],[0.26624400714323,1.2410925524508984]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.01103334159469982,-1.5089912022528433,0.71338606911949],"aabb_xy":[[-0.02646665822233374,-1.5136294135639852],[0.04853334141173338,-1.5043529909417015]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.003319260521572609,-2.1744566400267864,0.71338606911949],"aabb_xy":[[-0.012236508888692658,-2.190007073271194],[0.018875029931837876,-2.1589062067823797]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.42763979347526854,0.686613404497356,0.71338606911949],"aabb_xy":[[-0.4626397926680868,0.6756463584996932],[-0.39263979428245027,0.6975804504950185]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.5076302061961255,-2.1743439885706697,0.71338606911949],"aabb_xy":[[-0.5626039282324584,-2.2293439881349033],[-0.45265648415979265,-2.119343989006437]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.3797443359516872,-2.454248937737832,0.71338606911949],"aabb_xy":[[0.3717508461564052,-2.462247069678308],[0.3877378257469693,-2.446250805797357]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.13979367550308552,-1.1397569620138468,0.71338606911949],"aabb_xy":[[0.1263471488690422,-1.153226813666938],[0.15324020213712886,-1.1262871103607557]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[-0.2888979625226859,1.1861826996907694,0.71338606911949],"aabb_xy":[[-0.31078771011162665,1.09618270240152],[-0.26700821493374505,1.2761826969800183]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[0.34971667848771837,-1.1313836402117619,0.71338606911949],"aabb_xy":[[0.2697166805069333,-1.1389851811736138],[0.4297166764685034,-1.12378209924991]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.1773026931664906,-1.2407346264236712,0.71338606911949],"aabb_xy":[[-0.21832063655286146,-1.2907346270546285],[-0.1362847497801197,-1.1907346257927138]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.4233781668852177,0.894839038188056,0.71338606911949],"aabb_xy":[[0.41633671593447014,0.8878122864502614],[0.43041961783596533,0.9018657899258505]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.19183717399558342,-2.3112763284338262,0.71338606911949],"aabb_xy":[[0.10183717725997316,-2.3644597917511203],[0.2818371707311936,-2.2580928651165313]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[-0.22268869653271728,-1.6642785741970374,0.71338606911949],"aabb_xy":[[-0.24157308030122746,-1.6831644989773906],[-0.20380431276420705,-1.645392649416685]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[-0.5631208980552714,-0.5368205975879783,0.71338606911949],"aabb_xy":[[-0.5711148866329747,-0.5448206776830685],[-0.5551269094775679,-0.5288205174928878]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[-0.3827277040837945,0.0462904662799839,0.71338606911949],"aabb_xy":[[-0.4377199547193054,-0.008709535463328867],[-0.3277354534482835,0.10129046802329669]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7106841622400613,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3892.png","name":"3892"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3892.png","name":"3892"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1975.png","name":"1975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3153.png","name":"3153"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5993.png","name":"5993"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9264.png","name":"9264"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":831.5363996903944,"rotation_z_degrees":24.512549817206395,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018580609303817813,-0.01969574116961825,-0.017024284035890177]},{"name":"camera_2","offset_m":[0.0009030140741643662,0.010214094096260711,-0.009698461109027444]},{"name":"camera_3","offset_m":[-0.013678167092889009,-0.011476684028549417,0.014789021737491099]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006925006305959071,1.3573895618200493e-05,-0.001652178928514179],"end_effector_yaw_offset_degrees":0.3099449208684981},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008032174688726776,-0.0001630713242225328,-0.0006282941728679282],"end_effector_yaw_offset_degrees":-0.8838860214213426},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018295417081331746,-0.0009258921723731492,-0.0011731886653483334],"end_effector_yaw_offset_degrees":-0.20918321845091747}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029215418011134557,-0.002437129286454378],"position_m":[0.26672154180111346,0.3432628707135456,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004645066991682101,0.0022172198343014147],"position_m":[0.3377549330083179,0.10351721983430141,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004648064871318793,-0.0014744028397723685],"position_m":[0.3343480648713188,-0.04477440283977237,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027388049458482453,-0.0004348088953749782],"position_m":[0.27193880494584827,-0.388634808895375,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fc78691237c929ec0061600cf54ac9b5c3d52767da3f15ff4c3839ca56be813a","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0093.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3892/tex_ceiling_textures_9264/tex_floor_textures_5993/tex_table_textures_1975/tex_wall_textures_3153","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8618212312277354171,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8618212312277354171,"visual_seed":8618212312277354171,"scene_id":"lab_003","finished_at":"2026-09-02T07:10:58"}
+{"episode_id":"ep_000093","started_at":"2026-09-02T07:11:01","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.6007341261447761,1.2221180263089524,0.71338606911949],"aabb_xy":[[-0.6133609134319724,1.2125719526073795],[-0.5881073388575797,1.2316641000105253]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.29203498541695727,0.6757656057679347,0.71338606911949],"aabb_xy":[[-0.2990752953504943,0.5957656063682634],[-0.28499467548342033,0.7557656051676063]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.1812144929997559,1.686390824577241,0.71338606911949],"aabb_xy":[[-0.18465516923981307,1.6825293916028765],[-0.17777381675969872,1.6902522575516055]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.4479044462041203,0.7128955978026057,0.71338606911949],"aabb_xy":[[-0.4978873963915995,0.6628955981600452],[-0.39792149601664084,0.762895597445166]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.5093439244831566,0.4165509555039364,0.71338606911949],"aabb_xy":[[0.4874541768942157,0.32655095821468716],[0.5312336720720973,0.5065509527931853]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.5343622103796105,0.5639739288190975,0.71338606911949],"aabb_xy":[[-0.5647603214787541,0.533567026817428],[-0.5039640992804669,0.594380830820767]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.601043069515995,-0.19594722880529547,0.71338606911949],"aabb_xy":[[0.5843659335228993,-0.21264715277922575],[0.6177202055090903,-0.1792473048313652]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[-0.33047550385239216,-1.7883889868822416,0.71338606911949],"aabb_xy":[[-0.3679755043497504,-1.7923576704303599],[-0.2929755033550339,-1.7844203033341228]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.5855204484360825,0.3077176797354526,0.71338606911949],"aabb_xy":[[0.5806211561295189,0.2800407604328838],[0.5904197407426459,0.3353945990380213]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.5650876583229251,0.0863067270618334,0.71338606911949],"aabb_xy":[[-0.6450876569102445,0.006991125123672503],[-0.4850876597356057,0.16562232899999427]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.34458206935522595,-1.151704677972403,0.71338606911949],"aabb_xy":[[0.340878808026087,-1.1554066962811207],[0.3482853306843648,-1.1480026596636848]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[0.29461171031865874,1.6006381316701632,0.71338606911949],"aabb_xy":[[0.27472067043831855,1.5879823203854666],[0.31450275019899904,1.6132939429548603]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.05622928184692655,-1.181590711989432,0.71338606911949],"aabb_xy":[[0.045323505759363836,-1.2615907083882612],[0.06713505793448926,-1.1015907155906028]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.6038410837190782,0.8654584133596543,0.71338606911949],"aabb_xy":[[0.5813410839051758,0.8609837969891736],[0.6263410835329806,0.8699330297301351]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[0.48899005495841164,-2.0092914766619336,0.71338606911949],"aabb_xy":[[0.4239900540012844,-2.0612396885956388],[0.5539900559155388,-1.9573432647282278]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.029802875881992485,1.630879924918807,0.71338606911949],"aabb_xy":[[-0.03750606655606953,1.623170554220069],[-0.022099685207915443,1.6385892956175452]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.6143390283739065,0.4389084797881755,0.71338606911949],"aabb_xy":[[0.6011080828392251,0.425681060766176],[0.6275699739085877,0.45213589881017485]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.5782202442369737,1.3395105129579714,0.71338606911949],"aabb_xy":[[0.5673797660104588,1.3223242316673225],[0.5890607224634886,1.3566967942486199]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[0.03530126256138055,-0.6812998273138027,0.71338606911949],"aabb_xy":[[-0.002198736014240254,-0.6940361229773605],[0.07280126113700135,-0.6685635316502446]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.5015056658449462,-0.42760224038077865,0.71338606911949],"aabb_xy":[[0.4823933584869673,-0.4467370192580207],[0.520617973202925,-0.40846746150353663]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.7027217534461436,0.8072125612791727,0.71338606911949],"aabb_xy":[[0.6808130713067925,0.7853118944590819],[0.7246304355854946,0.8291132280992634]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.6545029493959125,-0.8283917120326745,0.71338606911949],"aabb_xy":[[0.5905029522838068,-0.8774240818270851],[0.7185029465080182,-0.7793593422382639]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7083197209728194,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8981.png","name":"8981"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3765.png","name":"3765"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2150.png","name":"2150"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9092.png","name":"9092"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":683.3255792663338,"rotation_z_degrees":232.77505160035741,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001301547622737556,0.008064987758325235,-0.004695065657245064]},{"name":"camera_2","offset_m":[-0.019041327431810178,-0.0009493836990944922,-0.010169733434536933]},{"name":"camera_3","offset_m":[-0.0003822770902454087,0.009893561543209438,0.008191094284564372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014803865017452367,0.0003078306229673329,-3.193431445021062e-05],"end_effector_yaw_offset_degrees":0.4228636763517346},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018462955985829267,2.7867320704878882e-05,0.0010873691846791178],"end_effector_yaw_offset_degrees":0.9478726744758514},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0002141807368468149,-0.0005395778302360252,-0.0011293427668455053],"end_effector_yaw_offset_degrees":0.935318841286249}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020175784090885095,-0.002626562351228143],"position_m":[0.2617824215909115,0.34307343764877185,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004943170758114687,0.001515321141214305],"position_m":[0.34734317075811466,0.1028153211412143,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019720731648198275,0.0006504504116456433],"position_m":[0.32772792683518015,-0.04264954958835435,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002540237651338903,0.0035986696165725947],"position_m":[0.2717402376513389,-0.3846013303834274,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"72454959d0f642b5a48032a95883211aaf2d42dab65764710ce077abd51f5312","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1560/tex_ceiling_textures_9092/tex_floor_textures_2150/tex_table_textures_8981/tex_wall_textures_3765","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":3787512253353848977,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":3787512253353848977,"visual_seed":3787512253353848977,"scene_id":"lab_003","finished_at":"2026-09-02T07:13:53"}
+{"episode_id":"ep_000094","started_at":"2026-09-02T07:13:56","dimensions":{"distractor":{"count":27,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[-0.5544587740023477,1.7264913417696204,0.71338606911949],"aabb_xy":[[-0.6444587763363667,1.649008987184508],[-0.4644587716683286,1.8039736963547333]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.5027990013323284,-1.6314352212220435,0.71338606911949],"aabb_xy":[[-0.5667990032446708,-1.687346370480054],[-0.4387989994199861,-1.575524071964033]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.2561785656046529,1.3610108672175443,0.71338606911949],"aabb_xy":[[0.1921785663104847,1.2970247268486903],[0.3201785648988211,1.4249970075863987]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[0.4128953996925375,-0.9674301510397063,0.71338606911949],"aabb_xy":[[0.33289540171175247,-0.9750316920015584],[0.4928953976733226,-0.9598286100778545]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.3349110287560815,0.6587160082823971,0.71338606911949],"aabb_xy":[[0.32515503924690753,0.6489534742231625],[0.3446670182652553,0.6684785423416314]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.31485678800064254,-1.3900095325082085,0.71338606911949],"aabb_xy":[[0.3075744716239788,-1.4800095361177172],[0.3221391043773061,-1.3000095288986993]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.06547358656919722,-0.931694730206102,0.71338606911949],"aabb_xy":[[-0.07144012550993299,-0.937655874865466],[-0.059507047628461415,-0.9257335855467379]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.5634874506688303,-0.3333082544033332,0.71338606911949],"aabb_xy":[[0.5284874493173486,-0.35366799036015406],[0.5984874520203121,-0.3129485184465124]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[0.6423609501378895,-1.8339035765658767,0.71338606911949],"aabb_xy":[[0.6067317942379298,-1.8695362433227294],[0.6779901060378493,-1.7982709098090235]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.06213680142579714,1.047509910065732,0.71338606911949],"aabb_xy":[[0.02463680300239679,1.034345696097901],[0.09963679984919749,1.0606741240335624]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.11433172840301453,-2.103584498811894,0.71338606911949],"aabb_xy":[[-0.16433172968685444,-2.153563353202516],[-0.06433172711917454,-2.0536056444212716]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.31800027977392964,-2.495485532426382,0.71338606911949],"aabb_xy":[[0.30865327219163435,-2.509789154644026],[0.3273472873562248,-2.481181910208738]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.5695465742805632,1.5330452011269782,0.71338606911949],"aabb_xy":[[-0.6108511173442991,1.469045201558861],[-0.5282420312168271,1.5970452006950953]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.6191149845750658,-0.43839389534486095,0.71338606911949],"aabb_xy":[[-0.6566149860906974,-0.44962066836100595],[-0.5816149830594339,-0.42716712232871584]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.5133476204948098,0.5177068332231092,0.71338606911949],"aabb_xy":[[0.46335260953535773,0.4677068341875176],[0.5633426314542618,0.567706832258701]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.2672000009246818,-0.1914967029682284,0.71338606911949],"aabb_xy":[[-0.3372000025269613,-0.20492949616988596],[-0.19719999932240234,-0.1780639097665708]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.6491239014542523,-2.555031512056282,0.71338606911949],"aabb_xy":[[0.6228350771338115,-2.581302945710933],[0.6754127257746928,-2.5287600784016306]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.14144324426423183,-2.2070952807862727,0.71338606911949],"aabb_xy":[[0.11953456212488078,-2.2289959476063634],[0.16335192640358287,-2.185194613966182]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.5792225799058182,-1.9898374303828334,0.71338606911949],"aabb_xy":[[0.5142225789053176,-2.040623795537508],[0.6442225809063187,-1.939051065228158]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.06854739268126708,-1.8241321775060686,0.71338606911949],"aabb_xy":[[0.050914557087739516,-1.8417551235216916],[0.08618022827479466,-1.8065092314904456]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.23991946469920333,-0.7623847826536669,0.71338606911949],"aabb_xy":[[0.235958980929469,-0.7700526472391875],[0.24387994846893774,-0.7547169180681463]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.2722360783543845,-0.7453542687750649,0.71338606911949],"aabb_xy":[[-0.3132540217407554,-0.7953542694060222],[-0.23121813496801363,-0.6953542681441075]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.24123870560352023,-1.5723813889532412,0.71338606911949],"aabb_xy":[[-0.2460823003647502,-1.5772330414322253],[-0.23639511084229026,-1.567529736474257]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[-0.14048220919648302,-0.7474912556826241,0.71338606911949],"aabb_xy":[[-0.16548220912900094,-0.7543739239035474],[-0.11548220926396516,-0.7406085874617008]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.006534973077939155,0.7280109043049969,0.71338606911949],"aabb_xy":[[-0.043465026362256465,0.6780429798206806],[0.056534972518134774,0.7779788287893132]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[0.3955413419964906,-1.1173110576260523,0.71338606911949],"aabb_xy":[[0.33554134113567774,-1.1687374876325385],[0.45554134285730336,-1.0658846276195657]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[-0.2873617459919626,0.8445552042280502,0.71338606911949],"aabb_xy":[[-0.367361743395556,0.7645626330298674],[-0.20736174858836917,0.924547775426233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.713118592177053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7563.png","name":"7563"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3208.png","name":"3208"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8192.png","name":"8192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2550.png","name":"2550"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":527.6440294306416,"rotation_z_degrees":181.14184060619039,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010339542726350952,-0.004283504737997736,0.011184424353156992]},{"name":"camera_2","offset_m":[-0.012377338039879473,0.006341511143895143,-0.001708596891850652]},{"name":"camera_3","offset_m":[0.01816922471862561,0.007133048143263005,0.008013541378059309]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005527131602509976,-0.0013827830009355804,-3.992157039090947e-05],"end_effector_yaw_offset_degrees":0.09856371457018587},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00020876825877492252,0.00012912122029989275,0.0017651811248594555],"end_effector_yaw_offset_degrees":-0.6306329353014806},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008481162958884317,-0.0003983717244742185,-0.001020552354342359],"end_effector_yaw_offset_degrees":0.9996278253102024}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003969765963703391,-0.00034823151824580744],"position_m":[0.2677697659637034,0.3453517684817542,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028922441135866873,-0.0028819414418394473],"position_m":[0.3395077558864133,0.09841805855816055,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019981040379018567,0.0008677001702935162],"position_m":[0.32770189596209814,-0.042432299829706484,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002845639215256413,-0.004707051442148446],"position_m":[0.27204563921525643,-0.39290705144214844,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5b8d01c807e1bad595ea5e0d05cdd3f82cdb408512b6fa8da1f0966ed12ad137","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3902/tex_ceiling_textures_2550/tex_floor_textures_8192/tex_table_textures_7563/tex_wall_textures_3208","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2490481624989740035,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2490481624989740035,"visual_seed":2490481624989740035,"scene_id":"lab_003","finished_at":"2026-09-02T07:16:39"}
+{"episode_id":"ep_000095","started_at":"2026-09-02T07:16:42","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.265087367240157,-2.5201303817019443,0.71338606911949],"aabb_xy":[[0.21510441705267766,-2.5701303813445042],[0.3150703174276363,-2.4701303820593834]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.10863251266533991,-0.8271710784959454,0.71338606911949],"aabb_xy":[[0.10070923242659158,-0.8496710787339486],[0.11655579290408824,-0.8046710782579419]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.28274307694622586,-0.6488929768372322,0.71338606911949],"aabb_xy":[[-0.2935835551727407,-0.666079258127881],[-0.2719025987197109,-0.6317066955465834]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.11200191377119151,-2.529605789571211,0.71338606911949],"aabb_xy":[[-0.12134892135348675,-2.543909411788855],[-0.10265490618889629,-2.515302167353567]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.6888535485681508,-0.48063940628776436,0.71338606911949],"aabb_xy":[[0.6663535490444434,-0.503135353738385],[0.7113535480918582,-0.4581434588371435]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.045346742805840834,-1.730847519596367,0.71338606911949],"aabb_xy":[[-0.08034674107596074,-1.737921647291355],[-0.010346744535720931,-1.7237733919013787]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.3771499595488741,-1.589125502067778,0.71338606911949],"aabb_xy":[[0.35803765219089523,-1.60826028094502],[0.39626226690685296,-1.569990723190536]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[0.03609826931824056,0.8888424766179579,0.71338606911949],"aabb_xy":[[-0.04390172769600743,0.8687079249445465],[0.11609826633248854,0.9089770282913691]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.5445588494118457,1.4009217646574963,0.71338606911949],"aabb_xy":[[-0.5596611508728636,1.3858202430264341],[-0.5294565479508274,1.416023286288558]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.6442669422010152,0.3600051098129149,0.71338606911949],"aabb_xy":[[0.5866364733137442,0.30000511088620424],[0.701897411088286,0.4200051087396254]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[-0.08281407283629083,1.2146346383484325,0.71338606911949],"aabb_xy":[[-0.0867745566060252,1.206966773762912],[-0.07885358906655646,1.2223025029339531]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.2866015588745969,0.5387500738159354,0.71338606911949],"aabb_xy":[[-0.35160156151239036,0.48727047511648847],[-0.2216015562368034,0.5902296725153824]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.40990741196232294,-1.0963740815670702,0.71338606911949],"aabb_xy":[[0.3199074122391487,-1.11944743410225],[0.49990741168549707,-1.0733007290318903]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.5768815847476629,1.6493207451708343,0.71338606911949],"aabb_xy":[[0.5556035766041907,1.5843207428447612],[0.5981595928911352,1.7143207474969073]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.08120507242945096,-1.6091794974350784,0.71338606911949],"aabb_xy":[[0.03172465121549217,-1.6731794953479304],[0.13068549364340976,-1.5451794995222268]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.23258805432471885,-2.207943299969502,0.71338606911949],"aabb_xy":[[-0.322588051060329,-2.261126763286796],[-0.14258805758910859,-2.154759836652207]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.6575246167692983,0.8464086245407842,0.71338606911949],"aabb_xy":[[0.6206740688323108,0.8089086237177504],[0.694375164706286,0.8839086253638179]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.2168616979695583,-0.31661647001903326,0.71338606911949],"aabb_xy":[[-0.2287337809810594,-0.40161646971268367],[-0.20498961495805718,-0.23161647032538296]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.4265902009454158,-0.5451673877421928,0.71338606911949],"aabb_xy":[[-0.5065901983490091,-0.6251599589403755],[-0.3465902035418223,-0.4651748165440099]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.2689855152391272,-1.4213767377236601,0.71338606911949],"aabb_xy":[[-0.2994697653661574,-1.471376737505156],[-0.23850126511209707,-1.3713767379421642]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[0.3081349841591303,-1.7686722020440317,0.71338606911949],"aabb_xy":[[0.24413498378159665,-1.8184174688948438],[0.3721349845366639,-1.7189269351932193]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.17184725906319287,-1.229791353900654,0.71338606911949],"aabb_xy":[[-0.1810071380070695,-1.236322571944191],[-0.1626873801193163,-1.223260135857117]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.6152396878151123,1.584655770909103,0.71338606911949],"aabb_xy":[[-0.6329153184037106,1.5669755546297002],[-0.597564057226514,1.6023359871885057]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[-0.09840462900017255,1.489676080157969,0.71338606911949],"aabb_xy":[[-0.12224084664077763,1.3996760793494827],[-0.07456841135956749,1.5796760809664558]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.3069573962542711,1.728273159262304,0.71338606911949],"aabb_xy":[[0.2817365593944314,1.7030494084094172],[0.3321782331141107,1.7534969101151907]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.33046643763224737,-0.23797921713671544,0.71338606911949],"aabb_xy":[[-0.33416969896138615,-0.2416812354454333],[-0.32676317630310836,-0.23427719882799758]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_26","position":[0.7066886787409348,-0.9843153509701599,0.71338606911949],"aabb_xy":[[0.7012307331039147,-1.064315354277819],[0.7121466243779548,-0.9043153476625008]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[-0.11981817351343049,-2.403386244519511,0.71338606911949],"aabb_xy":[[-0.1838181699407524,-2.450555868341608],[-0.05581817708610859,-2.356216620697415]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.6348262744989933,0.6950131661412731,0.71338606911949],"aabb_xy":[[-0.6948262750068461,0.6381664324553518],[-0.5748262739911403,0.7518598998271944]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.2600343722288211,-0.6990281890650409,0.71338606911949],"aabb_xy":[[0.19503437407290197,-0.7253244336149531],[0.3250343703847401,-0.6727319445151287]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7095445681400686,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5073.png","name":"5073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5073.png","name":"5073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8534.png","name":"8534"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8472.png","name":"8472"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3110.png","name":"3110"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.2096236107254,"rotation_z_degrees":125.76800834182842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038794446446593946,0.016699074281638148,0.007596417643653618]},{"name":"camera_2","offset_m":[-0.003932086933067201,0.0038590124895097715,0.016817775329826038]},{"name":"camera_3","offset_m":[0.003886584157369314,0.010392839228565483,0.01659701392666593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012695311451770054,-0.0011579860745889988,-0.0018925869757916703],"end_effector_yaw_offset_degrees":-0.7878466759395111},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014603189423841568,-0.0011387654469552065,0.0019381033933968594],"end_effector_yaw_offset_degrees":0.6240509250283963},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0019534265243156142,0.0016908381676420331,0.0005798064763859268],"end_effector_yaw_offset_degrees":-0.014504980764094455}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018010961054099983,0.0047185213549983005],"position_m":[0.26199890389458996,0.3504185213549983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005941134770724799,0.0035778634687250585],"position_m":[0.3418058865229275,0.10487786346872506,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0013585850161733585,0.001676334406341469],"position_m":[0.33105858501617336,-0.04162366559365853,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003377810037855411,0.0026383967913675057],"position_m":[0.2725778100378554,-0.3855616032086325,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"886d9e61a699425c7cd8071bb8a901b08e44576ec6c18cc5d25b8f87522d595d","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5073/tex_ceiling_textures_3110/tex_floor_textures_2504/tex_table_textures_8534/tex_wall_textures_8472","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":1866292189552828367,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":1866292189552828367,"visual_seed":1866292189552828367,"scene_id":"lab_003","finished_at":"2026-09-02T07:19:45"}
+{"episode_id":"ep_000096","started_at":"2026-09-02T07:19:49","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.6428893061101675,0.9042568433471168,0.71338606911949],"aabb_xy":[[-0.6928893071293026,0.867790627609289],[-0.5928893050910321,0.9407230590849449]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.03791751547952482,1.560938455589835,0.71338606911949],"aabb_xy":[[-0.042816807786088304,1.533261536287266],[-0.03301822317296131,1.5886153748924035]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[0.29167180561027317,-2.477529603532039,0.71338606911949],"aabb_xy":[[0.2463931907291239,-2.5415296028802223],[0.33695042049142243,-2.413529604183855]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[-0.48990645618812123,-2.4855467889104546,0.71338606911949],"aabb_xy":[[-0.5099648678013615,-2.5056118758196124],[-0.469848044574881,-2.4654817020012976]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.6882353185554442,-0.14172803314254212,0.71338606911949],"aabb_xy":[[-0.6930789133166742,-0.14657968562152623],[-0.6833917237942142,-0.136876380663558]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[0.5735946321762437,0.9957604333746382,0.71338606911949],"aabb_xy":[[0.5622328975229575,0.9843919669683502],[0.5849563668295298,1.0071288997809265]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.36849851514006327,-1.361074921278607,0.71338606911949],"aabb_xy":[[-0.4034985142700189,-1.3668201423542712],[-0.3334985160101076,-1.355329700202943]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.19503627970158532,-1.332994388687789,0.71338606911949],"aabb_xy":[[0.131036278998116,-1.37901277116071],[0.2590362804050547,-1.286976006214868]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[0.5798650262607767,0.14490842654843084,0.71338606911949],"aabb_xy":[[0.5599739863804366,0.13225261526373402],[0.5997560661411171,0.1575642378331277]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.6736316777775844,-2.212704330454351,0.71338606911949],"aabb_xy":[[0.623647442069407,-2.2627043292678466],[0.7236159134857615,-2.1627043316408554]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.33574140372576444,-0.7717463704787293,0.71338606911949],"aabb_xy":[[0.32140697859960093,-0.783806586033268],[0.35007582885192784,-0.7596861549241903]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.5652295473075697,-2.3453689709864385,0.71338606911949],"aabb_xy":[[-0.5902295472400875,-2.352251639207362],[-0.5402295473750517,-2.338486302765516]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.18530973006432572,-2.0641488344251604,0.71338606911949],"aabb_xy":[[-0.1949413662847553,-2.0737861472048693],[-0.17567809384389607,-2.0545115216454515]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.5348551679789315,0.47428763130748575,0.71338606911949],"aabb_xy":[[0.5239493918913688,0.3942876349086566],[0.5457609440664942,0.5542876277063149]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.18260401427049477,-2.1934110159314755,0.71338606911949],"aabb_xy":[[0.1713589586998769,-2.2046528136555703],[0.19384906984111258,-2.1821692182073797]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.529199366301935,-0.9253352434739917,0.71338606911949],"aabb_xy":[[-0.5383592452458116,-0.9318664615175288],[-0.5200394873580584,-0.9188040254304547]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.23117440305331027,1.7865908802403587,0.71338606911949],"aabb_xy":[[0.22033392482679534,1.7694045989497098],[0.24201488127982515,1.8037771615310072]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.1578456165169645,-1.9409408512439144,0.71338606911949],"aabb_xy":[[-0.19284561786844623,-1.9613005872007352],[-0.12284561516548277,-1.9205811152870935]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.047961683030919966,-1.7476487200621542,0.71338606911949],"aabb_xy":[[0.03481043705963061,-1.7726487198188408],[0.06111292900220934,-1.7226487203054677]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.6193682582556046,-0.12595031800164724,0.71338606911949],"aabb_xy":[[0.602691122262509,-0.14265024197557752],[0.6360453942487,-0.10925039402771697]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.10477548858996921,-2.2670087626714794,0.71338606911949],"aabb_xy":[[0.07031301057688145,-2.273672439854402],[0.13923796660305698,-2.2603450854885567]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7114152901502941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9193.png","name":"9193"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9193.png","name":"9193"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6074.png","name":"6074"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3081.png","name":"3081"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9739.png","name":"9739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3138.png","name":"3138"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":632.7021031366619,"rotation_z_degrees":325.9414863531841,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016569554535984878,-0.015467850676010052,-0.01790951257101094]},{"name":"camera_2","offset_m":[-0.008651386217595647,0.017802377156052176,-0.001773888740857616]},{"name":"camera_3","offset_m":[-0.00782448456245688,-0.017727661497421675,0.004337503341578893]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001928512769084862,0.0006736863567880893,-0.0016236444212858934],"end_effector_yaw_offset_degrees":0.7412821847135755},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013198665867596737,0.0019193700371846253,0.0011300046305137402],"end_effector_yaw_offset_degrees":-0.35405890379898697},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[9.877650449498102e-05,-0.0010019833233732953,0.0010989614359902893],"end_effector_yaw_offset_degrees":0.3339267708815812}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[4.339875896880018e-05,0.0010626843401648723],"position_m":[0.2638433987589688,0.3467626843401649,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017463148480067626,-0.0033506583945634907],"position_m":[0.34414631484800673,0.09794934160543652,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002381337497569991,-0.004508559759385777],"position_m":[0.33208133749756996,-0.04780855975938578,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004008706193232132,0.00017428259262049044],"position_m":[0.2732087061932321,-0.3880257174073795,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6581985c256b95f38a963ee4625c674cd6a687a6605cfaf87ec204374a48ec36","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9193/tex_ceiling_textures_3138/tex_floor_textures_9739/tex_table_textures_6074/tex_wall_textures_3081","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":2884099225330184975,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":2884099225330184975,"visual_seed":2884099225330184975,"scene_id":"lab_003","finished_at":"2026-09-02T07:22:38"}
+{"episode_id":"ep_000097","started_at":"2026-09-02T07:22:43","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.3970318143011722,0.8175201190262444,0.71338606911949],"aabb_xy":[[0.38932862362709514,0.8098107483275063],[0.4047350049752492,0.8252294897249823]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.02969655340690669,0.8745012475004201,0.71338606911949],"aabb_xy":[[-0.0665471013438943,0.8370012466773865],[0.0071539945300809205,0.912001248323454]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.4908546481246958,0.9273828199555183,0.71338606911949],"aabb_xy":[[-0.5186996849053029,0.8965983212172066],[-0.4630096113440887,0.95816731869383]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.48860832724113523,-0.7173682330726032,0.71338606911949],"aabb_xy":[[-0.5057104051995034,-0.7344750386038731],[-0.4715062492827671,-0.7002614275413336]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.6388374686190217,-2.1857747317575194,0.71338606911949],"aabb_xy":[[-0.6467607488577699,-2.2082747319955227],[-0.6309141883802732,-2.163274731519516]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.6077332296251352,1.0974557038868578,0.71338606911949],"aabb_xy":[[0.5427332295908325,1.0507550272065305],[0.6727332296594379,1.144156380567185]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.4880886801363493,-0.27673576258535926,0.71338606911949],"aabb_xy":[[0.47464215350230593,-0.2902056142384505],[0.5015352067703926,-0.26326591093226803]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.44588623055488197,1.4981561595619133,0.71338606911949],"aabb_xy":[[-0.49588623150541467,1.4666070125583917],[-0.39588622960434905,1.5297053065654345]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.37699079388430645,-1.2176713621432558,0.71338606911949],"aabb_xy":[[0.3169907940377396,-1.2744899843362945],[0.4369907937308732,-1.160852739950217]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[-0.5734134436506311,-0.17109810323604613,0.71338606911949],"aabb_xy":[[-0.5846584992212489,-0.18233990096014138],[-0.5621683880800132,-0.15985630551195082]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.05722471662158479,-2.291580011754468,0.71338606911949],"aabb_xy":[[0.00941854900781614,-2.3565800144615263],[0.10503088423535342,-2.2265800090474084]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.12123086968018948,1.5335045596510501,0.71338606911949],"aabb_xy":[[-0.17123087096402942,1.4835257052604278],[-0.0712308683963495,1.583483414041672]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.230499133514674,1.7237619898977399,0.71338606911949],"aabb_xy":[[-0.26046669042449966,1.6937619895998541],[-0.20053157660484833,1.7537619901956256]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.565695461809796,1.106367895109945,0.71338606911949],"aabb_xy":[[-0.6256954623176489,1.0495211614240234],[-0.5056954613019431,1.163214628795866]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.3704532653942897,0.6879028224603561,0.71338606911949],"aabb_xy":[[-0.37961314433816623,0.6813716044168189],[-0.36129338645041303,0.694434040503893]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.23836059035258633,-2.41917606571275,0.71338606911949],"aabb_xy":[[-0.28835986552102255,-2.4691760669886973],[-0.18836131518415022,-2.369176064436803]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.00521095877933464,-1.8313117888606292,0.71338606911949],"aabb_xy":[[-0.010668904416354708,-1.9113117921682883],[0.0002469868576854273,-1.75131178555297]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.2999276432846073,0.40789750936603486,0.71338606911949],"aabb_xy":[[-0.3450989611327763,0.34389751222149645],[-0.2547563254364384,0.47189750651057333]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.6548583747331385,-1.0124691567788462,0.71338606911949],"aabb_xy":[[0.6205420975585205,-1.062469156752024],[0.6891746519077564,-0.9624691568056685]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.5910293126529732,0.26123918485195396,0.71338606911949],"aabb_xy":[[-0.6254916600511149,0.2267453024541312],[-0.5565669652548313,0.29573306724977655]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.2879368438375136,1.1098463060923351,0.71338606911949],"aabb_xy":[[0.2838009875048134,1.0723463066479781],[0.2920727001702138,1.1473463055366921]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.5497190309822984,0.6832857491689608,0.71338606911949],"aabb_xy":[[0.5395660154281489,0.6472162075962203],[0.5598720465364476,0.719355290741701]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.37050246995127656,1.301893979183212,0.71338606911949],"aabb_xy":[[-0.4055024699277724,1.2924293631355954],[-0.3355024699747807,1.3113585952308286]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.11271772945594438,-1.400710254995361,0.71338606911949],"aabb_xy":[[-0.1372639450786951,-1.4309591515443978],[-0.08817151383319366,-1.3704613584463237]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.1969120929889286,0.8940723075386852,0.71338606911949],"aabb_xy":[[-0.2337067261138349,0.8571664324421028],[-0.16011745986402234,0.9309781826352673]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[0.5605994484967614,-2.0037020988779988,0.71338606911949],"aabb_xy":[[0.5430994482374248,-2.017793641066772],[0.5780994487560981,-1.9896105566892266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7109231648349953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2650.png","name":"2650"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2650.png","name":"2650"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1643.png","name":"1643"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9945.png","name":"9945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3786.png","name":"3786"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6375.png","name":"6375"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":592.9318058351979,"rotation_z_degrees":33.93543673731728,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015244599511376047,0.018959385273005915,0.00923497483696016]},{"name":"camera_2","offset_m":[-0.00977719734271716,-0.006876184438708943,0.008446668555514299]},{"name":"camera_3","offset_m":[-0.008066724828905381,0.009088717021628386,0.012828145166298207]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017064387867299934,0.0006847732035792373,-0.0010450143198923786],"end_effector_yaw_offset_degrees":0.31084580130814476},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001007835528293246,-1.0774069140193424e-07,0.001230663544557236],"end_effector_yaw_offset_degrees":-0.5961335738924887},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-7.966448309035148e-05,0.0010909193616325079,-0.0012752256673673839],"end_effector_yaw_offset_degrees":0.7678749799295033}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022568285479759777,-0.0011335115483970771],"position_m":[0.261543171452024,0.3445664884516029,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004039087847948095,-0.002558476730831946],"position_m":[0.3464390878479481,0.09874152326916806,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-2.956368711962056e-05,0.004159440888511946],"position_m":[0.3296704363128804,-0.03914055911148805,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00413630013609543,0.0012738729108756888],"position_m":[0.27333630013609544,-0.3869261270891243,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99c92a7226fd1b1aecb526ed16b706184e589d6b154e24442502e8a9bd39980a","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2650/tex_ceiling_textures_6375/tex_floor_textures_3786/tex_table_textures_1643/tex_wall_textures_9945","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":8961535905248686253,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":8961535905248686253,"visual_seed":8961535905248686253,"scene_id":"lab_003","finished_at":"2026-09-02T07:25:19"}
+{"episode_id":"ep_000098","started_at":"2026-09-02T07:25:22","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.5507715603367714,0.5140689505000089,0.71338606911949],"aabb_xy":[[-0.568640668091227,0.500236042522798],[-0.532902452582316,0.5279018584772198]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.5320624820271969,-2.2798205776024174,0.71338606911949],"aabb_xy":[[0.5226450074573342,-2.2892367547401364],[0.5414799565970597,-2.2704044004646984]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.5469367438622338,-0.20331105548110084,0.71338606911949],"aabb_xy":[[-0.5919293305806842,-0.2483110547555496],[-0.5019441571437834,-0.1583110562066521]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.7089986726781674,-2.166787474023435,0.71338606911949],"aabb_xy":[[0.704363557525934,-2.1706548091005833],[0.7136337878304008,-2.1629201389462858]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[-0.1239795393868478,-0.14519825504722572,0.71338606911949],"aabb_xy":[[-0.14218536304809548,-0.15622365562921736],[-0.10577371572560013,-0.13417285446523408]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.10823511458644652,-1.8641540266749967,0.71338606911949],"aabb_xy":[[-0.15805189405128128,-1.9141540251593],[-0.058418335121611764,-1.8141540281906934]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[-0.5080581004787303,1.0127304129915737,0.71338606911949],"aabb_xy":[[-0.5160520890564336,1.0047303328964832],[-0.5000641119010268,1.0207304930866639]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.6405389574259124,-0.8305777520143542,0.71338606911949],"aabb_xy":[[0.5765389553761805,-0.8706722351036622],[0.7045389594756445,-0.7904832689250463]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.021125546150745134,-0.9908626173015589,0.71338606911949],"aabb_xy":[[-0.04897058293135226,-1.0216471160398706],[0.0067194906298619905,-0.9600781185632472]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.3997663557553516,0.6358648158003009,0.71338606911949],"aabb_xy":[[-0.44253306263477177,0.5718648123784984],[-0.3569996488759314,0.6998648192221033]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[0.6930097372690456,-0.31529443916823396,0.71338606911949],"aabb_xy":[[0.6801378337681053,-0.39529443958207006],[0.7058816407699856,-0.2352944387543978]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.6570271687272478,-1.6120065265355643,0.71338606911949],"aabb_xy":[[0.6394804738111287,-1.6495065280998156],[0.6745738636433666,-1.574506524971313]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.48850217751844105,0.47306721907752713,0.71338606911949],"aabb_xy":[[0.44241708626370957,0.409067221824972],[0.5345872687731725,0.5370672163300823]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.28700200989344754,-1.782521635231332,0.71338606911949],"aabb_xy":[[-0.37200200831087077,-1.8673959306936168],[-0.2020020114760243,-1.6976473397690468]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.4575306278061446,-0.4310297818755613,0.71338606911949],"aabb_xy":[[0.4423677548292076,-0.44619523917068016],[0.47269350078308175,-0.41586432458044265]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.2948138500485509,0.8808389124464995,0.71338606911949],"aabb_xy":[[0.2908533662788165,0.8731710478609789],[0.2987743338182852,0.8885067770320201]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[0.07371342041959594,-1.8152986224762335,0.71338606911949],"aabb_xy":[[0.06767640741893123,-1.8213253235451818],[0.07975043342026068,-1.8092719214072857]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.16125356675411584,-2.3131836457660877,0.71338606911949],"aabb_xy":[[-0.16766738039730075,-2.3195934660137554],[-0.15483975311093087,-2.306773825518419]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.3463024768951892,-0.48760585983591875,0.71338606911949],"aabb_xy":[[0.32380334116896226,-0.5101058606141817],[0.3688016126214162,-0.46510585905765583]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.5762325591639876,-0.28223410966684614,0.71338606911949],"aabb_xy":[[0.5437708582820601,-0.31236694178174873],[0.608694260045915,-0.25210127755194345]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.5955694674061429,-2.000168434868993,0.71338606911949],"aabb_xy":[[0.5405957453698101,-2.0551684344332264],[0.6505431894424759,-1.94516843530476]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.30509311337471967,1.180863815786327,0.71338606911949],"aabb_xy":[[0.24509311173179782,1.1288636664943827],[0.3650931150176415,1.2328639650782711]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.20262273603588166,-0.7154746616573451,0.71338606911949],"aabb_xy":[[-0.24975211503771727,-0.7794746627017468],[-0.15549335703404593,-0.6514746606129429]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[-0.19183366402861868,0.15513266670635328,0.71338606911949],"aabb_xy":[[-0.20443636316569516,0.1425372704814878],[-0.17923096489154225,0.16772806293121878]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.47632679907536024,1.73196648490253,0.71338606911949],"aabb_xy":[[-0.4988232205092244,1.7094664850957826],[-0.4538303776414962,1.7544664847092775]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[-0.5238811950890483,-1.1462466662935735,0.71338606911949],"aabb_xy":[[-0.6076034205891307,-1.2362466698282695],[-0.44015896958896583,-1.0562466627588776]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[0.5977886752418509,-0.5603591121557812,0.71338606911949],"aabb_xy":[[0.5177948516632926,-0.6403591147486228],[0.6777824988204091,-0.4803591095629397]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[0.5719589291652165,-1.0203807354104688,0.71338606911949],"aabb_xy":[[0.5685182529251593,-1.0242421683848333],[0.5753996054052737,-1.0165193024361043]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7103838232682549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9455.png","name":"9455"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9899.png","name":"9899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/754.png","name":"754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9793.png","name":"9793"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.7075105719574,"rotation_z_degrees":355.01771629560267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01750577986021076,0.018383444433015258,0.009504394101889694]},{"name":"camera_2","offset_m":[0.017678793813214345,-0.013725210078769444,-0.00844503548859359]},{"name":"camera_3","offset_m":[0.01242417937690658,0.0026417816567136654,0.010863898533217117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009633282595891918,-0.0013397037142274986,0.0008083314381882893],"end_effector_yaw_offset_degrees":0.6710000814176547},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003145246207115458,0.0006660451538531777,0.0019491437221096442],"end_effector_yaw_offset_degrees":0.4800701926618913},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005221708166976168,-0.0017388500039182651,-0.001317668996226554],"end_effector_yaw_offset_degrees":0.38424350768142945}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003225498711387862,0.002507445850547993],"position_m":[0.26412254987113876,0.348207445850548,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004524880286205209,0.002965085303588472],"position_m":[0.34194751197137946,0.10426508530358847,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00022679145848707692,-0.004879737887550468],"position_m":[0.3299267914584871,-0.048179737887550464,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028048052541367677,0.0002158797031822689],"position_m":[0.2720048052541368,-0.3879841202968177,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f8ddcc2a238cfddbbcbe32301e919df95bcdc4fbd3c68881c485d81000eaec60","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2537/tex_ceiling_textures_9793/tex_floor_textures_754/tex_table_textures_9455/tex_wall_textures_9899","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6759233413986999582,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6759233413986999582,"visual_seed":6759233413986999582,"scene_id":"lab_003","finished_at":"2026-09-02T07:27:39"}
+{"episode_id":"ep_000099","started_at":"2026-09-02T07:27:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.30207709429563506,1.464876821721171,0.71338606911949],"aabb_xy":[[-0.3100710828733384,1.4568767416260804],[-0.2940831057179316,1.472876901816261]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.5437159913107832,1.3790438369942097,0.71338606911949],"aabb_xy":[[-0.5937110022702353,1.329043837958618],[-0.4937209803513313,1.4290438360298015]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.5580512286093269,-0.4718613664041089,0.71338606911949],"aabb_xy":[[0.510921849607491,-0.5358613674485109],[0.6051806076111623,-0.4078613653597069]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.627661187075607,0.6563675162972777,0.71338606911949],"aabb_xy":[[0.563661185025875,0.6162730332079698],[0.691661189125339,0.6964619993865857]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.07782804862998005,-2.1653029949775275,0.71338606911949],"aabb_xy":[[0.017828048122127124,-2.222149728663448],[0.13782804913783295,-2.108456261291606]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.16483917111522084,-2.44409627328021,0.71338606911949],"aabb_xy":[[-0.2448329946937791,-2.524096275873052],[-0.08484534753666265,-2.364096270687369]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.3212945188788623,-1.9665190558718386,0.71338606911949],"aabb_xy":[[0.2901476000352792,-2.036519054558646],[0.3524414377224454,-1.8965190571850312]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.3894783658013024,0.38734543743637184,0.71338606911949],"aabb_xy":[[-0.41165089277795325,0.3651697702802486],[-0.3673058388246516,0.4095211045924949]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.3674123755010559,-0.1170375752682924,0.71338606911949],"aabb_xy":[[-0.3886903836445281,-0.18203757759436545],[-0.3461343673575836,-0.05203757294221932]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.49930617386780174,-1.4545651016396846,0.71338606911949],"aabb_xy":[[0.48180624043381837,-1.472065101559919],[0.5168061073017851,-1.43706510171945]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.3648642914881355,-2.4546873190527263,0.71338606911949],"aabb_xy":[[0.3148642919118008,-2.5046678980048327],[0.41486429106447026,-2.404706740100621]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.6047345794106251,0.5619900379390299,0.71338606911949],"aabb_xy":[[0.5974733318402177,0.5492030276755204],[0.6119958269810326,0.5747770482025394]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.5368456538926596,-0.2992761517729772,0.71338606911949],"aabb_xy":[[0.5018456539966406,-0.30765038728491706],[0.5718456537886784,-0.2909019162610372]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.02435290348825181,-1.7576701758447717,0.71338606911949],"aabb_xy":[[-0.07423560036594802,-1.8076701750910467],[0.025529793389444395,-1.7076701765984972]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.5227482159127738,-1.476570049800855,0.71338606911949],"aabb_xy":[[-0.5577482172642554,-1.4969297857576755],[-0.48774821456129197,-1.4562103138440339]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.5519594836031272,1.146863784997417,0.71338606911949],"aabb_xy":[[0.48795948430895897,1.0828776446285626],[0.6159594828972954,1.210849925366271]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.3671371025576482,-0.9102478884011107,0.71338606911949],"aabb_xy":[[0.3031371052553018,-0.9546143153689675],[0.4311370998599946,-0.865881461433254]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.7072808484462465,-2.50591571102617,0.71338606911949],"aabb_xy":[[0.7016991768121176,-2.518415710843945],[0.7128625200803752,-2.4934157112083937]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.5441745086100458,-0.5216477712715779,0.71338606911949],"aabb_xy":[[-0.5991482306463787,-0.5766477708358111],[-0.4892007865737129,-0.4666477717073447]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.6226905491555803,-0.14605013208911943,0.71338606911949],"aabb_xy":[[-0.6451553191269854,-0.16855013296797994],[-0.6002257791841752,-0.12355013121025893]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.2561491890698479,1.0504836648199407,0.71338606911949],"aabb_xy":[[-0.31614919071276976,0.9984835155279965],[-0.19614918742692605,1.102483814111885]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.20211201874336338,-1.1217946972313206,0.71338606911949],"aabb_xy":[[-0.25209496893084266,-1.1717946968738808],[-0.152129068555884,-1.07179469758876]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.10366595715024918,1.687311652894539,0.71338606911949],"aabb_xy":[[0.053665956199716355,1.6557625058910175],[0.15366595810078199,1.7188607998980603]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.46686665602839417,-1.9816077541977042,0.71338606911949],"aabb_xy":[[-0.4931554803488348,-2.0078791878523554],[-0.44057783170795345,-1.9553363205430532]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.5760065875237197,-0.3257919427133591,0.71338606911949],"aabb_xy":[[-0.6258233669885546,-0.37579194119766246],[-0.526189808058885,-0.27579194422905573]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.08094869232315893,-0.947029248190149,0.71338606911949],"aabb_xy":[[-0.0883611478645474,-0.9528804586117768],[-0.07353623678177046,-0.9411780377685209]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[0.6842510064896816,-1.5995442740742885,0.71338606911949],"aabb_xy":[[0.6801728485826319,-1.6036252543225518],[0.6883291643967313,-1.5954632938260251]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.21673415703468984,-0.8654554528189804,0.71338606911949],"aabb_xy":[[-0.24721840716172,-0.9154554526004764],[-0.1862499069076597,-0.8154554530374846]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[0.004230685362157427,1.1598653404159252,0.71338606911949],"aabb_xy":[[-0.03326931493001739,1.1558238650153216],[0.041730685654332245,1.1639068158165287]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7035779078945348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5956.png","name":"5956"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3768.png","name":"3768"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/522.png","name":"522"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/640.png","name":"640"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":815.4340441752071,"rotation_z_degrees":48.65073203007281,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01145383731232855,-0.0023773328148499473,-0.0050163395802604385]},{"name":"camera_2","offset_m":[-0.019660859626558076,-0.016829459248908,8.82215855251868e-05]},{"name":"camera_3","offset_m":[-0.017950281890246368,0.013129685174040315,0.01621011966658831]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010566778118180171,0.0016552165537209867,-0.0008937465821991487],"end_effector_yaw_offset_degrees":-0.273324844537985},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004054331221154332,-0.00011345950237172451,0.0013292463734620934],"end_effector_yaw_offset_degrees":-0.7061274032764622},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017725451004601473,-0.0003825058864627877,0.00018811301691976567],"end_effector_yaw_offset_degrees":-0.16445559649708907}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00025","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010163616573995414,0.00043412097056776296],"position_m":[0.2648163616573995,0.3461341209705678,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002446302093994387,0.0029116421883688013],"position_m":[0.3399536979060056,0.1042116421883688,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024316833064054622,-0.004374566019234548],"position_m":[0.3272683166935945,-0.047674566019234546,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003505577004336775,0.0030002785212568843],"position_m":[0.2656944229956632,-0.3851997214787431,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"72a16670dbd8f3cdc8ee58e18ac3f52f1e5d21532ed985e80cb6532fc0bad77e","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4356/tex_ceiling_textures_640/tex_floor_textures_522/tex_table_textures_5956/tex_wall_textures_3768","seeds":{"action_seed":8946113069649801365,"physical_seed":5956078570648836201,"visual_seed":6601371347983931131,"layout_id":"layout_00025","physical_randomization_enabled":true},"episode_seed":6601371347983931131,"visual_seed":6601371347983931131,"scene_id":"lab_003","finished_at":"2026-09-02T07:30:17"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..09504e99dfa2e072dcf3350ad7e78c6727c5fc32
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_gqr_00025
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b at inspection platform.
+  layout_id: layout_00025
+  reproducibility:
+    enabled: true
+    layout_id: layout_00025
+    action_seed: 8946113069649801365
+    step_seeds:
+    - 3535246988300564580
+    - 3930001998081723350
+    - 4554555277898534358
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3297
+      - 0.3297
+      'y':
+      - -0.0433
+      - -0.0433
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2638
+      - 0.2638
+      'y':
+      - 0.3457
+      - 0.3457
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3424
+      - 0.3424
+      'y':
+      - 0.1013
+      - 0.1013
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2692
+      - 0.2692
+      'y':
+      - -0.3882
+      - -0.3882
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bf3d91d81670486efc228039e7318b6fe480223
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_100_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2896042748437195,
+              0.35093322675784394,
+              1.048328531538594
+            ],
+            "current_z": 1.048328531538594,
+            "required_z": 0.8565862689899865,
+            "initial_z": 0.7565862689899865,
+            "lift_margin": 0.1917422625486075,
+            "gripper_z": 1.0481275463754367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2840207419581461,
+              0.3458635745508156,
+              1.0481275463754367
+            ],
+            "object_minus_gripper": [
+              0.0055835328855733946,
+              0.005069652207028319,
+              0.00020098516315725234
+            ],
+            "object_to_gripper_xy": 0.0075416982825161245,
+            "object_to_gripper_z": 0.00020098516315725234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2896042748437195,
+              0.3260739987690875,
+              1.048328531538594
+            ],
+            "finger_b": [
+              0.277528725354717,
+              0.35093322675784394,
+              1.048328531538594
+            ],
+            "finger_midpoint": [
+              0.28356650009921824,
+              0.33850361276346574,
+              1.048328531538594
+            ],
+            "object_minus_finger_midpoint": [
+              0.006037774744501234,
+              0.012429613994378197,
+              0.0
+            ],
+            "finger_gap": 0.02763693383243372,
+            "fingertip_max_gap": 0.09096598382946511,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013818466916216837,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048328531538594,
+            "object_top_z": 1.0938967166017644,
+            "finger_top_clearance": 0.0455681850631704,
+            "fingertip_min_top_clearance": 0.013670455518951118,
+            "object_projection_between_fingers": 0.8090876222251997,
+            "object_to_finger_line_xy": 0.010861872002759317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047982991914732556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3493052736365193,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28971592166572013,
+              0.3498625195064024,
+              1.2393429228588693
+            ],
+            "held_position": [
+              0.2956341829683888,
+              0.3545297239841921,
+              1.2394866271947096
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00753851878158465,
+            "max_held_gripper_dist": 0.00754503345503725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00014370433584032227,
+            "max_held_gripper_z_dist": 0.0002320650186231621,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08857173276384489,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2956341829683888,
+              0.3287647668501526,
+              1.2394866271947096
+            ],
+            "held_grasp_finger_b": [
+              0.2852401457239598,
+              0.3545297239841921,
+              1.2394866271947096
+            ],
+            "held_grasp_midpoint": [
+              0.2904371643461743,
+              0.34164724541717234,
+              1.2394866271947096
+            ],
+            "held_grasp_object_position": [
+              0.2956341829683888,
+              0.3545297239841921,
+              1.2394866271947096
+            ],
+            "held_grasp_finger_gap": 0.02778253095665456,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024916736841773767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07458044044765574,
+              -0.9971655913818549,
+              0.009926795389730403
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004223758807681569,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031966664669205044,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3407363813236149,
+              0.10921958286766455,
+              0.7625867580139019
+            ],
+            "target_position": [
+              0.3399536979060056,
+              0.1042116421883688,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005068733883283448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17290885772870027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625867580139019,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542903726428606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530426823441183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14216751092833402,
+            "release_required_pad_clearance": 0.052652134117205915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3626163464627515,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72a16670dbd8f3cdc8ee58e18ac3f52f1e5d21532ed985e80cb6532fc0bad77e",
+    "visual_seed": 6601371347983931131,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..125e76ffa23e44e420de49131bd0aa7be3b426f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28929302692902975,
+              0.34929318775075613,
+              1.050307976843276
+            ],
+            "current_z": 1.050307976843276,
+            "required_z": 0.856586468527155,
+            "initial_z": 0.756586468527155,
+            "lift_margin": 0.1937215083161209,
+            "gripper_z": 1.0499462420625263,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2839862638461719,
+              0.3442986750486262,
+              1.0499462420625263
+            ],
+            "object_minus_gripper": [
+              0.005306763082857824,
+              0.004994512702129916,
+              0.00036173478074963406
+            ],
+            "object_to_gripper_xy": 0.0072874475332121436,
+            "object_to_gripper_z": 0.00036173478074963406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28929302692902975,
+              0.3246916157258054,
+              1.050307976843276
+            ],
+            "finger_b": [
+              0.27724099770440797,
+              0.34929318775075613,
+              1.050307976843276
+            ],
+            "finger_midpoint": [
+              0.28326701231671886,
+              0.33699240173828077,
+              1.050307976843276
+            ],
+            "object_minus_finger_midpoint": [
+              0.006026014612310893,
+              0.012300786012475362,
+              0.0
+            ],
+            "finger_gap": 0.02739504981798675,
+            "fingertip_max_gap": 0.09219361892196523,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013697524908993374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050307976843276,
+            "object_top_z": 1.096552347236234,
+            "finger_top_clearance": 0.046244370392958034,
+            "fingertip_min_top_clearance": 0.013873311117887444,
+            "object_projection_between_fingers": 0.806457581736708,
+            "object_to_finger_line_xy": 0.010823081797123518,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859680946098262,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8721718880294758,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28991583872128124,
+              0.347508969497049,
+              1.24105572339548
+            ],
+            "held_position": [
+              0.2956395701625405,
+              0.35202578339115936,
+              1.2413592901928119
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007297592902192508,
+            "max_held_gripper_dist": 0.007300020788675884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00030356679733190006,
+            "max_held_gripper_z_dist": 0.0003919684963586967,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08882755149252008,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2956395701625405,
+              0.32625329611798914,
+              1.2413592901928119
+            ],
+            "held_grasp_finger_b": [
+              0.28569141019594574,
+              0.35202578339115936,
+              1.2413592901928119
+            ],
+            "held_grasp_midpoint": [
+              0.29066549017924315,
+              0.3391395397545742,
+              1.2413592901928119
+            ],
+            "held_grasp_object_position": [
+              0.2956395701625405,
+              0.35202578339115936,
+              1.2413592901928119
+            ],
+            "held_grasp_finger_gap": 0.027625839117874404,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024714304208073544,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09430329858717006,
+              -0.995342367847479,
+              0.020011462798928178
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037459098064221807,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520063474774361,
+            "held_grasp_top_clearance": 0.03190533834398411,
+            "held_grasp_min_top_clearance": 0.013560190424323082
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33709325117371985,
+              0.1082084177938806,
+              0.7625858355196826
+            ],
+            "target_position": [
+              0.33783785375552466,
+              0.1039613198589149,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004311875911250272,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17313753541167948,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858355196826,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758229735003742,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562269716642588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14111708379114257,
+            "release_required_pad_clearance": 0.052811348583212944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6667555538482997,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbdb51a68d0ad6c27565b6dc14baf7455f7ad0975c949f73aa4e9cc43a92f989",
+    "visual_seed": 2520054983217212885,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51414205ed4ed5b29205a03cac6900f7841aca8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2861655014593721,
+              0.3473348805343116,
+              1.047310360254288
+            ],
+            "current_z": 1.047310360254288,
+            "required_z": 0.8565865698053919,
+            "initial_z": 0.756586569805392,
+            "lift_margin": 0.19072379044889598,
+            "gripper_z": 1.0472754373029272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28027282280294386,
+              0.34218888666078445,
+              1.0472754373029272
+            ],
+            "object_minus_gripper": [
+              0.00589267865642823,
+              0.005145993873527155,
+              3.4922951360760734e-05
+            ],
+            "object_to_gripper_xy": 0.007823356996475607,
+            "object_to_gripper_z": 3.4922951360760734e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2861655014593721,
+              0.3221709445763914,
+              1.047310360254288
+            ],
+            "finger_b": [
+              0.2740930805695392,
+              0.3473348805343116,
+              1.047310360254288
+            ],
+            "finger_midpoint": [
+              0.2801292910144556,
+              0.3347529125553515,
+              1.047310360254288
+            ],
+            "object_minus_finger_midpoint": [
+              0.006036210444916479,
+              0.012581967978960107,
+              0.0
+            ],
+            "finger_gap": 0.02790998063481205,
+            "fingertip_max_gap": 0.09202753925002191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013954990317406038,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047310360254288,
+            "object_top_z": 1.0932291171395123,
+            "finger_top_clearance": 0.0459187568852244,
+            "fingertip_min_top_clearance": 0.013775627065567352,
+            "object_projection_between_fingers": 0.8129017755825986,
+            "object_to_finger_line_xy": 0.010884623321805452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851376962501096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7597768272689581,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2858341774418933,
+              0.34609949843250415,
+              1.2375792790691682
+            ],
+            "held_position": [
+              0.2920053220663829,
+              0.3509081620144513,
+              1.237552085138493
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007823490968268391,
+            "max_held_gripper_dist": 0.007826154854457897,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 2.719393067529552e-05,
+            "max_held_gripper_z_dist": 0.00021354840026299726,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08837422564603392,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2920053220663829,
+              0.32505628926867974,
+              1.237552085138493
+            ],
+            "held_grasp_finger_b": [
+              0.28129394850379574,
+              0.3509081620144513,
+              1.237552085138493
+            ],
+            "held_grasp_midpoint": [
+              0.28664963528508935,
+              0.33798222564156555,
+              1.237552085138493
+            ],
+            "held_grasp_object_position": [
+              0.2920053220663829,
+              0.3509081620144513,
+              1.237552085138493
+            ],
+            "held_grasp_finger_gap": 0.027983081461141077,
+            "held_grasp_max_gap": 0.1249656131863594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025349391142494813,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04432798238316393,
+              -0.998929747760753,
+              0.013205643357154573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00478054611250336,
+            "held_grasp_line_xy_max_dist": 0.0474828065931797,
+            "held_grasp_object_top_z": 0.04520053416490555,
+            "held_grasp_top_clearance": 0.03205102501507629,
+            "held_grasp_min_top_clearance": 0.013560160249471664
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3466864748121638,
+              0.10561881015216451,
+              0.7625858423642251
+            ],
+            "target_position": [
+              0.34580148564756275,
+              0.1007472216868809,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004951321035496045,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17384967635564944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858423642251,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556541601224578,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855431896768614,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14254300919629811,
+            "release_required_pad_clearance": 0.052771594838430705,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5854874583440717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b04fadf8002177c92b01b4bcc72190fe22f73e180aea88aea959b6d6acf94ffd",
+    "visual_seed": 3806041716923524713,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc5ed0d719c0483817c7b0bfd5609edc439cbd4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2837401893251327,
+              0.3509430936855883,
+              1.0508617995604799
+            ],
+            "current_z": 1.0508617995604799,
+            "required_z": 0.8565865143713837,
+            "initial_z": 0.7565865143713837,
+            "lift_margin": 0.1942752851890962,
+            "gripper_z": 1.0507076296816946,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27843763468771077,
+              0.3458444221712185,
+              1.0507076296816946
+            ],
+            "object_minus_gripper": [
+              0.005302554637421908,
+              0.005098671514369768,
+              0.00015416987878524857
+            ],
+            "object_to_gripper_xy": 0.007356190379149407,
+            "object_to_gripper_z": 0.00015416987878524857,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2837401893251327,
+              0.326492866015615,
+              1.0508617995604799
+            ],
+            "finger_b": [
+              0.2713452549081559,
+              0.3509430936855883,
+              1.0508617995604799
+            ],
+            "finger_midpoint": [
+              0.2775427221166443,
+              0.33871797985060165,
+              1.0508617995604799
+            ],
+            "object_minus_finger_midpoint": [
+              0.00619746720848835,
+              0.012225113834986645,
+              0.0
+            ],
+            "finger_gap": 0.02741255245894994,
+            "fingertip_max_gap": 0.09153201568862537,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013706276229474958,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508617995604799,
+            "object_top_z": 1.0970297574878938,
+            "finger_top_clearance": 0.046167957927413905,
+            "fingertip_min_top_clearance": 0.013850387378224171,
+            "object_projection_between_fingers": 0.7955488701887801,
+            "object_to_finger_line_xy": 0.011055481568281445,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826600784431269,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7733943834930088,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28456443113702956,
+              0.34904153968157453,
+              1.242617092697105
+            ],
+            "held_position": [
+              0.29036640825940074,
+              0.3535660520314739,
+              1.242718484106673
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007358289933866745,
+            "max_held_gripper_dist": 0.007360894085127952,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00010139140956799686,
+            "max_held_gripper_z_dist": 0.0001899322569889339,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08805769345204906,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29036640825940074,
+              0.3277001851122196,
+              1.242718484106673
+            ],
+            "held_grasp_finger_b": [
+              0.2804437259832051,
+              0.3535660520314739,
+              1.242718484106673
+            ],
+            "held_grasp_midpoint": [
+              0.2854050671213029,
+              0.34063311857184675,
+              1.242718484106673
+            ],
+            "held_grasp_object_position": [
+              0.29036640825940074,
+              0.3535660520314739,
+              1.242718484106673
+            ],
+            "held_grasp_finger_gap": 0.027703838994603273,
+            "held_grasp_max_gap": 0.12496619433164596,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02470183117104392,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10294257443594995,
+              -0.9944881302515826,
+              0.019904400448402026
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036131803469858135,
+            "held_grasp_line_xy_max_dist": 0.04748309716582298,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.03182840916559263,
+            "held_grasp_min_top_clearance": 0.013560237362980843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3368637910233368,
+              0.10154925557383362,
+              0.7625840819391688
+            ],
+            "target_position": [
+              0.33824486827166994,
+              0.09710257835810647,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004656212261777854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1730698460750359,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625840819391688,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536323267906495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678678144826733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1422379567162928,
+            "release_required_pad_clearance": 0.05339339072413367,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7883022662661405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f8ad5e35004530dd31236d6a8f15ffb89d7dd0638cb75e8ff56a22a3f76450f",
+    "visual_seed": 4337977076331960808,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d7888b5ddc9b0e320639792aa170771a44c131a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_13_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28449540952626395,
+              0.3482348818340238,
+              1.0475807173372478
+            ],
+            "current_z": 1.0475807173372478,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1909942099286821,
+            "gripper_z": 1.047586503203188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27858000256461357,
+              0.34306871337082967,
+              1.047586503203188
+            ],
+            "object_minus_gripper": [
+              0.005915406961650382,
+              0.005166168463194121,
+              -5.785865940133306e-06
+            ],
+            "object_to_gripper_xy": 0.007853746628969089,
+            "object_to_gripper_z": -5.785865940133306e-06,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28449540952626395,
+              0.3230655904978394,
+              1.0475807173372478
+            ],
+            "finger_b": [
+              0.2723791374673832,
+              0.3482348818340238,
+              1.0475807173372478
+            ],
+            "finger_midpoint": [
+              0.27843727349682357,
+              0.3356502361659316,
+              1.0475807173372478
+            ],
+            "object_minus_finger_midpoint": [
+              0.006058136029440386,
+              0.012584645668092198,
+              0.0
+            ],
+            "finger_gap": 0.027933801656246895,
+            "fingertip_max_gap": 0.09221129471408565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013966900828123447,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475807173372478,
+            "object_top_z": 1.093607943607085,
+            "finger_top_clearance": 0.04602722626983713,
+            "fingertip_min_top_clearance": 0.013808167880951138,
+            "object_projection_between_fingers": 0.8118613849954082,
+            "object_to_finger_line_xy": 0.010917167133612902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860564735704283,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8004918086550782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2841510444618237,
+              0.34690504494320534,
+              1.2374998861809352
+            ],
+            "held_position": [
+              0.2903549873525312,
+              0.3517202253677204,
+              1.2374267915457962
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00785367511025755,
+            "max_held_gripper_dist": 0.007855314034014,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 7.309463513904824e-05,
+            "max_held_gripper_z_dist": 0.0002619059164774562,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08868664011652894,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2903549873525312,
+              0.3258412719544106,
+              1.2374267915457962
+            ],
+            "held_grasp_finger_b": [
+              0.279656309182024,
+              0.3517202253677204,
+              1.2374267915457962
+            ],
+            "held_grasp_midpoint": [
+              0.2850056482672776,
+              0.3387807486610655,
+              1.2374267915457962
+            ],
+            "held_grasp_object_position": [
+              0.2903549873525312,
+              0.3517202253677204,
+              1.2374267915457962
+            ],
+            "held_grasp_finger_gap": 0.028003248818027283,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02535202897119715,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04638246413356541,
+              -0.998813963412571,
+              0.014809912659095259
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004747360684551066,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202797942369209,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3487900396316811,
+              0.10114337352148793,
+              0.762586111099158
+            ],
+            "target_position": [
+              0.3466950300414637,
+              0.09665507925752596,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00495316571326024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17435064406222825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762586111099158,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540227122801091,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08639415321108711,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14339708091193862,
+            "release_required_pad_clearance": 0.053197076605543556,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4144107785125377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a0d78f083bae16586c040936f341b6ca212272a397917f48f4ee827d2f3f9e7",
+    "visual_seed": 3621593302003590144,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d78292f21a2b6da47acea2107890e785ae42ffb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2901862042900235,
+              0.34905862309425434,
+              1.0483241558028933
+            ],
+            "current_z": 1.0483241558028933,
+            "required_z": 0.8565866316868603,
+            "initial_z": 0.7565866316868604,
+            "lift_margin": 0.19173752411603295,
+            "gripper_z": 1.0481592128862978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2846000677436058,
+              0.34390457869709407,
+              1.0481592128862978
+            ],
+            "object_minus_gripper": [
+              0.005586136546417708,
+              0.005154044397160273,
+              0.00016494291659552296
+            ],
+            "object_to_gripper_xy": 0.007600598342441388,
+            "object_to_gripper_z": 0.00016494291659552296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2901862042900235,
+              0.32430385613037227,
+              1.0483241558028933
+            ],
+            "finger_b": [
+              0.27785282100228387,
+              0.34905862309425434,
+              1.0483241558028933
+            ],
+            "finger_midpoint": [
+              0.28401951264615366,
+              0.33668123961231333,
+              1.0483241558028933
+            ],
+            "object_minus_finger_midpoint": [
+              0.006166691643869848,
+              0.012377383481941007,
+              0.0
+            ],
+            "finger_gap": 0.027657021364536034,
+            "fingertip_max_gap": 0.09077349364608708,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013828510682268003,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483241558028933,
+            "object_top_z": 1.0937963660746068,
+            "finger_top_clearance": 0.04547221027171355,
+            "fingertip_min_top_clearance": 0.013641663081514066,
+            "object_projection_between_fingers": 0.8011371558545232,
+            "object_to_finger_line_xy": 0.011039150787066493,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047886746823043544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25085417581602854,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29033700713846233,
+              0.34751582805642967,
+              1.2384637681874182
+            ],
+            "held_position": [
+              0.29632132604263917,
+              0.35220162587795545,
+              1.2385564149840194
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007601141848434644,
+            "max_held_gripper_dist": 0.007603212978518407,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 9.264679660114794e-05,
+            "max_held_gripper_z_dist": 0.0001784609747637056,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874126877368317,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29632132604263917,
+              0.32638770650355386,
+              1.2385564149840194
+            ],
+            "held_grasp_finger_b": [
+              0.28595168549320393,
+              0.35220162587795545,
+              1.2385564149840194
+            ],
+            "held_grasp_midpoint": [
+              0.29113650576792155,
+              0.33929466619075466,
+              1.2385564149840194
+            ],
+            "held_grasp_object_position": [
+              0.29632132604263917,
+              0.35220162587795545,
+              1.2385564149840194
+            ],
+            "held_grasp_finger_gap": 0.02781884035312394,
+            "held_grasp_max_gap": 0.1249656280875206,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024941297894823796,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07671572599383683,
+              -0.9970129690337067,
+              0.008935153262909279
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041810138667444504,
+            "held_grasp_line_xy_max_dist": 0.0474828140437603,
+            "held_grasp_object_top_z": 0.04520050808787346,
+            "held_grasp_top_clearance": 0.03193434463741651,
+            "held_grasp_min_top_clearance": 0.013560152426362037
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3479428708266009,
+              0.11012275782003476,
+              0.76258468202482
+            ],
+            "target_position": [
+              0.34733984820276764,
+              0.10516206575112882,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004997209430008017,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17484757538467766,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258468202482,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555090476402576,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535965288507423,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14355204284415646,
+            "release_required_pad_clearance": 0.05267982644253712,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.40730215035073186,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12d4028c8be1a12b1fab47d4585f620b7398f3a2f0a24c2bcec3c2e92345730c",
+    "visual_seed": 5168759645279637803,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e60485edab95982f6b9c6c8639bfb415b01a2a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28541062527567895,
+              0.35133497442975004,
+              1.0477351706346671
+            ],
+            "current_z": 1.0477351706346671,
+            "required_z": 0.8565867592817559,
+            "initial_z": 0.7565867592817559,
+            "lift_margin": 0.19114841135291127,
+            "gripper_z": 1.0474329581284678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28009248880179466,
+              0.34632559432986404,
+              1.0474329581284678
+            ],
+            "object_minus_gripper": [
+              0.005318136473884294,
+              0.005009380099885996,
+              0.0003022125061993286
+            ],
+            "object_to_gripper_xy": 0.0073059198284673435,
+            "object_to_gripper_z": 0.0003022125061993286,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28541062527567895,
+              0.32679991610368936,
+              1.0477351706346671
+            ],
+            "finger_b": [
+              0.2732236150419054,
+              0.35133497442975004,
+              1.0477351706346671
+            ],
+            "finger_midpoint": [
+              0.2793171201587922,
+              0.3390674452667197,
+              1.0477351706346671
+            ],
+            "object_minus_finger_midpoint": [
+              0.006093505116886777,
+              0.01226752916303031,
+              0.0
+            ],
+            "finger_gap": 0.027395114628365778,
+            "fingertip_max_gap": 0.09203715372769503,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013697557314182865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477351706346671,
+            "object_top_z": 1.0940125663623348,
+            "finger_top_clearance": 0.04627739572766765,
+            "fingertip_min_top_clearance": 0.013883218718300293,
+            "object_projection_between_fingers": 0.8020989457861352,
+            "object_to_finger_line_xy": 0.010914683547128804,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048518576863847515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8350327126983107,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28626481226294376,
+              0.3490099862509829,
+              1.2359974200848376
+            ],
+            "held_position": [
+              0.2920688594261335,
+              0.35345343984012173,
+              1.2362012997093312
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007312510524617731,
+            "max_held_gripper_dist": 0.007313483390019262,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002038796244936414,
+            "max_held_gripper_z_dist": 0.0003148222325441985,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08869312100831805,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2920688594261335,
+              0.3275679912630745,
+              1.2362012997093312
+            ],
+            "held_grasp_finger_b": [
+              0.28241294670826883,
+              0.3536363001372608,
+              1.2362012997093312
+            ],
+            "held_grasp_midpoint": [
+              0.2872409030672012,
+              0.34060214570016767,
+              1.2362012997093312
+            ],
+            "held_grasp_object_position": [
+              0.2920688594261335,
+              0.35345343984012173,
+              1.2362012997093312
+            ],
+            "held_grasp_finger_gap": 0.027799161461723957,
+            "held_grasp_max_gap": 0.12496594101190567,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024891752897496962,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10591486149341062,
+              -0.9940981473203061,
+              0.023471591534589324
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034533851205714693,
+            "held_grasp_line_xy_max_dist": 0.047482970505952835,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03191392785575185,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3448260426558968,
+              0.10745852589667453,
+              0.7625853533829818
+            ],
+            "target_position": [
+              0.3446898177497371,
+              0.10422246483790369,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003238927044740468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17611642045864676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853533829818,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536674377025825,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546390382760298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14490970540371406,
+            "release_required_pad_clearance": 0.05273195191380149,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5128127650429366,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d0a1bb48aedaf131c9d450369535c20b96750b9f3c93db2b8a854a80c6a8bc7",
+    "visual_seed": 578760190424227232,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..297422be62267dbeec075d52ff6acf2ee2d5a3aa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2868028872865978,
+              0.3451645369519663,
+              1.0490288639702905
+            ],
+            "current_z": 1.0490288639702905,
+            "required_z": 0.8565866369507337,
+            "initial_z": 0.7565866369507337,
+            "lift_margin": 0.19244222701955682,
+            "gripper_z": 1.0490906854346185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2808685397819074,
+              0.34000616663323724,
+              1.0490906854346185
+            ],
+            "object_minus_gripper": [
+              0.005934347504690407,
+              0.005158370318729066,
+              -6.182146432798241e-05
+            ],
+            "object_to_gripper_xy": 0.007862904339464538,
+            "object_to_gripper_z": -6.182146432798241e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2868028872865978,
+              0.3199875795504734,
+              1.0490288639702905
+            ],
+            "finger_b": [
+              0.274696477010659,
+              0.3451645369519663,
+              1.0490288639702905
+            ],
+            "finger_midpoint": [
+              0.2807496821486284,
+              0.33257605825121983,
+              1.0490288639702905
+            ],
+            "object_minus_finger_midpoint": [
+              0.00605320513796942,
+              0.012588478700746475,
+              0.0
+            ],
+            "finger_gap": 0.027936434163399308,
+            "fingertip_max_gap": 0.09484377179170525,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01396821708169969,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490288639702905,
+            "object_top_z": 1.0961595946645,
+            "finger_top_clearance": 0.04713073069420948,
+            "fingertip_min_top_clearance": 0.014139219208262875,
+            "object_projection_between_fingers": 0.8122029212433625,
+            "object_to_finger_line_xy": 0.010910575559483568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04992188589585263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.634780812612456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2862009267837452,
+              0.3444312125917718,
+              1.2376781818156573
+            ],
+            "held_position": [
+              0.29237293814487947,
+              0.34930009922197097,
+              1.2375323521559285
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007862636170481212,
+            "max_held_gripper_dist": 0.007864842547139043,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00014582965972875783,
+            "max_held_gripper_z_dist": 0.0003330389784483856,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880616831231088,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29237293814487947,
+              0.32355526990857014,
+              1.2375323521559285
+            ],
+            "held_grasp_finger_b": [
+              0.28147764175091194,
+              0.34930009922197097,
+              1.2375323521559285
+            ],
+            "held_grasp_midpoint": [
+              0.2869252899478957,
+              0.33642768456527056,
+              1.2375323521559285
+            ],
+            "held_grasp_object_position": [
+              0.29237293814487947,
+              0.34930009922197097,
+              1.2375323521559285
+            ],
+            "held_grasp_finger_gap": 0.027955388029654398,
+            "held_grasp_max_gap": 0.12496565043926239,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025429437594078216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.027205652959618618,
+              -0.9992628396752947,
+              0.02708559933077248
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005107481018118085,
+            "held_grasp_line_xy_max_dist": 0.047482825219631195,
+            "held_grasp_object_top_z": 0.04520056024193764,
+            "held_grasp_top_clearance": 0.03218942779231206,
+            "held_grasp_min_top_clearance": 0.01356016807258129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3430941914305459,
+              0.1053755067111202,
+              0.7625852725570754
+            ],
+            "target_position": [
+              0.34409198159007626,
+              0.10184920159370095,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003664752786149803,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17484090114682405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852725570754,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527302980158042,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666895888150421,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14397967671332565,
+            "release_required_pad_clearance": 0.053334479440752106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6827922857390996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b3df3c86db8d58709cf8a4d65924a24c7ca9de30bb67bf2fe3074be91690ee5",
+    "visual_seed": 8984582863997405689,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d27281568e2e44dc8a33b7dd61e03941789d00
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29270869010441775,
+              0.34841043864332566,
+              1.0485967953493172
+            ],
+            "current_z": 1.0485967953493172,
+            "required_z": 0.8565867107115345,
+            "initial_z": 0.7565867107115345,
+            "lift_margin": 0.19201008463778269,
+            "gripper_z": 1.048375275081982,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2871603176817842,
+              0.3432789978056112,
+              1.048375275081982
+            ],
+            "object_minus_gripper": [
+              0.005548372422633563,
+              0.0051314408377144405,
+              0.0002215202673352401
+            ],
+            "object_to_gripper_xy": 0.007557520864093206,
+            "object_to_gripper_z": 0.0002215202673352401,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29270869010441775,
+              0.32366151885191824,
+              1.0485967953493172
+            ],
+            "finger_b": [
+              0.2804388188678378,
+              0.34841043864332566,
+              1.0485967953493172
+            ],
+            "finger_midpoint": [
+              0.28657375448612776,
+              0.3360359787476219,
+              1.0485967953493172
+            ],
+            "object_minus_finger_midpoint": [
+              0.006134935618289983,
+              0.012374459895703738,
+              0.0
+            ],
+            "finger_gap": 0.02762351843997738,
+            "fingertip_max_gap": 0.09056008621992914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013811759219988715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485967953493172,
+            "object_top_z": 1.0940735776139976,
+            "finger_top_clearance": 0.04547678226468044,
+            "fingertip_min_top_clearance": 0.01364303467940413,
+            "object_projection_between_fingers": 0.8027023004214855,
+            "object_to_finger_line_xy": 0.01099302609639842,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04778004310996457,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.10172454618328601,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.292880162628546,
+              0.34682680279445033,
+              1.2376097601890033
+            ],
+            "held_position": [
+              0.29886134072799286,
+              0.35150512704542525,
+              1.2377469293209458
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007594736639628842,
+            "max_held_gripper_dist": 0.007595768480413369,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013716913194250502,
+            "max_held_gripper_z_dist": 0.0002340597736614214,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08856606482152823,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29886134072799286,
+              0.32569301799046796,
+              1.2377469293209458
+            ],
+            "held_grasp_finger_b": [
+              0.28853822620123026,
+              0.35150512704542525,
+              1.2377469293209458
+            ],
+            "held_grasp_midpoint": [
+              0.29369978346461156,
+              0.33859907251794663,
+              1.2377469293209458
+            ],
+            "held_grasp_object_position": [
+              0.29886134072799286,
+              0.35150512704542525,
+              1.2377469293209458
+            ],
+            "held_grasp_finger_gap": 0.02779985013264757,
+            "held_grasp_max_gap": 0.12496571749448776,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024878714329899437,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08191923581616277,
+              -0.9966010885977611,
+              0.008689591995804434
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004088543976628862,
+            "held_grasp_line_xy_max_dist": 0.04748285874724388,
+            "held_grasp_object_top_z": 0.045200519263744354,
+            "held_grasp_top_clearance": 0.03191550044551951,
+            "held_grasp_min_top_clearance": 0.013560155779123307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33948953138477816,
+              0.10850325590566917,
+              0.7625856106680868
+            ],
+            "target_position": [
+              0.33994703267889304,
+              0.10323998093674125,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005283121315345693,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17306660081838832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856106680868,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514696669612557,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581747504595165,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14311309724740207,
+            "release_required_pad_clearance": 0.05290873752297583,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8504027264235774,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6563d8ef8aa92c3fb9ed9b5f01a8def6e2270b3e93459cd1888d54f4fbbba811",
+    "visual_seed": 5133259110356853091,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c974fd276637872e0744be0658157724d81ca4ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2898886553460971,
+              0.34629518686828203,
+              1.0487534497687754
+            ],
+            "current_z": 1.0487534497687754,
+            "required_z": 0.8565865233342563,
+            "initial_z": 0.7565865233342564,
+            "lift_margin": 0.19216692643451905,
+            "gripper_z": 1.0485558180965309,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2843155893373289,
+              0.3411915640248606,
+              1.0485558180965309
+            ],
+            "object_minus_gripper": [
+              0.005573066008768168,
+              0.005103622843421418,
+              0.00019763167224451372
+            ],
+            "object_to_gripper_xy": 0.00755685323835127,
+            "object_to_gripper_z": 0.00019763167224451372,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2898886553460971,
+              0.32147400993423725,
+              1.0487534497687754
+            ],
+            "finger_b": [
+              0.2777287269118331,
+              0.34629518686828203,
+              1.0487534497687754
+            ],
+            "finger_midpoint": [
+              0.2838086911289651,
+              0.3338845984012596,
+              1.0487534497687754
+            ],
+            "object_minus_finger_midpoint": [
+              0.006079964217131972,
+              0.012410588467022421,
+              0.0
+            ],
+            "finger_gap": 0.027639730170853315,
+            "fingertip_max_gap": 0.0909628027611323,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013819865085426672,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487534497687754,
+            "object_top_z": 1.0942816803406377,
+            "finger_top_clearance": 0.04552823057186228,
+            "fingertip_min_top_clearance": 0.01365846917155865,
+            "object_projection_between_fingers": 0.8064494365448844,
+            "object_to_finger_line_xy": 0.010919923360556874,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047981401380566155,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33951692216236107,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.290003654827913,
+              0.3448955280811408,
+              1.2386837112027909
+            ],
+            "held_position": [
+              0.2959628302163279,
+              0.34958401001786615,
+              1.238802620826491
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007583388007974934,
+            "max_held_gripper_dist": 0.007584476717403356,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00011890962370020297,
+            "max_held_gripper_z_dist": 0.0002068313775969166,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875284683087858,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2959628302163279,
+              0.32379874767481853,
+              1.238802620826491
+            ],
+            "held_grasp_finger_b": [
+              0.2855925207101375,
+              0.34958401001786615,
+              1.238802620826491
+            ],
+            "held_grasp_midpoint": [
+              0.29077767546323274,
+              0.33669137884634237,
+              1.238802620826491
+            ],
+            "held_grasp_object_position": [
+              0.2959628302163279,
+              0.34958401001786615,
+              1.238802620826491
+            ],
+            "held_grasp_finger_gap": 0.02779250030770842,
+            "held_grasp_max_gap": 0.12496568024158478,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024874451463964026,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0797919592146683,
+              -0.9967677828981004,
+              0.009339712045361881
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00414170094968436,
+            "held_grasp_line_xy_max_dist": 0.04748284012079239,
+            "held_grasp_object_top_z": 0.04520051181316376,
+            "held_grasp_top_clearance": 0.03193581876802032,
+            "held_grasp_min_top_clearance": 0.013560153543949127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34226074102761034,
+              0.10508653996585854,
+              0.7625864541518541
+            ],
+            "target_position": [
+              0.34074775657215545,
+              0.10093199868543055,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004421463017286058,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17431947467916722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864541518541,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754874263526316,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515670906503513,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1431150026409918,
+            "release_required_pad_clearance": 0.052578354532517566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22028372744304908,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b02afe847ecd38bbd4d55475a9e693c939ca53fdb4ef70298368f5f05365911a",
+    "visual_seed": 9050382206386465145,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d080d676e4e1fdfc85d08b9cfc66dc318fea9fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_19_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2924319551176933,
+              0.35016461124593756,
+              1.0501533362852713
+            ],
+            "current_z": 1.0501533362852713,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19356694808599528,
+            "gripper_z": 1.0496455044097204,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28659526397610047,
+              0.3449749926875739,
+              1.0496455044097204
+            ],
+            "object_minus_gripper": [
+              0.0058366911415928535,
+              0.00518961855836364,
+              0.0005078318755509237
+            ],
+            "object_to_gripper_xy": 0.007810192332053084,
+            "object_to_gripper_z": 0.0005078318755509237,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2924319551176933,
+              0.32510803146471756,
+              1.0501533362852713
+            ],
+            "finger_b": [
+              0.2802063300690856,
+              0.35016461124593756,
+              1.0501533362852713
+            ],
+            "finger_midpoint": [
+              0.2863191425933894,
+              0.33763632135532756,
+              1.0501533362852713
+            ],
+            "object_minus_finger_midpoint": [
+              0.006112812524303901,
+              0.01252828989061,
+              0.0
+            ],
+            "finger_gap": 0.027880066322765233,
+            "fingertip_max_gap": 0.09202439101440998,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013940033161382629,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501533362852713,
+            "object_top_z": 1.0960382455500133,
+            "finger_top_clearance": 0.04588490926474198,
+            "fingertip_min_top_clearance": 0.01376547277942256,
+            "object_projection_between_fingers": 0.80771095647524,
+            "object_to_finger_line_xy": 0.010987504328696236,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048512195507204994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8346173386247133,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.292427696154308,
+              0.3485706303562984,
+              1.241215694756222
+            ],
+            "held_position": [
+              0.29861310392773815,
+              0.35334713447150473,
+              1.2416706212491613
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007828232175923922,
+            "max_held_gripper_dist": 0.007829391435461793,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004549264929392116,
+            "max_held_gripper_z_dist": 0.0005484195220024635,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08735390305931678,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29861310392773815,
+              0.32740981759395893,
+              1.2416706212491613
+            ],
+            "held_grasp_finger_b": [
+              0.28803033867683625,
+              0.35334713447150473,
+              1.2416706212491613
+            ],
+            "held_grasp_midpoint": [
+              0.2933217213022872,
+              0.34037847603273186,
+              1.2416706212491613
+            ],
+            "held_grasp_object_position": [
+              0.29861310392773815,
+              0.35334713447150473,
+              1.2416706212491613
+            ],
+            "held_grasp_finger_gap": 0.028013199159716107,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025301858133260892,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05598209170097195,
+              -0.998341639971392,
+              0.013415487617505108
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004560467767234034,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031956850564454485,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3487859452009642,
+              0.10241391636126759,
+              0.7625856870618515
+            ],
+            "target_position": [
+              0.3446935867331759,
+              0.09822778425670237,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005854152357579196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1760155643431528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856870618515,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571896329072386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652716970170447,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14418908621275045,
+            "release_required_pad_clearance": 0.05326358485085224,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5425240668846085,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11cc4c300e9ae830f2daa2dbeedae97eeac6737680e06788341fe75c4a2ce456",
+    "visual_seed": 128181915611697765,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ab509de5e316879c3e22d4d16968751aafbf535
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2900734349149321,
+              0.3546473146074714,
+              1.0499062688535863
+            ],
+            "current_z": 1.0499062688535863,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19331970184037595,
+            "gripper_z": 1.0494109742286766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2842977273531807,
+              0.3495127347837652,
+              1.0494109742286766
+            ],
+            "object_minus_gripper": [
+              0.0057757075617513864,
+              0.005134579823706187,
+              0.0004952946249097145
+            ],
+            "object_to_gripper_xy": 0.007728046829884172,
+            "object_to_gripper_z": 0.0004952946249097145,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2900734349149321,
+              0.32961035645716436,
+              1.0499062688535863
+            ],
+            "finger_b": [
+              0.2779572376905093,
+              0.3546473146074714,
+              1.0499062688535863
+            ],
+            "finger_midpoint": [
+              0.2840153363027207,
+              0.3421288355323179,
+              1.0499062688535863
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060580986122114044,
+              0.012518479075153521,
+              0.0
+            ],
+            "finger_gap": 0.027814591649012885,
+            "fingertip_max_gap": 0.09207111742365184,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013907295824506442,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499062688535863,
+            "object_top_z": 1.0958463303840364,
+            "finger_top_clearance": 0.04594006153045016,
+            "fingertip_min_top_clearance": 0.01378201845913508,
+            "object_projection_between_fingers": 0.8102475939761163,
+            "object_to_finger_line_xy": 0.010906243984333491,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048535558711825924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7919578373470638,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2901213922370298,
+              0.35330885623278707,
+              1.2408214650512637
+            ],
+            "held_position": [
+              0.2962309936333158,
+              0.35804673934202225,
+              1.2412733410086418
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007744608283130391,
+            "max_held_gripper_dist": 0.007746466028985575,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004518759573781672,
+            "max_held_gripper_z_dist": 0.0005396787698570549,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08853363734064185,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2962309936333158,
+              0.33214889041308704,
+              1.2412733410086418
+            ],
+            "held_grasp_finger_b": [
+              0.28571122068541394,
+              0.35804673934202225,
+              1.2412733410086418
+            ],
+            "held_grasp_midpoint": [
+              0.29097110715936486,
+              0.34509781487755464,
+              1.2412733410086418
+            ],
+            "held_grasp_object_position": [
+              0.2962309936333158,
+              0.35804673934202225,
+              1.2412733410086418
+            ],
+            "held_grasp_finger_gap": 0.027952892551958878,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025275914573817275,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055179278685608645,
+              -0.9983990611718332,
+              0.012432290816179916
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004540279559800512,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198179419570054,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3441980350124919,
+              0.10761693757440502,
+              0.7625859269889945
+            ],
+            "target_position": [
+              0.3425452776018784,
+              0.10321798888455494,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046991868056368595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17398267692170238,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859269889945,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542596387103138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859445395573704,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14302731364387453,
+            "release_required_pad_clearance": 0.0529722697786852,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9787790249984641,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50e981229b1739e0440ba9c10f960779dedfbb8f3ddce635001e37cd1698cdbe",
+    "visual_seed": 2534630635529651202,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..156dd5788c4f77f0dec599a6811fe8bcfce7ef71
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2845579940007521,
+              0.350688454227082,
+              1.0508399020228618
+            ],
+            "current_z": 1.0508399020228618,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19425345421894102,
+            "gripper_z": 1.050767258894161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27861471025898377,
+              0.3454992206739282,
+              1.050767258894161
+            ],
+            "object_minus_gripper": [
+              0.005943283741768335,
+              0.005189233553153816,
+              7.264312870081113e-05
+            ],
+            "object_to_gripper_xy": 0.007889915494119389,
+            "object_to_gripper_z": 7.264312870081113e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2845579940007521,
+              0.3255367884731962,
+              1.0508399020228618
+            ],
+            "finger_b": [
+              0.27236478301491623,
+              0.350688454227082,
+              1.0508399020228618
+            ],
+            "finger_midpoint": [
+              0.2784613885078342,
+              0.3381126213501391,
+              1.0508399020228618
+            ],
+            "object_minus_finger_midpoint": [
+              0.006096605492917906,
+              0.012575832876942916,
+              0.0
+            ],
+            "finger_gap": 0.02795139861152388,
+            "fingertip_max_gap": 0.0942687495838424,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013975699305761953,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508399020228618,
+            "object_top_z": 1.097684713529543,
+            "finger_top_clearance": 0.046844811506681294,
+            "fingertip_min_top_clearance": 0.014053443452004388,
+            "object_projection_between_fingers": 0.8097042495417037,
+            "object_to_finger_line_xy": 0.010971886288935587,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049634374791921204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4999570847932289,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28406600365199053,
+              0.34973864855003467,
+              1.238360858910286
+            ],
+            "held_position": [
+              0.29027548347927473,
+              0.3546062104563104,
+              1.2383418217019042
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007889940497378872,
+            "max_held_gripper_dist": 0.007891791732504927,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 1.903720838170031e-05,
+            "max_held_gripper_z_dist": 0.0002126284620900254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08822241797344871,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29027548347927473,
+              0.3288152059760941,
+              1.2383418217019042
+            ],
+            "held_grasp_finger_b": [
+              0.2794289629100059,
+              0.3546062104563104,
+              1.2383418217019042
+            ],
+            "held_grasp_midpoint": [
+              0.2848522231946403,
+              0.34171070821620225,
+              1.2383418217019042
+            ],
+            "held_grasp_object_position": [
+              0.29027548347927473,
+              0.3546062104563104,
+              1.2383418217019042
+            ],
+            "held_grasp_finger_gap": 0.027978972828860423,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025413551153993637,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032816466250812644,
+              -0.9991660328685908,
+              0.02429646691293729
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005007102450652789,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321375049126138,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3498475316610769,
+              0.10947010692369523,
+              0.7625858756284873
+            ],
+            "target_position": [
+              0.34675194678502264,
+              0.10562078575640299,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004939627432693685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17613846868635802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858756284873,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555944689541658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08692146003854943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1445878621829787,
+            "release_required_pad_clearance": 0.05346073001927472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9338415533525215,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf4efd3673e0d437521083f131dcf6bed0bc1dfab98b7867f295e3f47c91c072",
+    "visual_seed": 7818561144125074741,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3947008270b3acd315e45bccaaf4a19807a4645
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2913705629179325,
+              0.3489836278691157,
+              1.050050487552336
+            ],
+            "current_z": 1.050050487552336,
+            "required_z": 0.8565865479113743,
+            "initial_z": 0.7565865479113744,
+            "lift_margin": 0.19346393964096165,
+            "gripper_z": 1.0499825455521252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2858800425870048,
+              0.3439789050494015,
+              1.0499825455521252
+            ],
+            "object_minus_gripper": [
+              0.005490520330927728,
+              0.005004722819714202,
+              6.794200021076335e-05
+            ],
+            "object_to_gripper_xy": 0.007429203457067171,
+            "object_to_gripper_z": 6.794200021076335e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2913705629179325,
+              0.324169144147202,
+              1.050050487552336
+            ],
+            "finger_b": [
+              0.2794142241353458,
+              0.3489836278691157,
+              1.050050487552336
+            ],
+            "finger_midpoint": [
+              0.28539239352663914,
+              0.33657638600815887,
+              1.050050487552336
+            ],
+            "object_minus_finger_midpoint": [
+              0.005978169391293364,
+              0.01240724186095682,
+              0.0
+            ],
+            "finger_gap": 0.02754473887095514,
+            "fingertip_max_gap": 0.09156212231432384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013772369435477546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050050487552336,
+            "object_top_z": 1.0959757877583725,
+            "finger_top_clearance": 0.04592530020603647,
+            "fingertip_min_top_clearance": 0.01377759006181094,
+            "object_projection_between_fingers": 0.8115834248075575,
+            "object_to_finger_line_xy": 0.010771217526662857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828106115716192,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5068259884489996,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.291633019811324,
+              0.3480092023334674,
+              1.2412949513140075
+            ],
+            "held_position": [
+              0.29745329212203975,
+              0.3526257266084231,
+              1.2413111455024217
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007428871273879928,
+            "max_held_gripper_dist": 0.007430220571180518,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 1.6194188414253574e-05,
+            "max_held_gripper_z_dist": 0.00016626168526379104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885520906279405,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29745329212203975,
+              0.3269135460621428,
+              1.2413111455024217
+            ],
+            "held_grasp_finger_b": [
+              0.2871519354035523,
+              0.3526257266084231,
+              1.2413111455024217
+            ],
+            "held_grasp_midpoint": [
+              0.29230261376279604,
+              0.33976963633528295,
+              1.2413111455024217
+            ],
+            "held_grasp_object_position": [
+              0.29745329212203975,
+              0.3526257266084231,
+              1.2413111455024217
+            ],
+            "held_grasp_finger_gap": 0.02769899237672812,
+            "held_grasp_max_gap": 0.12496579200029373,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02489324244510719,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07265970595033426,
+              -0.9972602653831111,
+              0.013875525907795838
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004206838576556323,
+            "held_grasp_line_xy_max_dist": 0.047482896000146865,
+            "held_grasp_object_top_z": 0.04520055651664734,
+            "held_grasp_top_clearance": 0.03200544174403895,
+            "held_grasp_min_top_clearance": 0.013560166954994202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3483758077237785,
+              0.10250813004976178,
+              0.7625859692267134
+            ],
+            "target_position": [
+              0.34336947951250846,
+              0.09777219125482252,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006891475780148201,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17946909165432462,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859692267134,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585084123716744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085720997809817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14723864545809043,
+            "release_required_pad_clearance": 0.0528604989049085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7630973200367808,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23a01698a6a010f97498067d6a6f43131332eeb9a41b04aa1902a10ecd34cf13",
+    "visual_seed": 1586220252122167229,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ef7834ccb3e9b60c96305fc504fa9ad17959b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28408057093192096,
+              0.3512761689178354,
+              1.050807619842643
+            ],
+            "current_z": 1.050807619842643,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19422117203872225,
+            "gripper_z": 1.0505630809572553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2786108463361626,
+              0.34614316490562297,
+              1.0505630809572553
+            ],
+            "object_minus_gripper": [
+              0.005469724595758341,
+              0.00513300401221245,
+              0.00024453888538777946
+            ],
+            "object_to_gripper_xy": 0.007501041083931807,
+            "object_to_gripper_z": 0.00024453888538777946,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28408057093192096,
+              0.3266439312393492,
+              1.050807619842643
+            ],
+            "finger_b": [
+              0.27172558574141276,
+              0.3512761689178354,
+              1.050807619842643
+            ],
+            "finger_midpoint": [
+              0.27790307833666683,
+              0.3389600500785923,
+              1.050807619842643
+            ],
+            "object_minus_finger_midpoint": [
+              0.00617749259525413,
+              0.012316118839243106,
+              0.0
+            ],
+            "finger_gap": 0.027557082430967054,
+            "fingertip_max_gap": 0.09189447805490861,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013778541215483537,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050807619842643,
+            "object_top_z": 1.096893283081966,
+            "finger_top_clearance": 0.04608566323932295,
+            "fingertip_min_top_clearance": 0.01382569897179685,
+            "object_projection_between_fingers": 0.7989898499903771,
+            "object_to_finger_line_xy": 0.011043655745819655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048447239027454306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6663190439840255,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28440271424346664,
+              0.34986117946760964,
+              1.2399704849583668
+            ],
+            "held_position": [
+              0.29028527316579733,
+              0.3545172750314324,
+              1.2401493763150213
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007504380553491935,
+            "max_held_gripper_dist": 0.007505644371498019,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00017889135665449807,
+            "max_held_gripper_z_dist": 0.0002652298760088545,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08858854624794421,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29028527316579733,
+              0.32875859338305974,
+              1.2401493763150213
+            ],
+            "held_grasp_finger_b": [
+              0.2799634844504826,
+              0.3545172750314324,
+              1.2401493763150213
+            ],
+            "held_grasp_midpoint": [
+              0.28512437880813996,
+              0.3416379342072461,
+              1.2401493763150213
+            ],
+            "held_grasp_object_position": [
+              0.29028527316579733,
+              0.3545172750314324,
+              1.2401493763150213
+            ],
+            "held_grasp_finger_gap": 0.02774975680156149,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024727588790536062,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08951490534473272,
+              -0.9958406676452086,
+              0.0169837094025046
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003993494061507167,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03191247663070301,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34222892869678784,
+              0.11011651967870749,
+              0.7625854194599806
+            ],
+            "target_position": [
+              0.3434625508583566,
+              0.10561773971147301,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004664852069584183,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17068314627601416,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854194599806,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553627191347587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648169074240862,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.139662882667484,
+            "release_required_pad_clearance": 0.05324084537120431,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.495108064377947,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db2c0a578eadd3207d193e728e076aab626371a4d2c11b536fadb72fda263a71",
+    "visual_seed": 894311828550042422,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3112d441b446e14160269b7f05b67be461eb503
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2919278921747731,
+              0.3514622650531984,
+              1.0503451181427181
+            ],
+            "current_z": 1.0503451181427181,
+            "required_z": 0.8565867020960475,
+            "initial_z": 0.7565867020960475,
+            "lift_margin": 0.19375841604667066,
+            "gripper_z": 1.0499470444674246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.286620018252404,
+              0.34651276435561973,
+              1.0499470444674246
+            ],
+            "object_minus_gripper": [
+              0.0053078739223690885,
+              0.004949500697578657,
+              0.0003980736752935421
+            ],
+            "object_to_gripper_xy": 0.007257484600817106,
+            "object_to_gripper_z": 0.0003980736752935421,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2919278921747731,
+              0.3268123936169613,
+              1.0503451181427181
+            ],
+            "finger_b": [
+              0.28000264224884325,
+              0.3514622650531984,
+              1.0503451181427181
+            ],
+            "finger_midpoint": [
+              0.28596526721180815,
+              0.33913732933507984,
+              1.0503451181427181
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059626249629649575,
+              0.012324935718118546,
+              0.0
+            ],
+            "finger_gap": 0.027382982810842713,
+            "fingertip_max_gap": 0.09331655826535654,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013691491405421368,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503451181427181,
+            "object_top_z": 1.0972338465963811,
+            "finger_top_clearance": 0.04688872845366299,
+            "fingertip_min_top_clearance": 0.014066618536098896,
+            "object_projection_between_fingers": 0.810340993318151,
+            "object_to_finger_line_xy": 0.010734983823704239,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04915827913267827,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2340125018884447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29252750569754293,
+              0.3500732993101915,
+              1.2392445905739844
+            ],
+            "held_position": [
+              0.29821105981053125,
+              0.3545872737271143,
+              1.2395696529938482
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00726528856747671,
+            "max_held_gripper_dist": 0.007270875756635383,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000325062419863853,
+            "max_held_gripper_z_dist": 0.00041664799090312954,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08880438405407359,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29821105981053125,
+              0.3288772454405851,
+              1.2395696529938482
+            ],
+            "held_grasp_finger_b": [
+              0.2882565007006507,
+              0.3545872737271143,
+              1.2395696529938482
+            ],
+            "held_grasp_midpoint": [
+              0.293233780255591,
+              0.3417322595838497,
+              1.2395696529938482
+            ],
+            "held_grasp_object_position": [
+              0.29821105981053125,
+              0.3545872737271143,
+              1.2395696529938482
+            ],
+            "held_grasp_finger_gap": 0.027569889400689246,
+            "held_grasp_max_gap": 0.12496568024158478,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475555007702199,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08545066687039413,
+              -0.9959605452779079,
+              0.027582164185167457
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003877391755694567,
+            "held_grasp_line_xy_max_dist": 0.04748284012079239,
+            "held_grasp_object_top_z": 0.04520051181316376,
+            "held_grasp_top_clearance": 0.03197211306031271,
+            "held_grasp_min_top_clearance": 0.013560153543949127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3460761044701625,
+              0.10998834514088048,
+              0.762587345641792
+            ],
+            "target_position": [
+              0.34235598565443476,
+              0.10592139658112783,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005511746963604718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17661090541836816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762587345641792,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572719257754998,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851110382385543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14473437227411265,
+            "release_required_pad_clearance": 0.05255551911927715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17693602243355736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1cb72bd282346c6039e809fa4d33c7f6216e871282fad8b46c31cc3dde64e785",
+    "visual_seed": 791329722479451038,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2818258a7290ed1fef732ce45e1a8e83815a988f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2869612382314555,
+              0.3476649076850144,
+              1.0488640621760832
+            ],
+            "current_z": 1.0488640621760832,
+            "required_z": 0.8565865736853695,
+            "initial_z": 0.7565865736853695,
+            "lift_margin": 0.1922774884907137,
+            "gripper_z": 1.0486750590672977,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28104993631905484,
+              0.3424377939452421,
+              1.0486750590672977
+            ],
+            "object_minus_gripper": [
+              0.005911301912400635,
+              0.005227113739772304,
+              0.00018900310878544602
+            ],
+            "object_to_gripper_xy": 0.007890894014499739,
+            "object_to_gripper_z": 0.00018900310878544602,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2869612382314555,
+              0.3225448718163083,
+              1.0488640621760832
+            ],
+            "finger_b": [
+              0.2747000903096856,
+              0.3476649076850144,
+              1.0488640621760832
+            ],
+            "finger_midpoint": [
+              0.2808306642705706,
+              0.33510488975066133,
+              1.0488640621760832
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061305739608849,
+              0.012560017934353074,
+              0.0
+            ],
+            "finger_gap": 0.02795267340353337,
+            "fingertip_max_gap": 0.09214251679087052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0139763367017667,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488640621760832,
+            "object_top_z": 1.0948035943506769,
+            "finger_top_clearance": 0.04593953217459368,
+            "fingertip_min_top_clearance": 0.013781859652378136,
+            "object_projection_between_fingers": 0.8075953502366329,
+            "object_to_finger_line_xy": 0.011018641084520997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857125839543526,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7072661778001055,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2866626629734105,
+              0.34624603496363315,
+              1.236870780525889
+            ],
+            "held_position": [
+              0.29289086713846524,
+              0.351096453461334,
+              1.2369704510253394
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00789474641346413,
+            "max_held_gripper_dist": 0.00789634701576873,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 9.967049945047712e-05,
+            "max_held_gripper_z_dist": 0.00020093324276992952,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08869819138893509,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29289086713846524,
+              0.32519294443256713,
+              1.2369704510253394
+            ],
+            "held_grasp_finger_b": [
+              0.28220704190564083,
+              0.351096453461334,
+              1.2369704510253394
+            ],
+            "held_grasp_midpoint": [
+              0.28754895452205304,
+              0.33814469894695054,
+              1.2369704510253394
+            ],
+            "held_grasp_object_position": [
+              0.29289086713846524,
+              0.351096453461334,
+              1.2369704510253394
+            ],
+            "held_grasp_finger_gap": 0.02802027661549654,
+            "held_grasp_max_gap": 0.1249656355381012,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025308544819484222,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05216752734275762,
+              -0.9985478622111675,
+              0.01344306380443172
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004662300061868598,
+            "held_grasp_line_xy_max_dist": 0.0474828177690506,
+            "held_grasp_object_top_z": 0.04520043358206749,
+            "held_grasp_top_clearance": 0.031988812427366765,
+            "held_grasp_min_top_clearance": 0.013560130074620246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34353470565616523,
+              0.10773847663074418,
+              0.7625852799088837
+            ],
+            "target_position": [
+              0.3432457805006457,
+              0.10312506863850805,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004622446435419253,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17331681743218796,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852799088837,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547436943470458,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086328633323673,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14231041727242344,
+            "release_required_pad_clearance": 0.053164316661836505,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.345197317388228,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66909794d5ee10288f55145d3fe7ac80979435c60369ce18df6f9b81ef6b45c4",
+    "visual_seed": 8108523442648369971,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1994551919e5ddaed56c6a4099f1bf3e9b250d6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28745020779827224,
+              0.34680743375290407,
+              1.0479405953301975
+            ],
+            "current_z": 1.0479405953301975,
+            "required_z": 0.8565867439525116,
+            "initial_z": 0.7565867439525116,
+            "lift_margin": 0.1913538513776859,
+            "gripper_z": 1.04772410979125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2816265912525764,
+              0.3416873229103246,
+              1.04772410979125
+            ],
+            "object_minus_gripper": [
+              0.005823616545695853,
+              0.005120110842579462,
+              0.00021648553894748623
+            ],
+            "object_to_gripper_xy": 0.007754356498872248,
+            "object_to_gripper_z": 0.00021648553894748623,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28745020779827224,
+              0.32170707442546015,
+              1.0479405953301975
+            ],
+            "finger_b": [
+              0.27539816881581225,
+              0.34680743375290407,
+              1.0479405953301975
+            ],
+            "finger_midpoint": [
+              0.28142418830704224,
+              0.3342572540891821,
+              1.0479405953301975
+            ],
+            "object_minus_finger_midpoint": [
+              0.006026019491229995,
+              0.012550179663721961,
+              0.0
+            ],
+            "finger_gap": 0.027843844598071158,
+            "fingertip_max_gap": 0.09410950951189026,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013921922299035579,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479405953301975,
+            "object_top_z": 1.0946694674105726,
+            "finger_top_clearance": 0.04672887208037513,
+            "fingertip_min_top_clearance": 0.014018661624112538,
+            "object_projection_between_fingers": 0.8126461366048705,
+            "object_to_finger_line_xy": 0.010864538049787256,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04955475475594513,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5070148297659949,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2870683657253983,
+              0.345825100660729,
+              1.2358064378020581
+            ],
+            "held_position": [
+              0.2931624422071061,
+              0.3506218656584605,
+              1.235934558420474
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00775649002456839,
+            "max_held_gripper_dist": 0.007758894522385756,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001281206184158279,
+            "max_held_gripper_z_dist": 0.00022713880706959344,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08888302460758596,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2931624422071061,
+              0.3248600088143839,
+              1.235934558420474
+            ],
+            "held_grasp_finger_b": [
+              0.28248802035241827,
+              0.3506218656584605,
+              1.235934558420474
+            ],
+            "held_grasp_midpoint": [
+              0.2878252312797622,
+              0.3377409372364222,
+              1.235934558420474
+            ],
+            "held_grasp_object_position": [
+              0.2931624422071061,
+              0.3506218656584605,
+              1.235934558420474
+            ],
+            "held_grasp_finger_gap": 0.02788577684029138,
+            "held_grasp_max_gap": 0.1249658739566803,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0253875653920374,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03308829624672394,
+              -0.9991812306241584,
+              0.02328160260552803
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004917359141485442,
+            "held_grasp_line_xy_max_dist": 0.04748293697834015,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03215375420197255,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3463674347786372,
+              0.10894518194533988,
+              0.7625849359808412
+            ],
+            "target_position": [
+              0.3449338162675194,
+              0.10559723467809172,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003641979261293779,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17323015149968723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849359808412,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580826716155038,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787480547035618,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14112724049517272,
+            "release_required_pad_clearance": 0.053937402735178094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8787944333609583,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3ca5855f76a9860aaa8f6715ecbceb218b4f87e705d3c947de3ffaec4840c8c",
+    "visual_seed": 3940024663229971726,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e47fb4e4cd104c733dc2a45fee7164a6e2dcd85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2918836303664337,
+              0.3487199329048052,
+              1.0480002404005984
+            ],
+            "current_z": 1.0480002404005984,
+            "required_z": 0.856586688029446,
+            "initial_z": 0.7565866880294461,
+            "lift_margin": 0.19141355237115232,
+            "gripper_z": 1.0477203796682721,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2863361379679106,
+              0.3436776953972618,
+              1.0477203796682721
+            ],
+            "object_minus_gripper": [
+              0.005547492398523146,
+              0.005042237507543401,
+              0.00027986073232622033
+            ],
+            "object_to_gripper_xy": 0.007496587956807388,
+            "object_to_gripper_z": 0.00027986073232622033,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2918836303664337,
+              0.32386434128884106,
+              1.0480002404005984
+            ],
+            "finger_b": [
+              0.27987586630311534,
+              0.3487199329048052,
+              1.0480002404005984
+            ],
+            "finger_midpoint": [
+              0.28587974833477453,
+              0.33629213709682315,
+              1.0480002404005984
+            ],
+            "object_minus_finger_midpoint": [
+              0.006003882031659191,
+              0.012427795807982034,
+              0.0
+            ],
+            "finger_gap": 0.027604108976380787,
+            "fingertip_max_gap": 0.0909535943629495,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01380205448819037,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480002404005984,
+            "object_top_z": 1.0936106037743982,
+            "finger_top_clearance": 0.04561036337379987,
+            "fingertip_min_top_clearance": 0.01368310901213996,
+            "object_projection_between_fingers": 0.8107757356515147,
+            "object_to_finger_line_xy": 0.010812161335620964,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047976797181474753,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2758828851605975,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2920354396720789,
+              0.3472967610812994,
+              1.237246315864598
+            ],
+            "held_position": [
+              0.297921360657014,
+              0.3519355620475542,
+              1.2374434862638193
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007496760394447399,
+            "max_held_gripper_dist": 0.007502236710357437,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001971703992211804,
+            "max_held_gripper_z_dist": 0.00028690071683512564,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08740681393385297,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.297921360657014,
+              0.3261779026926086,
+              1.2374434862638193
+            ],
+            "held_grasp_finger_b": [
+              0.28766067909900456,
+              0.3519355620475542,
+              1.2374434862638193
+            ],
+            "held_grasp_midpoint": [
+              0.29279101987800926,
+              0.3390567323700814,
+              1.2374434862638193
+            ],
+            "held_grasp_object_position": [
+              0.297921360657014,
+              0.3519355620475542,
+              1.2374434862638193
+            ],
+            "held_grasp_finger_gap": 0.027726135711279583,
+            "held_grasp_max_gap": 0.1249656131863594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024932973117729056,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0734239372818475,
+              -0.9972316351788939,
+              0.011746966947302595
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004173701962977164,
+            "held_grasp_line_xy_max_dist": 0.0474828065931797,
+            "held_grasp_object_top_z": 0.04520047456026077,
+            "held_grasp_top_clearance": 0.03198060836221195,
+            "held_grasp_min_top_clearance": 0.013560142368078232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34340464996297376,
+              0.10666628375854242,
+              0.7625854346104612
+            ],
+            "target_position": [
+              0.3427709498441707,
+              0.10184655750321238,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004861207362054078,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17452848562468784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854346104612,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541991079181438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554368783979592,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14359223668833349,
+            "release_required_pad_clearance": 0.05277184391989796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5868267856747204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cca666fcf9f8a72c71bed8d89b499b4f514a0ad0d9d2c6fc88493c954ebec25",
+    "visual_seed": 4557304937181770059,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..929e73cde357362afbaf586046fa0bf2cceb7127
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28367439385844717,
+              0.35104610717192203,
+              1.0506364651100946
+            ],
+            "current_z": 1.0506364651100946,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.194049957701529,
+            "gripper_z": 1.0508010622097377,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2781303697800701,
+              0.3459523517512124,
+              1.0508010622097377
+            ],
+            "object_minus_gripper": [
+              0.005544024078377063,
+              0.005093755420709611,
+              -0.00016459709964311564
+            ],
+            "object_to_gripper_xy": 0.007528781260445358,
+            "object_to_gripper_z": -0.00016459709964311564,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28367439385844717,
+              0.32628068350282624,
+              1.0506364651100946
+            ],
+            "finger_b": [
+              0.27147781557940115,
+              0.35104610717192203,
+              1.0506364651100946
+            ],
+            "finger_midpoint": [
+              0.27757610471892413,
+              0.3386633953373741,
+              1.0506364651100946
+            ],
+            "object_minus_finger_midpoint": [
+              0.006098289139523039,
+              0.012382711834547921,
+              0.0
+            ],
+            "finger_gap": 0.027605845961076923,
+            "fingertip_max_gap": 0.09109906892325811,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0138029229805385,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506364651100946,
+            "object_top_z": 1.0962558565116438,
+            "finger_top_clearance": 0.04561939140154925,
+            "fingertip_min_top_clearance": 0.013685817420464774,
+            "object_projection_between_fingers": 0.804802660365434,
+            "object_to_finger_line_xy": 0.010941647244563648,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804953446162906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4385140322403454,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2838538230164499,
+              0.34985017485632564,
+              1.2393186767193927
+            ],
+            "held_position": [
+              0.2897559811640824,
+              0.35451996298051597,
+              1.2390761778358892
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075300197631210965,
+            "max_held_gripper_dist": 0.007531399405523736,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00024249888350347248,
+            "max_held_gripper_z_dist": 0.00042479163697906053,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08829054842936229,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2897559811640824,
+              0.3287952001987633,
+              1.2390761778358892
+            ],
+            "held_grasp_finger_b": [
+              0.27937730128776006,
+              0.35451996298051597,
+              1.2390761778358892
+            ],
+            "held_grasp_midpoint": [
+              0.28456664122592124,
+              0.34165758158963966,
+              1.2390761778358892
+            ],
+            "held_grasp_object_position": [
+              0.2897559811640824,
+              0.35451996298051597,
+              1.2390761778358892
+            ],
+            "held_grasp_finger_gap": 0.027739510020053097,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024813542740442045,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07973534533081407,
+              -0.9967473979059023,
+              0.011700404813028585
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004150048770426629,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031965905971573214,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34009365897461324,
+              0.11008463034189989,
+              0.762584770344748
+            ],
+            "target_position": [
+              0.3417979256349951,
+              0.10524259952290202,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005133204389249889,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.171964970100234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584770344748,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536319734811842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500531553749956,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14135098003589264,
+            "release_required_pad_clearance": 0.05250265776874978,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06824156511391195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6cb5af26bc39d37b9fabba7086fd64f8b630334b8928de86dc5ccc53fcf74f0d",
+    "visual_seed": 4637881658886734377,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64270009de5e58a238ba740a4a4db1cb5c873d83
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2925284475387513,
+              0.350996473524036,
+              1.0496975357559792
+            ],
+            "current_z": 1.0496975357559792,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19311108795205845,
+            "gripper_z": 1.0491333230373445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2871270438216111,
+              0.3460141687422016,
+              1.0491333230373445
+            ],
+            "object_minus_gripper": [
+              0.005401403717140207,
+              0.0049823047818344235,
+              0.0005642127186347157
+            ],
+            "object_to_gripper_xy": 0.007348368734258387,
+            "object_to_gripper_z": 0.0005642127186347157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2925284475387513,
+              0.32632074342956136,
+              1.0496975357559792
+            ],
+            "finger_b": [
+              0.2804869880947606,
+              0.350996473524036,
+              1.0496975357559792
+            ],
+            "finger_midpoint": [
+              0.28650771781675594,
+              0.3386586084767987,
+              1.0496975357559792
+            ],
+            "object_minus_finger_midpoint": [
+              0.006020729721995355,
+              0.012337865047237329,
+              0.0
+            ],
+            "finger_gap": 0.027457028266668543,
+            "fingertip_max_gap": 0.0921533702822391,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013728514133334271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496975357559792,
+            "object_top_z": 1.0958326093999182,
+            "finger_top_clearance": 0.046135073643938984,
+            "fingertip_min_top_clearance": 0.013840522093181694,
+            "object_projection_between_fingers": 0.8076681571126061,
+            "object_to_finger_line_xy": 0.010821702927850372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048576685141119555,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8250827796791085,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29336882047170865,
+              0.34898267937257627,
+              1.2398172328042794
+            ],
+            "held_position": [
+              0.29920702914126934,
+              0.35345583431007965,
+              1.2403080025157516
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007371204140026454,
+            "max_held_gripper_dist": 0.007372341255797905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004907697114722165,
+            "max_held_gripper_z_dist": 0.0005841031467315183,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08910817448577657,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29920702914126934,
+              0.3275766570535526,
+              1.2403080025157516
+            ],
+            "held_grasp_finger_b": [
+              0.2893963696667221,
+              0.35347284084472774,
+              1.2403080025157516
+            ],
+            "held_grasp_midpoint": [
+              0.29430169940399575,
+              0.3405247489491402,
+              1.2403080025157516
+            ],
+            "held_grasp_object_position": [
+              0.29920702914126934,
+              0.35345583431007965,
+              1.2403080025157516
+            ],
+            "held_grasp_finger_gap": 0.027692261992691126,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024778290397997872,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10019615740218912,
+              -0.9947906219181133,
+              0.01877095057819544
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003593520594749149,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03184500732706007,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3401952584765749,
+              0.10702135878685459,
+              0.762585871646833
+            ],
+            "target_position": [
+              0.3390469315893244,
+              0.10383146742114968,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0033902893040242306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17574261166438943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585871646833,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576015764751341,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562879403515027,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14353879045732562,
+            "release_required_pad_clearance": 0.052814397017575135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6690904775970026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c00a8d1a33ea68496938bfabea65c4a60452f8ad1c66f79d297329022744820",
+    "visual_seed": 3456850167748288129,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4157f9f02852c3bb86e51229b677d39d4cd85eaf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28898916106245937,
+              0.34850703990268633,
+              1.0502763822819514
+            ],
+            "current_z": 1.0502763822819514,
+            "required_z": 0.856586802929969,
+            "initial_z": 0.756586802929969,
+            "lift_margin": 0.1936895793519824,
+            "gripper_z": 1.049898526300657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2835148859584813,
+              0.34336778045388944,
+              1.049898526300657
+            ],
+            "object_minus_gripper": [
+              0.005474275103978077,
+              0.005139259448796896,
+              0.0003778559812943616
+            ],
+            "object_to_gripper_xy": 0.0075086400630262175,
+            "object_to_gripper_z": 0.0003778559812943616,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28898916106245937,
+              0.32389055283404267,
+              1.0502763822819514
+            ],
+            "finger_b": [
+              0.2766021206611612,
+              0.34850703990268633,
+              1.0502763822819514
+            ],
+            "finger_midpoint": [
+              0.2827956408618103,
+              0.33619879636836447,
+              1.0502763822819514
+            ],
+            "object_minus_finger_midpoint": [
+              0.006193520200649061,
+              0.012308243534321861,
+              0.0
+            ],
+            "finger_gap": 0.027557398380545543,
+            "fingertip_max_gap": 0.0911087491776085,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013778699190272784,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502763822819514,
+            "object_top_z": 1.096058958664686,
+            "finger_top_clearance": 0.04578257638273464,
+            "fingertip_min_top_clearance": 0.013734772914820392,
+            "object_projection_between_fingers": 0.7979500817986228,
+            "object_to_finger_line_xy": 0.01106510185201619,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805437458880425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35929930578535885,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2893015190910209,
+              0.3472283947471778,
+              1.2402291747307066
+            ],
+            "held_position": [
+              0.2951878485713561,
+              0.35189346697828255,
+              1.2405430862665823
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007517334243256944,
+            "max_held_gripper_dist": 0.0075185943709795,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003139115358756772,
+            "max_held_gripper_z_dist": 0.00040003352847794993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859943214519772,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2951878485713561,
+              0.3261564767593516,
+              1.2405430862665823
+            ],
+            "held_grasp_finger_b": [
+              0.2848184130647245,
+              0.35189346697828255,
+              1.2405430862665823
+            ],
+            "held_grasp_midpoint": [
+              0.2900031308180403,
+              0.3390249718688171,
+              1.2405430862665823
+            ],
+            "held_grasp_object_position": [
+              0.2951878485713561,
+              0.35189346697828255,
+              1.2405430862665823
+            ],
+            "held_grasp_finger_gap": 0.027747393720051246,
+            "held_grasp_max_gap": 0.12496559083461761,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02476412841129849,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08469120006973935,
+              -0.996321952577795,
+              0.013037156220490065
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004079811200085108,
+            "held_grasp_line_xy_max_dist": 0.04748279541730881,
+            "held_grasp_object_top_z": 0.04520042985677719,
+            "held_grasp_top_clearance": 0.03194016571402555,
+            "held_grasp_min_top_clearance": 0.013560128957033157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.347379450577421,
+              0.10877100354608038,
+              0.7625844865945082
+            ],
+            "target_position": [
+              0.3456701287264318,
+              0.10486955928089454,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004259465758122775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.176994401415315,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844865945082,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531302526177015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588599878832658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14599591595269135,
+            "release_required_pad_clearance": 0.05294299939416329,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9142629285484757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f273229a838cd814c13c0bf07f5e2627842c2a8c6647a9c1579246e924ea8603",
+    "visual_seed": 3302317307398814456,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..caaa406710f5ff0ea2711af34b65e335b54cbea7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2869052968789727,
+              0.3475691549579246,
+              1.0509322375491263
+            ],
+            "current_z": 1.0509322375491263,
+            "required_z": 0.8565867220810011,
+            "initial_z": 0.7565867220810011,
+            "lift_margin": 0.19434551546812528,
+            "gripper_z": 1.050906994129153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2813148472750119,
+              0.34244444421872183,
+              1.050906994129153
+            ],
+            "object_minus_gripper": [
+              0.005590449603960823,
+              0.005124710739202787,
+              2.524341997345303e-05
+            ],
+            "object_to_gripper_xy": 0.00758391633227359,
+            "object_to_gripper_z": 2.524341997345303e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2869052968789727,
+              0.3227799895723226,
+              1.0509322375491263
+            ],
+            "finger_b": [
+              0.27465907882495,
+              0.3475691549579246,
+              1.0509322375491263
+            ],
+            "finger_midpoint": [
+              0.28078218785196135,
+              0.3351745722651236,
+              1.0509322375491263
+            ],
+            "object_minus_finger_midpoint": [
+              0.006123109027011353,
+              0.012394582692801026,
+              0.0
+            ],
+            "finger_gap": 0.027649097221092045,
+            "fingertip_max_gap": 0.09084570745232987,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013824548610546047,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0509322375491263,
+            "object_top_z": 1.0965959210611111,
+            "finger_top_clearance": 0.0456636835119848,
+            "fingertip_min_top_clearance": 0.013699105053595406,
+            "object_projection_between_fingers": 0.8038257210121841,
+            "object_to_finger_line_xy": 0.0109795094668673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047922853726164935,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2581923728700395,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28700865926291996,
+              0.3461810269452187,
+              1.2418411095644613
+            ],
+            "held_position": [
+              0.29297084808949936,
+              0.35087650102432494,
+              1.2418223430355246
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007589171536732797,
+            "max_held_gripper_dist": 0.00759052915263181,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 1.876652893662012e-05,
+            "max_held_gripper_z_dist": 0.00020176279404715558,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08867252576083323,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29297084808949936,
+              0.3251151994930533,
+              1.2418223430355246
+            ],
+            "held_grasp_finger_b": [
+              0.2824732272892464,
+              0.35087650102432494,
+              1.2418223430355246
+            ],
+            "held_grasp_midpoint": [
+              0.2877220376893729,
+              0.3379958502586891,
+              1.2418223430355246
+            ],
+            "held_grasp_object_position": [
+              0.29297084808949936,
+              0.35087650102432494,
+              1.2418223430355246
+            ],
+            "held_grasp_finger_gap": 0.027818064257798435,
+            "held_grasp_max_gap": 0.12496576964855194,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02491164950948857,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07408002785521155,
+              -0.9972055767291297,
+              0.009653352438146913
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042820496316392665,
+            "held_grasp_line_xy_max_dist": 0.04748288482427597,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.03196715340228373,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3413531365574599,
+              0.10746813906141518,
+              0.7625857477243785
+            ],
+            "target_position": [
+              0.34009106640031006,
+              0.10242144769910085,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005202106764381753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17493705425299844,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857477243785,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517097663725648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854768611682694,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1447862310684296,
+            "release_required_pad_clearance": 0.0527384305841347,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5278589806883347,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a422462fb6a3f5f44ab54d860f9b076bc7ec65ab159039cf499a75dd1da34288",
+    "visual_seed": 5231939563097290172,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46124bd4c52625ab093ffa0b4d1f96ef6764f33d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2916545561684773,
+              0.34241565313641026,
+              1.0500592157477622
+            ],
+            "current_z": 1.0500592157477622,
+            "required_z": 0.8565867535124846,
+            "initial_z": 0.7565867535124846,
+            "lift_margin": 0.1934724622352776,
+            "gripper_z": 1.0499583804802557,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2860388067973938,
+              0.33729009415292316,
+              1.0499583804802557
+            ],
+            "object_minus_gripper": [
+              0.0056157493710835005,
+              0.0051255589834871,
+              0.00010083526750648275
+            ],
+            "object_to_gripper_xy": 0.007603156968788034,
+            "object_to_gripper_z": 0.00010083526750648275,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2916545561684773,
+              0.3175932114125363,
+              1.0500592157477622
+            ],
+            "finger_b": [
+              0.27942655326578325,
+              0.34241565313641026,
+              1.0500592157477622
+            ],
+            "finger_midpoint": [
+              0.28554055471713025,
+              0.3300044322744733,
+              1.0500592157477622
+            ],
+            "object_minus_finger_midpoint": [
+              0.006114001451347051,
+              0.012411220861936967,
+              0.0
+            ],
+            "finger_gap": 0.027670881231421085,
+            "fingertip_max_gap": 0.0910356058456134,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013835440615710555,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500592157477622,
+            "object_top_z": 1.0957182793622677,
+            "finger_top_clearance": 0.04565906361450556,
+            "fingertip_min_top_clearance": 0.013697719084351634,
+            "object_projection_between_fingers": 0.8047167088537918,
+            "object_to_finger_line_xy": 0.010969252728634402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048017802922806704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.31479119961833707,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2916857514536866,
+              0.34098609223018067,
+              1.2406974821833252
+            ],
+            "held_position": [
+              0.29765452480405497,
+              0.3456979243970545,
+              1.2407484804828577
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007604618235217982,
+            "max_held_gripper_dist": 0.0076077234569598366,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.09982995324787e-05,
+            "max_held_gripper_z_dist": 0.00013699718915560766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08869040519894128,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29765452480405497,
+              0.3199458751420925,
+              1.2407484804828577
+            ],
+            "held_grasp_finger_b": [
+              0.2871318821652144,
+              0.3456979243970545,
+              1.2407484804828577
+            ],
+            "held_grasp_midpoint": [
+              0.2923932034846347,
+              0.3328218997695735,
+              1.2407484804828577
+            ],
+            "held_grasp_object_position": [
+              0.29765452480405497,
+              0.3456979243970545,
+              1.2407484804828577
+            ],
+            "held_grasp_finger_gap": 0.027818951255119847,
+            "held_grasp_max_gap": 0.1249656355381012,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024895625961553588,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07446173888665318,
+              -0.9971695835109723,
+              0.010405342979926234
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042901004884340985,
+            "held_grasp_line_xy_max_dist": 0.0474828177690506,
+            "held_grasp_object_top_z": 0.045200470834970474,
+            "held_grasp_top_clearance": 0.03196912358562277,
+            "held_grasp_min_top_clearance": 0.013560141250491141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34132401100088444,
+              0.10839532669608307,
+              0.7625855754988415
+            ],
+            "target_position": [
+              0.3408712359319788,
+              0.10356334747082425,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004853146247163301,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17633032984450342,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855754988415,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519135441594303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555890160226086,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14593514941517263,
+            "release_required_pad_clearance": 0.05277945080113043,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6026239134522161,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5bbc78c96042489e3d554842c3fdf4d384ffc404aedbd4f353c48c70ad7a941a",
+    "visual_seed": 2894792652695904909,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03bf061f27529e4dff54be7f685bcc667e7532bf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_31_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2881358885696707,
+              0.34462117748568055,
+              1.0497673688075226
+            ],
+            "current_z": 1.0497673688075226,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19318098060824662,
+            "gripper_z": 1.0495763747014868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2822632389742371,
+              0.3393970015248145,
+              1.0495763747014868
+            ],
+            "object_minus_gripper": [
+              0.005872649595433599,
+              0.005224175960866051,
+              0.00019099410603584666
+            ],
+            "object_to_gripper_xy": 0.007860027209929819,
+            "object_to_gripper_z": 0.00019099410603584666,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2881358885696707,
+              0.3195415514194023,
+              1.0497673688075226
+            ],
+            "finger_b": [
+              0.2758598479875814,
+              0.34462117748568055,
+              1.0497673688075226
+            ],
+            "finger_midpoint": [
+              0.28199786827862605,
+              0.33208136445254144,
+              1.0497673688075226
+            ],
+            "object_minus_finger_midpoint": [
+              0.006138020291044655,
+              0.012539813033139113,
+              0.0
+            ],
+            "finger_gap": 0.027922908444455528,
+            "fingertip_max_gap": 0.09228705197349676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013961454222227764,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497673688075226,
+            "object_top_z": 1.0957100894389804,
+            "finger_top_clearance": 0.04594272063145777,
+            "fingertip_min_top_clearance": 0.01378281618943733,
+            "object_projection_between_fingers": 0.8067162574593127,
+            "object_to_finger_line_xy": 0.011026018582043176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048643525986748384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8561468790801028,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2879457436787999,
+              0.34316282767577233,
+              1.2405410899075102
+            ],
+            "held_position": [
+              0.2941503505308228,
+              0.3479909604263108,
+              1.2406786190385823
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007863010002975,
+            "max_held_gripper_dist": 0.007864291331926716,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013752913107212272,
+            "max_held_gripper_z_dist": 0.00022702464748758366,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0886776357751699,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2941503505308228,
+              0.3220828899062431,
+              1.2406786190385823
+            ],
+            "held_grasp_finger_b": [
+              0.2834407765659893,
+              0.3479909604263108,
+              1.2406786190385823
+            ],
+            "held_grasp_midpoint": [
+              0.2887955635484061,
+              0.3350369251662769,
+              1.2406786190385823
+            ],
+            "held_grasp_object_position": [
+              0.2941503505308228,
+              0.3479909604263108,
+              1.2406786190385823
+            ],
+            "held_grasp_finger_gap": 0.028034319905805415,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025315699726786888,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05187863206549654,
+              -0.9985806451332424,
+              0.012054156971367249
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004678201305700235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031986777055117516,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3473312979393943,
+              0.10606780422404098,
+              0.7625858479990889
+            ],
+            "target_position": [
+              0.3460579449473791,
+              0.10175221368257087,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004499527704537484,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17518762353969367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858479990889,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572958749348259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08734853321606183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14327239456468488,
+            "release_required_pad_clearance": 0.053674266608030916,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3543880337385987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d3d5583bff7a60fc1b5a65d685371d216fcd40a1cab435eeeeee7bd44fd3deca",
+    "visual_seed": 8766283998931084803,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec635031f5ee392780d3c9a226a9c85f9d86a936
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28479758264530014,
+              0.34791219403547974,
+              1.0503116872129032
+            ],
+            "current_z": 1.0503116872129032,
+            "required_z": 0.8565866748055141,
+            "initial_z": 0.7565866748055141,
+            "lift_margin": 0.19372501240738915,
+            "gripper_z": 1.0502345085784885,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2793629323554048,
+              0.3428401486608496,
+              1.0502345085784885
+            ],
+            "object_minus_gripper": [
+              0.005434650289895315,
+              0.00507204537463013,
+              7.717863441469852e-05
+            ],
+            "object_to_gripper_xy": 0.007433778854375891,
+            "object_to_gripper_z": 7.717863441469852e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28479758264530014,
+              0.32328813974554405,
+              1.0503116872129032
+            ],
+            "finger_b": [
+              0.2725381942184508,
+              0.34791219403547974,
+              1.0503116872129032
+            ],
+            "finger_midpoint": [
+              0.2786678884318755,
+              0.33560016689051186,
+              1.0503116872129032
+            ],
+            "object_minus_finger_midpoint": [
+              0.00612969421342463,
+              0.012312027144967874,
+              0.0
+            ],
+            "finger_gap": 0.02750702917935827,
+            "fingertip_max_gap": 0.09240230975337829,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013753514589679147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503116872129032,
+            "object_top_z": 1.0967957283765997,
+            "finger_top_clearance": 0.04648404116369642,
+            "fingertip_min_top_clearance": 0.013945212349108926,
+            "object_projection_between_fingers": 0.8013675338732291,
+            "object_to_finger_line_xy": 0.010974498344251552,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870115487668915,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9238709474297421,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28538099958707,
+              0.3460288889844486,
+              1.2398505638052468
+            ],
+            "held_position": [
+              0.29126130473998185,
+              0.3505760100865155,
+              1.2398522640177785
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007433323745064972,
+            "max_held_gripper_dist": 0.007434336041347012,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 1.700212531652312e-06,
+            "max_held_gripper_z_dist": 0.0001754956360782156,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08814579984099935,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29126130473998185,
+              0.32472832889501646,
+              1.2398522640177785
+            ],
+            "held_grasp_finger_b": [
+              0.2812591938252421,
+              0.3505760100865155,
+              1.2398522640177785
+            ],
+            "held_grasp_midpoint": [
+              0.28626024928261196,
+              0.337652169490766,
+              1.2398522640177785
+            ],
+            "held_grasp_object_position": [
+              0.29126130473998185,
+              0.3505760100865155,
+              1.2398522640177785
+            ],
+            "held_grasp_finger_gap": 0.027715426132898076,
+            "held_grasp_max_gap": 0.12496554613113403,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024767633825639068,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0954457049831516,
+              -0.9951489328054615,
+              0.02384782875694102
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037578297404180796,
+            "held_grasp_line_xy_max_dist": 0.047482773065567016,
+            "held_grasp_object_top_z": 0.04520043730735779,
+            "held_grasp_top_clearance": 0.03186196186696124,
+            "held_grasp_min_top_clearance": 0.013560131192207336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34700102022835494,
+              0.10294513967551447,
+              0.7625851165595803
+            ],
+            "target_position": [
+              0.3456625412798882,
+              0.10032356740208383,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029434957245270286,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17707801287760064,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851165595803,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526129323245498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622217927361663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14593597353598997,
+            "release_required_pad_clearance": 0.053111089636808315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2391911661659563,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c64e0e56cb2c8ad73fd77dc88f09e6e4d3a5c66dff43962f81265736cd422104",
+    "visual_seed": 3557585900093194499,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_33_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9020a1481463373910d17af0fd5e0dfb7e799052
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_33_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28889512701230047,
+              0.34771214179442705,
+              1.0487273949024598
+            ],
+            "current_z": 1.0487273949024598,
+            "required_z": 0.856586328594631,
+            "initial_z": 0.756586328594631,
+            "lift_margin": 0.1921410663078288,
+            "gripper_z": 1.048580429745953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2833060085785915,
+              0.3426380927218044,
+              1.048580429745953
+            ],
+            "object_minus_gripper": [
+              0.005589118433708962,
+              0.005074049072622655,
+              0.00014696515650691744
+            ],
+            "object_to_gripper_xy": 0.007548789231221663,
+            "object_to_gripper_z": 0.00014696515650691744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28889512701230047,
+              0.32285198304363394,
+              1.0487273949024598
+            ],
+            "finger_b": [
+              0.276814920931532,
+              0.34771214179442705,
+              1.0487273949024598
+            ],
+            "finger_midpoint": [
+              0.2828550239719162,
+              0.33528206241903047,
+              1.0487273949024598
+            ],
+            "object_minus_finger_midpoint": [
+              0.00604010304038427,
+              0.012430079375396585,
+              0.0
+            ],
+            "finger_gap": 0.02763980593398715,
+            "fingertip_max_gap": 0.09102144830228712,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013819902966993614,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487273949024598,
+            "object_top_z": 1.094348527088421,
+            "finger_top_clearance": 0.0456211321859612,
+            "fingertip_min_top_clearance": 0.013686339655788327,
+            "object_projection_between_fingers": 0.8089800586270874,
+            "object_to_finger_line_xy": 0.010865338259879703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801072415114356,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.32870540238213153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2888677475759984,
+              0.34631901229779355,
+              1.2359457958852296
+            ],
+            "held_position": [
+              0.29478484190034715,
+              0.3510088867434114,
+              1.2360022059247906
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007550503933610167,
+            "max_held_gripper_dist": 0.007553684313131621,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.641003956102786e-05,
+            "max_held_gripper_z_dist": 0.00016185514380495647,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08828073059713704,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29478484190034715,
+              0.3253040454228511,
+              1.2360022059247906
+            ],
+            "held_grasp_finger_b": [
+              0.2843825138895565,
+              0.3510088867434114,
+              1.2360022059247906
+            ],
+            "held_grasp_midpoint": [
+              0.2895836778949518,
+              0.3381564660831312,
+              1.2360022059247906
+            ],
+            "held_grasp_object_position": [
+              0.29478484190034715,
+              0.3510088867434114,
+              1.2360022059247906
+            ],
+            "held_grasp_finger_gap": 0.027729898942464,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024904138709182625,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07063189833978412,
+              -0.9974336960108098,
+              0.01171140466100573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004283104455448875,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032013419436664206,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3406957880196703,
+              0.10485777234560466,
+              0.7625846510036575
+            ],
+            "target_position": [
+              0.3394701791182915,
+              0.10012970454924573,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004884336420242292,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17483725291213859,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846510036575,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756300863350487,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559804188347041,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14330784834601568,
+            "release_required_pad_clearance": 0.052799020941735206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6416281133498623,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1367652e6800e8745300fcc4e5b7ae8ccfd4036edb02d33a4241625d06134e3a",
+    "visual_seed": 4653814380533167228,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88181edc0cf327a0d9292e52bcf50fd9a2ce7b9e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_34_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28925595469055937,
+              0.35259802466422946,
+              1.0505380030295963
+            ],
+            "current_z": 1.0505380030295963,
+            "required_z": 0.8565866210822449,
+            "initial_z": 0.756586621082245,
+            "lift_margin": 0.1939513819473514,
+            "gripper_z": 1.0502401704531037,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.283321194881706,
+              0.3473962160173271,
+              1.0502401704531037
+            ],
+            "object_minus_gripper": [
+              0.005934759808853385,
+              0.0052018086469023395,
+              0.0002978325764926293
+            ],
+            "object_to_gripper_xy": 0.007891779722456109,
+            "object_to_gripper_z": 0.0002978325764926293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28925595469055937,
+              0.3274763705070483,
+              1.0505380030295963
+            ],
+            "finger_b": [
+              0.2770139760702208,
+              0.35259802466422946,
+              1.0505380030295963
+            ],
+            "finger_midpoint": [
+              0.28313496538039007,
+              0.3400371975856389,
+              1.0505380030295963
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061209893101693,
+              0.012560827078590575,
+              0.0
+            ],
+            "finger_gap": 0.02794572504219282,
+            "fingertip_max_gap": 0.09455542124795338,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013972862521096424,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505380030295963,
+            "object_top_z": 1.0974515948132706,
+            "finger_top_clearance": 0.04691359178367427,
+            "fingertip_min_top_clearance": 0.014074077535102314,
+            "object_projection_between_fingers": 0.8081011067687609,
+            "object_to_finger_line_xy": 0.011004858619177894,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04977771062397669,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6601675894149963,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28887225058724697,
+              0.3517068930723485,
+              1.2398424133947834
+            ],
+            "held_position": [
+              0.2950848699618513,
+              0.3565750124828254,
+              1.240073457787324
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007896113449013746,
+            "max_held_gripper_dist": 0.007898583856892105,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002310443925406247,
+            "max_held_gripper_z_dist": 0.0003228221356299521,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08817238519814807,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2950848699618513,
+              0.3307671802237066,
+              1.240073457787324
+            ],
+            "held_grasp_finger_b": [
+              0.2841983635347545,
+              0.3565750124828254,
+              1.240073457787324
+            ],
+            "held_grasp_midpoint": [
+              0.2896416167483029,
+              0.343671096353266,
+              1.240073457787324
+            ],
+            "held_grasp_object_position": [
+              0.2950848699618513,
+              0.3565750124828254,
+              1.240073457787324
+            ],
+            "held_grasp_finger_gap": 0.028010002286719543,
+            "held_grasp_max_gap": 0.12496613472700119,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025436176880433037,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032229610352875145,
+              -0.9991945267534421,
+              0.02390711029101255
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005034127356555515,
+            "held_grasp_line_xy_max_dist": 0.047483067363500595,
+            "held_grasp_object_top_z": 0.04520082101225853,
+            "held_grasp_top_clearance": 0.03213186471179261,
+            "held_grasp_min_top_clearance": 0.013560246303677559
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3398380540031625,
+              0.10110066565542888,
+              0.7625853254975143
+            ],
+            "target_position": [
+              0.3374869695417596,
+              0.09801617133773968,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038783634874141474,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17767290233764718,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853254975143,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578015320592289,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779881907464952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14530811744051267,
+            "release_required_pad_clearance": 0.05389940953732476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.803861883110635,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9696bebbd33765d8ae71a5dc63366d5a4bbeed31548a8501e174ca690670e48",
+    "visual_seed": 6668259858255067387,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ad6490a2bc5269c363c5c7598f7e63a1e035a28
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29128158478999133,
+              0.35124513335404095,
+              1.0489756720783432
+            ],
+            "current_z": 1.0489756720783432,
+            "required_z": 0.8565866210879205,
+            "initial_z": 0.7565866210879205,
+            "lift_margin": 0.1923890509904227,
+            "gripper_z": 1.0485487123289283,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2860148004613553,
+              0.34625109138089616,
+              1.0485487123289283
+            ],
+            "object_minus_gripper": [
+              0.005266784328636032,
+              0.004994041973144792,
+              0.00042695974941486803
+            ],
+            "object_to_gripper_xy": 0.007258062578532788,
+            "object_to_gripper_z": 0.00042695974941486803,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29128158478999133,
+              0.3267358807383665,
+              1.0489756720783432
+            ],
+            "finger_b": [
+              0.2791358776055064,
+              0.35124513335404095,
+              1.0489756720783432
+            ],
+            "finger_midpoint": [
+              0.28520873119774887,
+              0.3389905070462037,
+              1.0489756720783432
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060728535922424665,
+              0.012254626307837246,
+              0.0
+            ],
+            "finger_gap": 0.027353640832441174,
+            "fingertip_max_gap": 0.09215353792773509,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013676820416220613,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489756720783432,
+            "object_top_z": 1.0953364224693583,
+            "finger_top_clearance": 0.04636075039101506,
+            "fingertip_min_top_clearance": 0.013908225117304518,
+            "object_projection_between_fingers": 0.8028415781594653,
+            "object_to_finger_line_xy": 0.010882726997990838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857676896386755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.899731525274288,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2922476790403192,
+              0.3489300421018865,
+              1.23856371467854
+            ],
+            "held_position": [
+              0.29800624183747804,
+              0.35337571232015863,
+              1.238905991962268
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007283006447711697,
+            "max_held_gripper_dist": 0.007283963078680239,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000342277283728043,
+            "max_held_gripper_z_dist": 0.00043849089321357226,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0884277990035271,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29800624183747804,
+              0.3275063986518523,
+              1.238905991962268
+            ],
+            "held_grasp_finger_b": [
+              0.2883332334292413,
+              0.3534845328299184,
+              1.238905991962268
+            ],
+            "held_grasp_midpoint": [
+              0.29316973763335963,
+              0.34049546574088535,
+              1.238905991962268
+            ],
+            "held_grasp_object_position": [
+              0.29800624183747804,
+              0.35337571232015863,
+              1.238905991962268
+            ],
+            "held_grasp_finger_gap": 0.02772057984673882,
+            "held_grasp_max_gap": 0.12496557593345642,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480926333235283,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10516693368106224,
+              -0.9941646997852596,
+              0.024009701393556952
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034694673664072946,
+            "held_grasp_line_xy_max_dist": 0.04748278796672821,
+            "held_grasp_object_top_z": 0.04520045593380928,
+            "held_grasp_top_clearance": 0.03188672914328324,
+            "held_grasp_min_top_clearance": 0.013560136780142784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3380566246470566,
+              0.10283613503434604,
+              0.7625843564392454
+            ],
+            "target_position": [
+              0.338248025023191,
+              0.09836690337834382,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044733282574607345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17470148261797488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843564392454,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753188079989906,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708729712332795,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14391993109901105,
+            "release_required_pad_clearance": 0.05354364856166398,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0890947602102803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "674c90f6fad8b8205a1ac9b2b9548ceefd39b944125114fa1b82667e7734ea1b",
+    "visual_seed": 2091362983011423512,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1309bacae78988ead40226a31a7d44de14bb12b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28947926904467103,
+              0.35148170926266054,
+              1.048487370276435
+            ],
+            "current_z": 1.048487370276435,
+            "required_z": 0.8565866605777185,
+            "initial_z": 0.7565866605777185,
+            "lift_margin": 0.19190070969871653,
+            "gripper_z": 1.0483891577312765,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28412985025715787,
+              0.34653297565429636,
+              1.0483891577312765
+            ],
+            "object_minus_gripper": [
+              0.0053494187875131605,
+              0.004948733608364175,
+              9.821254515851585e-05
+            ],
+            "object_to_gripper_xy": 0.007287403219992145,
+            "object_to_gripper_z": 9.821254515851585e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28947926904467103,
+              0.3267860194829441,
+              1.048487370276435
+            ],
+            "finger_b": [
+              0.2775820392721199,
+              0.35148170926266054,
+              1.048487370276435
+            ],
+            "finger_midpoint": [
+              0.28353065415839546,
+              0.33913386437280235,
+              1.048487370276435
+            ],
+            "object_minus_finger_midpoint": [
+              0.005948614886275572,
+              0.012347844889858184,
+              0.0
+            ],
+            "finger_gap": 0.027412062490021934,
+            "fingertip_max_gap": 0.0935210583063816,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013706031245010943,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048487370276435,
+            "object_top_z": 1.0955352894798043,
+            "finger_top_clearance": 0.04704791920336926,
+            "fingertip_min_top_clearance": 0.014114375761010777,
+            "object_projection_between_fingers": 0.8116315031834914,
+            "object_to_finger_line_xy": 0.010718284908619225,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049260529153190805,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.222176606973505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28970991967914406,
+              0.35062041406276023,
+              1.235576961251815
+            ],
+            "held_position": [
+              0.2953786646680401,
+              0.35519942224524437,
+              1.2355901541302294
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007287122870957461,
+            "max_held_gripper_dist": 0.007289063089802292,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 1.3192878414391984e-05,
+            "max_held_gripper_z_dist": 0.0001679251926876013,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08878784462341482,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2953786646680401,
+              0.32962745750751,
+              1.2355901541302294
+            ],
+            "held_grasp_finger_b": [
+              0.2851697131045792,
+              0.35519942224524437,
+              1.2355901541302294
+            ],
+            "held_grasp_midpoint": [
+              0.2902741888863096,
+              0.3424134398763772,
+              1.2355901541302294
+            ],
+            "held_grasp_object_position": [
+              0.2953786646680401,
+              0.35519942224524437,
+              1.2355901541302294
+            ],
+            "held_grasp_finger_gap": 0.02753448878357868,
+            "held_grasp_max_gap": 0.12496576219797134,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024793783822147638,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06918192957942679,
+              -0.9971880945331704,
+              0.028805637312373948
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004224220150352849,
+            "held_grasp_line_xy_max_dist": 0.04748288109898567,
+            "held_grasp_object_top_z": 0.045200541615486145,
+            "held_grasp_top_clearance": 0.032097374736269196,
+            "held_grasp_min_top_clearance": 0.013560162484645843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34468875648925856,
+              0.10181437878338517,
+              0.762587436025207
+            ],
+            "target_position": [
+              0.34196578789145315,
+              0.09825915566779352,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044781881812036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17706533878138453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762587436025207,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569262585328046,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522977751914033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1450020060506663,
+            "release_required_pad_clearance": 0.05261488875957017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.28802454160457724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad338baaf70b630d6d95efdf79c436bd1c88ce594b106c110cf46a46da77fe8e",
+    "visual_seed": 7989984625376278456,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fcc62958132f4452959b071150bbff073381dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2842853356619737,
+              0.3530410879288172,
+              1.0479479733834831
+            ],
+            "current_z": 1.0479479733834831,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19136140637027277,
+            "gripper_z": 1.047741698195201,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2790091802773982,
+              0.3480281342962392,
+              1.047741698195201
+            ],
+            "object_minus_gripper": [
+              0.005276155384575543,
+              0.005012953632578032,
+              0.00020627518828209013
+            ],
+            "object_to_gripper_xy": 0.007277878795676854,
+            "object_to_gripper_z": 0.00020627518828209013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2842853356619737,
+              0.32855401793635924,
+              1.0479479733834831
+            ],
+            "finger_b": [
+              0.2720789307280448,
+              0.3530410879288172,
+              1.0479479733834831
+            ],
+            "finger_midpoint": [
+              0.2781821331950093,
+              0.34079755293258823,
+              1.0479479733834831
+            ],
+            "object_minus_finger_midpoint": [
+              0.006103202466964441,
+              0.012243534996228989,
+              0.0
+            ],
+            "finger_gap": 0.027360791622805445,
+            "fingertip_max_gap": 0.09210314271799738,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01368039581140271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479479733834831,
+            "object_top_z": 1.0943596252444854,
+            "finger_top_clearance": 0.04641165186100227,
+            "fingertip_min_top_clearance": 0.013923495558300714,
+            "object_projection_between_fingers": 0.8009701438708696,
+            "object_to_finger_line_xy": 0.010924358333414111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048551571358998694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8702041518276666,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28504764285340617,
+              0.3510198933006298,
+              1.2378178314914297
+            ],
+            "held_position": [
+              0.2907942263902997,
+              0.355487497041025,
+              1.2379489840384912
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072801034689274685,
+            "max_held_gripper_dist": 0.0072810569970727336,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00013115254706153046,
+            "max_held_gripper_z_dist": 0.00021978889029572457,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08799048347652316,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2907942263902997,
+              0.32966838618113603,
+              1.2379489840384912
+            ],
+            "held_grasp_finger_b": [
+              0.2810007045382501,
+              0.355487497041025,
+              1.2379489840384912
+            ],
+            "held_grasp_midpoint": [
+              0.2858974654642749,
+              0.3425779416110805,
+              1.2379489840384912
+            ],
+            "held_grasp_object_position": [
+              0.2907942263902997,
+              0.355487497041025,
+              1.2379489840384912
+            ],
+            "held_grasp_finger_gap": 0.027614118777571195,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02471181029067498,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09932260775240419,
+              -0.994787487434459,
+              0.023084073147918494
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003603150089143239,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03187160169104756,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3394984741086456,
+              0.10195382968855725,
+              0.7625855893609841
+            ],
+            "target_position": [
+              0.3385386778018282,
+              0.09887579047624735,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003224210654268355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17569745684909016,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855893609841,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574858653691606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510936473657431,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1434169626932533,
+            "release_required_pad_clearance": 0.052554682368287156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17243418441295982,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a24846f4b4b3793e6d83c9d41b0596b285b31a9725c6dcdc06ffca884223113",
+    "visual_seed": 6900517707199683530,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6f8aac7e25e0afade2713e1f479121ad4b32e0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_38_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2928357227720761,
+              0.34473751768045224,
+              1.0485575970970047
+            ],
+            "current_z": 1.0485575970970047,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19197120889772867,
+            "gripper_z": 1.048341003198288,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28732143556967354,
+              0.33962444391655433,
+              1.048341003198288
+            ],
+            "object_minus_gripper": [
+              0.005514287202402546,
+              0.005113073763897913,
+              0.0002165938987166438
+            ],
+            "object_to_gripper_xy": 0.007520032358018259,
+            "object_to_gripper_z": 0.0002165938987166438,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2928357227720761,
+              0.32000602121643784,
+              1.0485575970970047
+            ],
+            "finger_b": [
+              0.28060023897833325,
+              0.34473751768045224,
+              1.0485575970970047
+            ],
+            "finger_midpoint": [
+              0.28671798087520467,
+              0.33237176944844504,
+              1.0485575970970047
+            ],
+            "object_minus_finger_midpoint": [
+              0.00611774189687142,
+              0.012365748232007201,
+              0.0
+            ],
+            "finger_gap": 0.027592643603259557,
+            "fingertip_max_gap": 0.09091750992380473,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013796321801629778,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485575970970047,
+            "object_top_z": 1.0941979893059186,
+            "finger_top_clearance": 0.045640392208913916,
+            "fingertip_min_top_clearance": 0.013692117662674174,
+            "object_projection_between_fingers": 0.8033673331988539,
+            "object_to_finger_line_xy": 0.01096675724629408,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795875496190237,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24117560246577155,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2929921438485238,
+              0.34345171269945063,
+              1.2368203974318421
+            ],
+            "held_position": [
+              0.2989061431649519,
+              0.34812338358866196,
+              1.2369374604068561
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007537479721494173,
+            "max_held_gripper_dist": 0.007544365417631487,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00011706297501401508,
+            "max_held_gripper_z_dist": 0.0002298058489309529,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08862608419289258,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2989061431649519,
+              0.32239593743895156,
+              1.2369374604068561
+            ],
+            "held_grasp_finger_b": [
+              0.2885721113337907,
+              0.34812338358866196,
+              1.2369374604068561
+            ],
+            "held_grasp_midpoint": [
+              0.2937391272493713,
+              0.33525966051380673,
+              1.2369374604068561
+            ],
+            "held_grasp_object_position": [
+              0.2989061431649519,
+              0.34812338358866196,
+              1.2369374604068561
+            ],
+            "held_grasp_finger_gap": 0.02772532595432742,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024870554634967304,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07557075281927049,
+              -0.9970482515379867,
+              0.013558960999006664
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004183867274784046,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198399708318797,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3491590551387779,
+              0.10714776671084769,
+              0.7625890210312373
+            ],
+            "target_position": [
+              0.3445901572028562,
+              0.10224096607238488,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00670458953661509,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17715534050813492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625890210312373,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568558163474592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08497574008643231,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14549342335703766,
+            "release_required_pad_clearance": 0.05248787004321616,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03892223295719119,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5446c5b761add0508faa03869603d08c7554c7c3eb9079d1c53f1e04a8d7ee60",
+    "visual_seed": 7729198954012705,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b15b85278b0b99012532088878f691a24938f28a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2914246664948052,
+              0.34878944661254024,
+              1.0497074610754555
+            ],
+            "current_z": 1.0497074610754555,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19312101327153475,
+            "gripper_z": 1.0492253450870876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28560737132538155,
+              0.34359560865645333,
+              1.0492253450870876
+            ],
+            "object_minus_gripper": [
+              0.005817295169423642,
+              0.005193837956086911,
+              0.0004821159883678927
+            ],
+            "object_to_gripper_xy": 0.007798517538756241,
+            "object_to_gripper_z": 0.0004821159883678927,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2914246664948052,
+              0.3237651756956995,
+              1.0497074610754555
+            ],
+            "finger_b": [
+              0.27916616181243414,
+              0.34878944661254024,
+              1.0497074610754555
+            ],
+            "finger_midpoint": [
+              0.2852954141536197,
+              0.33627731115411985,
+              1.0497074610754555
+            ],
+            "object_minus_finger_midpoint": [
+              0.006129252341185498,
+              0.012512135458420393,
+              0.0
+            ],
+            "finger_gap": 0.027865481728603828,
+            "fingertip_max_gap": 0.0918341181197875,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013932740864301926,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497074610754555,
+            "object_top_z": 1.0956084000958168,
+            "finger_top_clearance": 0.0459009390203613,
+            "fingertip_min_top_clearance": 0.013770281706108356,
+            "object_projection_between_fingers": 0.8064728576596903,
+            "object_to_finger_line_xy": 0.01100860717911526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048417059059893755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6789129041790041,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2914097016000582,
+              0.3473462108481868,
+              1.2387237058276919
+            ],
+            "held_position": [
+              0.2975851398565785,
+              0.3521161084410714,
+              1.2391240525709246
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00781333720131914,
+            "max_held_gripper_dist": 0.007815193953020976,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000400346743232749,
+            "max_held_gripper_z_dist": 0.0004936545312548279,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08861393901789166,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2975851398565785,
+              0.32619796234209764,
+              1.2391240525709246
+            ],
+            "held_grasp_finger_b": [
+              0.287077103277367,
+              0.3521161084410714,
+              1.2391240525709246
+            ],
+            "held_grasp_midpoint": [
+              0.2923311215669727,
+              0.3391570353915845,
+              1.2391240525709246
+            ],
+            "held_grasp_object_position": [
+              0.2975851398565785,
+              0.3521161084410714,
+              1.2391240525709246
+            ],
+            "held_grasp_finger_gap": 0.02796728678219956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025218550020166444,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06162740635620339,
+              -0.9979931805949481,
+              0.014549029925965403
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00444949402990455,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031943366915454637,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33760120722553016,
+              0.1019054981128929,
+              0.7625847450547516
+            ],
+            "target_position": [
+              0.3387663180099655,
+              0.09672625271382797,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005308678370719285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17336540107695528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847450547516,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521635127219975,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653370046966517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14305683709770686,
+            "release_required_pad_clearance": 0.05326685023483259,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5445443610888798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffb1b04840f4c6fb919df8af7b858c54110f6f036d8a332abcfe0d9d66fef975",
+    "visual_seed": 4806641175375554593,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c441bf9ddb450f2b9b36dd3726919d255b77ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29030965659395414,
+              0.3553213607735202,
+              1.0502465938453744
+            ],
+            "current_z": 1.0502465938453744,
+            "required_z": 0.8565866309130928,
+            "initial_z": 0.7565866309130929,
+            "lift_margin": 0.1936599629322816,
+            "gripper_z": 1.0497722272828216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2849710198279418,
+              0.3502838992604445,
+              1.0497722272828216
+            ],
+            "object_minus_gripper": [
+              0.005338636766012317,
+              0.005037461513075714,
+              0.0004743665625528415
+            ],
+            "object_to_gripper_xy": 0.007340099523517205,
+            "object_to_gripper_z": 0.0004743665625528415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29030965659395414,
+              0.3307413855084154,
+              1.0502465938453744
+            ],
+            "finger_b": [
+              0.27814246831273726,
+              0.3553213607735202,
+              1.0502465938453744
+            ],
+            "finger_midpoint": [
+              0.2842260624533457,
+              0.3430313731409678,
+              1.0502465938453744
+            ],
+            "object_minus_finger_midpoint": [
+              0.006083594140608439,
+              0.012289987632552402,
+              0.0
+            ],
+            "finger_gap": 0.027426550178681702,
+            "fingertip_max_gap": 0.09173359857525362,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013713275089340851,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502465938453744,
+            "object_top_z": 1.0962668731551095,
+            "finger_top_clearance": 0.04602027930973507,
+            "fingertip_min_top_clearance": 0.013806083792920554,
+            "object_projection_between_fingers": 0.8031941109642473,
+            "object_to_finger_line_xy": 0.010904367667452635,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836679928762681,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6340362698555201,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29083396018844754,
+              0.3539697302770739,
+              1.2386731545117102
+            ],
+            "held_position": [
+              0.2965839050637201,
+              0.3585386083917345,
+              1.239072162511672
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007354979311958104,
+            "max_held_gripper_dist": 0.007356170945037309,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00039900799996184233,
+            "max_held_gripper_z_dist": 0.000487391803910997,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08847929038549068,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2965839050637201,
+              0.3328172232996942,
+              1.239072162511672
+            ],
+            "held_grasp_finger_b": [
+              0.2864973582752092,
+              0.3585386083917345,
+              1.239072162511672
+            ],
+            "held_grasp_midpoint": [
+              0.29154063166946464,
+              0.3456779158457144,
+              1.239072162511672
+            ],
+            "held_grasp_object_position": [
+              0.2965839050637201,
+              0.3585386083917345,
+              1.239072162511672
+            ],
+            "held_grasp_finger_gap": 0.027628392591134445,
+            "held_grasp_max_gap": 0.12496562063694,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024705154135995742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09002656438376867,
+              -0.9957944021369103,
+              0.016991950389773188
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00387138209511823,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
+            "held_grasp_object_top_z": 0.04520058259367943,
+            "held_grasp_top_clearance": 0.03193994837181578,
+            "held_grasp_min_top_clearance": 0.013560174778103827
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3375640595970192,
+              0.10222540969266124,
+              0.7625854646292117
+            ],
+            "target_position": [
+              0.3376015284772883,
+              0.09785758135689011,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004367989043914117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17205888967669658,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854646292117,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755061038724839,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502842229537615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14097686992699549,
+            "release_required_pad_clearance": 0.052514211147688075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09689598657554546,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3464acdd0251db9380000af378181533b62fe665a443f0d515a42013b72ce93a",
+    "visual_seed": 4995829083251402275,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a18d29065eeda157baad30c7f112eb600df5ca2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_40_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28918838526695795,
+              0.35065484104340705,
+              1.0506358530425188
+            ],
+            "current_z": 1.0506358530425188,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1940494648432428,
+            "gripper_z": 1.0501636549734767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28378144550511364,
+              0.34564743158462163,
+              1.0501636549734767
+            ],
+            "object_minus_gripper": [
+              0.005406939761844309,
+              0.005007409458785417,
+              0.0004721980690420846
+            ],
+            "object_to_gripper_xy": 0.007369474002677984,
+            "object_to_gripper_z": 0.0004721980690420846,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28918838526695795,
+              0.32594863878640823,
+              1.0506358530425188
+            ],
+            "finger_b": [
+              0.27716278110125586,
+              0.35065484104340705,
+              1.0506358530425188
+            ],
+            "finger_midpoint": [
+              0.2831755831841069,
+              0.33830173991490764,
+              1.0506358530425188
+            ],
+            "object_minus_finger_midpoint": [
+              0.006012802082851043,
+              0.01235310112849941,
+              0.0
+            ],
+            "finger_gap": 0.027477474147269886,
+            "fingertip_max_gap": 0.09176702586348354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013738737073634943,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506358530425188,
+            "object_top_z": 1.0966017479222896,
+            "finger_top_clearance": 0.04596589487977076,
+            "fingertip_min_top_clearance": 0.013789768463931195,
+            "object_projection_between_fingers": 0.8084596868116645,
+            "object_to_finger_line_xy": 0.010812748187408022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838351293174177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6877164116732025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2895305827228296,
+              0.3492301136872873,
+              1.2384022503986383
+            ],
+            "held_position": [
+              0.29531048216370853,
+              0.35380987864954383,
+              1.2387807594274165
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007384087874683761,
+            "max_held_gripper_dist": 0.007385436079427816,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003785090287782289,
+            "max_held_gripper_z_dist": 0.00048243991285290555,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08848394528099729,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29531048216370853,
+              0.32809909042472757,
+              1.2387807594274165
+            ],
+            "held_grasp_finger_b": [
+              0.28521338727507295,
+              0.35380987864954383,
+              1.2387807594274165
+            ],
+            "held_grasp_midpoint": [
+              0.29026193471939077,
+              0.3409544845371357,
+              1.2387807594274165
+            ],
+            "held_grasp_object_position": [
+              0.29531048216370853,
+              0.35380987864954383,
+              1.2387807594274165
+            ],
+            "held_grasp_finger_gap": 0.02762238143845424,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024762581931953333,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08442237325689134,
+              -0.9962744985285269,
+              0.017606432784817213
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003951944365421167,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031966513286335464,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33765320174780356,
+              0.10800082096184638,
+              0.762584640709048
+            ],
+            "target_position": [
+              0.339868774130933,
+              0.10331186368243642,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0051860467943335865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17137553864860636,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584640709048,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514113382954739,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559890531518176,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1413024917038076,
+            "release_required_pad_clearance": 0.05279945265759088,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6354669707797891,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b75858f143d120cd0a897e24a759679d9210b1509b7163ffdfd554b2d68df5f2",
+    "visual_seed": 6010603266146876398,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..732493642a06008d2f4c2231c9232e51468a62a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_41_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29343100499501334,
+              0.3475840662066124,
+              1.0490168034682648
+            ],
+            "current_z": 1.0490168034682648,
+            "required_z": 0.8565866447798843,
+            "initial_z": 0.7565866447798844,
+            "lift_margin": 0.19243015868838043,
+            "gripper_z": 1.0487849376771268,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2875988705191002,
+              0.3424520497424968,
+              1.0487849376771268
+            ],
+            "object_minus_gripper": [
+              0.005832134475913131,
+              0.005132016464115596,
+              0.00023186579113798622
+            ],
+            "object_to_gripper_xy": 0.007768615419306588,
+            "object_to_gripper_z": 0.00023186579113798622,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29343100499501334,
+              0.3224481793197608,
+              1.0490168034682648
+            ],
+            "finger_b": [
+              0.2813988035345934,
+              0.3475840662066124,
+              1.0490168034682648
+            ],
+            "finger_midpoint": [
+              0.2874149042648034,
+              0.3350161227631866,
+              1.0490168034682648
+            ],
+            "object_minus_finger_midpoint": [
+              0.006016100730209972,
+              0.012567943443425822,
+              0.0
+            ],
+            "finger_gap": 0.027867304885344266,
+            "fingertip_max_gap": 0.09221294774032804,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013933652442672133,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490168034682648,
+            "object_top_z": 1.0949235116852603,
+            "finger_top_clearance": 0.045906708216995495,
+            "fingertip_min_top_clearance": 0.013772012465098649,
+            "object_projection_between_fingers": 0.8135766741570459,
+            "object_to_finger_line_xy": 0.010852863459644566,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860647387016402,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8780537096088739,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2932244996003409,
+              0.3464712709969517,
+              1.2368407384731417
+            ],
+            "held_position": [
+              0.29934455670236215,
+              0.3512553072306765,
+              1.2369697425030466
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007769088985030622,
+            "max_held_gripper_dist": 0.007776802981141071,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001290040299049,
+            "max_held_gripper_z_dist": 0.00024036311174269187,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08865913954870686,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29934455670236215,
+              0.3254193865377255,
+              1.2369697425030466
+            ],
+            "held_grasp_finger_b": [
+              0.28879745773509813,
+              0.3512553072306765,
+              1.2369697425030466
+            ],
+            "held_grasp_midpoint": [
+              0.29407100721873014,
+              0.33833734688420103,
+              1.2369697425030466
+            ],
+            "held_grasp_object_position": [
+              0.29934455670236215,
+              0.3512553072306765,
+              1.2369697425030466
+            ],
+            "held_grasp_finger_gap": 0.027905843378721144,
+            "held_grasp_max_gap": 0.12496568769216537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025345728927215386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043857551228942776,
+              -0.9989308748548053,
+              0.01461582915931425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004705782280839061,
+            "held_grasp_line_xy_max_dist": 0.04748284384608269,
+            "held_grasp_object_top_z": 0.04520048201084137,
+            "held_grasp_top_clearance": 0.03206504761396016,
+            "held_grasp_min_top_clearance": 0.013560144603252411
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33956368331700426,
+              0.10852016805676881,
+              0.7625884581408662
+            ],
+            "target_position": [
+              0.33821476223917857,
+              0.10376660611462629,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004941248750264269,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17530810220231657,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625884581408662,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586010662701048,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08778714927269758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14319571814825718,
+            "release_required_pad_clearance": 0.05389357463634879,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.794355055172581,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b00978b92573f8b8857ac8f5df16c5bd766ec98977efd55b43434884b65da05",
+    "visual_seed": 6906144066525593282,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..276a0996e3f59917b071551c9c0865ca03b0079c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_42_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2840121750244995,
+              0.348812615449913,
+              1.0488894306747154
+            ],
+            "current_z": 1.0488894306747154,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.19230304247543928,
+            "gripper_z": 1.0488597260926227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27806092297169754,
+              0.34362047394532286,
+              1.0488597260926227
+            ],
+            "object_minus_gripper": [
+              0.0059512520528019475,
+              0.005192141504590131,
+              2.970458209272664e-05
+            ],
+            "object_to_gripper_xy": 0.007897830993359308,
+            "object_to_gripper_z": 2.970458209272664e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2840121750244995,
+              0.3236490522484275,
+              1.0488894306747154
+            ],
+            "finger_b": [
+              0.2718222572119307,
+              0.348812615449913,
+              1.0488894306747154
+            ],
+            "finger_midpoint": [
+              0.27791721611821507,
+              0.33623083384917024,
+              1.0488894306747154
+            ],
+            "object_minus_finger_midpoint": [
+              0.00609495890628442,
+              0.012581781600742747,
+              0.0
+            ],
+            "finger_gap": 0.027960668970400848,
+            "fingertip_max_gap": 0.0941861319192969,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013980334485200434,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488894306747154,
+            "object_top_z": 1.0957319224906104,
+            "finger_top_clearance": 0.04684249181589495,
+            "fingertip_min_top_clearance": 0.014052747544768485,
+            "object_projection_between_fingers": 0.8099331228169674,
+            "object_to_finger_line_xy": 0.010970473117871558,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04959306595964845,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4324074489337402,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28348394307922553,
+              0.3477372224997874,
+              1.2396198443530397
+            ],
+            "held_position": [
+              0.28970327449117966,
+              0.3526030386272972,
+              1.2395968028266036
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007896630972154796,
+            "max_held_gripper_dist": 0.007899067182298644,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 2.3041526436173854e-05,
+            "max_held_gripper_z_dist": 0.0002125737239930814,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08837905295094556,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28970327449117966,
+              0.3267756981624724,
+              1.2395968028266036
+            ],
+            "held_grasp_finger_b": [
+              0.2788042860022708,
+              0.3526030386272972,
+              1.2395968028266036
+            ],
+            "held_grasp_midpoint": [
+              0.2842537802467252,
+              0.33968936839488484,
+              1.2395968028266036
+            ],
+            "held_grasp_object_position": [
+              0.28970327449117966,
+              0.3526030386272972,
+              1.2395968028266036
+            ],
+            "held_grasp_finger_gap": 0.02803282835475833,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025423393280886372,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034999970732197086,
+              -0.999129492026225,
+              0.022699343870756672
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005002899514519892,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032107064047245226,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34300306315424417,
+              0.10963738326518759,
+              0.7625851112141161
+            ],
+            "target_position": [
+              0.34095563592451245,
+              0.10619035004402096,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004009238866527325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17585760080832183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851112141161,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587098858205835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.087765371069905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14343465004275674,
+            "release_required_pad_clearance": 0.0538826855349525,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.767895171289231,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82ab20413b1466c1a9492d319bcb66a842c0c2f97fd9948c0f21e5a4c653f49c",
+    "visual_seed": 8878489147912608745,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2601fbd5f7a6e33c1d4564dd39b3be1f3f7f9d76
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29280989092718296,
+              0.3499554171859838,
+              1.0493540878311596
+            ],
+            "current_z": 1.0493540878311596,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.19276769963188378,
+            "gripper_z": 1.0488858816647748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28696630163312803,
+              0.344778717087518,
+              1.0488858816647748
+            ],
+            "object_minus_gripper": [
+              0.0058435892940549294,
+              0.00517670009846577,
+              0.00046820616638476587
+            ],
+            "object_to_gripper_xy": 0.007806776527290178,
+            "object_to_gripper_z": 0.00046820616638476587,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29280989092718296,
+              0.32488197571726807,
+              1.0493540878311596
+            ],
+            "finger_b": [
+              0.2806182915570422,
+              0.3499554171859838,
+              1.0493540878311596
+            ],
+            "finger_midpoint": [
+              0.28671409124211256,
+              0.3374186964516259,
+              1.0493540878311596
+            ],
+            "object_minus_finger_midpoint": [
+              0.006095799685070402,
+              0.012536720734357854,
+              0.0
+            ],
+            "finger_gap": 0.027880325720606794,
+            "fingertip_max_gap": 0.09215508292296762,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013940162860303409,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493540878311596,
+            "object_top_z": 1.0952915344857455,
+            "finger_top_clearance": 0.04593744665458588,
+            "fingertip_min_top_clearance": 0.01378123399637573,
+            "object_projection_between_fingers": 0.8087833615287533,
+            "object_to_finger_line_xy": 0.01096419590935119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857754146148381,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8678257357384728,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2927160283522665,
+              0.348589606735398,
+              1.2393272798266983
+            ],
+            "held_position": [
+              0.29889040481336276,
+              0.35337250604979153,
+              1.2397301209542164
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00782057104749938,
+            "max_held_gripper_dist": 0.007822730241080402,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004028411275180943,
+            "max_held_gripper_z_dist": 0.0004947657799028171,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885800952026426,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29889040481336276,
+              0.3274695910579465,
+              1.2397301209542164
+            ],
+            "held_grasp_finger_b": [
+              0.288298229353558,
+              0.35337250604979153,
+              1.2397301209542164
+            ],
+            "held_grasp_midpoint": [
+              0.2935943170834604,
+              0.340421048553869,
+              1.2397301209542164
+            ],
+            "held_grasp_object_position": [
+              0.29889040481336276,
+              0.35337250604979153,
+              1.2397301209542164
+            ],
+            "held_grasp_finger_gap": 0.027984909970304384,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025308598594605013,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05249779918421672,
+              -0.9985233130310137,
+              0.013970483684607406
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004612488250368373,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03198985976829545,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3479293704664339,
+              0.10905450543544135,
+              0.7625860465824514
+            ],
+            "target_position": [
+              0.34321194810492606,
+              0.10457886719120253,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00650272338563985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1769347685138072,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860465824514,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581845356721768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709427620616671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1449345910343168,
+            "release_required_pad_clearance": 0.053547138103083355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.105525034849213,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1afa1b066d843ddebcb8e544d07f349269690e28682aa37ecb1236f5e85292c",
+    "visual_seed": 5687707844086676893,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..387ed6d5e2a0017bd4d3d85b8c39c8569c99c5fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_44_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28392728418458896,
+              0.3424877677846354,
+              1.047985387637666
+            ],
+            "current_z": 1.047985387637666,
+            "required_z": 0.8565865206503483,
+            "initial_z": 0.7565865206503484,
+            "lift_margin": 0.19139886698731756,
+            "gripper_z": 1.0480915028879427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2783401205951125,
+              0.3373739496056961,
+              1.0480915028879427
+            ],
+            "object_minus_gripper": [
+              0.005587163589476474,
+              0.0051138181789393,
+              -0.00010611525027681701
+            ],
+            "object_to_gripper_xy": 0.007574135814917877,
+            "object_to_gripper_z": -0.00010611525027681701,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28392728418458896,
+              0.31766920837860635,
+              1.047985387637666
+            ],
+            "finger_b": [
+              0.27173081987093894,
+              0.3424877677846354,
+              1.047985387637666
+            ],
+            "finger_midpoint": [
+              0.277829052027764,
+              0.3300784880816209,
+              1.047985387637666
+            ],
+            "object_minus_finger_midpoint": [
+              0.006098232156824979,
+              0.01240927970301453,
+              0.0
+            ],
+            "finger_gap": 0.027653474153254812,
+            "fingertip_max_gap": 0.09096922192713316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013826737076627392,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047985387637666,
+            "object_top_z": 1.0935482681592419,
+            "finger_top_clearance": 0.04556288052157598,
+            "fingertip_min_top_clearance": 0.013668864156472792,
+            "object_projection_between_fingers": 0.8054781020467362,
+            "object_to_finger_line_xy": 0.010946135463279882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047984610963566585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3171302239082195,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2839715702327458,
+              0.34094968315399293,
+              1.2369872167677387
+            ],
+            "held_position": [
+              0.2899302707798369,
+              0.3456423821724273,
+              1.2367926835755394
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007587185212605956,
+            "max_held_gripper_dist": 0.00759250373501877,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00019453319219930876,
+            "max_held_gripper_z_dist": 0.00036673073233806086,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784276911897337,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2899302707798369,
+              0.31988900133192316,
+              1.2367926835755394
+            ],
+            "held_grasp_finger_b": [
+              0.2795365504443094,
+              0.3456423821724273,
+              1.2367926835755394
+            ],
+            "held_grasp_midpoint": [
+              0.28473341061207313,
+              0.33276569175217524,
+              1.2367926835755394
+            ],
+            "held_grasp_object_position": [
+              0.2899302707798369,
+              0.3456423821724273,
+              1.2367926835755394
+            ],
+            "held_grasp_finger_gap": 0.02777167706727853,
+            "held_grasp_max_gap": 0.12496566534042358,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02486309252847688,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07797154117125828,
+              -0.9968985074442137,
+              0.010667924956509476
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004179352788740391,
+            "held_grasp_line_xy_max_dist": 0.04748283267021179,
+            "held_grasp_object_top_z": 0.04520053416490555,
+            "held_grasp_top_clearance": 0.03195857350760298,
+            "held_grasp_min_top_clearance": 0.013560160249471664
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3416894883163005,
+              0.10655850243834497,
+              0.7625845740092676
+            ],
+            "target_position": [
+              0.3407398946170342,
+              0.10235435002248254,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00431006098906828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17451790795499209,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845740092676,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518452856033521,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08729132327848303,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14417580905113084,
+            "release_required_pad_clearance": 0.05364566163924152,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2917098101452757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6eb232d2abcb97656737f8e28951ff680d829b1f96747dd0b2f7145781987818",
+    "visual_seed": 4897838800040988603,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..827f96666d266e444831d39f669bc6add5beaaf4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2903189936637539,
+              0.35159017948640037,
+              1.0481215942795876
+            ],
+            "current_z": 1.0481215942795876,
+            "required_z": 0.8565865187331461,
+            "initial_z": 0.7565865187331461,
+            "lift_margin": 0.19153507554644156,
+            "gripper_z": 1.0478153283833562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2847755340552105,
+              0.3464669768147882,
+              1.0478153283833562
+            ],
+            "object_minus_gripper": [
+              0.005543459608543411,
+              0.005123202671612148,
+              0.00030626589623139466
+            ],
+            "object_to_gripper_xy": 0.007548321008407507,
+            "object_to_gripper_z": 0.00030626589623139466,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2903189936637539,
+              0.32683341114558984,
+              1.0481215942795876
+            ],
+            "finger_b": [
+              0.27807562551416776,
+              0.35159017948640037,
+              1.0481215942795876
+            ],
+            "finger_midpoint": [
+              0.28419730958896083,
+              0.3392117953159951,
+              1.0481215942795876
+            ],
+            "object_minus_finger_midpoint": [
+              0.006121684074793077,
+              0.012378384170405266,
+              0.0
+            ],
+            "finger_gap": 0.02761879147114984,
+            "fingertip_max_gap": 0.09085025749977696,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01380939573557492,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481215942795876,
+            "object_top_z": 1.093749686543695,
+            "finger_top_clearance": 0.04562809226410747,
+            "fingertip_min_top_clearance": 0.013688427679232272,
+            "object_projection_between_fingers": 0.8034864617711175,
+            "object_to_finger_line_xy": 0.010974637659550823,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792512874988848,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.21973165182201504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2904279396648406,
+              0.3501420476813845,
+              1.237635055443637
+            ],
+            "held_position": [
+              0.2963659326346889,
+              0.35482010723225177,
+              1.237863561100045
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007562818026796545,
+            "max_held_gripper_dist": 0.0075692547471769974,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002285056564079735,
+            "max_held_gripper_z_dist": 0.0003236067813170429,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859462272020252,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2963659326346889,
+              0.3290562825595578,
+              1.237863561100045
+            ],
+            "held_grasp_finger_b": [
+              0.2859829384788932,
+              0.35482010723225177,
+              1.237863561100045
+            ],
+            "held_grasp_midpoint": [
+              0.29117443555679107,
+              0.3419381948959048,
+              1.237863561100045
+            ],
+            "held_grasp_object_position": [
+              0.2963659326346889,
+              0.35482010723225177,
+              1.237863561100045
+            ],
+            "held_grasp_finger_gap": 0.027777351014893426,
+            "held_grasp_max_gap": 0.12496565788984298,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024899812738764914,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07588188437514698,
+              -0.9970450516218655,
+              0.011962635998318035
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004201938674609678,
+            "held_grasp_line_xy_max_dist": 0.04748282894492149,
+            "held_grasp_object_top_z": 0.045200470834970474,
+            "held_grasp_top_clearance": 0.0319626833035901,
+            "held_grasp_min_top_clearance": 0.013560141250491141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3454070919075899,
+              0.10294646666991197,
+              0.7625866533908623
+            ],
+            "target_position": [
+              0.34118061242677045,
+              0.09789623204554572,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006585438372875079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1777296116415402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625866533908623,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570443961948026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509283133996486,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14594467243664858,
+            "release_required_pad_clearance": 0.05254641566998243,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15824800242490045,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96fb6f739c05c6057766b6e8a3b97c199ecedc828c8c5c60f30536b9dc5105f2",
+    "visual_seed": 7624458558823864499,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae41a510301d74290090a6e3279d2381d5936fa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29260286794373047,
+              0.34565532526066256,
+              1.0480987680393343
+            ],
+            "current_z": 1.0480987680393343,
+            "required_z": 0.8565865109101436,
+            "initial_z": 0.7565865109101436,
+            "lift_margin": 0.19151225712919073,
+            "gripper_z": 1.04769924843311,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28728222433074413,
+              0.34064120585365115,
+              1.04769924843311
+            ],
+            "object_minus_gripper": [
+              0.005320643612986342,
+              0.005014119407011408,
+              0.0003995196062243078
+            ],
+            "object_to_gripper_xy": 0.007310994589259439,
+            "object_to_gripper_z": 0.0003995196062243078,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29260286794373047,
+              0.321121634315138,
+              1.0480987680393343
+            ],
+            "finger_b": [
+              0.28040475486399014,
+              0.34565532526066256,
+              1.0480987680393343
+            ],
+            "finger_midpoint": [
+              0.2865038114038603,
+              0.3333884797879003,
+              1.0480987680393343
+            ],
+            "object_minus_finger_midpoint": [
+              0.006099056539870196,
+              0.012266845472762244,
+              0.0
+            ],
+            "finger_gap": 0.027398831254574443,
+            "fingertip_max_gap": 0.0920264642449524,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013699415627287208,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480987680393343,
+            "object_top_z": 1.0943777532112042,
+            "finger_top_clearance": 0.0462789851718699,
+            "fingertip_min_top_clearance": 0.01388369555156097,
+            "object_projection_between_fingers": 0.8017919746467526,
+            "object_to_finger_line_xy": 0.010922536572319877,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485132321224762,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8331478161388932,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2935106420873139,
+              0.34304807621769584,
+              1.2370678965010613
+            ],
+            "held_position": [
+              0.29932453169395634,
+              0.3474884679622749,
+              1.2373769235472256
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073221505665215314,
+            "max_held_gripper_dist": 0.007323078862996417,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00030902704616431187,
+            "max_held_gripper_z_dist": 0.0004122630429947982,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08854436022082518,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29932453169395634,
+              0.32158412868262193,
+              1.2373769235472256
+            ],
+            "held_grasp_finger_b": [
+              0.2896717492465384,
+              0.347737907307668,
+              1.2373769235472256
+            ],
+            "held_grasp_midpoint": [
+              0.29449814047024736,
+              0.33466101799514497,
+              1.2373769235472256
+            ],
+            "held_grasp_object_position": [
+              0.29932453169395634,
+              0.3474884679622749,
+              1.2373769235472256
+            ],
+            "held_grasp_finger_gap": 0.027878241432075623,
+            "held_grasp_max_gap": 0.12496562063694,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024961575543242465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10716474028075715,
+              -0.9939677872134185,
+              0.023318585347708143
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003437515651886869,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
+            "held_grasp_object_top_z": 0.045200448483228683,
+            "held_grasp_top_clearance": 0.03193315746182762,
+            "held_grasp_min_top_clearance": 0.013560134544968605
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3404552207789891,
+              0.10674212437012591,
+              0.7625844776436824
+            ],
+            "target_position": [
+              0.3426985958945469,
+              0.10282259223201674,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004516133754748024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.171836709506666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844776436824,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531767321600966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544898549965423,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1411122652538622,
+            "release_required_pad_clearance": 0.052724492749827115,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49093319293832066,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "640296bba7d11778b03ce80ce0d0af293265b8e41a4d9e4046c4583eb9ed2c96",
+    "visual_seed": 1477596569514845233,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..078e1cdd837b85ab828036e7bd2b3a846ca87a81
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29181905879211956,
+              0.34483688916450855,
+              1.0476314065224315
+            ],
+            "current_z": 1.0476314065224315,
+            "required_z": 0.8565866829945818,
+            "initial_z": 0.7565866829945819,
+            "lift_margin": 0.19104472352784962,
+            "gripper_z": 1.0473016506504353,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28648819424241256,
+              0.3398633571267495,
+              1.0473016506504353
+            ],
+            "object_minus_gripper": [
+              0.005330864549706993,
+              0.004973532037759076,
+              0.0003297558719961291
+            ],
+            "object_to_gripper_xy": 0.007290688429629859,
+            "object_to_gripper_z": 0.0003297558719961291,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29181905879211956,
+              0.32017656229621055,
+              1.0476314065224315
+            ],
+            "finger_b": [
+              0.2798549712858377,
+              0.34483688916450855,
+              1.0476314065224315
+            ],
+            "finger_midpoint": [
+              0.2858370150389786,
+              0.33250672573035955,
+              1.0476314065224315
+            ],
+            "object_minus_finger_midpoint": [
+              0.005982043753140931,
+              0.012330163434149,
+              0.0
+            ],
+            "finger_gap": 0.02740932525819032,
+            "fingertip_max_gap": 0.0919280360001962,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370466262909516,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476314065224315,
+            "object_top_z": 1.0936505416854498,
+            "finger_top_clearance": 0.046019135163018365,
+            "fingertip_min_top_clearance": 0.01380574054890551,
+            "object_projection_between_fingers": 0.8094703925902049,
+            "object_to_finger_line_xy": 0.010764158030401335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0484640180000981,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7356110284689735,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2921882664555999,
+              0.3434413546503561,
+              1.2357862192861768
+            ],
+            "held_position": [
+              0.2978959104008878,
+              0.3479855979053465,
+              1.2360202734218773
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007299460768107868,
+            "max_held_gripper_dist": 0.007301881494042758,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00023405413570043443,
+            "max_held_gripper_z_dist": 0.0003429852567808922,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08879423354217236,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2978959104008878,
+              0.3223048641339394,
+              1.2360202734218773
+            ],
+            "held_grasp_finger_b": [
+              0.28789579923220243,
+              0.3479855979053465,
+              1.2360202734218773
+            ],
+            "held_grasp_midpoint": [
+              0.2928958548165451,
+              0.33514523101964294,
+              1.2360202734218773
+            ],
+            "held_grasp_object_position": [
+              0.2978959104008878,
+              0.3479855979053465,
+              1.2360202734218773
+            ],
+            "held_grasp_finger_gap": 0.02755906947674315,
+            "held_grasp_max_gap": 0.12496614217758178,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024716305865588567,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08640356457199007,
+              -0.9960911298087701,
+              0.01835443122360314
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038793108656126917,
+            "held_grasp_line_xy_max_dist": 0.04748307108879089,
+            "held_grasp_object_top_z": 0.04520086199045181,
+            "held_grasp_top_clearance": 0.03197866380656694,
+            "held_grasp_min_top_clearance": 0.013560258597135543
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34417653188199987,
+              0.10721473646579993,
+              0.7625859459109064
+            ],
+            "target_position": [
+              0.34335702161833764,
+              0.1029357430221378,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004356762784815261,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1740432702767082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859459109064,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753266120427699,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556677833568492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14333741603794706,
+            "release_required_pad_clearance": 0.05278338916784246,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6142095652474223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca9c39efb10c022cfe15907a8631185d9e5356dd988b4ac67c98cba418c05854",
+    "visual_seed": 351911781785622455,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e69e7fd54a2f37201554a45339b1b3d61243741
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2891043179157304,
+              0.3515721388122594,
+              1.0499369462542736
+            ],
+            "current_z": 1.0499369462542736,
+            "required_z": 0.8565865907214735,
+            "initial_z": 0.7565865907214735,
+            "lift_margin": 0.1933503555328001,
+            "gripper_z": 1.0496282948430056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28351506028602114,
+              0.3464311797818189,
+              1.0496282948430056
+            ],
+            "object_minus_gripper": [
+              0.005589257629709243,
+              0.005140959030440484,
+              0.00030865141126801277
+            ],
+            "object_to_gripper_xy": 0.0075940279564886085,
+            "object_to_gripper_z": 0.00030865141126801277,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2891043179157304,
+              0.32682328639957775,
+              1.0499369462542736
+            ],
+            "finger_b": [
+              0.276782772683755,
+              0.3515721388122594,
+              1.0499369462542736
+            ],
+            "finger_midpoint": [
+              0.2829435452997427,
+              0.3391977126059186,
+              1.0499369462542736
+            ],
+            "object_minus_finger_midpoint": [
+              0.006160772615987686,
+              0.012374426206340827,
+              0.0
+            ],
+            "finger_gap": 0.027646449548690943,
+            "fingertip_max_gap": 0.09096447826498286,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013823224774345472,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499369462542736,
+            "object_top_z": 1.0955887688190158,
+            "finger_top_clearance": 0.045651822564742206,
+            "fingertip_min_top_clearance": 0.013695546769422695,
+            "object_projection_between_fingers": 0.8013669002363581,
+            "object_to_finger_line_xy": 0.011030136217139634,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798223913249143,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2687828786494027,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2891536650527312,
+              0.350541722354341,
+              1.2395902461447708
+            ],
+            "held_position": [
+              0.29511736244190556,
+              0.3552546449779888,
+              1.2398282266700076
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007604864294418953,
+            "max_held_gripper_dist": 0.007608386480037629,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000237980525236825,
+            "max_held_gripper_z_dist": 0.0003263433042028918,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0887054588470288,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29511736244190556,
+              0.329512424948764,
+              1.2398282266700076
+            ],
+            "held_grasp_finger_b": [
+              0.2846229244988447,
+              0.3552546449779888,
+              1.2398282266700076
+            ],
+            "held_grasp_midpoint": [
+              0.2898701434703751,
+              0.34238353496337637,
+              1.2398282266700076
+            ],
+            "held_grasp_object_position": [
+              0.29511736244190556,
+              0.3552546449779888,
+              1.2398282266700076
+            ],
+            "held_grasp_finger_gap": 0.027799192789967474,
+            "held_grasp_max_gap": 0.12496599316596985,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02490625318474115,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07296722191855788,
+              -0.9972723074349413,
+              0.011123369492908484
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004296519759877911,
+            "held_grasp_line_xy_max_dist": 0.047482996582984924,
+            "held_grasp_object_top_z": 0.04520071670413017,
+            "held_grasp_top_clearance": 0.03198184012945774,
+            "held_grasp_min_top_clearance": 0.013560215011239052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3471435475941284,
+              0.10976067073269,
+              0.7625863610547244
+            ],
+            "target_position": [
+              0.34213101354560344,
+              0.10469319822607571,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00712774685247125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17897435549982385,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863610547244,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569489681710141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518711027113905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14721921757496928,
+            "release_required_pad_clearance": 0.05259355513556953,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2502285431951935,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e0bd439ea8ec1c649215b364ca995b9ac12cd8f59d165bb0c6d7af9af948a94",
+    "visual_seed": 879466732683535459,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3ac14984a08c112be9527da1dc16bf3d668cbab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2889400186835033,
+              0.35269289187053915,
+              1.0488271290703646
+            ],
+            "current_z": 1.0488271290703646,
+            "required_z": 0.8565865836114087,
+            "initial_z": 0.7565865836114087,
+            "lift_margin": 0.19224054545895586,
+            "gripper_z": 1.048472190829911,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28302030301435843,
+              0.34747573847037616,
+              1.048472190829911
+            ],
+            "object_minus_gripper": [
+              0.005919715669144843,
+              0.005217153400162988,
+              0.0003549382404535173
+            ],
+            "object_to_gripper_xy": 0.00789060981194427,
+            "object_to_gripper_z": 0.0003549382404535173,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2889400186835033,
+              0.3275731558810644,
+              1.0488271290703646
+            ],
+            "finger_b": [
+              0.27667926689658257,
+              0.35269289187053915,
+              1.0488271290703646
+            ],
+            "finger_midpoint": [
+              0.28280964279004295,
+              0.3401330238758018,
+              1.0488271290703646
+            ],
+            "object_minus_finger_midpoint": [
+              0.006130375893460327,
+              0.01255986799473735,
+              0.0
+            ],
+            "finger_gap": 0.02795223015362804,
+            "fingertip_max_gap": 0.09337976300330911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013976115076813983,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488271290703646,
+            "object_top_z": 1.0955008430248274,
+            "finger_top_clearance": 0.04667371395446285,
+            "fingertip_min_top_clearance": 0.014002114186338854,
+            "object_projection_between_fingers": 0.8076016807754576,
+            "object_to_finger_line_xy": 0.01101832827746495,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049189881501654556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1439277917605473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2887512180791886,
+              0.35109292699354755,
+              1.2381330169214921
+            ],
+            "held_position": [
+              0.295006287275972,
+              0.35590398777010196,
+              1.2384078643655578
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007896058356531985,
+            "max_held_gripper_dist": 0.007899648268902833,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002748474440656956,
+            "max_held_gripper_z_dist": 0.0003688971348818626,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874439401965576,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.295006287275972,
+              0.32995245274802687,
+              1.2384078643655578
+            ],
+            "held_grasp_finger_b": [
+              0.2843926855301333,
+              0.35590398777010196,
+              1.2384078643655578
+            ],
+            "held_grasp_midpoint": [
+              0.28969948640305265,
+              0.34292822025906444,
+              1.2384078643655578
+            ],
+            "held_grasp_object_position": [
+              0.295006287275972,
+              0.35590398777010196,
+              1.2384078643655578
+            ],
+            "held_grasp_finger_gap": 0.02803802261253921,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025319369544977363,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05515558882582554,
+              -0.9981979477050816,
+              0.023637221043084855
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004593519548493178,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.03195566600539963,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34306679030995046,
+              0.10417570301589024,
+              0.7625852525427688
+            ],
+            "target_position": [
+              0.33959768325959816,
+              0.10002446704524313,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005409941202157238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17651495885377966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852525427688,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585050728683528,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08736115571114438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14426379648483326,
+            "release_required_pad_clearance": 0.05368057785557219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3646698508747015,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77f91d018e474fe277f806965bb401b0c6221dca79e1408a074c6d47b4a47acf",
+    "visual_seed": 3690467604835904508,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..384b7dd972795e416eb18c077bfc5ba0981784c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29312698247625224,
+              0.3435751784018641,
+              1.051270800055285
+            ],
+            "current_z": 1.051270800055285,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.19468447146065382,
+            "gripper_z": 1.050967382151884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2877852801651981,
+              0.3385241052498503,
+              1.050967382151884
+            ],
+            "object_minus_gripper": [
+              0.005341702311054131,
+              0.005051073152013752,
+              0.0003034179034011597
+            ],
+            "object_to_gripper_xy": 0.007351674881747369,
+            "object_to_gripper_z": 0.0003034179034011597,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29312698247625224,
+              0.3190407932686907,
+              1.051270800055285
+            ],
+            "finger_b": [
+              0.2808610063696956,
+              0.3435751784018641,
+              1.051270800055285
+            ],
+            "finger_midpoint": [
+              0.2869939944229739,
+              0.33130798583527743,
+              1.051270800055285
+            ],
+            "object_minus_finger_midpoint": [
+              0.006132988053278332,
+              0.012267192566586649,
+              0.0
+            ],
+            "finger_gap": 0.027429732476083258,
+            "fingertip_max_gap": 0.09208593573570542,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013714866238041605,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051270800055285,
+            "object_top_z": 1.0975927466437452,
+            "finger_top_clearance": 0.04632194658846012,
+            "fingertip_min_top_clearance": 0.013896583976538068,
+            "object_projection_between_fingers": 0.8000317320647292,
+            "object_to_finger_line_xy": 0.01097124013495064,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854296786785271,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8969946601840161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29413650094850896,
+              0.3411023564724526,
+              1.2423783754211322
+            ],
+            "held_position": [
+              0.2999810615278471,
+              0.3455651208334102,
+              1.2426175679291844
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00735747016051679,
+            "max_held_gripper_dist": 0.007358219670438404,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002391925080522661,
+            "max_held_gripper_z_dist": 0.00033614435707396417,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08939563640766102,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2999810615278471,
+              0.319624659934395,
+              1.2426175679291844
+            ],
+            "held_grasp_finger_b": [
+              0.2902486238527814,
+              0.34580609142318375,
+              1.2426175679291844
+            ],
+            "held_grasp_midpoint": [
+              0.29511484269031424,
+              0.3327153756787894,
+              1.2426175679291844
+            ],
+            "held_grasp_object_position": [
+              0.2999810615278471,
+              0.3455651208334102,
+              1.2426175679291844
+            ],
+            "held_grasp_finger_gap": 0.027931840216877554,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024952939374950384,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10937349552428605,
+              -0.993735201781674,
+              0.022973620018070236
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034448048614433373,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03189874550749348,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33835249078121205,
+              0.102338522591571,
+              0.7625871133848164
+            ],
+            "target_position": [
+              0.3389401872685154,
+              0.09881618494739462,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035710292130939902,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17241388388047324,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625871133848164,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575309291251803,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851021897883426,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1404406775958845,
+            "release_required_pad_clearance": 0.0525510948941713,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.163065155121481,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "334b039e9563ec8f791659a0095387721845cc8f428025ae6b4930b54679fc03",
+    "visual_seed": 2519874112690020025,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77a76943595a6cbb9a9c6ba0abdb7cec57070866
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29299737727690456,
+              0.3530962210060242,
+              1.0505516489701265
+            ],
+            "current_z": 1.0505516489701265,
+            "required_z": 0.8565867335773789,
+            "initial_z": 0.7565867335773789,
+            "lift_margin": 0.19396491539274763,
+            "gripper_z": 1.0503454468486213,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2876947952651011,
+              0.34816828790104315,
+              1.0503454468486213
+            ],
+            "object_minus_gripper": [
+              0.005302582011803447,
+              0.004927933104981075,
+              0.00020620212150523898
+            ],
+            "object_to_gripper_xy": 0.007238915711559979,
+            "object_to_gripper_z": 0.00020620212150523898,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29299737727690456,
+              0.32844502648985224,
+              1.0505516489701265
+            ],
+            "finger_b": [
+              0.28111647401660245,
+              0.3530962210060242,
+              1.0505516489701265
+            ],
+            "finger_midpoint": [
+              0.2870569256467535,
+              0.3407706237479382,
+              1.0505516489701265
+            ],
+            "object_minus_finger_midpoint": [
+              0.005940451630151056,
+              0.012325597258086018,
+              0.0
+            ],
+            "finger_gap": 0.027364890888779456,
+            "fingertip_max_gap": 0.0952705385829051,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013682445444389754,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505516489701265,
+            "object_top_z": 1.098584516487687,
+            "finger_top_clearance": 0.04803286751756053,
+            "fingertip_min_top_clearance": 0.014409860255268157,
+            "object_projection_between_fingers": 0.8114999465527704,
+            "object_to_finger_line_xy": 0.010702708755093925,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05013526929145255,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8666652237296188,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2934279861221727,
+              0.3522263784094342,
+              1.240067045388402
+            ],
+            "held_position": [
+              0.2990668436436435,
+              0.35676768292034067,
+              1.2402122840567973
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007241633453788201,
+            "max_held_gripper_dist": 0.0072448674657963645,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00014523866839533106,
+            "max_held_gripper_z_dist": 0.00023217447878853825,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08859481078888837,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2990668436436435,
+              0.3311698048129668,
+              1.2402122840567973
+            ],
+            "held_grasp_finger_b": [
+              0.28892090140633736,
+              0.35676768292034067,
+              1.2402122840567973
+            ],
+            "held_grasp_midpoint": [
+              0.29399387252499043,
+              0.34396874386665377,
+              1.2402122840567973
+            ],
+            "held_grasp_object_position": [
+              0.2990668436436435,
+              0.35676768292034067,
+              1.2402122840567973
+            ],
+            "held_grasp_finger_gap": 0.02753527750872909,
+            "held_grasp_max_gap": 0.12496554613113403,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024801856595888135,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07028516924781822,
+              -0.9967609719911049,
+              0.03908400822783531
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004191645930577013,
+            "held_grasp_line_xy_max_dist": 0.047482773065567016,
+            "held_grasp_object_top_z": 0.04520042985677719,
+            "held_grasp_top_clearance": 0.03208639229150548,
+            "held_grasp_min_top_clearance": 0.013560128957033157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3410350591423831,
+              0.10031536510895558,
+              0.7625883522419051
+            ],
+            "target_position": [
+              0.34179211665040815,
+              0.09758741070155638,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028310548068354075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17177763481622269,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625883522419051,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554904073310248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522025344385613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14019754536630136,
+            "release_required_pad_clearance": 0.052610126721928066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27975794697216927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77840f2cd1c9f2a06af445a5872b61087f13b7f1cb2a7a933e8da6f0240e9e3f",
+    "visual_seed": 4906817464234214916,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb9e45412ca8506cc61dfe18389f3e6e0b3dbef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2933998106882437,
+              0.3489659298842193,
+              1.050176951349114
+            ],
+            "current_z": 1.050176951349114,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19359050354519314,
+            "gripper_z": 1.049850080371257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28757033101246476,
+              0.34384906436468765,
+              1.049850080371257
+            ],
+            "object_minus_gripper": [
+              0.005829479675778959,
+              0.005116865519531666,
+              0.0003268709778569967
+            ],
+            "object_to_gripper_xy": 0.007756619497905774,
+            "object_to_gripper_z": 0.0003268709778569967,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2933998106882437,
+              0.3238381604760008,
+              1.050176951349114
+            ],
+            "finger_b": [
+              0.2813812880460377,
+              0.3489659298842193,
+              1.050176951349114
+            ],
+            "finger_midpoint": [
+              0.2873905493671407,
+              0.3364020451801101,
+              1.050176951349114
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009261321103021,
+              0.01256388470410924,
+              0.0
+            ],
+            "finger_gap": 0.02785407837164645,
+            "fingertip_max_gap": 0.09201032293097314,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013927039185823201,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050176951349114,
+            "object_top_z": 1.096066248484012,
+            "finger_top_clearance": 0.04588929713489809,
+            "fingertip_min_top_clearance": 0.013766789140469426,
+            "object_projection_between_fingers": 0.8138236183313406,
+            "object_to_finger_line_xy": 0.010842170455304698,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850516146548657,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7620053013448876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29326333824842166,
+              0.3478959956446005,
+              1.2382434335463797
+            ],
+            "held_position": [
+              0.2993816945365353,
+              0.352669208434164,
+              1.2384764455635149
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007763513289927546,
+            "max_held_gripper_dist": 0.0077654253320695935,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00023301201713521458,
+            "max_held_gripper_z_dist": 0.0003373699856736856,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08862902957714747,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2993816945365353,
+              0.32683721232848933,
+              1.2384764455635149
+            ],
+            "held_grasp_finger_b": [
+              0.2888279573292947,
+              0.352669208434164,
+              1.2384764455635149
+            ],
+            "held_grasp_midpoint": [
+              0.294104825932915,
+              0.33975321038132666,
+              1.2384764455635149
+            ],
+            "held_grasp_object_position": [
+              0.2993816945365353,
+              0.352669208434164,
+              1.2384764455635149
+            ],
+            "held_grasp_finger_gap": 0.027904719884691277,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025317218586644916,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04593960389978532,
+              -0.9988408556603914,
+              0.01437003330365427
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004681691257388446,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03205678116552525,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34075413673979627,
+              0.10871315132776159,
+              0.7625841392484936
+            ],
+            "target_position": [
+              0.3413966880877829,
+              0.10414174038094093,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004616348154061954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1725913780835685,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625841392484936,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554128804520543,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773968912234519,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14139682453771313,
+            "release_required_pad_clearance": 0.053869844561172595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.742325657163664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce4b4a4780976b6073818d8910a6cdc353c1c6e1a9d373b165a3ae47a5789419",
+    "visual_seed": 6390272243827541419,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e23d5beab40a8a6a9db2147167675aec5e50e6fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_52_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2919115342918683,
+              0.3536357704370466,
+              1.0480723432148942
+            ],
+            "current_z": 1.0480723432148942,
+            "required_z": 0.8565865876073251,
+            "initial_z": 0.7565865876073251,
+            "lift_margin": 0.19148575560756909,
+            "gripper_z": 1.0474378368164217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2866966644964511,
+              0.34861685071647036,
+              1.0474378368164217
+            ],
+            "object_minus_gripper": [
+              0.005214869795417187,
+              0.00501891972057622,
+              0.0006345063984725119
+            ],
+            "object_to_gripper_xy": 0.007237708348969541,
+            "object_to_gripper_z": 0.0006345063984725119,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2919115342918683,
+              0.3292314643103947,
+              1.0480723432148942
+            ],
+            "finger_b": [
+              0.279643580712861,
+              0.3536357704370466,
+              1.0480723432148942
+            ],
+            "finger_midpoint": [
+              0.28577755750236467,
+              0.34143361737372063,
+              1.0480723432148942
+            ],
+            "object_minus_finger_midpoint": [
+              0.006133976789503615,
+              0.012202153063325949,
+              0.0
+            ],
+            "finger_gap": 0.027314334012382892,
+            "fingertip_max_gap": 0.09166672545797386,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013657167006191434,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480723432148942,
+            "object_top_z": 1.0942327058336823,
+            "finger_top_clearance": 0.04616036261878809,
+            "fingertip_min_top_clearance": 0.013848108785636425,
+            "object_projection_between_fingers": 0.7982734708526732,
+            "object_to_finger_line_xy": 0.010960944336183335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833336272898693,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7354412207954545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2930044453088311,
+              0.351065951520029,
+              1.239121551856822
+            ],
+            "held_position": [
+              0.2987436775966183,
+              0.355482834144039,
+              1.239697835306127
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007264966757074902,
+            "max_held_gripper_dist": 0.007265830458346535,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0005762834493050484,
+            "max_held_gripper_z_dist": 0.0006703681487325586,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08861225141550971,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2987436775966183,
+              0.32957043003575265,
+              1.239697835306127
+            ],
+            "held_grasp_finger_b": [
+              0.28912645545308246,
+              0.35580295144595725,
+              1.239697835306127
+            ],
+            "held_grasp_midpoint": [
+              0.29393506652485035,
+              0.34268669074085495,
+              1.239697835306127
+            ],
+            "held_grasp_object_position": [
+              0.2987436775966183,
+              0.355482834144039,
+              1.239697835306127
+            ],
+            "held_grasp_finger_gap": 0.02793986652249718,
+            "held_grasp_max_gap": 0.12496570259332657,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024986182664799423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11191575608371115,
+              -0.9935187298571987,
+              0.019884591098384027
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003356379927371582,
+            "held_grasp_line_xy_max_dist": 0.047482851296663284,
+            "held_grasp_object_top_z": 0.04520050063729286,
+            "held_grasp_top_clearance": 0.03194913315248148,
+            "held_grasp_min_top_clearance": 0.013560150191187859
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3382150792888548,
+              0.10120621484177394,
+              0.7625881931048045
+            ],
+            "target_position": [
+              0.3387234139326117,
+              0.09753748115111885,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003703783336399579,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1737187962501571,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625881931048045,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557467132860995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524484730610553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14216673213689965,
+            "release_required_pad_clearance": 0.052622423653052766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3038984051679891,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5bd15a6ab11fefb1666fefea2b9cfaae1bdeca4ff13df283e1b34b425d16d35",
+    "visual_seed": 5223070249064441911,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..902d596ff94538ff36d4b81fdcdb46291c0b0173
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28861445097688493,
+              0.3480435860440182,
+              1.047760724100341
+            ],
+            "current_z": 1.047760724100341,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.19117427629642048,
+            "gripper_z": 1.0473984913911958,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.283237518559441,
+              0.34306426214711777,
+              1.0473984913911958
+            ],
+            "object_minus_gripper": [
+              0.005376932417443914,
+              0.004979323896900423,
+              0.0003622327091452604
+            ],
+            "object_to_gripper_xy": 0.007328374218883944,
+            "object_to_gripper_z": 0.0003622327091452604,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28861445097688493,
+              0.3233335734756158,
+              1.047760724100341
+            ],
+            "finger_b": [
+              0.2766605818021866,
+              0.3480435860440182,
+              1.047760724100341
+            ],
+            "finger_midpoint": [
+              0.28263751638953577,
+              0.33568857975981703,
+              1.047760724100341
+            ],
+            "object_minus_finger_midpoint": [
+              0.005976934587349159,
+              0.012355006284201164,
+              0.0
+            ],
+            "finger_gap": 0.02744958486710512,
+            "fingertip_max_gap": 0.09200423869145144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013724792433552535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047760724100341,
+            "object_top_z": 1.0937765847249339,
+            "finger_top_clearance": 0.04601586062459284,
+            "fingertip_min_top_clearance": 0.013804758187377818,
+            "object_projection_between_fingers": 0.8103532365004691,
+            "object_to_finger_line_xy": 0.010760827858705042,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850211934572572,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8032636529903258,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2889463235747467,
+              0.34661398893461665,
+              1.2392502900556204
+            ],
+            "held_position": [
+              0.2946830545470288,
+              0.3511769680546879,
+              1.2395599288612338
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007336670695110199,
+            "max_held_gripper_dist": 0.007337967484785032,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003096388056134103,
+            "max_held_gripper_z_dist": 0.0003937953764745483,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08733147262725915,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2946830545470288,
+              0.32546757994439984,
+              1.2395599288612338
+            ],
+            "held_grasp_finger_b": [
+              0.2845408424232662,
+              0.3511769680546879,
+              1.2395599288612338
+            ],
+            "held_grasp_midpoint": [
+              0.2896119484851475,
+              0.33832227399954384,
+              1.2395599288612338
+            ],
+            "held_grasp_object_position": [
+              0.2946830545470288,
+              0.3511769680546879,
+              1.2395599288612338
+            ],
+            "held_grasp_finger_gap": 0.02763760307567966,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024750671513929675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08502091625788673,
+              -0.9962497579366483,
+              0.01605813220269092
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003965384101156681,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03196258904120179,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3433105249505628,
+              0.10475708030558303,
+              0.7625863536097178
+            ],
+            "target_position": [
+              0.3412533619419947,
+              0.10128026416780649,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004039823028268004,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17687167385071265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863536097178,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556676896323095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520399256014959,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14511612791933168,
+            "release_required_pad_clearance": 0.052601996280074795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25630666760227255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ccd83738c2066bbb9d5a0c5c4e0b4f1ef5566b791630eb159bb656cbd3131cd2",
+    "visual_seed": 4110241263963955362,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7fb8143fe5b088c1297ac307385d7f06aea77e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2835862665814771,
+              0.35467531607166103,
+              1.0489887130788984
+            ],
+            "current_z": 1.0489887130788984,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1924022652749776,
+            "gripper_z": 1.0490956945502312,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2781141687437291,
+              0.3496481706882518,
+              1.0490956945502312
+            ],
+            "object_minus_gripper": [
+              0.005472097837748047,
+              0.005027145383409204,
+              -0.0001069814713328121
+            ],
+            "object_to_gripper_xy": 0.007430749992552523,
+            "object_to_gripper_z": -0.0001069814713328121,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2835862665814771,
+              0.32992105766981655,
+              1.0489887130788984
+            ],
+            "finger_b": [
+              0.2715376000157647,
+              0.35467531607166103,
+              1.0489887130788984
+            ],
+            "finger_midpoint": [
+              0.2775619332986209,
+              0.34229818687073876,
+              1.0489887130788984
+            ],
+            "object_minus_finger_midpoint": [
+              0.006024333282856231,
+              0.012377129200922266,
+              0.0
+            ],
+            "finger_gap": 0.027530776869478343,
+            "fingertip_max_gap": 0.09261434218994127,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01376538843473921,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489887130788984,
+            "object_top_z": 1.0955884316131845,
+            "finger_top_clearance": 0.04659971853428613,
+            "fingertip_min_top_clearance": 0.013979915560285838,
+            "object_projection_between_fingers": 0.8084681345158945,
+            "object_to_finger_line_xy": 0.010833541202971532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880717109497064,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8938685256591897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28378917323056313,
+              0.35331151617609424,
+              1.2388561542840242
+            ],
+            "held_position": [
+              0.2896077054606291,
+              0.35793072517914554,
+              1.2386939076219976
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00743093083708395,
+            "max_held_gripper_dist": 0.007432240717127116,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00016224666202657723,
+            "max_held_gripper_z_dist": 0.0003456228788198956,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08863083074787742,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2896077054606291,
+              0.3322235168933404,
+              1.2386939076219976
+            ],
+            "held_grasp_finger_b": [
+              0.2793036705284011,
+              0.35793072517914554,
+              1.2386939076219976
+            ],
+            "held_grasp_midpoint": [
+              0.2844556879945151,
+              0.345077121036243,
+              1.2386939076219976
+            ],
+            "held_grasp_object_position": [
+              0.2896077054606291,
+              0.35793072517914554,
+              1.2386939076219976
+            ],
+            "held_grasp_finger_gap": 0.027695373146689014,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024907305018352928,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07079265803262748,
+              -0.9972593972338237,
+              0.021496376380825463
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042384231860652846,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032017122435320844,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3432007238345175,
+              0.11021855305531754,
+              0.7625815220808179
+            ],
+            "target_position": [
+              0.3423637402075357,
+              0.10614709410228304,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0041565995234182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17549406795012795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625815220808179,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565693373058839,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562691724730924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14371967739709465,
+            "release_required_pad_clearance": 0.05281345862365462,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.671435258629012,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "377f133f978ce501ade77b4949694869f21d7eb8e47e2c04c8baf1058754a17b",
+    "visual_seed": 4002675930883532442,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..637379c88ae9318668855fee459139a5e3d63fce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2853008548216349,
+              0.34826527946461866,
+              1.0486882417766412
+            ],
+            "current_z": 1.0486882417766412,
+            "required_z": 0.8565866538523579,
+            "initial_z": 0.7565866538523579,
+            "lift_margin": 0.19210158792428333,
+            "gripper_z": 1.0487446228929413,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2793616184350861,
+              0.3431011323232724,
+              1.0487446228929413
+            ],
+            "object_minus_gripper": [
+              0.005939236386548807,
+              0.005164147141346276,
+              -5.638111630013043e-05
+            ],
+            "object_to_gripper_xy": 0.007870384015585277,
+            "object_to_gripper_z": -5.638111630013043e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2853008548216349,
+              0.3230987008933016,
+              1.0486882417766412
+            ],
+            "finger_b": [
+              0.2731688834845681,
+              0.34826527946461866,
+              1.0486882417766412
+            ],
+            "finger_midpoint": [
+              0.2792348691531015,
+              0.33568199017896017,
+              1.0486882417766412
+            ],
+            "object_minus_finger_midpoint": [
+              0.006065985668533447,
+              0.012583289285658494,
+              0.0
+            ],
+            "finger_gap": 0.027938171119629245,
+            "fingertip_max_gap": 0.09398062746392191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013969085559814609,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486882417766412,
+            "object_top_z": 1.0953800464337247,
+            "finger_top_clearance": 0.04669180465708345,
+            "fingertip_min_top_clearance": 0.014007541397125034,
+            "object_projection_between_fingers": 0.8114325166039063,
+            "object_to_finger_line_xy": 0.010928425077357412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04949031373196096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4091369279335795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28469669663724756,
+              0.3475039202652149,
+              1.2400685715916167
+            ],
+            "held_position": [
+              0.29087873961161237,
+              0.3523732625844033,
+              1.239966448163774
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007870106679889839,
+            "max_held_gripper_dist": 0.007872315561610277,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00010212342784265971,
+            "max_held_gripper_z_dist": 0.0002883586960147344,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08822220341422271,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29087873961161237,
+              0.3266021584473168,
+              1.239966448163774
+            ],
+            "held_grasp_finger_b": [
+              0.2799059707699765,
+              0.3523732625844033,
+              1.239966448163774
+            ],
+            "held_grasp_midpoint": [
+              0.2853923551907944,
+              0.3394877105158601,
+              1.239966448163774
+            ],
+            "held_grasp_object_position": [
+              0.29087873961161237,
+              0.3523732625844033,
+              1.239966448163774
+            ],
+            "held_grasp_finger_gap": 0.028009845849210457,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02543783692562823,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028876652822936392,
+              -0.9993632257653874,
+              0.020959053164281153
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005119221471467466,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.045200783759355545,
+            "held_grasp_top_clearance": 0.03216500846019518,
+            "held_grasp_min_top_clearance": 0.013560235127806663
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3366277270678406,
+              0.10701522199453609,
+              0.76258595250464
+            ],
+            "target_position": [
+              0.3376410029986658,
+              0.10261439248885734,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004515974806178866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17066449692964517,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258595250464,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553856199771648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800854297206483,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13957691748636641,
+            "release_required_pad_clearance": 0.054004271486032415,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.012980434683861,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "195b42c05014ca5f7d0c620a23fbc607ee29ce0b9d299416ebc8cedef248ec88",
+    "visual_seed": 1640518301115462964,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66b1d3511366aa4d2fdc78055fa449aaabcfbb9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29104792600824,
+              0.34759170815316925,
+              1.0491584534141496
+            ],
+            "current_z": 1.0491584534141496,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19257194600558403,
+            "gripper_z": 1.0490369123938275,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28507171670369374,
+              0.3423874339316956,
+              1.0490369123938275
+            ],
+            "object_minus_gripper": [
+              0.005976209304546232,
+              0.0052042742214736815,
+              0.00012154102032213565
+            ],
+            "object_to_gripper_xy": 0.007924616572682898,
+            "object_to_gripper_z": 0.00012154102032213565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29104792600824,
+              0.3224290038284483,
+              1.0491584534141496
+            ],
+            "finger_b": [
+              0.2788182932241111,
+              0.34759170815316925,
+              1.0491584534141496
+            ],
+            "finger_midpoint": [
+              0.2849331096161756,
+              0.33501035599080875,
+              1.0491584534141496
+            ],
+            "object_minus_finger_midpoint": [
+              0.006114816392064404,
+              0.012581352162360504,
+              0.0
+            ],
+            "finger_gap": 0.027977233726156164,
+            "fingertip_max_gap": 0.09326788447078163,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013988616863078096,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491584534141496,
+            "object_top_z": 1.095530268086721,
+            "finger_top_clearance": 0.04637181467257134,
+            "fingertip_min_top_clearance": 0.013911544401771402,
+            "object_projection_between_fingers": 0.8089190941203489,
+            "object_to_finger_line_xy": 0.010999323119613788,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913394223539082,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.203793353873963,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29050973865773544,
+              0.34661369417740995,
+              1.2376796141943474
+            ],
+            "held_position": [
+              0.2967516415459685,
+              0.3514975715082281,
+              1.237727340788727
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007925647435788611,
+            "max_held_gripper_dist": 0.007927342070021067,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 4.77265943796823e-05,
+            "max_held_gripper_z_dist": 0.00014541987257965516,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0882782919591304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2967516415459685,
+              0.3256936850339786,
+              1.237727340788727
+            ],
+            "held_grasp_finger_b": [
+              0.285827368324075,
+              0.3514975715082281,
+              1.237727340788727
+            ],
+            "held_grasp_midpoint": [
+              0.29128950493502176,
+              0.33859562827110334,
+              1.237727340788727
+            ],
+            "held_grasp_object_position": [
+              0.2967516415459685,
+              0.3514975715082281,
+              1.237727340788727
+            ],
+            "held_grasp_finger_gap": 0.028021068905424253,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025402827173736448,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034897903889415126,
+              -0.9992317024191896,
+              0.017836512679703317
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0050139207780272215,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321175771419832,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3431466064331152,
+              0.10575481500427321,
+              0.7625867230651326
+            ],
+            "target_position": [
+              0.3414490455158123,
+              0.10214131796461885,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003992376976632469,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1757034739046761,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625867230651326,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574675153105231,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08826823811059946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14358564498074858,
+            "release_required_pad_clearance": 0.05413411905529973,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2815963695196286,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e06c6f5f86a24b58859a23067ac595909bdfd9ee60a4cfc8a5d090957736fbcf",
+    "visual_seed": 6710136947700847556,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e438dd8c415d28214309ca715086276caf3c80f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2877488436603182,
+              0.35310193078144897,
+              1.0478896062511802
+            ],
+            "current_z": 1.0478896062511802,
+            "required_z": 0.8565865712280064,
+            "initial_z": 0.7565865712280064,
+            "lift_margin": 0.1913030350231738,
+            "gripper_z": 1.0475928315271124,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2819157316252079,
+              0.3479970685764241,
+              1.0475928315271124
+            ],
+            "object_minus_gripper": [
+              0.005833112035110333,
+              0.005104862205024874,
+              0.0002967747240678609
+            ],
+            "object_to_gripper_xy": 0.007751439488665342,
+            "object_to_gripper_z": 0.0002967747240678609,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2877488436603182,
+              0.32796047105931264,
+              1.0478896062511802
+            ],
+            "finger_b": [
+              0.2757646807742098,
+              0.35310193078144897,
+              1.0478896062511802
+            ],
+            "finger_midpoint": [
+              0.281756762217264,
+              0.3405312009203808,
+              1.0478896062511802
+            ],
+            "object_minus_finger_midpoint": [
+              0.005992081443054242,
+              0.012570729861068164,
+              0.0
+            ],
+            "finger_gap": 0.027851627547426774,
+            "fingertip_max_gap": 0.09443686580503022,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0139258137737134,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478896062511802,
+            "object_top_z": 1.0948802691631103,
+            "finger_top_clearance": 0.0469906629119301,
+            "fingertip_min_top_clearance": 0.014097198873578997,
+            "object_projection_between_fingers": 0.8148540362152641,
+            "object_to_finger_line_xy": 0.010818015858913555,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971843290251511,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5147843376588672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2874326167528504,
+              0.35221753615319684,
+              1.2367704481286748
+            ],
+            "held_position": [
+              0.2935330061900075,
+              0.3570010044428285,
+              1.2369842465638727
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00775512926609108,
+            "max_held_gripper_dist": 0.007759364411486091,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00021379843519797603,
+            "max_held_gripper_z_dist": 0.0003090654333710585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08880893301582027,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2935330061900075,
+              0.3311997670950069,
+              1.2369842465638727
+            ],
+            "held_grasp_finger_b": [
+              0.28290904493132424,
+              0.3570010044428285,
+              1.2369842465638727
+            ],
+            "held_grasp_midpoint": [
+              0.28822102556066587,
+              0.3441003857689177,
+              1.2369842465638727
+            ],
+            "held_grasp_object_position": [
+              0.2935330061900075,
+              0.3570010044428285,
+              1.2369842465638727
+            ],
+            "held_grasp_finger_gap": 0.027902910269443686,
+            "held_grasp_max_gap": 0.12496562063694,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02540033331047376,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03538363017908754,
+              -0.999031452608387,
+              0.026156364703952106
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048640730673183245,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
+            "held_grasp_object_top_z": 0.04520050063729286,
+            "held_grasp_top_clearance": 0.03212441966584178,
+            "held_grasp_min_top_clearance": 0.013560150191187859
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3457094151304145,
+              0.09996920202158974,
+              0.7625858375713945
+            ],
+            "target_position": [
+              0.34325844090153645,
+              0.09650876303098696,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004240508540058395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17723383209962998,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858375713945,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545077657916807,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698792612846366,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14574976785842603,
+            "release_required_pad_clearance": 0.053493963064231834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9971589737494113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "393ab29aae4d5bdc87a784edf953c0db0fe014ff37f4e067d11d42a1229666e6",
+    "visual_seed": 1924084273518932990,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0743caed9f41857631e0bead741d18f4e714c65
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28866507131856267,
+              0.3489695728441377,
+              1.0498047624664524
+            ],
+            "current_z": 1.0498047624664524,
+            "required_z": 0.8565867583570633,
+            "initial_z": 0.7565867583570633,
+            "lift_margin": 0.19321800410938905,
+            "gripper_z": 1.049573229610106,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28288028938565657,
+              0.34380373016492016,
+              1.049573229610106
+            ],
+            "object_minus_gripper": [
+              0.005784781932906102,
+              0.005165842679217547,
+              0.00023153285634647247
+            ],
+            "object_to_gripper_xy": 0.00775561942063317,
+            "object_to_gripper_z": 0.00023153285634647247,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28866507131856267,
+              0.3239495938203818,
+              1.0498047624664524
+            ],
+            "finger_b": [
+              0.2764671370348778,
+              0.3489695728441377,
+              1.0498047624664524
+            ],
+            "finger_midpoint": [
+              0.28256610417672023,
+              0.3364595833322598,
+              1.0498047624664524
+            ],
+            "object_minus_finger_midpoint": [
+              0.006098967141842437,
+              0.012509989511877928,
+              0.0
+            ],
+            "finger_gap": 0.027835031006598156,
+            "fingertip_max_gap": 0.09161304079069191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013917515503299052,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498047624664524,
+            "object_top_z": 1.095547933898648,
+            "finger_top_clearance": 0.04574317143219564,
+            "fingertip_min_top_clearance": 0.013722951429658658,
+            "object_projection_between_fingers": 0.8079611220958937,
+            "object_to_finger_line_xy": 0.010964315428231576,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048306520395345956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7758540952749666,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28874539465652715,
+              0.3470816461137987,
+              1.241068200855017
+            ],
+            "held_position": [
+              0.29489946470778616,
+              0.351804123038096,
+              1.2412399288721392
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007759114447421698,
+            "max_held_gripper_dist": 0.007760788140225953,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001717280171222857,
+            "max_held_gripper_z_dist": 0.0002652819390827066,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08893176556176541,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29489946470778616,
+              0.32583907382948496,
+              1.2412399288721392
+            ],
+            "held_grasp_finger_b": [
+              0.28449099007265594,
+              0.351804123038096,
+              1.2412399288721392
+            ],
+            "held_grasp_midpoint": [
+              0.289695227390221,
+              0.33882159843379045,
+              1.2412399288721392
+            ],
+            "held_grasp_object_position": [
+              0.29489946470778616,
+              0.351804123038096,
+              1.2412399288721392
+            ],
+            "held_grasp_finger_gap": 0.027973561171859077,
+            "held_grasp_max_gap": 0.12496565788984298,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025264232519037342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.062280758251341606,
+              -0.9979753938983296,
+              0.012892646164070265
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004388845458710039,
+            "held_grasp_line_xy_max_dist": 0.04748282894492149,
+            "held_grasp_object_top_z": 0.04520048573613167,
+            "held_grasp_top_clearance": 0.03192012178409723,
+            "held_grasp_min_top_clearance": 0.0135601457208395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.345438318592395,
+              0.10424831248095005,
+              0.7625864874424608
+            ],
+            "target_position": [
+              0.34297267351870925,
+              0.09920381978562555,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005614829666389982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17362089142892484,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864874424608,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579569356224042,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704997262566048,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14187819227815782,
+            "release_required_pad_clearance": 0.053524986312830244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.059672006468617,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6904568d14150e89cdc1998fb2d8d4637932c39713dfc79cbe64dd50996fdca9",
+    "visual_seed": 2652122017938480498,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35f62299a78915450df10f845ac45d7dd4be2bf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2846439331636748,
+              0.3449293982820864,
+              1.0477755208148158
+            ],
+            "current_z": 1.0477755208148158,
+            "required_z": 0.8565866953582043,
+            "initial_z": 0.7565866953582043,
+            "lift_margin": 0.19118882545661153,
+            "gripper_z": 1.0478178260598867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27903125899890524,
+              0.3397651585363727,
+              1.0478178260598867
+            ],
+            "object_minus_gripper": [
+              0.005612674164769571,
+              0.005164239745713728,
+              -4.2305245070872743e-05
+            ],
+            "object_to_gripper_xy": 0.007627023235252479,
+            "object_to_gripper_z": -4.2305245070872743e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2846439331636748,
+              0.32016721762915534,
+              1.0477755208148158
+            ],
+            "finger_b": [
+              0.2722864973580707,
+              0.3449293982820864,
+              1.0477755208148158
+            ],
+            "finger_midpoint": [
+              0.27846521526087276,
+              0.33254830795562085,
+              1.0477755208148158
+            ],
+            "object_minus_finger_midpoint": [
+              0.006178717902802056,
+              0.01238109032646556,
+              0.0
+            ],
+            "finger_gap": 0.0276743890696438,
+            "fingertip_max_gap": 0.0909377518816343,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013837194534821923,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477755208148158,
+            "object_top_z": 1.0934541097926982,
+            "finger_top_clearance": 0.04567858897788235,
+            "fingertip_min_top_clearance": 0.013703576693364704,
+            "object_projection_between_fingers": 0.8006112542329328,
+            "object_to_finger_line_xy": 0.01105704834369831,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047968875940817154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.26784809212916033,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28454152211635797,
+              0.34365898042858634,
+              1.23728900825001
+            ],
+            "held_position": [
+              0.29052446380973485,
+              0.34838812525310014,
+              1.2371740112751526
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076271637180408995,
+            "max_held_gripper_dist": 0.007630469165076834,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00011499697485750637,
+            "max_held_gripper_z_dist": 0.0002932352213993461,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.088762204528536,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29052446380973485,
+              0.3226539890677308,
+              1.2371740112751526
+            ],
+            "held_grasp_finger_b": [
+              0.2799919440941264,
+              0.34838812525310014,
+              1.2371740112751526
+            ],
+            "held_grasp_midpoint": [
+              0.28525820395193063,
+              0.33552105716041547,
+              1.2371740112751526
+            ],
+            "held_grasp_object_position": [
+              0.29052446380973485,
+              0.34838812525310014,
+              1.2371740112751526
+            ],
+            "held_grasp_finger_gap": 0.02780610970212871,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02488839704342737,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07351959714462339,
+              -0.9972257652241214,
+              0.011646544932209624
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004308711975460801,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03198215294955566,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34157891305059757,
+              0.10846556181253664,
+              0.7625880582248712
+            ],
+            "target_position": [
+              0.3409947728154376,
+              0.10373384806465376,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004767634088962425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1725027643523024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625880582248712,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577553979147934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517014187083814,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1407808595856253,
+            "release_required_pad_clearance": 0.05258507093541907,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23406735635456924,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f33725a203fd7a73237f9d5d9fe9d6e807536c4eb49456c853da0350acecce5a",
+    "visual_seed": 2952804021411208297,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88b3a8190263be9084ed1f7577ef897f70a5e41b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2916026525700118,
+              0.3489766157808224,
+              1.049255289662027
+            ],
+            "current_z": 1.049255289662027,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1926687822534615,
+            "gripper_z": 1.0490147321184164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28607965747331343,
+              0.3439387263250974,
+              1.0490147321184164
+            ],
+            "object_minus_gripper": [
+              0.0055229950966983465,
+              0.005037889455724975,
+              0.00024055754361063109
+            ],
+            "object_to_gripper_xy": 0.007475547137585239,
+            "object_to_gripper_z": 0.00024055754361063109,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2916026525700118,
+              0.32415165280316593,
+              1.049255289662027
+            ],
+            "finger_b": [
+              0.2795839526213358,
+              0.3489766157808224,
+              1.049255289662027
+            ],
+            "finger_midpoint": [
+              0.2855933025956738,
+              0.33656413429199417,
+              1.049255289662027
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009349974337996,
+              0.012412481488828231,
+              0.0
+            ],
+            "finger_gap": 0.027581296838588253,
+            "fingertip_max_gap": 0.09081255272733699,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013790648419294126,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049255289662027,
+            "object_top_z": 1.0948345712773806,
+            "finger_top_clearance": 0.04557928161535352,
+            "fingertip_min_top_clearance": 0.013673784484606087,
+            "object_projection_between_fingers": 0.8101172025454031,
+            "object_to_finger_line_xy": 0.010817612493405678,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047906276363668496,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20873769958493887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2917934282834567,
+              0.3478041063310632,
+              1.2388024187475106
+            ],
+            "held_position": [
+              0.2976960430643143,
+              0.35245260111457927,
+              1.2389593950280977
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007514918932113742,
+            "max_held_gripper_dist": 0.0075224289578407644,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00015697628058708446,
+            "max_held_gripper_z_dist": 0.00024912922898079337,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08855583911934667,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2976960430643143,
+              0.32669919029676014,
+              1.2389593950280977
+            ],
+            "held_grasp_finger_b": [
+              0.28738376653096787,
+              0.35245260111457927,
+              1.2389593950280977
+            ],
+            "held_grasp_midpoint": [
+              0.2925399047976411,
+              0.3395758957056697,
+              1.2389593950280977
+            ],
+            "held_grasp_object_position": [
+              0.2976960430643143,
+              0.35245260111457927,
+              1.2389593950280977
+            ],
+            "held_grasp_finger_gap": 0.02774132686177016,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024923808425083276,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07353487273036424,
+              -0.9972318054955824,
+              0.011015834083272336
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041977599774708965,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031980008810829186,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3432891490580543,
+              0.10324328672947741,
+              0.7625860241290991
+            ],
+            "target_position": [
+              0.3384919883442123,
+              0.0985452309525973,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00671449767273068,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1780086674291471,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860241290991,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571266085349182,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525386386290477,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14619128649650795,
+            "release_required_pad_clearance": 0.05262693193145239,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3115250559151195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9033d9462704e4db3e1e6dcd429f081c77fb8afc6dc098ead74818faabe5a92",
+    "visual_seed": 8302856657852121761,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ebd4be8ca3ba8f6305fbbb66de7c792a4aea82
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28780382086624595,
+              0.35146354013145925,
+              1.0495296307754767
+            ],
+            "current_z": 1.0495296307754767,
+            "required_z": 0.856586695990374,
+            "initial_z": 0.756586695990374,
+            "lift_margin": 0.19294293478510272,
+            "gripper_z": 1.0493033462377377,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2822334246883844,
+              0.3464171671047938,
+              1.0493033462377377
+            ],
+            "object_minus_gripper": [
+              0.005570396177861536,
+              0.0050463730266654405,
+              0.0002262845377389855
+            ],
+            "object_to_gripper_xy": 0.007516328512152122,
+            "object_to_gripper_z": 0.0002262845377389855,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28780382086624595,
+              0.32658219471622685,
+              1.0495296307754767
+            ],
+            "finger_b": [
+              0.2758106469038857,
+              0.35146354013145925,
+              1.0495296307754767
+            ],
+            "finger_midpoint": [
+              0.2818072338850658,
+              0.339022867423843,
+              1.0495296307754767
+            ],
+            "object_minus_finger_midpoint": [
+              0.005996586981180163,
+              0.01244067270761623,
+              0.0
+            ],
+            "finger_gap": 0.02762096253506642,
+            "fingertip_max_gap": 0.09172232337804978,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013810481267533248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495296307754767,
+            "object_top_z": 1.0956242957886513,
+            "finger_top_clearance": 0.04609466501317461,
+            "fingertip_min_top_clearance": 0.013828399503952349,
+            "object_projection_between_fingers": 0.8114655801748523,
+            "object_to_finger_line_xy": 0.010803617129693162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836116168902489,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5133205010708262,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28781617570644635,
+              0.35036735061135615,
+              1.240338880199014
+            ],
+            "held_position": [
+              0.29369028178393647,
+              0.35505628749990636,
+              1.2405147336479716
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007518123156075823,
+            "max_held_gripper_dist": 0.00752087894189517,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001758534489575414,
+            "max_held_gripper_z_dist": 0.0002619826137577608,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08842519678397787,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29369028178393647,
+              0.3293637164460189,
+              1.2405147336479716
+            ],
+            "held_grasp_finger_b": [
+              0.28319969912635234,
+              0.35505628749990636,
+              1.2405147336479716
+            ],
+            "held_grasp_midpoint": [
+              0.2884449904551444,
+              0.34221000197296264,
+              1.2405147336479716
+            ],
+            "held_grasp_object_position": [
+              0.29369028178393647,
+              0.35505628749990636,
+              1.2405147336479716
+            ],
+            "held_grasp_finger_gap": 0.027751766283511756,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024981184092784627,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06272900067675395,
+              -0.997924567597231,
+              0.014547503565056293
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004433168536658038,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03205204226465923,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3388106954415027,
+              0.10612699995358577,
+              0.7625843898060584
+            ],
+            "target_position": [
+              0.339763297336579,
+              0.10200110141573385,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004234440826738701,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17158438119990263,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843898060584,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548282674299431,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554223497141127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14051675652520237,
+            "release_required_pad_clearance": 0.052771117485705635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5814438325308745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92e776e1a88575bddee30ecbb99becffa5eb090f233bdf5de94f16e156c02963",
+    "visual_seed": 7485302912821372007,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94357c53106f48d00f0bf29b8e78866c59f95593
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2843390287825206,
+              0.3446048685038839,
+              1.0484871999518952
+            ],
+            "current_z": 1.0484871999518952,
+            "required_z": 0.8565865907228075,
+            "initial_z": 0.7565865907228075,
+            "lift_margin": 0.1919006092290877,
+            "gripper_z": 1.0486199309327269,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2787269547481603,
+              0.3393893994990473,
+              1.0486199309327269
+            ],
+            "object_minus_gripper": [
+              0.005612074034360315,
+              0.005215469004836604,
+              -0.00013273098083166346
+            ],
+            "object_to_gripper_xy": 0.007661363580169824,
+            "object_to_gripper_z": -0.00013273098083166346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2843390287825206,
+              0.31990286958314296,
+              1.0484871999518952
+            ],
+            "finger_b": [
+              0.27182592060869915,
+              0.3446048685038839,
+              1.0484871999518952
+            ],
+            "finger_midpoint": [
+              0.27808247469560987,
+              0.3322538690435134,
+              1.0484871999518952
+            ],
+            "object_minus_finger_midpoint": [
+              0.006256554086910726,
+              0.012350999460370493,
+              0.0
+            ],
+            "finger_gap": 0.027690551219685812,
+            "fingertip_max_gap": 0.0916593272255106,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01384527560984293,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484871999518952,
+            "object_top_z": 1.0945889139490215,
+            "finger_top_clearance": 0.04610171399712626,
+            "fingertip_min_top_clearance": 0.013830514199137877,
+            "object_projection_between_fingers": 0.7957946124846417,
+            "object_to_finger_line_xy": 0.011162608579099254,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483296636127553,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5871361096506212,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2843631249033847,
+              0.3432293761166348,
+              1.2399125902113086
+            ],
+            "held_position": [
+              0.29038553540024453,
+              0.3479621466407877,
+              1.2397267013350481
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007661794809396488,
+            "max_held_gripper_dist": 0.007662936977442556,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.000185888876260476,
+            "max_held_gripper_z_dist": 0.0003657558457275112,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08866243098849502,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29038553540024453,
+              0.3221642568879817,
+              1.2397267013350481
+            ],
+            "held_grasp_finger_b": [
+              0.2798359118451238,
+              0.3479621466407877,
+              1.2397267013350481
+            ],
+            "held_grasp_midpoint": [
+              0.2851107236226842,
+              0.3350632017643847,
+              1.2397267013350481
+            ],
+            "held_grasp_object_position": [
+              0.29038553540024453,
+              0.3479621466407877,
+              1.2397267013350481
+            ],
+            "held_grasp_finger_gap": 0.027871592578334815,
+            "held_grasp_max_gap": 0.12496571004390716,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482375859516235,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08347078613841417,
+              -0.9963738977517275,
+              0.016482831688314773
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004185307782167224,
+            "held_grasp_line_xy_max_dist": 0.04748285502195358,
+            "held_grasp_object_top_z": 0.04520060867071152,
+            "held_grasp_top_clearance": 0.03190814400152008,
+            "held_grasp_min_top_clearance": 0.013560182601213455
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3365219511725213,
+              0.109855521761312,
+              0.7625848762788233
+            ],
+            "target_position": [
+              0.3374181953270316,
+              0.10518828293390292,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004752512162695504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1726573854552653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848762788233,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564595132961033,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541581920472628,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14121482114397238,
+            "release_required_pad_clearance": 0.05270790960236314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4647675173259092,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4356ac7ca47ff4ec7c2a0635911b0553baadaf2eb2ad2ed423cb8d715b0743ef",
+    "visual_seed": 6007855445648812724,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..247c9b9ae1aff91fb0c9fbb482c5de6fe26e06ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28922752047912675,
+              0.35163267103849083,
+              1.0490491780812177
+            ],
+            "current_z": 1.0490491780812177,
+            "required_z": 0.8565865182886693,
+            "initial_z": 0.7565865182886693,
+            "lift_margin": 0.1924626597925484,
+            "gripper_z": 1.048986108270744,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2838443195647624,
+              0.34665901578683395,
+              1.048986108270744
+            ],
+            "object_minus_gripper": [
+              0.005383200914364339,
+              0.004973655251656883,
+              6.306981047377036e-05
+            ],
+            "object_to_gripper_xy": 0.00732912673152451,
+            "object_to_gripper_z": 6.306981047377036e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28922752047912675,
+              0.32691974719716066,
+              1.0490491780812177
+            ],
+            "finger_b": [
+              0.27728422544679615,
+              0.35163267103849083,
+              1.0490491780812177
+            ],
+            "finger_midpoint": [
+              0.28325587296296145,
+              0.33927620911782574,
+              1.0490491780812177
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059716475161653015,
+              0.012356461920665085,
+              0.0
+            ],
+            "finger_gap": 0.027447602828237622,
+            "fingertip_max_gap": 0.09372665374334535,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013723801414118811,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490491780812177,
+            "object_top_z": 1.0961978767288714,
+            "finger_top_clearance": 0.0471486986476537,
+            "fingertip_min_top_clearance": 0.014144609594296075,
+            "object_projection_between_fingers": 0.8106612612236598,
+            "object_to_finger_line_xy": 0.01075335221059355,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936332687167268,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3079909491467852,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28944680428300507,
+              0.3507307698664738,
+              1.238692576361134
+            ],
+            "held_position": [
+              0.29516137867291065,
+              0.35531933893960327,
+              1.2386844951865073
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073288056258866965,
+            "max_held_gripper_dist": 0.007333409211290825,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 8.081174626806131e-06,
+            "max_held_gripper_z_dist": 0.00018895203079138945,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0886439642475253,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29516137867291065,
+              0.32969230073871475,
+              1.2386844951865073
+            ],
+            "held_grasp_finger_b": [
+              0.28493212850093547,
+              0.35531933893960327,
+              1.2386844951865073
+            ],
+            "held_grasp_midpoint": [
+              0.29004675358692306,
+              0.342505819839159,
+              1.2386844951865073
+            ],
+            "held_grasp_object_position": [
+              0.29516137867291065,
+              0.35531933893960327,
+              1.2386844951865073
+            ],
+            "held_grasp_finger_gap": 0.02759316303055258,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024811181062595243,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07213495792044365,
+              -0.9969574865823764,
+              0.02953502654758977
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004194600365715539,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.03205723591682913,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3419914647438376,
+              0.10176451142017043,
+              0.7625847679685733
+            ],
+            "target_position": [
+              0.34600445568336435,
+              0.09809971216503445,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005434597488422563,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1696712054750248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847679685733,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751402543670498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524684536501141,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13951616232814842,
+            "release_required_pad_clearance": 0.05262342268250571,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2986411336552266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2fc1f5b15a11b8f731d341a88ebaf30c83d8aa8bad84a1863c3ab1f02d6a690",
+    "visual_seed": 2452601987274945202,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4206f57e9e38782bfd44cd033d3108a7b9a6c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_63_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2910874007765875,
+              0.34955849660743066,
+              1.0486883993998881
+            ],
+            "current_z": 1.0486883993998881,
+            "required_z": 0.856586678397864,
+            "initial_z": 0.756586678397864,
+            "lift_margin": 0.19210172100202416,
+            "gripper_z": 1.048301067075039,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2857578095634621,
+              0.3445844590351825,
+              1.048301067075039
+            ],
+            "object_minus_gripper": [
+              0.005329591213125429,
+              0.00497403757224818,
+              0.00038733232484911007
+            ],
+            "object_to_gripper_xy": 0.007290102349704039,
+            "object_to_gripper_z": 0.00038733232484911007,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2910874007765875,
+              0.32495307447159893,
+              1.0486883993998881
+            ],
+            "finger_b": [
+              0.2790307148778719,
+              0.34955849660743066,
+              1.0486883993998881
+            ],
+            "finger_midpoint": [
+              0.28505905782722973,
+              0.3372557855395148,
+              1.0486883993998881
+            ],
+            "object_minus_finger_midpoint": [
+              0.006028342949357779,
+              0.012302711067915861,
+              0.0
+            ],
+            "finger_gap": 0.02740055607725445,
+            "fingertip_max_gap": 0.09233901768932515,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370027803862721,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486883993998881,
+            "object_top_z": 1.0949667258497562,
+            "finger_top_clearance": 0.04627832644986807,
+            "fingertip_min_top_clearance": 0.01388349793496042,
+            "object_projection_between_fingers": 0.8063858293072352,
+            "object_to_finger_line_xy": 0.010826781955103748,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048669508844662576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9530789166667776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.292010778650771,
+              0.3471257985962985,
+              1.2376067992898938
+            ],
+            "held_position": [
+              0.2978054440896138,
+              0.351556363936049,
+              1.2379089364300166
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00730063994656352,
+            "max_held_gripper_dist": 0.007301617334434488,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003021371401228379,
+            "max_held_gripper_z_dist": 0.0003998998509420204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08933516605654257,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2978054440896138,
+              0.3256542707436838,
+              1.2379089364300166
+            ],
+            "held_grasp_finger_b": [
+              0.2881676374071629,
+              0.35182659874774747,
+              1.2379089364300166
+            ],
+            "held_grasp_midpoint": [
+              0.29298654074838837,
+              0.33874043474571564,
+              1.2379089364300166
+            ],
+            "held_grasp_object_position": [
+              0.2978054440896138,
+              0.351556363936049,
+              1.2379089364300166
+            ],
+            "held_grasp_finger_gap": 0.02789046558952701,
+            "held_grasp_max_gap": 0.12496556103229522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02498429083717331,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10697780601241393,
+              -0.9940010780391566,
+              0.02275095333749477
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034331365312152287,
+            "held_grasp_line_xy_max_dist": 0.04748278051614761,
+            "held_grasp_object_top_z": 0.04520045593380928,
+            "held_grasp_top_clearance": 0.03194589279571423,
+            "held_grasp_min_top_clearance": 0.013560136780142784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34426766705680745,
+              0.10871252537548795,
+              0.76258450598269
+            ],
+            "target_position": [
+              0.3457815786970429,
+              0.104692508508286,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004295633139250673,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1718818724262793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258450598269,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528217560825784,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770058721823769,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1413538049131211,
+            "release_required_pad_clearance": 0.053850293609118846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6991653835339995,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e988de44c015160f230edc659913d290f68c3207ddd6013be7d30975d05c0040",
+    "visual_seed": 6146748579889453796,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b72780db29e83f554ecc0b29d0042d52cb4058ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28805785938313405,
+              0.3486408354607397,
+              1.0508044208328027
+            ],
+            "current_z": 1.0508044208328027,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19421803263352666,
+            "gripper_z": 1.050688520901399,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28246501554538483,
+              0.3434414886136135,
+              1.050688520901399
+            ],
+            "object_minus_gripper": [
+              0.005592843837749217,
+              0.005199346847126196,
+              0.0001158999314037068
+            ],
+            "object_to_gripper_xy": 0.007636302104433173,
+            "object_to_gripper_z": 0.0001158999314037068,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28805785938313405,
+              0.3239268017215464,
+              1.0508044208328027
+            ],
+            "finger_b": [
+              0.2756059491092032,
+              0.3486408354607397,
+              1.0508044208328027
+            ],
+            "finger_midpoint": [
+              0.28183190424616866,
+              0.3362838185911431,
+              1.0508044208328027
+            ],
+            "object_minus_finger_midpoint": [
+              0.006225955136965389,
+              0.012357016869596615,
+              0.0
+            ],
+            "finger_gap": 0.027673697496576208,
+            "fingertip_max_gap": 0.09084520706696611,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013836848748288067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508044208328027,
+            "object_top_z": 1.0963996299337122,
+            "finger_top_clearance": 0.04559520910090953,
+            "fingertip_min_top_clearance": 0.013678562730272858,
+            "object_projection_between_fingers": 0.7975407673310931,
+            "object_to_finger_line_xy": 0.011120195653848119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792260353348306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20603487907303503,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28825298234399166,
+              0.34729164047573524,
+              1.2422133291438895
+            ],
+            "held_position": [
+              0.29428600590906323,
+              0.35201145859529437,
+              1.242270475724051
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00766011241105845,
+            "max_held_gripper_dist": 0.0076621117524616365,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.714658016153784e-05,
+            "max_held_gripper_z_dist": 0.00014935270156968272,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08858397495691733,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29428600590906323,
+              0.32616965777623486,
+              1.242270475724051
+            ],
+            "held_grasp_finger_b": [
+              0.2838219404942739,
+              0.35201145859529437,
+              1.242270475724051
+            ],
+            "held_grasp_midpoint": [
+              0.2890539732016686,
+              0.3390905581857646,
+              1.242270475724051
+            ],
+            "held_grasp_object_position": [
+              0.29428600590906323,
+              0.35201145859529437,
+              1.242270475724051
+            ],
+            "held_grasp_finger_gap": 0.0278800167607004,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02487928999991132,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08329867003995295,
+              -0.9964836782265517,
+              0.00903385840366644
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004139257488284381,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031888937233592096,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.350305432952917,
+              0.10790795773639758,
+              0.7625858292943106
+            ],
+            "target_position": [
+              0.34681072127484985,
+              0.10296784901118913,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006051254740109648,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17730644986108274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858292943106,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569711092912822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507443232818084,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14551241031341133,
+            "release_required_pad_clearance": 0.05253721616409042,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14265142868021344,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8046d1b1c0b00d0ee74bf15d0ee1a05be0e7ebed7fb6c20141a871881f3fb7d5",
+    "visual_seed": 8638514959266596507,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4da9f330c3e823e13291bca40b10b6cdb267b65e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29025286076218504,
+              0.3528533851402668,
+              1.0506704646906317
+            ],
+            "current_z": 1.0506704646906317,
+            "required_z": 0.8565867311532842,
+            "initial_z": 0.7565867311532842,
+            "lift_margin": 0.19408373353734754,
+            "gripper_z": 1.0501875087073496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2848553143561323,
+              0.34776607327493453,
+              1.0501875087073496
+            ],
+            "object_minus_gripper": [
+              0.005397546406052722,
+              0.005087311865332289,
+              0.00048295598328218503
+            ],
+            "object_to_gripper_xy": 0.007417159107140911,
+            "object_to_gripper_z": 0.00048295598328218503,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29025286076218504,
+              0.328314672951258,
+              1.0506704646906317
+            ],
+            "finger_b": [
+              0.27789765932158345,
+              0.3528533851402668,
+              1.0506704646906317
+            ],
+            "finger_midpoint": [
+              0.2840752600418842,
+              0.3405840290457624,
+              1.0506704646906317
+            ],
+            "object_minus_finger_midpoint": [
+              0.006177600720300824,
+              0.012269356094504413,
+              0.0
+            ],
+            "finger_gap": 0.02747361276812451,
+            "fingertip_max_gap": 0.09203731119414602,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013736806384062267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506704646906317,
+            "object_top_z": 1.0967865730742625,
+            "finger_top_clearance": 0.04611610838363078,
+            "fingertip_min_top_clearance": 0.0138348325150892,
+            "object_projection_between_fingers": 0.7977595067847696,
+            "object_to_finger_line_xy": 0.011035342703086608,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851865559707301,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6387748730167315,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29089919244220525,
+              0.35101781567362045,
+              1.2416018266978457
+            ],
+            "held_position": [
+              0.29676961718389544,
+              0.3555853881449034,
+              1.2420191908434852
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007449751523261422,
+            "max_held_gripper_dist": 0.007454097708594025,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004173641456395316,
+            "max_held_gripper_z_dist": 0.0005102947886870268,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08901488227826465,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29676961718389544,
+              0.3297557087326254,
+              1.2420191908434852
+            ],
+            "held_grasp_finger_b": [
+              0.286681805071735,
+              0.3555853881449034,
+              1.2420191908434852
+            ],
+            "held_grasp_midpoint": [
+              0.2917257111278152,
+              0.34267054843876443,
+              1.2420191908434852
+            ],
+            "held_grasp_object_position": [
+              0.29676961718389544,
+              0.3555853881449034,
+              1.2420191908434852
+            ],
+            "held_grasp_finger_gap": 0.027729700534829267,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024675564198667618,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10099102160215725,
+              -0.9947604164762343,
+              0.015891109708944695
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037197262271245935,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03184411890095568,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3429157975564394,
+              0.10428398668597418,
+              0.7625861200600542
+            ],
+            "target_position": [
+              0.33884235859252293,
+              0.09996959490266115,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005933538695641242,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17752662924539833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861200600542,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567360203960968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853981640469214,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14574672295288976,
+            "release_required_pad_clearance": 0.0526990820234607,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4511052613597501,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c9ad8f3236884889183ea9434cd3493b0ff4180aebc4c0c5f1f33fa26904939",
+    "visual_seed": 6013582218687371171,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c83d66e5ac5957eb6ede6d2b3e4eb90d19dfa5c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_66_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28990113044278165,
+              0.353384979509909,
+              1.0483219982478464
+            ],
+            "current_z": 1.0483219982478464,
+            "required_z": 0.856586688248497,
+            "initial_z": 0.7565866882484971,
+            "lift_margin": 0.1917353099993494,
+            "gripper_z": 1.0479305398818475,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28442107069796274,
+              0.3481487122341692,
+              1.0479305398818475
+            ],
+            "object_minus_gripper": [
+              0.00548005974481891,
+              0.005236267275739781,
+              0.00039145836599896455
+            ],
+            "object_to_gripper_xy": 0.007579548125697733,
+            "object_to_gripper_z": 0.00039145836599896455,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28990113044278165,
+              0.32880581943731013,
+              1.0483219982478464
+            ],
+            "finger_b": [
+              0.2773347275397898,
+              0.353384979509909,
+              1.0483219982478464
+            ],
+            "finger_midpoint": [
+              0.28361792899128574,
+              0.34109539947360956,
+              1.0483219982478464
+            ],
+            "object_minus_finger_midpoint": [
+              0.006283201451495912,
+              0.01228958003629943,
+              0.0
+            ],
+            "finger_gap": 0.02760524572965724,
+            "fingertip_max_gap": 0.09420526026827972,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01380262286482862,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483219982478464,
+            "object_top_z": 1.0957247039457765,
+            "finger_top_clearance": 0.047402705697930037,
+            "fingertip_min_top_clearance": 0.014220811709378977,
+            "object_projection_between_fingers": 0.7927766334099001,
+            "object_to_finger_line_xy": 0.011188874444887708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960263013413986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5595232897021207,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29021517113846984,
+              0.35195131178289435,
+              1.2394694166381393
+            ],
+            "held_position": [
+              0.29618822490558977,
+              0.3566644620986848,
+              1.239809715640978
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007616230078948128,
+            "max_held_gripper_dist": 0.0076231580256727275,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003402990028387176,
+            "max_held_gripper_z_dist": 0.0004282052022990257,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08853634665762544,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29618822490558977,
+              0.33080448798123857,
+              1.239809715640978
+            ],
+            "held_grasp_finger_b": [
+              0.28579442152566037,
+              0.3566644620986848,
+              1.239809715640978
+            ],
+            "held_grasp_midpoint": [
+              0.29099132321562504,
+              0.3437344750399617,
+              1.239809715640978
+            ],
+            "held_grasp_object_position": [
+              0.29618822490558977,
+              0.3566644620986848,
+              1.239809715640978
+            ],
+            "held_grasp_finger_gap": 0.027870583238526255,
+            "held_grasp_max_gap": 0.1249656131863594,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024695565697200644,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09858700383899455,
+              -0.9945972688954676,
+              0.032509619802867595
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003920359322847808,
+            "held_grasp_line_xy_max_dist": 0.0474828065931797,
+            "held_grasp_object_top_z": 0.045200467109680176,
+            "held_grasp_top_clearance": 0.031827990327361,
+            "held_grasp_min_top_clearance": 0.013560140132904052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3353632879210916,
+              0.1057813302640033,
+              0.7625856611838544
+            ],
+            "target_position": [
+              0.3377976234480349,
+              0.1022227727930809,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00431153345476941,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17331480786452996,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856611838544,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522883097504654,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627709877433402,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14265867440160332,
+            "release_required_pad_clearance": 0.053138549387167014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.29721681766991,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c449d36094784e3acdec5d5e467ad21d621d577d513c32af7b42a0652f72a8c4",
+    "visual_seed": 9089799681479851800,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09be8178be922af2d35475960bbdd53f181168ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28469870767555333,
+              0.34593229081966465,
+              1.0488274989749242
+            ],
+            "current_z": 1.0488274989749242,
+            "required_z": 0.856586696030606,
+            "initial_z": 0.756586696030606,
+            "lift_margin": 0.19224080294431822,
+            "gripper_z": 1.048846073666712,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2790872696525848,
+              0.3408170250742497,
+              1.048846073666712
+            ],
+            "object_minus_gripper": [
+              0.00561143802296854,
+              0.005115265745414932,
+              -1.8574691787787145e-05
+            ],
+            "object_to_gripper_xy": 0.007593034988187033,
+            "object_to_gripper_z": -1.8574691787787145e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28469870767555333,
+              0.32110202359963985,
+              1.0488274989749242
+            ],
+            "finger_b": [
+              0.27249928943156676,
+              0.34593229081966465,
+              1.0488274989749242
+            ],
+            "finger_midpoint": [
+              0.2785989985535601,
+              0.33351715720965225,
+              1.0488274989749242
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060997091219932575,
+              0.012415133610012397,
+              0.0
+            ],
+            "finger_gap": 0.027665284667061536,
+            "fingertip_max_gap": 0.09109500750832658,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013832642333530756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488274989749242,
+            "object_top_z": 1.0944975030936757,
+            "finger_top_clearance": 0.04567000411875144,
+            "fingertip_min_top_clearance": 0.013701001235625431,
+            "object_projection_between_fingers": 0.8055499965833554,
+            "object_to_finger_line_xy": 0.010949275186301809,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804750375416329,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3485094270192495,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2846381378679954,
+              0.34461134528367876,
+              1.2396025780172775
+            ],
+            "held_position": [
+              0.2905948034582935,
+              0.34932115138432324,
+              1.239530814852331
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007594029787415419,
+            "max_held_gripper_dist": 0.007596528134357099,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 7.176316494650337e-05,
+            "max_held_gripper_z_dist": 0.0002504991028713377,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08872739568258536,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2905948034582935,
+              0.32357945395935994,
+              1.239530814852331
+            ],
+            "held_grasp_finger_b": [
+              0.2800769255068507,
+              0.34932115138432324,
+              1.239530814852331
+            ],
+            "held_grasp_midpoint": [
+              0.2853358644825721,
+              0.3364503026718416,
+              1.239530814852331
+            ],
+            "held_grasp_object_position": [
+              0.2905948034582935,
+              0.34932115138432324,
+              1.239530814852331
+            ],
+            "held_grasp_finger_gap": 0.027807566289048184,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024893713021536357,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0738121363405842,
+              -0.9972170692212416,
+              0.010482622889156133
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004296751511175728,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.03197755413018975,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3439327976094188,
+              0.10549591269702442,
+              0.7625858276437183
+            ],
+            "target_position": [
+              0.3417834168924395,
+              0.10117396527473745,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004826910708469283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17655631438035166,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858276437183,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568634774154043,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536021355009014,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14466864552267958,
+            "release_required_pad_clearance": 0.052680106775045074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4149566585981579,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c5b5111325b7edc3e7582c5837789bbaf3a25bacf3f1dbeb575d5f3c6bcc5be",
+    "visual_seed": 6505138666344357001,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a42dc50e5ecc74c71040c5046bbb15c65889445
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28961368869000154,
+              0.3512036061954435,
+              1.0512211271483525
+            ],
+            "current_z": 1.0512211271483525,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19463467934443168,
+            "gripper_z": 1.0510300514904272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2837324323583169,
+              0.3460676056203279,
+              1.0510300514904272
+            ],
+            "object_minus_gripper": [
+              0.005881256331684626,
+              0.005136000575115596,
+              0.00019107565792531034
+            ],
+            "object_to_gripper_xy": 0.007808180194294201,
+            "object_to_gripper_z": 0.00019107565792531034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28961368869000154,
+              0.3260430010965132,
+              1.0512211271483525
+            ],
+            "finger_b": [
+              0.2775627378712247,
+              0.3512036061954435,
+              1.0512211271483525
+            ],
+            "finger_midpoint": [
+              0.2835882132806131,
+              0.33862330364597837,
+              1.0512211271483525
+            ],
+            "object_minus_finger_midpoint": [
+              0.006025475409388414,
+              0.012580302549465128,
+              0.0
+            ],
+            "finger_gap": 0.027897696402765872,
+            "fingertip_max_gap": 0.09229815486334134,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013948848201382912,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512211271483525,
+            "object_top_z": 1.0972650405026512,
+            "finger_top_clearance": 0.04604391335429869,
+            "fingertip_min_top_clearance": 0.013813174006289574,
+            "object_projection_between_fingers": 0.813402448541182,
+            "object_to_finger_line_xy": 0.010868611165609113,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864907743167067,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8463203032732503,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28942715083861015,
+              0.3500414478154639,
+              1.2422788819195996
+            ],
+            "held_position": [
+              0.295591715459337,
+              0.35483666315514406,
+              1.2424191445295858
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0078112496258141,
+            "max_held_gripper_dist": 0.007812533896899695,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001402626099862303,
+            "max_held_gripper_z_dist": 0.0002318573915180977,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08867891331021704,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.295591715459337,
+              0.3289672706668364,
+              1.2424191445295858
+            ],
+            "held_grasp_finger_b": [
+              0.2849121671004772,
+              0.35483666315514406,
+              1.2424191445295858
+            ],
+            "held_grasp_midpoint": [
+              0.29025194127990706,
+              0.34190196691099023,
+              1.2424191445295858
+            ],
+            "held_grasp_object_position": [
+              0.295591715459337,
+              0.35483666315514406,
+              1.2424191445295858
+            ],
+            "held_grasp_finger_gap": 0.027987108118977463,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02536485769204664,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04460664240955481,
+              -0.998911609480797,
+              0.013632457497812386
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004760812608078925,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204141732504824,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3464054898787136,
+              0.10731256838646261,
+              0.7625859179673797
+            ],
+            "target_position": [
+              0.34470820768365124,
+              0.10239988028405807,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005197621690848892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17375677083449978,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859179673797,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543672933603661,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667150503715353,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1429104540849527,
+            "release_required_pad_clearance": 0.053335752518576765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.686509808103101,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbc2be12ee3f0cc133d0d75002ef1f4eafed11cc497ff876516542d2c4222bfb",
+    "visual_seed": 50506213819774375,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94ef8fcb8a551126cafb2b10d62d0bf75891b41b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_69_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2890203468464048,
+              0.3524490044393712,
+              1.0502166846996481
+            ],
+            "current_z": 1.0502166846996481,
+            "required_z": 0.8565867177830743,
+            "initial_z": 0.7565867177830743,
+            "lift_margin": 0.19362996691657386,
+            "gripper_z": 1.0497147524619714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28353707964936625,
+              0.34744478921958943,
+              1.0497147524619714
+            ],
+            "object_minus_gripper": [
+              0.005483267197038566,
+              0.005004215219781782,
+              0.0005019322376766944
+            ],
+            "object_to_gripper_xy": 0.007423502483330548,
+            "object_to_gripper_z": 0.0005019322376766944,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2890203468464048,
+              0.3276125051276098,
+              1.0502166846996481
+            ],
+            "finger_b": [
+              0.27710162451460774,
+              0.3524490044393712,
+              1.0502166846996481
+            ],
+            "finger_midpoint": [
+              0.2830609856805063,
+              0.34003075478349054,
+              1.0502166846996481
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059593611658985135,
+              0.012418249655880675,
+              0.0
+            ],
+            "finger_gap": 0.027548278350662918,
+            "fingertip_max_gap": 0.09095914031369359,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013774139175331422,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502166846996481,
+            "object_top_z": 1.095640628974925,
+            "finger_top_clearance": 0.04542394427527685,
+            "fingertip_min_top_clearance": 0.013627183282583088,
+            "object_projection_between_fingers": 0.8128152432271537,
+            "object_to_finger_line_xy": 0.010745475097307833,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479795701568468,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.47004432957050646,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2893115358915789,
+              0.3511933751046547,
+              1.2392338323516439
+            ],
+            "held_position": [
+              0.2951352002277186,
+              0.35580543923427727,
+              1.2396619338031296
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441066636480362,
+            "max_held_gripper_dist": 0.007442750674760411,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00042810145148575174,
+            "max_held_gripper_z_dist": 0.0005155388768900426,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885265795240327,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2951352002277186,
+              0.3300616579429331,
+              1.2396619338031296
+            ],
+            "held_grasp_finger_b": [
+              0.2849417489425432,
+              0.35580543923427727,
+              1.2396619338031296
+            ],
+            "held_grasp_midpoint": [
+              0.2900384745851309,
+              0.34293354858860514,
+              1.2396619338031296
+            ],
+            "held_grasp_object_position": [
+              0.2951352002277186,
+              0.35580543923427727,
+              1.2396619338031296
+            ],
+            "held_grasp_finger_gap": 0.027688422206398965,
+            "held_grasp_max_gap": 0.12496574729681015,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024871173148998237,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07785833658445603,
+              -0.9969327357028914,
+              0.007949836995223447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004080393210865962,
+            "held_grasp_line_xy_max_dist": 0.047482873648405075,
+            "held_grasp_object_top_z": 0.045200590044260025,
+            "held_grasp_top_clearance": 0.031971358308642464,
+            "held_grasp_min_top_clearance": 0.013560177013278007
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34146986026424964,
+              0.1090010237161414,
+              0.7625874434399071
+            ],
+            "target_position": [
+              0.33955084176039635,
+              0.10409188298041035,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00527089127011223,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17652043581990726,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625874434399071,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538785596807095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14560436583111733,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "becff656ac34995cc8a02b86464b6bc151517a3bed3829d4142816097f2a3c35",
+    "visual_seed": 2074895392145641842,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0aa71f3b02e1ecd93111d2658b70b308b2e252e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_6_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28596874163753044,
+              0.35170514175045536,
+              1.048334624955458
+            ],
+            "current_z": 1.048334624955458,
+            "required_z": 0.8565866342600283,
+            "initial_z": 0.7565866342600284,
+            "lift_margin": 0.19174799069542958,
+            "gripper_z": 1.048025307445595,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28061772916175676,
+              0.34663589343316215,
+              1.048025307445595
+            ],
+            "object_minus_gripper": [
+              0.0053510124757736865,
+              0.005069248317293218,
+              0.0003093175098629608
+            ],
+            "object_to_gripper_xy": 0.007370930268172787,
+            "object_to_gripper_z": 0.0003093175098629608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28596874163753044,
+              0.3271518426077878,
+              1.048334624955458
+            ],
+            "finger_b": [
+              0.2737088415017936,
+              0.35170514175045536,
+              1.048334624955458
+            ],
+            "finger_midpoint": [
+              0.279838791569662,
+              0.3394284921791216,
+              1.048334624955458
+            ],
+            "object_minus_finger_midpoint": [
+              0.006129950067868428,
+              0.012276649571333786,
+              0.0
+            ],
+            "finger_gap": 0.027443936491100558,
+            "fingertip_max_gap": 0.09126390516142521,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013721968245550279,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048334624955458,
+            "object_top_z": 1.0942478018592752,
+            "finger_top_clearance": 0.04591317690381724,
+            "fingertip_min_top_clearance": 0.013773953071145206,
+            "object_projection_between_fingers": 0.8004365267336726,
+            "object_to_finger_line_xy": 0.010968579365048152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813195258071261,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5409647845957837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2864664173431719,
+              0.34997554568692835,
+              1.2388316354128166
+            ],
+            "held_position": [
+              0.2922626895464396,
+              0.3545350052801293,
+              1.2390780559696386
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007378764552906559,
+            "max_held_gripper_dist": 0.007380498717868003,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00024642055682200237,
+            "max_held_gripper_z_dist": 0.00033541560091521205,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08898999569179267,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2922626895464396,
+              0.32874203332529145,
+              1.2390780559696386
+            ],
+            "held_grasp_finger_b": [
+              0.28222032504570405,
+              0.3545350052801293,
+              1.2390780559696386
+            ],
+            "held_grasp_midpoint": [
+              0.2872415072960718,
+              0.3416385193027104,
+              1.2390780559696386
+            ],
+            "held_grasp_object_position": [
+              0.2922626895464396,
+              0.3545350052801293,
+              1.2390780559696386
+            ],
+            "held_grasp_finger_gap": 0.02767898999292941,
+            "held_grasp_max_gap": 0.1249656355381012,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024736638682784813,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09358317876005681,
+              -0.9954818359043258,
+              0.016065585508047264
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003798114976834958,
+            "held_grasp_line_xy_max_dist": 0.0474828177690506,
+            "held_grasp_object_top_z": 0.04520052671432495,
+            "held_grasp_top_clearance": 0.03189241098068656,
+            "held_grasp_min_top_clearance": 0.013560158014297484
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3397329151226374,
+              0.10654645617183277,
+              0.7625846676451749
+            ],
+            "target_position": [
+              0.34117657155777953,
+              0.10187101310550822,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004893251656022758,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17037134831382825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846676451749,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547441259366355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569807973325576,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13956857145295712,
+            "release_required_pad_clearance": 0.05284903986662788,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7294959880057061,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "784d35b7ebc44fb41c4870a98a58140281f8c770afd08334db6c8da72e6f44ce",
+    "visual_seed": 5223870008094546011,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0be9ad7369d0dc3ba1f295d62b422f5144413d49
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29056385856706834,
+              0.34601379428066265,
+              1.048681680292651
+            ],
+            "current_z": 1.048681680292651,
+            "required_z": 0.8565865833199077,
+            "initial_z": 0.7565865833199077,
+            "lift_margin": 0.1920950969727434,
+            "gripper_z": 1.0483901087798164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2851676062382757,
+              0.3408763331680687,
+              1.0483901087798164
+            ],
+            "object_minus_gripper": [
+              0.00539625232879265,
+              0.005137461112593944,
+              0.0002915715128346541
+            ],
+            "object_to_gripper_xy": 0.007450707743524443,
+            "object_to_gripper_z": 0.0002915715128346541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29056385856706834,
+              0.32149197316653993,
+              1.048681680292651
+            ],
+            "finger_b": [
+              0.2781246111607477,
+              0.34601379428066265,
+              1.048681680292651
+            ],
+            "finger_midpoint": [
+              0.28434423486390803,
+              0.3337528837236013,
+              1.048681680292651
+            ],
+            "object_minus_finger_midpoint": [
+              0.006219623703160315,
+              0.012260910557061355,
+              0.0
+            ],
+            "finger_gap": 0.02749644680297236,
+            "fingertip_max_gap": 0.09090138691100166,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01374822340148618,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048681680292651,
+            "object_top_z": 1.0944415806095384,
+            "finger_top_clearance": 0.04575990031688737,
+            "fingertip_min_top_clearance": 0.013727970095066244,
+            "object_projection_between_fingers": 0.7953390155426677,
+            "object_to_finger_line_xy": 0.011093542444878212,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047950693455500834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.43822141205098303,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29106068704354426,
+              0.3441553211418805,
+              1.2376407035067645
+            ],
+            "held_position": [
+              0.29693364630794983,
+              0.3487466737061907,
+              1.23784229313207
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007457399497693272,
+            "max_held_gripper_dist": 0.00745982674007826,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002015896253055871,
+            "max_held_gripper_z_dist": 0.0003030828773666894,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08882259534996084,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29693364630794983,
+              0.32292632276741623,
+              1.23784229313207
+            ],
+            "held_grasp_finger_b": [
+              0.2868771784266201,
+              0.3487466737061907,
+              1.23784229313207
+            ],
+            "held_grasp_midpoint": [
+              0.29190541236728496,
+              0.3358364982368035,
+              1.23784229313207
+            ],
+            "held_grasp_object_position": [
+              0.29693364630794983,
+              0.3487466737061907,
+              1.23784229313207
+            ],
+            "held_grasp_finger_gap": 0.027709620510748423,
+            "held_grasp_max_gap": 0.12496568024158478,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024729319760823314,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09623544608626376,
+              -0.9952269236916469,
+              0.01618978924627201
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003768498745309741,
+            "held_grasp_line_xy_max_dist": 0.04748284012079239,
+            "held_grasp_object_top_z": 0.045200519263744354,
+            "held_grasp_top_clearance": 0.031868070710720744,
+            "held_grasp_min_top_clearance": 0.013560155779123307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3442704655593148,
+              0.10629573703021317,
+              0.7625846237087006
+            ],
+            "target_position": [
+              0.34549110777782766,
+              0.10112492439837077,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005312934283353869,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17308380103295962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846237087006,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512927181178274,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633957470171354,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14313040046176093,
+            "release_required_pad_clearance": 0.05316978735085677,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3550505083022635,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d65c93155517362662d30baae0e2e3492d5c229d464345642e11dc9c77c4312",
+    "visual_seed": 5026465779852163728,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba4f222b50191888c54475e1be49e57af816741
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2860606631376038,
+              0.3426293984961607,
+              1.051001749760157
+            ],
+            "current_z": 1.051001749760157,
+            "required_z": 0.8565866067666974,
+            "initial_z": 0.7565866067666974,
+            "lift_margin": 0.19441514299345952,
+            "gripper_z": 1.0509926665499985,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28012608630631564,
+              0.33735800406294963,
+              1.0509926665499985
+            ],
+            "object_minus_gripper": [
+              0.005934576831288174,
+              0.005271394433211063,
+              9.083210158467026e-06
+            ],
+            "object_to_gripper_xy": 0.007937682371886077,
+            "object_to_gripper_z": 9.083210158467026e-06,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2860606631376038,
+              0.31755777169429894,
+              1.051001749760157
+            ],
+            "finger_b": [
+              0.27364567622539065,
+              0.3426293984961607,
+              1.051001749760157
+            ],
+            "finger_midpoint": [
+              0.2798531696814972,
+              0.3300935850952298,
+              1.051001749760157
+            ],
+            "object_minus_finger_midpoint": [
+              0.006207493456106605,
+              0.012535813400930906,
+              0.0
+            ],
+            "finger_gap": 0.027977104398458692,
+            "fingertip_max_gap": 0.0926429288035295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013988552199229384,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051001749760157,
+            "object_top_z": 1.0971830330213557,
+            "finger_top_clearance": 0.04618128326119875,
+            "fingertip_min_top_clearance": 0.013854384978359623,
+            "object_projection_between_fingers": 0.8030812795059584,
+            "object_to_finger_line_xy": 0.011125665979577015,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048821464401764755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9706884337544837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28584801038753826,
+              0.34091152385555357,
+              1.2417399344578708
+            ],
+            "held_position": [
+              0.29213333738421676,
+              0.34575848369086487,
+              1.2416849534291923
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00793734073942974,
+            "max_held_gripper_dist": 0.0079394477313364,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.498102867851351e-05,
+            "max_held_gripper_z_dist": 0.00023857774787061636,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875590263681259,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29213333738421676,
+              0.3198183282978656,
+              1.2416849534291923
+            ],
+            "held_grasp_finger_b": [
+              0.2813854078041088,
+              0.34575848369086487,
+              1.2416849534291923
+            ],
+            "held_grasp_midpoint": [
+              0.2867593725941628,
+              0.3327884059943652,
+              1.2416849534291923
+            ],
+            "held_grasp_object_position": [
+              0.29213333738421676,
+              0.34575848369086487,
+              1.2416849534291923
+            ],
+            "held_grasp_finger_gap": 0.02807863337258258,
+            "held_grasp_max_gap": 0.12496606767177582,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025300648556363006,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055447676245754744,
+              -0.9983207842703202,
+              0.016768031871360223
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004651740660969007,
+            "held_grasp_line_xy_max_dist": 0.04748303383588791,
+            "held_grasp_object_top_z": 0.04520082101225853,
+            "held_grasp_top_clearance": 0.03195454901440703,
+            "held_grasp_min_top_clearance": 0.013560246303677559
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34283448083331347,
+              0.10872770147436764,
+              0.7625874717009272
+            ],
+            "target_position": [
+              0.3386239644734352,
+              0.10414862552450505,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006220641813463684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17763243437944404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625874717009272,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757129601279285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677590592082789,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14579444196116295,
+            "release_required_pad_clearance": 0.053387952960413945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7896364555231823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0849e27fa161612068422174f41b91ca807a0f5d8d56294cf3a4520b09271e1f",
+    "visual_seed": 6794745094566084683,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f007a7e5b2d61c05da8efd63192afbf5239ed1c7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29118676981692243,
+              0.3442139796070977,
+              1.047384158184581
+            ],
+            "current_z": 1.047384158184581,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.1907976507760154,
+            "gripper_z": 1.047264150552822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2856119667275929,
+              0.33913505351011985,
+              1.047264150552822
+            ],
+            "object_minus_gripper": [
+              0.005574803089329505,
+              0.005078926096977854,
+              0.00012000763175912255
+            ],
+            "object_to_gripper_xy": 0.007541479946493294,
+            "object_to_gripper_z": 0.00012000763175912255,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29118676981692243,
+              0.31938065002204247,
+              1.047384158184581
+            ],
+            "finger_b": [
+              0.27907827768079946,
+              0.3442139796070977,
+              1.047384158184581
+            ],
+            "finger_midpoint": [
+              0.28513252374886094,
+              0.3317973148145701,
+              1.047384158184581
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054246068061486,
+              0.01241666479252762,
+              0.0
+            ],
+            "finger_gap": 0.027628062546811563,
+            "fingertip_max_gap": 0.09086603015742636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013814031273405782,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047384158184581,
+            "object_top_z": 1.0929792996285432,
+            "finger_top_clearance": 0.04559514144396215,
+            "fingertip_min_top_clearance": 0.013678542433188645,
+            "object_projection_between_fingers": 0.8079212737606494,
+            "object_to_finger_line_xy": 0.010883650472591436,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047933015078713184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23861634554785635,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2911423875333983,
+              0.3427963154600631,
+              1.236622287297643
+            ],
+            "held_position": [
+              0.29705167845520264,
+              0.3474839180576132,
+              1.23667496094716
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007542951134962441,
+            "max_held_gripper_dist": 0.007545960483228443,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.267364951699882e-05,
+            "max_held_gripper_z_dist": 0.00013892067635401517,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08831404656992647,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29705167845520264,
+              0.3217751062697204,
+              1.23667496094716
+            ],
+            "held_grasp_finger_b": [
+              0.28660635230193393,
+              0.3474839180576132,
+              1.23667496094716
+            ],
+            "held_grasp_midpoint": [
+              0.2918290153785683,
+              0.33462951216366676,
+              1.23667496094716
+            ],
+            "held_grasp_object_position": [
+              0.29705167845520264,
+              0.3474839180576132,
+              1.23667496094716
+            ],
+            "held_grasp_finger_gap": 0.027749735890517144,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02491306669622935,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07001210485087576,
+              -0.9974932399695905,
+              0.010273333895044588
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004311963745100677,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03201239234785185,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.351823335978471,
+              0.10908495247969259,
+              0.7625861984835576
+            ],
+            "target_position": [
+              0.34686748206902873,
+              0.10416071891075346,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00698631263351427,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.180040748620235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861984835576,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552134491507875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509081511928256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14858171536413195,
+            "release_required_pad_clearance": 0.05254540755964128,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1531828718675523,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8f5d862cf9f02a4fdc091cfe63cc70d85cd06c6ad0d6639127faa9fe51e8503",
+    "visual_seed": 4457618238210079944,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee56db78b7833e3cc47c288dfbc7565854203c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.293021529867733,
+              0.34944970056765895,
+              1.0488362878573794
+            ],
+            "current_z": 1.0488362878573794,
+            "required_z": 0.8565866354559083,
+            "initial_z": 0.7565866354559083,
+            "lift_margin": 0.19224965240147107,
+            "gripper_z": 1.048303477897694,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28772026161310205,
+              0.3443657129938225,
+              1.048303477897694
+            ],
+            "object_minus_gripper": [
+              0.005301268254630953,
+              0.005083987573836435,
+              0.0005328099596852987
+            ],
+            "object_to_gripper_xy": 0.007345091882235456,
+            "object_to_gripper_z": 0.0005328099596852987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.293021529867733,
+              0.3249799666534658,
+              1.0488362878573794
+            ],
+            "finger_b": [
+              0.2806782522175528,
+              0.34944970056765895,
+              1.0488362878573794
+            ],
+            "finger_midpoint": [
+              0.2868498910426429,
+              0.33721483361056237,
+              1.0488362878573794
+            ],
+            "object_minus_finger_midpoint": [
+              0.006171638825090087,
+              0.01223486695709658,
+              0.0
+            ],
+            "finger_gap": 0.027406648481360363,
+            "fingertip_max_gap": 0.09116506479402489,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013703324240680182,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488362878573794,
+            "object_top_z": 1.0947174857821091,
+            "finger_top_clearance": 0.04588119792472978,
+            "fingertip_min_top_clearance": 0.013764359377418933,
+            "object_projection_between_fingers": 0.7971620852587911,
+            "object_to_finger_line_xy": 0.011020563858230822,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808253239701245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5251018120567925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29368894357125275,
+              0.34744655391326545,
+              1.2359130666837224
+            ],
+            "held_position": [
+              0.2994742721947883,
+              0.35198438023788003,
+              1.2363432880033194
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00736525528535844,
+            "max_held_gripper_dist": 0.007368310197537184,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004302213195970239,
+            "max_held_gripper_z_dist": 0.0005432037805488399,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08879785266283957,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2994742721947883,
+              0.3261844666036312,
+              1.2363432880033194
+            ],
+            "held_grasp_finger_b": [
+              0.2895902129889908,
+              0.35198438023788003,
+              1.2363432880033194
+            ],
+            "held_grasp_midpoint": [
+              0.29453224259188954,
+              0.3390844234207556,
+              1.2363432880033194
+            ],
+            "held_grasp_object_position": [
+              0.2994742721947883,
+              0.35198438023788003,
+              1.2363432880033194
+            ],
+            "held_grasp_finger_gap": 0.02762843046425925,
+            "held_grasp_max_gap": 0.12496564298868179,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02467100148277266,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10054525603049673,
+              -0.9947628937862294,
+              0.018369448435076152
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036280036514025156,
+            "held_grasp_line_xy_max_dist": 0.047482821494340896,
+            "held_grasp_object_top_z": 0.04520050063729286,
+            "held_grasp_top_clearance": 0.03187120463243903,
+            "held_grasp_min_top_clearance": 0.013560150191187859
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3469991126233112,
+              0.10247714224076943,
+              0.7625867139270499
+            ],
+            "target_position": [
+              0.3469370326173957,
+              0.09825315541821344,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004224442993373332,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17204362656105646,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625867139270499,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554724404907441,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507660192229792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14079573321115543,
+            "release_required_pad_clearance": 0.05253830096114896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14263939957587757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d4dec818681f2fdb5fa939135b17dcfe972f89d9dd470a5d49bb00673f95490",
+    "visual_seed": 363086212803420503,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73945bfa88090c79c4b5c389aeba8f457193f8ea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.288999956106733,
+              0.3497046065246663,
+              1.0496072961428995
+            ],
+            "current_z": 1.0496072961428995,
+            "required_z": 0.8565866123153836,
+            "initial_z": 0.7565866123153836,
+            "lift_margin": 0.19302068382751592,
+            "gripper_z": 1.0493831226523573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2833723287919298,
+              0.3445817335635695,
+              1.0493831226523573
+            ],
+            "object_minus_gripper": [
+              0.0056276273148032074,
+              0.005122872961096758,
+              0.00022417349054215663
+            ],
+            "object_to_gripper_xy": 0.007610125923390192,
+            "object_to_gripper_z": 0.00022417349054215663,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.288999956106733,
+              0.3248618442300697,
+              1.0496072961428995
+            ],
+            "finger_b": [
+              0.27679219637215424,
+              0.3497046065246663,
+              1.0496072961428995
+            ],
+            "finger_midpoint": [
+              0.28289607623944363,
+              0.337283225377368,
+              1.0496072961428995
+            ],
+            "object_minus_finger_midpoint": [
+              0.006103879867289386,
+              0.012421381147298294,
+              0.0
+            ],
+            "finger_gap": 0.027680177675785116,
+            "fingertip_max_gap": 0.09101040443644945,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013840088837892558,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496072961428995,
+            "object_top_z": 1.095280037733361,
+            "finger_top_clearance": 0.04567274159046142,
+            "fingertip_min_top_clearance": 0.013701822477138425,
+            "object_projection_between_fingers": 0.8054934640378009,
+            "object_to_finger_line_xy": 0.010956377404361664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800520221822473,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2959509193546086,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2890633048138971,
+              0.3485839117198337,
+              1.2408286703451834
+            ],
+            "held_position": [
+              0.295034953207899,
+              0.3533014275428206,
+              1.2410076457780326
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076123302797028785,
+            "max_held_gripper_dist": 0.0076161696885444835,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00017897543284917106,
+            "max_held_gripper_z_dist": 0.00026486921126878116,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.088781034442172,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.295034953207899,
+              0.3275450530972084,
+              1.2410076457780326
+            ],
+            "held_grasp_finger_b": [
+              0.2844891830705961,
+              0.3533014275428206,
+              1.2410076457780326
+            ],
+            "held_grasp_midpoint": [
+              0.28976206813924754,
+              0.3404232403200145,
+              1.2410076457780326
+            ],
+            "held_grasp_object_position": [
+              0.295034953207899,
+              0.3533014275428206,
+              1.2410076457780326
+            ],
+            "held_grasp_finger_gap": 0.027831710194873346,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024929216884358826,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07197368140364524,
+              -0.997354454471883,
+              0.01019221910573842
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004334366096073168,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.04520056024193764,
+            "held_grasp_top_clearance": 0.03197693389973991,
+            "held_grasp_min_top_clearance": 0.01356016807258129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3468390644256727,
+              0.10733026880750615,
+              0.7625880449645936
+            ],
+            "target_position": [
+              0.34526997172293544,
+              0.10186298455011623,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056879916544318974,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17411743143170724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625880449645936,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575435411133633,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620074763088535,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14254199687957073,
+            "release_required_pad_clearance": 0.05310037381544268,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.218169073284114,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11f88770f880f587a159e0eb53a72521dab939ff3352611dd20a61fde94e37be",
+    "visual_seed": 5963075625303156000,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31958211f59e9854e6b8000db5b92587f3eba93e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.293715275609313,
+              0.35010494357874133,
+              1.0479151578786887
+            ],
+            "current_z": 1.0479151578786887,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1913287696794127,
+            "gripper_z": 1.047430302485344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2878166187790488,
+              0.34488984581827203,
+              1.047430302485344
+            ],
+            "object_minus_gripper": [
+              0.005898656830264193,
+              0.0052150977604693005,
+              0.0004848553933447519
+            ],
+            "object_to_gripper_xy": 0.007873461567345986,
+            "object_to_gripper_z": 0.0004848553933447519,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.293715275609313,
+              0.325017387977063,
+              1.0479151578786887
+            ],
+            "finger_b": [
+              0.2814361203559271,
+              0.35010494357874133,
+              1.0479151578786887
+            ],
+            "finger_midpoint": [
+              0.28757569798262006,
+              0.3375611657779022,
+              1.0479151578786887
+            ],
+            "object_minus_finger_midpoint": [
+              0.006139577626692927,
+              0.012543777800839151,
+              0.0
+            ],
+            "finger_gap": 0.027931399889802477,
+            "fingertip_max_gap": 0.0926926923961596,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013965699944901202,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479151578786887,
+            "object_top_z": 1.0940967589743258,
+            "finger_top_clearance": 0.04618160109563707,
+            "fingertip_min_top_clearance": 0.01385448032869112,
+            "object_projection_between_fingers": 0.8067357277284412,
+            "object_to_finger_line_xy": 0.011028949188953039,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488463461980798,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0120628348604823,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29354346870723036,
+              0.3486541637475334,
+              1.2386204974396504
+            ],
+            "held_position": [
+              0.29978312823062825,
+              0.353461883218779,
+              1.2390486372032112
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007888651414485645,
+            "max_held_gripper_dist": 0.007890617887734798,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00042813976356081973,
+            "max_held_gripper_z_dist": 0.0005217787618694292,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08857177615672068,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29978312823062825,
+              0.3275205502898672,
+              1.2390486372032112
+            ],
+            "held_grasp_finger_b": [
+              0.2891190302132409,
+              0.353461883218779,
+              1.2390486372032112
+            ],
+            "held_grasp_midpoint": [
+              0.2944510792219346,
+              0.34049121675432314,
+              1.2390486372032112
+            ],
+            "held_grasp_object_position": [
+              0.29978312823062825,
+              0.353461883218779,
+              1.2390486372032112
+            ],
+            "held_grasp_finger_gap": 0.028047740384086008,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025338755559032537,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052791876996214335,
+              -0.9984734932789184,
+              0.016238871346571315
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046447499698401154,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031967869435485026,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3407139830121175,
+              0.10489412932637324,
+              0.7625853957581549
+            ],
+            "target_position": [
+              0.3381675677772943,
+              0.10023762090949172,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0053072875543565875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17693756422734533,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853957581549,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535642000736723,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580774814776608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14605174431103693,
+            "release_required_pad_clearance": 0.05290387407388304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8430129511027493,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9fa02137281af9bc7bd32251d0c96a47c2c4fd83ca9472bc4448849283d11ba3",
+    "visual_seed": 3524020303031276522,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..744e2a3d3267e578a63e09b96531efb1e93fa86d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28703063021112485,
+              0.3521620300184918,
+              1.0503218386361586
+            ],
+            "current_z": 1.0503218386361586,
+            "required_z": 0.8565865773515118,
+            "initial_z": 0.7565865773515118,
+            "lift_margin": 0.1937352612846468,
+            "gripper_z": 1.050067750688594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28116041257028646,
+              0.34699332730878163,
+              1.050067750688594
+            ],
+            "object_minus_gripper": [
+              0.005870217640838393,
+              0.005168702709710149,
+              0.0002540879475645408
+            ],
+            "object_to_gripper_xy": 0.007821441226025759,
+            "object_to_gripper_z": 0.0002540879475645408,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28703063021112485,
+              0.3270501092462918,
+              1.0503218386361586
+            ],
+            "finger_b": [
+              0.27488078100864244,
+              0.3521620300184918,
+              1.0503218386361586
+            ],
+            "finger_midpoint": [
+              0.28095570560988364,
+              0.3396060696323918,
+              1.0503218386361586
+            ],
+            "object_minus_finger_midpoint": [
+              0.006074924601241205,
+              0.012555960386099962,
+              0.0
+            ],
+            "finger_gap": 0.027896727415815486,
+            "fingertip_max_gap": 0.0936644495562208,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013948363707907717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503218386361586,
+            "object_top_z": 1.0969253303273354,
+            "finger_top_clearance": 0.046603491691176835,
+            "fingertip_min_top_clearance": 0.01398104750735305,
+            "object_projection_between_fingers": 0.8103140090597116,
+            "object_to_finger_line_xy": 0.010936983611702849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493322247781104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2553127809319633,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2867432862426634,
+              0.35105101241209924,
+              1.2385042721448087
+            ],
+            "held_position": [
+              0.29291013564840407,
+              0.3558643216259348,
+              1.2386627865434354
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007824519409883938,
+            "max_held_gripper_dist": 0.007825960719553365,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0001585143986266857,
+            "max_held_gripper_z_dist": 0.0002649250548820703,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08875202303233654,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29291013564840407,
+              0.33002662304143626,
+              1.2386627865434354
+            ],
+            "held_grasp_finger_b": [
+              0.282261324408357,
+              0.3558643216259348,
+              1.2386627865434354
+            ],
+            "held_grasp_midpoint": [
+              0.2875857300283805,
+              0.34294547233368555,
+              1.2386627865434354
+            ],
+            "held_grasp_object_position": [
+              0.29291013564840407,
+              0.3558643216259348,
+              1.2386627865434354
+            ],
+            "held_grasp_finger_gap": 0.027946088258816296,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025358491578258015,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04225896515487114,
+              -0.9988698969062175,
+              0.021751067068121355
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004782119187969722,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.032071466897157515,
+            "held_grasp_min_top_clearance": 0.01356021612882614
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34406614823048154,
+              0.10281896646276507,
+              0.7625873337311347
+            ],
+            "target_position": [
+              0.34148085107599924,
+              0.09853577084199935,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005002951738995783,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1768359076207136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625873337311347,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523933314097327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624051997882758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14616032147720878,
+            "release_required_pad_clearance": 0.05312025998941379,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2604927090694316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69c6d79bff94b04a72e474ff351fdc109ece708329072175dfc19467febc7dde",
+    "visual_seed": 5180689810677208947,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b493ef01460a8a90d754dbaa42873e4e7b1d5753
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29194899111370853,
+              0.3495894319410541,
+              1.0489895029552943
+            ],
+            "current_z": 1.0489895029552943,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19240299554672868,
+            "gripper_z": 1.0484944852525264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2865948039021683,
+              0.3444582515121328,
+              1.0484944852525264
+            ],
+            "object_minus_gripper": [
+              0.00535418721154024,
+              0.0051311804289213,
+              0.0004950177027678304
+            ],
+            "object_to_gripper_xy": 0.007415951273462227,
+            "object_to_gripper_z": 0.0004950177027678304,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29194899111370853,
+              0.32511773771868946,
+              1.0489895029552943
+            ],
+            "finger_b": [
+              0.27949997037865437,
+              0.3495894319410541,
+              1.0489895029552943
+            ],
+            "finger_midpoint": [
+              0.28572448074618145,
+              0.33735358482987177,
+              1.0489895029552943
+            ],
+            "object_minus_finger_midpoint": [
+              0.006224510367527081,
+              0.012235847111182308,
+              0.0
+            ],
+            "finger_gap": 0.027456182097566336,
+            "fingertip_max_gap": 0.09176252939497295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013728091048783168,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489895029552943,
+            "object_top_z": 1.0950186262389687,
+            "finger_top_clearance": 0.04602912328367448,
+            "fingertip_min_top_clearance": 0.013808736985102377,
+            "object_projection_between_fingers": 0.7944156327880971,
+            "object_to_finger_line_xy": 0.011095811781606943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838126469748648,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5098567634645486,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29234461695924263,
+              0.3482702293087185,
+              1.2374212053026399
+            ],
+            "held_position": [
+              0.2981517601571027,
+              0.35288898467230834,
+              1.2378325340549994
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00743135280898843,
+            "max_held_gripper_dist": 0.00743332108340263,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004113287523594966,
+            "max_held_gripper_z_dist": 0.0005058824402957018,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885465148858659,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2981517601571027,
+              0.3271711207985092,
+              1.2378325340549994
+            ],
+            "held_grasp_finger_b": [
+              0.2879537545804965,
+              0.35288898467230834,
+              1.2378325340549994
+            ],
+            "held_grasp_midpoint": [
+              0.2930527573687996,
+              0.34003005273540876,
+              1.2378325340549994
+            ],
+            "held_grasp_object_position": [
+              0.2981517601571027,
+              0.35288898467230834,
+              1.2378325340549994
+            ],
+            "held_grasp_finger_gap": 0.02766600513214286,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024625497630749577,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09530922280974574,
+              -0.995318341448395,
+              0.016048402531662283
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003855951994706213,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03191551216472019,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3446582452561827,
+              0.10872457985687636,
+              0.7625864228817034
+            ],
+            "target_position": [
+              0.3438906471477289,
+              0.1050168708496415,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003786332386153187,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17592988728177944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864228817034,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531550194145298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642028613728168,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14494320221035695,
+            "release_required_pad_clearance": 0.053210143068640844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4358247118165683,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddcee5cbdad3eff3fb666c69a5d0f8693becfe70b54c4c214b8b316a67339bd7",
+    "visual_seed": 863162123892186351,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c308a606ccd80562f1f734789da1aa39f8b94f6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2862793072515409,
+              0.3504779408485697,
+              1.0475606561427433
+            ],
+            "current_z": 1.0475606561427433,
+            "required_z": 0.8565865391010085,
+            "initial_z": 0.7565865391010085,
+            "lift_margin": 0.19097411704173484,
+            "gripper_z": 1.0472014390354176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2810033314913194,
+              0.3454192542020461,
+              1.0472014390354176
+            ],
+            "object_minus_gripper": [
+              0.005275975760221485,
+              0.005058686646523591,
+              0.00035921710732567114
+            ],
+            "object_to_gripper_xy": 0.007309324921643638,
+            "object_to_gripper_z": 0.00035921710732567114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2862793072515409,
+              0.3260076410273497,
+              1.0475606561427433
+            ],
+            "finger_b": [
+              0.27399496895811987,
+              0.3504779408485697,
+              1.0475606561427433
+            ],
+            "finger_midpoint": [
+              0.2801371381048304,
+              0.3382427909379597,
+              1.0475606561427433
+            ],
+            "object_minus_finger_midpoint": [
+              0.006142169146710508,
+              0.012235149910609977,
+              0.0
+            ],
+            "finger_gap": 0.027380659974653825,
+            "fingertip_max_gap": 0.09136308474222168,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013690329987326888,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475606561427433,
+            "object_top_z": 1.0935219329207961,
+            "finger_top_clearance": 0.04596127677805284,
+            "fingertip_min_top_clearance": 0.013788383033415818,
+            "object_projection_between_fingers": 0.7987130072270531,
+            "object_to_finger_line_xy": 0.010978604658308886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048181542371110844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5943914425864395,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2868962608635728,
+              0.3485789847878605,
+              1.2372855424107563
+            ],
+            "held_position": [
+              0.29264351044569287,
+              0.35310167118831415,
+              1.2375691921573566
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007318881554908132,
+            "max_held_gripper_dist": 0.007321001105206236,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00028364974660033404,
+            "max_held_gripper_z_dist": 0.0003720410513876615,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08880099761586979,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29264351044569287,
+              0.3273085158084284,
+              1.2375691921573566
+            ],
+            "held_grasp_finger_b": [
+              0.28273791082371447,
+              0.35310167118831415,
+              1.2375691921573566
+            ],
+            "held_grasp_midpoint": [
+              0.28769071063470364,
+              0.34020509349837125,
+              1.2375691921573566
+            ],
+            "held_grasp_object_position": [
+              0.29264351044569287,
+              0.35310167118831415,
+              1.2375691921573566
+            ],
+            "held_grasp_finger_gap": 0.027629834750173003,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024670100546747915,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0999274603185631,
+              -0.9948353189821477,
+              0.01780985064424623
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036468073191066545,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.03187587344637328,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33867028638213587,
+              0.1093528892757136,
+              0.7625870477528185
+            ],
+            "target_position": [
+              0.33802549249891417,
+              0.10477162714987485,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004626415655503151,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17332249075606815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870477528185,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754506947313869,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524660045261866,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14243811499207312,
+            "release_required_pad_clearance": 0.05262330022630933,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30389079275977104,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33bbf09e8bfe5e87943a35ac9de5cee61053e5fa9ad341f6e5140002840b4581",
+    "visual_seed": 6149456250017995484,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8572602b11d3abc09603599dbb56a2935fecfd5f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28487353433110807,
+              0.35424336127173517,
+              1.0507249999913357
+            ],
+            "current_z": 1.0507249999913357,
+            "required_z": 0.856586609043423,
+            "initial_z": 0.756586609043423,
+            "lift_margin": 0.19413839094791274,
+            "gripper_z": 1.0505508096135678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27895776307598064,
+              0.34901065105487605,
+              1.0505508096135678
+            ],
+            "object_minus_gripper": [
+              0.005915771255127433,
+              0.0052327102168591155,
+              0.00017419037776789104
+            ],
+            "object_to_gripper_xy": 0.007897949465311473,
+            "object_to_gripper_z": 0.00017419037776789104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28487353433110807,
+              0.32915171545030625,
+              1.0507249999913357
+            ],
+            "finger_b": [
+              0.2725627343462744,
+              0.35424336127173517,
+              1.0507249999913357
+            ],
+            "finger_midpoint": [
+              0.27871813433869125,
+              0.3416975383610207,
+              1.0507249999913357
+            ],
+            "object_minus_finger_midpoint": [
+              0.006155399992416821,
+              0.012545822910714488,
+              0.0
+            ],
+            "finger_gap": 0.027948997947951755,
+            "fingertip_max_gap": 0.09357597366476086,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013974498973975902,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507249999913357,
+            "object_top_z": 1.0972460499984338,
+            "finger_top_clearance": 0.04652105000709805,
+            "fingertip_min_top_clearance": 0.013956315002129415,
+            "object_projection_between_fingers": 0.8059828739863009,
+            "object_to_finger_line_xy": 0.01105221137348632,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049287986832380434,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2584204330874038,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28459452916472183,
+              0.35324394878798376,
+              1.2403754738685353
+            ],
+            "held_position": [
+              0.2908302230059742,
+              0.3580921712126155,
+              1.240475118536066
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007899308034271246,
+            "max_held_gripper_dist": 0.007900716007715827,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 9.964466753076273e-05,
+            "max_held_gripper_z_dist": 0.0001920435468369952,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08883125714676621,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2908302230059742,
+              0.33220666696044404,
+              1.240475118536066
+            ],
+            "held_grasp_finger_b": [
+              0.28007648184911094,
+              0.3580921712126155,
+              1.240475118536066
+            ],
+            "held_grasp_midpoint": [
+              0.28545335242754255,
+              0.34514941908652974,
+              1.240475118536066
+            ],
+            "held_grasp_object_position": [
+              0.2908302230059742,
+              0.3580921712126155,
+              1.240475118536066
+            ],
+            "held_grasp_finger_gap": 0.028030381361265882,
+            "held_grasp_max_gap": 0.12496551632881164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025364520520476868,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045494415877541446,
+              -0.9987735004520087,
+              0.019538498376353464
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004789287826149212,
+            "held_grasp_line_xy_max_dist": 0.04748275816440582,
+            "held_grasp_object_top_z": 0.04520043358206749,
+            "held_grasp_top_clearance": 0.032028938149399284,
+            "held_grasp_min_top_clearance": 0.013560130074620246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3397546870158829,
+              0.10509619005227955,
+              0.7625857278476657
+            ],
+            "target_position": [
+              0.33818028318283855,
+              0.10111094461443543,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00428496541752231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17691435642287479,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857278476657,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554085221549318,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08707318105556071,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14532654300053197,
+            "release_required_pad_clearance": 0.053536590527780356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0815961274204264,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b451b85275f5fa47c53eb037449512e3108a8219af489e2eed070fc530f626d6",
+    "visual_seed": 2858906152730310930,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae8b53898b6998571b277b0316ab2def6dbc70b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_7_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29013952125616044,
+              0.34911751641582534,
+              1.0475418912488406
+            ],
+            "current_z": 1.0475418912488406,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.190955383840275,
+            "gripper_z": 1.0470677105392523,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28481642826125664,
+              0.3441971409375385,
+              1.0470677105392523
+            ],
+            "object_minus_gripper": [
+              0.0053230929949038,
+              0.004920375478286831,
+              0.00047418070958826775
+            ],
+            "object_to_gripper_xy": 0.0072488215511019635,
+            "object_to_gripper_z": 0.00047418070958826775,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29013952125616044,
+              0.32441155608662336,
+              1.0475418912488406
+            ],
+            "finger_b": [
+              0.2783162110719999,
+              0.34911751641582534,
+              1.0475418912488406
+            ],
+            "finger_midpoint": [
+              0.28422786616408013,
+              0.3367645362512244,
+              1.0475418912488406
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059116550920803035,
+              0.012352980164600957,
+              0.0
+            ],
+            "finger_gap": 0.02738932528374834,
+            "fingertip_max_gap": 0.09106658390294328,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694662641874158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475418912488406,
+            "object_top_z": 1.0930509695979342,
+            "finger_top_clearance": 0.04550907834909368,
+            "fingertip_min_top_clearance": 0.01365272350472807,
+            "object_projection_between_fingers": 0.8136559633204623,
+            "object_to_finger_line_xy": 0.010664966345229523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803329195147164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5713352046957344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29049249274707434,
+              0.3479982920565266,
+              1.2383419494268708
+            ],
+            "held_position": [
+              0.2961529528078084,
+              0.3525307323360045,
+              1.2387619727972996
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007263624619837237,
+            "max_held_gripper_dist": 0.007265011500530103,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00042002337042879034,
+            "max_held_gripper_z_dist": 0.0005043813225196203,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08851399071904487,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2961529528078084,
+              0.3268806258441659,
+              1.2387619727972996
+            ],
+            "held_grasp_finger_b": [
+              0.28605381621648557,
+              0.3525307323360045,
+              1.2387619727972996
+            ],
+            "held_grasp_midpoint": [
+              0.291103384512147,
+              0.3397056790900852,
+              1.2387619727972996
+            ],
+            "held_grasp_object_position": [
+              0.2961529528078084,
+              0.3525307323360045,
+              1.2387619727972996
+            ],
+            "held_grasp_finger_gap": 0.02756665599837706,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024756034788909084,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08022232449106283,
+              -0.9967292342334885,
+              0.009757677878176605
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004006454806084051,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032012031358647566,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3477166772912507,
+              0.10565630561138864,
+              0.7625871957342474
+            ],
+            "target_position": [
+              0.34531594045239156,
+              0.10167052956544086,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004652950468026351,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17613222250393812,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625871957342474,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583982149362561,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856022433656055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14385649969185907,
+            "release_required_pad_clearance": 0.05280112168280275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6428377581243113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28935cbc83aaefbac7e895a791dde651b596eb6e71833a8ecb7b7b845fbf09bd",
+    "visual_seed": 4073750288509703025,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0bdb59c95896662a3cb56014dfd457bbf4f2b9b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_80_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2836909454994614,
+              0.34704095128679024,
+              1.0484927610806465
+            ],
+            "current_z": 1.0484927610806465,
+            "required_z": 0.8565866583504241,
+            "initial_z": 0.7565866583504242,
+            "lift_margin": 0.19190610273022235,
+            "gripper_z": 1.0483571683841288,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2782099006134967,
+              0.341940750493175,
+              1.0483571683841288
+            ],
+            "object_minus_gripper": [
+              0.005481044885964681,
+              0.005100200793615228,
+              0.00013559269651763906
+            ],
+            "object_to_gripper_xy": 0.0074869153312397616,
+            "object_to_gripper_z": 0.00013559269651763906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2836909454994614,
+              0.32235331556897756,
+              1.0484927610806465
+            ],
+            "finger_b": [
+              0.2714436826235577,
+              0.34704095128679024,
+              1.0484927610806465
+            ],
+            "finger_midpoint": [
+              0.2775673140615096,
+              0.3346971334278839,
+              1.0484927610806465
+            ],
+            "object_minus_finger_midpoint": [
+              0.006123631437951804,
+              0.01234381785890637,
+              0.0
+            ],
+            "finger_gap": 0.027558570450712944,
+            "fingertip_max_gap": 0.09189218137088781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013779285225356486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484927610806465,
+            "object_top_z": 1.094485842289746,
+            "finger_top_clearance": 0.04599308120909962,
+            "fingertip_min_top_clearance": 0.013797924362729886,
+            "object_projection_between_fingers": 0.8025010877157092,
+            "object_to_finger_line_xy": 0.010971395086016819,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844609068544391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6717796649687143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2838347466157116,
+              0.34572772638476157,
+              1.2379035996310779
+            ],
+            "held_position": [
+              0.28969787308325834,
+              0.3503843179190833,
+              1.2379682784402388
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007487608432625084,
+            "max_held_gripper_dist": 0.00748883466723552,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.467880916094515e-05,
+            "max_held_gripper_z_dist": 0.00014895309614115781,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0886332628442329,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28969787308325834,
+              0.3246637423924707,
+              1.2379682784402388
+            ],
+            "held_grasp_finger_b": [
+              0.27935855569481893,
+              0.3503843179190833,
+              1.2379682784402388
+            ],
+            "held_grasp_midpoint": [
+              0.28452821438903864,
+              0.33752403015577703,
+              1.2379682784402388
+            ],
+            "held_grasp_object_position": [
+              0.28969787308325834,
+              0.3503843179190833,
+              1.2379682784402388
+            ],
+            "held_grasp_finger_gap": 0.027720921512083052,
+            "held_grasp_max_gap": 0.12496574729681015,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024734802854448807,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0858421506462239,
+              -0.9961811340020508,
+              0.015945953430861023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004051993972973253,
+            "held_grasp_line_xy_max_dist": 0.047482873648405075,
+            "held_grasp_object_top_z": 0.0452006496489048,
+            "held_grasp_top_clearance": 0.03194569898084286,
+            "held_grasp_min_top_clearance": 0.01356019489467144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34723010610152316,
+              0.10172764628645825,
+              0.7625865118827302
+            ],
+            "target_position": [
+              0.3421785840122629,
+              0.09711668826267615,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006839503586910725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17792918111025954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625865118827302,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580038457357842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517097212322443,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1459243992071338,
+            "release_required_pad_clearance": 0.052585486061612216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23406567103786158,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef581b89dc73b0a2927ced4bce5ba9472d0b9e10a2b833149f23662d3e55f29a",
+    "visual_seed": 7832877852793284061,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e7efdacae1c25d18f66c6a8bbc66220c5abd5e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_81_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2900410020798435,
+              0.34933396966611147,
+              1.0482323276856722
+            ],
+            "current_z": 1.0482323276856722,
+            "required_z": 0.8565866902841112,
+            "initial_z": 0.7565866902841112,
+            "lift_margin": 0.19164563740156104,
+            "gripper_z": 1.0478914441578144,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2847337653275155,
+              0.3442285185379673,
+              1.0478914441578144
+            ],
+            "object_minus_gripper": [
+              0.005307236752328026,
+              0.005105451128144145,
+              0.00034088352785777154
+            ],
+            "object_to_gripper_xy": 0.007364264604638379,
+            "object_to_gripper_z": 0.00034088352785777154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2900410020798435,
+              0.32488829507579225,
+              1.0482323276856722
+            ],
+            "finger_b": [
+              0.27763107510769547,
+              0.34933396966611147,
+              1.0482323276856722
+            ],
+            "finger_midpoint": [
+              0.2838360385937695,
+              0.33711113237095186,
+              1.0482323276856722
+            ],
+            "object_minus_finger_midpoint": [
+              0.006204963486074022,
+              0.012222837295159605,
+              0.0
+            ],
+            "finger_gap": 0.02741527482316794,
+            "fingertip_max_gap": 0.09122092287288999,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370763741158397,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482323276856722,
+            "object_top_z": 1.0941756536887381,
+            "finger_top_clearance": 0.04594332600306594,
+            "fingertip_min_top_clearance": 0.013782997800919749,
+            "object_projection_between_fingers": 0.7950946753543019,
+            "object_to_finger_line_xy": 0.011065693793242124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048110461436445,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5701160856401061,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2906898817975312,
+              0.3473652844836001,
+              1.2379843175844691
+            ],
+            "held_position": [
+              0.29648992406519703,
+              0.3519095902434194,
+              1.23825151555632
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073730997485181434,
+            "max_held_gripper_dist": 0.007374848309068611,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00026719797185092986,
+            "max_held_gripper_z_dist": 0.00035863849179418317,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08881634612840417,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29648992406519703,
+              0.3260872877235285,
+              1.23825151555632
+            ],
+            "held_grasp_finger_b": [
+              0.2865359014293338,
+              0.3519095902434194,
+              1.23825151555632
+            ],
+            "held_grasp_midpoint": [
+              0.29151291274726543,
+              0.3389984389834739,
+              1.23825151555632
+            ],
+            "held_grasp_object_position": [
+              0.29648992406519703,
+              0.3519095902434194,
+              1.23825151555632
+            ],
+            "held_grasp_finger_gap": 0.027674426354742036,
+            "held_grasp_max_gap": 0.12496562063694,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02468826394726151,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1004119696597546,
+              -0.9947899474254507,
+              0.017618083048898447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036627685842802746,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
+            "held_grasp_object_top_z": 0.04520042985677719,
+            "held_grasp_top_clearance": 0.031856794864241623,
+            "held_grasp_min_top_clearance": 0.013560128957033157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34535741333502323,
+              0.10180767703380253,
+              0.7625845208370727
+            ],
+            "target_position": [
+              0.34646629273986185,
+              0.0973404908450417,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004602756345879141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17249502703446037,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845208370727,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520812938160847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600597620019605,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14219724072624337,
+            "release_required_pad_clearance": 0.05300298810009803,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0286624671968845,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0984941a70a4f4554afc95047363e39a778f2a0a82207b0b8c31bc46dcf9ff22",
+    "visual_seed": 4835425612922051262,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c35985d934bbde3ee971982d7e638884b9bf69e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2876484069595916,
+              0.3465117975096577,
+              1.04910563085886
+            ],
+            "current_z": 1.04910563085886,
+            "required_z": 0.8565867260290633,
+            "initial_z": 0.7565867260290633,
+            "lift_margin": 0.19251890482979672,
+            "gripper_z": 1.049156435336625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2816869715951723,
+              0.34124927543416894,
+              1.049156435336625
+            ],
+            "object_minus_gripper": [
+              0.0059614353644192875,
+              0.005262522075488774,
+              -5.0804477764954115e-05
+            ],
+            "object_to_gripper_xy": 0.007951908588455705,
+            "object_to_gripper_z": -5.0804477764954115e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2876484069595916,
+              0.3214260175029986,
+              1.04910563085886
+            ],
+            "finger_b": [
+              0.27525327218429174,
+              0.3465117975096577,
+              1.04910563085886
+            ],
+            "finger_midpoint": [
+              0.28145083957194167,
+              0.3339689075063281,
+              1.04910563085886
+            ],
+            "object_minus_finger_midpoint": [
+              0.006197567387649927,
+              0.012542890003329588,
+              0.0
+            ],
+            "finger_gap": 0.027980988628716216,
+            "fingertip_max_gap": 0.0944165924989557,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013990494314358132,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04910563085886,
+            "object_top_z": 1.0958622982783846,
+            "finger_top_clearance": 0.046756667419524556,
+            "fingertip_min_top_clearance": 0.0140270002258574,
+            "object_projection_between_fingers": 0.803765032987319,
+            "object_to_finger_line_xy": 0.01111260321255949,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049708296249477854,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4950209556779874,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28704492455488684,
+              0.3457007925946389,
+              1.2402545222836794
+            ],
+            "held_position": [
+              0.2932935811485766,
+              0.3506171529482931,
+              1.2401576536287073
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007951458475598172,
+            "max_held_gripper_dist": 0.007954591352213432,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 9.686865497204877e-05,
+            "max_held_gripper_z_dist": 0.0002892068369380052,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0882576203485006,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2932935811485766,
+              0.32481559842435465,
+              1.2401576536287073
+            ],
+            "held_grasp_finger_b": [
+              0.2822410585869441,
+              0.3506171529482931,
+              1.2401576536287073
+            ],
+            "held_grasp_midpoint": [
+              0.2877673198677604,
+              0.33771637568632384,
+              1.2401576536287073
+            ],
+            "held_grasp_object_position": [
+              0.2932935811485766,
+              0.3506171529482931,
+              1.2401576536287073
+            ],
+            "held_grasp_finger_gap": 0.028069172963006317,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025401645808530878,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03436374041244231,
+              -0.9992208725571817,
+              0.019410852400930767
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005085937942169274,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.04520068317651749,
+            "held_grasp_top_clearance": 0.03212005425604145,
+            "held_grasp_min_top_clearance": 0.013560204952955245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34217891755406404,
+              0.10788537102216231,
+              0.7625866004659234
+            ],
+            "target_position": [
+              0.3413633208074121,
+              0.1040062264889623,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003963957664078259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17452826525207157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625866004659234,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539404562244725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647854381302565,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14347173181806527,
+            "release_required_pad_clearance": 0.05323927190651283,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4930145536889878,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7909145d328be79f8819e0f5fd89a665d31b3207550cfbb0b10bbeaa0725a1e6",
+    "visual_seed": 1519960352884752569,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32182a297f9679634fdcf295c18a08307a016028
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_83_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28927412562729565,
+              0.35017939811651677,
+              1.0475128426895552
+            ],
+            "current_z": 1.0475128426895552,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19092633528098968,
+            "gripper_z": 1.0472680736281403,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28375299942370047,
+              0.34510638675946936,
+              1.0472680736281403
+            ],
+            "object_minus_gripper": [
+              0.005521126203595184,
+              0.005073011357047408,
+              0.00024476906141490673
+            ],
+            "object_to_gripper_xy": 0.007497884954089209,
+            "object_to_gripper_z": 0.00024476906141490673,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28927412562729565,
+              0.32539808312251495,
+              1.0475128426895552
+            ],
+            "finger_b": [
+              0.2771492683078498,
+              0.35017939811651677,
+              1.0475128426895552
+            ],
+            "finger_midpoint": [
+              0.28321169696757276,
+              0.33778874061951586,
+              1.0475128426895552
+            ],
+            "object_minus_finger_midpoint": [
+              0.006062428659722896,
+              0.012390657497000912,
+              0.0
+            ],
+            "finger_gap": 0.027588507350867302,
+            "fingertip_max_gap": 0.0909496222319646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013794253675433639,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475128426895552,
+            "object_top_z": 1.0931499905524793,
+            "finger_top_clearance": 0.045637147862924055,
+            "fingertip_min_top_clearance": 0.013691144358877217,
+            "object_projection_between_fingers": 0.8068490425347927,
+            "object_to_finger_line_xy": 0.010891125955789335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479748111159823,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2604175918245964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2894783999883885,
+              0.34890587175924587,
+              1.23651710537901
+            ],
+            "held_position": [
+              0.2953660229384508,
+              0.35354239540570226,
+              1.2366722989943864
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007495701473811751,
+            "max_held_gripper_dist": 0.007502787742673071,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00015519361537630338,
+            "max_held_gripper_z_dist": 0.00025380886647496936,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08855388419154625,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2953660229384508,
+              0.32777268292066264,
+              1.2366722989943864
+            ],
+            "held_grasp_finger_b": [
+              0.28513484705003567,
+              0.35354239540570226,
+              1.2366722989943864
+            ],
+            "held_grasp_midpoint": [
+              0.29025043499424324,
+              0.3406575391631824,
+              1.2366722989943864
+            ],
+            "held_grasp_object_position": [
+              0.2953660229384508,
+              0.35354239540570226,
+              1.2366722989943864
+            ],
+            "held_grasp_finger_gap": 0.027726432183411094,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02488553252048165,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07845816043685587,
+              -0.996838896619654,
+              0.012511244821189371
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004092172318767491,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.031954739466258986,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34407999655409777,
+              0.1097794569438777,
+              0.76258797612417
+            ],
+            "target_position": [
+              0.3428798798611382,
+              0.10553168723564403,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044140488863296115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1765589878700461,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258797612417,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753049213470316,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586471944890454,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1456991082719655,
+            "release_required_pad_clearance": 0.052932359724452274,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8969889909584247,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4707501de6bbee018e74cb52b363c30bdaa1a11718058ef18b3636d528557bd",
+    "visual_seed": 3199906068116769559,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa245b1d36e09d8c3ee79af9fe0a83d6584ca718
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2862556000263603,
+              0.34735951658459024,
+              1.0503686123833134
+            ],
+            "current_z": 1.0503686123833134,
+            "required_z": 0.8565866970746249,
+            "initial_z": 0.7565866970746249,
+            "lift_margin": 0.1937819153086885,
+            "gripper_z": 1.0502582803055502,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2806973335783576,
+              0.34229205466978596,
+              1.0502582803055502
+            ],
+            "object_minus_gripper": [
+              0.005558266448002724,
+              0.005067461914804283,
+              0.00011033207776312004
+            ],
+            "object_to_gripper_xy": 0.007521535492503157,
+            "object_to_gripper_z": 0.00011033207776312004,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2862556000263603,
+              0.32252728633117844,
+              1.0503686123833134
+            ],
+            "finger_b": [
+              0.2741709737222487,
+              0.34735951658459024,
+              1.0503686123833134
+            ],
+            "finger_midpoint": [
+              0.28021328687430447,
+              0.33494340145788437,
+              1.0503686123833134
+            ],
+            "object_minus_finger_midpoint": [
+              0.006042313152055834,
+              0.012416115126705873,
+              0.0
+            ],
+            "finger_gap": 0.02761662275276408,
+            "fingertip_max_gap": 0.09088995585929835,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013808311376382028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503686123833134,
+            "object_top_z": 1.0960217297259358,
+            "finger_top_clearance": 0.04565311734262245,
+            "fingertip_min_top_clearance": 0.013695935202786735,
+            "object_projection_between_fingers": 0.8085191637915607,
+            "object_to_finger_line_xy": 0.010866217263300303,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794497792964918,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2386013814690456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2863949735816833,
+              0.34588293847947854,
+              1.2404903747737932
+            ],
+            "held_position": [
+              0.29228142623580095,
+              0.35057655371801477,
+              1.2405454421171704
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007528836647775983,
+            "max_held_gripper_dist": 0.007532009310377674,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.506734337723529e-05,
+            "max_held_gripper_z_dist": 0.00013862391589203327,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08846169256268632,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29228142623580095,
+              0.3248951466553853,
+              1.2405454421171704
+            ],
+            "held_grasp_finger_b": [
+              0.2817667710732139,
+              0.35057655371801477,
+              1.2405454421171704
+            ],
+            "held_grasp_midpoint": [
+              0.2870240986545074,
+              0.33773585018670005,
+              1.2405454421171704
+            ],
+            "held_grasp_object_position": [
+              0.29228142623580095,
+              0.35057655371801477,
+              1.2405454421171704
+            ],
+            "held_grasp_finger_gap": 0.02775054309206564,
+            "held_grasp_max_gap": 0.12496565043926239,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02493076502070277,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06595801797717879,
+              -0.9977759696908493,
+              0.00962570371493121
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004400714962504015,
+            "held_grasp_line_xy_max_dist": 0.047482825219631195,
+            "held_grasp_object_top_z": 0.04520052298903465,
+            "held_grasp_top_clearance": 0.032041614664445515,
+            "held_grasp_min_top_clearance": 0.013560156896710395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34210484314072503,
+              0.10778898537199431,
+              0.7625842810783376
+            ],
+            "target_position": [
+              0.34340277792832646,
+              0.10266772464050958,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005283175767728492,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17103177539734205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842810783376,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515597513426195,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524137099573818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14113316095359618,
+            "release_required_pad_clearance": 0.052620685497869094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29335192947971034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b3bcefda907fa8fa7998abcfde433c6ddfdf7be2d29a0f132710f83689678d9",
+    "visual_seed": 4141005200015679440,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e991994448b0bd15fd4386b001de85c98b8838d8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28428983956599846,
+              0.3516219102798183,
+              1.048278115967647
+            ],
+            "current_z": 1.048278115967647,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1916916681637263,
+            "gripper_z": 1.04813503108183,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2787374416839745,
+              0.34648951970362546,
+              1.04813503108183
+            ],
+            "object_minus_gripper": [
+              0.005552397882023941,
+              0.005132390576192858,
+              0.00014308488581704637
+            ],
+            "object_to_gripper_xy": 0.007561121296930581,
+            "object_to_gripper_z": 0.00014308488581704637,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28428983956599846,
+              0.3268828395974474,
+              1.048278115967647
+            ],
+            "finger_b": [
+              0.2720016897310745,
+              0.3516219102798183,
+              1.048278115967647
+            ],
+            "finger_midpoint": [
+              0.27814576464853646,
+              0.33925237493863286,
+              1.048278115967647
+            ],
+            "object_minus_finger_midpoint": [
+              0.006144074917461995,
+              0.012369535341185456,
+              0.0
+            ],
+            "finger_gap": 0.027622821083171156,
+            "fingertip_max_gap": 0.09089699833458967,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013811410541585592,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048278115967647,
+            "object_top_z": 1.0939306864673453,
+            "finger_top_clearance": 0.045652570499698175,
+            "fingertip_min_top_clearance": 0.013695771149909452,
+            "object_projection_between_fingers": 0.8021040366417702,
+            "object_to_finger_line_xy": 0.0110052990752257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047948499167294836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.25222984577605584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2843554802664879,
+              0.3503426514818195,
+              1.2354369365684827
+            ],
+            "held_position": [
+              0.2903126956680338,
+              0.3550369941186685,
+              1.2354768605091293
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007584646468596375,
+            "max_held_gripper_dist": 0.00758881224089221,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 3.992394064655791e-05,
+            "max_held_gripper_z_dist": 0.00015182720016126972,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08864104233267084,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2903126956680338,
+              0.3292880351717456,
+              1.2354768605091293
+            ],
+            "held_grasp_finger_b": [
+              0.2799239328526474,
+              0.3550369941186685,
+              1.2354768605091293
+            ],
+            "held_grasp_midpoint": [
+              0.2851183142603406,
+              0.3421625146452071,
+              1.2354768605091293
+            ],
+            "held_grasp_object_position": [
+              0.2903126956680338,
+              0.3550369941186685,
+              1.2354768605091293
+            ],
+            "held_grasp_finger_gap": 0.0277657213067602,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024874063668277952,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07671119821380266,
+              -0.9969722723439662,
+              0.012715354730063244
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041947534471958505,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03196625868814451,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3417159048809349,
+              0.1111995939375104,
+              0.7625863919654055
+            ],
+            "target_position": [
+              0.33911619009359034,
+              0.10619585116495549,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005638790536048797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1742600652246009,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863919654055,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575901948530325,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540899836492209,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14262369412160347,
+            "release_required_pad_clearance": 0.05270449918246105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46139794227269715,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8a027abd94afca4b89bee3ba4b60ac0e4e7586e96d14e0afbd575e09b23b8e4",
+    "visual_seed": 698905446550820561,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..118f2f49435617f9bac095f536e527eecb63d16e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29240878584712277,
+              0.3532283496654556,
+              1.0512759209010663
+            ],
+            "current_z": 1.0512759209010663,
+            "required_z": 0.856586648190372,
+            "initial_z": 0.756586648190372,
+            "lift_margin": 0.19468927271069425,
+            "gripper_z": 1.0509282351826221,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28660110177713,
+              0.34813373951790555,
+              1.0509282351826221
+            ],
+            "object_minus_gripper": [
+              0.005807684069992769,
+              0.005094610147550027,
+              0.000347685718444124
+            ],
+            "object_to_gripper_xy": 0.007725558025953043,
+            "object_to_gripper_z": 0.000347685718444124,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29240878584712277,
+              0.3280999773213038,
+              1.0512759209010663
+            ],
+            "finger_b": [
+              0.2804446494167682,
+              0.3532283496654556,
+              1.0512759209010663
+            ],
+            "finger_midpoint": [
+              0.2864267176319455,
+              0.3406641634933797,
+              1.0512759209010663
+            ],
+            "object_minus_finger_midpoint": [
+              0.005982068215177272,
+              0.012564186172075886,
+              0.0
+            ],
+            "finger_gap": 0.027831199348760886,
+            "fingertip_max_gap": 0.09206378714529637,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013915599674380443,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512759209010663,
+            "object_top_z": 1.0971952490020067,
+            "finger_top_clearance": 0.04591932810094046,
+            "fingertip_min_top_clearance": 0.013775798430282172,
+            "object_projection_between_fingers": 0.8152013180438249,
+            "object_to_finger_line_xy": 0.010802239286592782,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048531893572648185,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7549361507010223,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2923162448276786,
+              0.3520370251965099,
+              1.2392887172622444
+            ],
+            "held_position": [
+              0.29840656867703996,
+              0.3567954112750655,
+              1.2395487678169341
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007733169399003593,
+            "max_held_gripper_dist": 0.007736718317365249,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00026005055468969474,
+            "max_held_gripper_z_dist": 0.00035815835759400727,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08865779280956809,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29840656867703996,
+              0.3309704118084555,
+              1.2395487678169341
+            ],
+            "held_grasp_finger_b": [
+              0.2878759818336763,
+              0.3567954112750655,
+              1.2395487678169341
+            ],
+            "held_grasp_midpoint": [
+              0.29314127525535816,
+              0.3438829115417605,
+              1.2395487678169341
+            ],
+            "held_grasp_object_position": [
+              0.29840656867703996,
+              0.3567954112750655,
+              1.2395487678169341
+            ],
+            "held_grasp_finger_gap": 0.02788949366187974,
+            "held_grasp_max_gap": 0.12496570259332657,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025320548454729332,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045156633344359945,
+              -0.9988799549470915,
+              0.014132022852360593
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046804615726586864,
+            "held_grasp_line_xy_max_dist": 0.047482851296663284,
+            "held_grasp_object_top_z": 0.04520048573613167,
+            "held_grasp_top_clearance": 0.03206468565978029,
+            "held_grasp_min_top_clearance": 0.0135601457208395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34952375954216036,
+              0.10980372206280682,
+              0.7625855346456663
+            ],
+            "target_position": [
+              0.3469952982076492,
+              0.10582269734112928,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00471610798802633,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1744300109203083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855346456663,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550832261078581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661469063444248,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14315333697183644,
+            "release_required_pad_clearance": 0.05330734531722124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6269789716074567,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01e8fe86c757d58e3fe326f1c8487a5e0b442eb8ad47a31432042d0b03be3a53",
+    "visual_seed": 7835564246201387093,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee09f5568bacaf8a7c649cb7c57df5cbeac1475
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2905322287009079,
+              0.347436139156902,
+              1.0484981506318574
+            ],
+            "current_z": 1.0484981506318574,
+            "required_z": 0.8565866451133585,
+            "initial_z": 0.7565866451133585,
+            "lift_margin": 0.1919115055184989,
+            "gripper_z": 1.0480669017141917,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2851273383873765,
+              0.3424215251964945,
+              1.0480669017141917
+            ],
+            "object_minus_gripper": [
+              0.005404890313531363,
+              0.005014613960407532,
+              0.00043124891766566087
+            ],
+            "object_to_gripper_xy": 0.007372868673265466,
+            "object_to_gripper_z": 0.00043124891766566087,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2905322287009079,
+              0.32274102021492174,
+              1.0484981506318574
+            ],
+            "finger_b": [
+              0.2784834692506615,
+              0.347436139156902,
+              1.0484981506318574
+            ],
+            "finger_midpoint": [
+              0.2845078489757847,
+              0.3350885796859119,
+              1.0484981506318574
+            ],
+            "object_minus_finger_midpoint": [
+              0.006024379725123208,
+              0.012347559470990144,
+              0.0
+            ],
+            "finger_gap": 0.027477654627869094,
+            "fingertip_max_gap": 0.09105766192748851,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013738827313934547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484981506318574,
+            "object_top_z": 1.0940683597555467,
+            "finger_top_clearance": 0.045570209123689365,
+            "fingertip_min_top_clearance": 0.013671062737106842,
+            "object_projection_between_fingers": 0.8077238813067757,
+            "object_to_finger_line_xy": 0.010828637005480103,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802883096374426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.512635896348046,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2908525467582441,
+              0.3460001656615442,
+              1.2389699281024604
+            ],
+            "held_position": [
+              0.2966305473897298,
+              0.3505847264119724,
+              1.239338063600482
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007385053304934224,
+            "max_held_gripper_dist": 0.007386323534666137,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003681354980216156,
+            "max_held_gripper_z_dist": 0.00045454239821118847,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873474894716173,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2966305473897298,
+              0.3248662574451531,
+              1.239338063600482
+            ],
+            "held_grasp_finger_b": [
+              0.2864586676321919,
+              0.3505847264119724,
+              1.239338063600482
+            ],
+            "held_grasp_midpoint": [
+              0.2915446075109609,
+              0.3377254919285627,
+              1.239338063600482
+            ],
+            "held_grasp_object_position": [
+              0.2966305473897298,
+              0.3505847264119724,
+              1.239338063600482
+            ],
+            "held_grasp_finger_gap": 0.02765694820111321,
+            "held_grasp_max_gap": 0.12496568769216537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024761009891042015,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0848474774194463,
+              -0.996329457330524,
+              0.011336579335062715
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003979287311071233,
+            "held_grasp_line_xy_max_dist": 0.04748284384608269,
+            "held_grasp_object_top_z": 0.04520050808787346,
+            "held_grasp_top_clearance": 0.03195694480431143,
+            "held_grasp_min_top_clearance": 0.013560152426362037
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3444700407485352,
+              0.10243613567034146,
+              0.7625841446700165
+            ],
+            "target_position": [
+              0.34532265411671537,
+              0.09743314261014872,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005075124541913843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17100296121265882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625841446700165,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519105789658323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578416488430456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14100527909528623,
+            "release_required_pad_clearance": 0.05289208244215228,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8136964128867804,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dd3e59decb1395dddfdcba8da76ef2056581106b0d96a76234501481e02ca68",
+    "visual_seed": 5969218552088459223,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa7d85b732112118eb0d385e83a6757e93e89132
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28805592503708327,
+              0.35274418727219486,
+              1.050147261086034
+            ],
+            "current_z": 1.050147261086034,
+            "required_z": 0.8565866426818154,
+            "initial_z": 0.7565866426818154,
+            "lift_margin": 0.19356061840421868,
+            "gripper_z": 1.0497074578892678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2822491035342155,
+              0.34756966982925713,
+              1.0497074578892678
+            ],
+            "object_minus_gripper": [
+              0.005806821502867765,
+              0.005174517442937732,
+              0.0004398031967662863
+            ],
+            "object_to_gripper_xy": 0.0077778407500690245,
+            "object_to_gripper_z": 0.0004398031967662863,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28805592503708327,
+              0.3277119151248339,
+              1.050147261086034
+            ],
+            "finger_b": [
+              0.2758472881673026,
+              0.35274418727219486,
+              1.050147261086034
+            ],
+            "finger_midpoint": [
+              0.28195160660219293,
+              0.3402280511985144,
+              1.050147261086034
+            ],
+            "object_minus_finger_midpoint": [
+              0.006104318434890343,
+              0.012516136073680462,
+              0.0
+            ],
+            "finger_gap": 0.027850771319259948,
+            "fingertip_max_gap": 0.09196577198156722,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01392538565962995,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050147261086034,
+            "object_top_z": 1.0960218741349999,
+            "finger_top_clearance": 0.045874613048965784,
+            "fingertip_min_top_clearance": 0.013762383914689735,
+            "object_projection_between_fingers": 0.8078413680728297,
+            "object_to_finger_line_xy": 0.010973122330056028,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848288599078361,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.80813543184797,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28804077623871194,
+              0.35127959059738467,
+              1.240582465700121
+            ],
+            "held_position": [
+              0.29419528556215396,
+              0.3560411822956906,
+              1.2409599154415574
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007790584626394934,
+            "max_held_gripper_dist": 0.0077918740095322065,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00037744974143638643,
+            "max_held_gripper_z_dist": 0.00047020712047429747,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885653205095645,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29419528556215396,
+              0.33012497995676365,
+              1.2409599154415574
+            ],
+            "held_grasp_finger_b": [
+              0.2836586141853533,
+              0.3560411822956906,
+              1.2409599154415574
+            ],
+            "held_grasp_midpoint": [
+              0.28892694987375367,
+              0.3430830811262271,
+              1.2409599154415574
+            ],
+            "held_grasp_object_position": [
+              0.29419528556215396,
+              0.3560411822956906,
+              1.2409599154415574
+            ],
+            "held_grasp_finger_gap": 0.02797625756556606,
+            "held_grasp_max_gap": 0.12496568024158478,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02527339194485623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056812032743151414,
+              -0.9982944771679878,
+              0.013436137521069869
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004527077433755891,
+            "held_grasp_line_xy_max_dist": 0.04748284012079239,
+            "held_grasp_object_top_z": 0.04520053416490555,
+            "held_grasp_top_clearance": 0.03196522847321481,
+            "held_grasp_min_top_clearance": 0.013560160249471664
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3476893770205128,
+              0.10315725811257137,
+              0.76258613751977
+            ],
+            "target_position": [
+              0.3450887090581841,
+              0.09963647613199228,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0043771428586525645,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1748092806914386,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258613751977,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754160553673068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601870156644974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14362797504372024,
+            "release_required_pad_clearance": 0.05300935078322487,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.049026217365141,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44533646f2aa8aae67ce534e4c4a284f967b779dcba244ef76b3d60d14d762ea",
+    "visual_seed": 2639235274063032301,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4383d87d894a89ee81ed65e87a3ed6687c553e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2916628934257772,
+              0.34598049436470774,
+              1.0515118226082716
+            ],
+            "current_z": 1.0515118226082716,
+            "required_z": 0.8565865960204034,
+            "initial_z": 0.7565865960204035,
+            "lift_margin": 0.19492522658786815,
+            "gripper_z": 1.0510942742809608,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2858445447705023,
+              0.34080333116219985,
+              1.0510942742809608
+            ],
+            "object_minus_gripper": [
+              0.005818348655274919,
+              0.005177163202507884,
+              0.0004175483273107794
+            ],
+            "object_to_gripper_xy": 0.007788209030306078,
+            "object_to_gripper_z": 0.0004175483273107794,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2916628934257772,
+              0.32093267546991583,
+              1.0515118226082716
+            ],
+            "finger_b": [
+              0.2794577989030401,
+              0.34598049436470774,
+              1.0515118226082716
+            ],
+            "finger_midpoint": [
+              0.2855603461644087,
+              0.3334565849173118,
+              1.0515118226082716
+            ],
+            "object_minus_finger_midpoint": [
+              0.006102547261368552,
+              0.012523909447395953,
+              0.0
+            ],
+            "finger_gap": 0.02786319370953807,
+            "fingertip_max_gap": 0.09198037131990969,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013931596854769034,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515118226082716,
+            "object_top_z": 1.097421183640054,
+            "finger_top_clearance": 0.04590936103178245,
+            "fingertip_min_top_clearance": 0.013772808309534734,
+            "object_projection_between_fingers": 0.8081240664418604,
+            "object_to_finger_line_xy": 0.01097185772694412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048490185659954846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7910427923095906,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29169206575660456,
+              0.34446187475283985,
+              1.24132942494759
+            ],
+            "held_position": [
+              0.29786088901129115,
+              0.3492227347155416,
+              1.2416714690884627
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007799818082899377,
+            "max_held_gripper_dist": 0.007801338598360712,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003420441408727992,
+            "max_held_gripper_z_dist": 0.0004391990628993536,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08888081114230628,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29786088901129115,
+              0.3232993629974726,
+              1.2416714690884627
+            ],
+            "held_grasp_finger_b": [
+              0.2873647780668187,
+              0.3492227347155416,
+              1.2416714690884627
+            ],
+            "held_grasp_midpoint": [
+              0.29261283353905493,
+              0.3362610488565071,
+              1.2416714690884627
+            ],
+            "held_grasp_object_position": [
+              0.29786088901129115,
+              0.3492227347155416,
+              1.2416714690884627
+            ],
+            "held_grasp_finger_gap": 0.02796765178186855,
+            "held_grasp_max_gap": 0.12496573984622955,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025267725460065362,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05804018183427283,
+              -0.99820817790452,
+              0.014552348854498187
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004490966159700365,
+            "held_grasp_line_xy_max_dist": 0.047482869923114776,
+            "held_grasp_object_top_z": 0.045200541615486145,
+            "held_grasp_top_clearance": 0.03195748269768358,
+            "held_grasp_min_top_clearance": 0.013560162484645843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3450351176232591,
+              0.10446352489435735,
+              0.7625863591377348
+            ],
+            "target_position": [
+              0.3405038211608725,
+              0.10011238591211247,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006282122099485835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17930873602561126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863591377348,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589596373694342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695094126162854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14688304280427644,
+            "release_required_pad_clearance": 0.05347547063081427,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.957571790367707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a03f919be1d96b9b25847e58ad9c62aa530068346730645c6e03269d041d6875",
+    "visual_seed": 4505157334428607458,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e201a4079cd53c623a04c486d4cf3b841db5080a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28766953803679707,
+              0.3462818364604311,
+              1.0474231272203827
+            ],
+            "current_z": 1.0474231272203827,
+            "required_z": 0.8565866490947103,
+            "initial_z": 0.7565866490947103,
+            "lift_margin": 0.1908364781256724,
+            "gripper_z": 1.0473885621148458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2821027251150472,
+              0.3412478454286226,
+              1.0473885621148458
+            ],
+            "object_minus_gripper": [
+              0.005566812921749875,
+              0.005033991031808516,
+              3.4565105536898955e-05
+            ],
+            "object_to_gripper_xy": 0.00750536287024751,
+            "object_to_gripper_z": 3.4565105536898955e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28766953803679707,
+              0.32142029276404177,
+              1.0474231272203827
+            ],
+            "finger_b": [
+              0.2756621548306623,
+              0.3462818364604311,
+              1.0474231272203827
+            ],
+            "finger_midpoint": [
+              0.2816658464337297,
+              0.33385106461223646,
+              1.0474231272203827
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060036916030673515,
+              0.012430771848194633,
+              0.0
+            ],
+            "finger_gap": 0.027609302896423202,
+            "fingertip_max_gap": 0.09107967219755095,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013804651448211564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474231272203827,
+            "object_top_z": 1.0931211635855589,
+            "finger_top_clearance": 0.04569803636517622,
+            "fingertip_min_top_clearance": 0.013709410909552898,
+            "object_projection_between_fingers": 0.8108589222511934,
+            "object_to_finger_line_xy": 0.010812373038845684,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048039836098775476,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3005848139235708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2876896312697884,
+              0.3449729246950132,
+              1.2355449162546661
+            ],
+            "held_position": [
+              0.29357934752718856,
+              0.3496253328615353,
+              1.2354913870631419
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007505766097804447,
+            "max_held_gripper_dist": 0.007507101681846264,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.352919152423752e-05,
+            "max_held_gripper_z_dist": 0.00023279870539361092,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08863885824747736,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29357934752718856,
+              0.32391847267400864,
+              1.2354913870631419
+            ],
+            "held_grasp_finger_b": [
+              0.2832426280048954,
+              0.3496253328615353,
+              1.2354913870631419
+            ],
+            "held_grasp_midpoint": [
+              0.288410987766042,
+              0.33677190276777197,
+              1.2354913870631419
+            ],
+            "held_grasp_object_position": [
+              0.29357934752718856,
+              0.3496253328615353,
+              1.2354913870631419
+            ],
+            "held_grasp_finger_gap": 0.02770722705691783,
+            "held_grasp_max_gap": 0.12496570259332657,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024931141080189227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06893893756249234,
+              -0.9975447547802943,
+              0.012324167236665736
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042729807078193925,
+            "held_grasp_line_xy_max_dist": 0.047482851296663284,
+            "held_grasp_object_top_z": 0.04520060494542122,
+            "held_grasp_top_clearance": 0.03202243194357824,
+            "held_grasp_min_top_clearance": 0.013560181483626366
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3462523286693421,
+              0.10933799547793925,
+              0.7625849347930309
+            ],
+            "target_position": [
+              0.342165596748055,
+              0.10439925174062162,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006410348469417301,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17752959936658763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849347930309,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755407099635513,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498863400127653,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14618253343414794,
+            "release_required_pad_clearance": 0.052494317000638266,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05581197102756341,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aed769b42d587ba6588604622374b89bd532bc4dcf36ba7f251590c782c729a4",
+    "visual_seed": 8602532729916211565,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ea162cc62f6a8a4a20516d8e4da9510b6e52025
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2892615215609257,
+              0.34895305616253924,
+              1.0504081388141622
+            ],
+            "current_z": 1.0504081388141622,
+            "required_z": 0.8565865751371974,
+            "initial_z": 0.7565865751371974,
+            "lift_margin": 0.1938215636769648,
+            "gripper_z": 1.0503183223467483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2837767630794271,
+              0.3438834999293556,
+              1.0503183223467483
+            ],
+            "object_minus_gripper": [
+              0.005484758481498597,
+              0.00506955623318367,
+              8.98164674139057e-05
+            ],
+            "object_to_gripper_xy": 0.007468800171498913,
+            "object_to_gripper_z": 8.98164674139057e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2892615215609257,
+              0.32424650177435116,
+              1.0504081388141622
+            ],
+            "finger_b": [
+              0.2770783333849643,
+              0.34895305616253924,
+              1.0504081388141622
+            ],
+            "finger_midpoint": [
+              0.283169927472945,
+              0.3365997789684452,
+              1.0504081388141622
+            ],
+            "object_minus_finger_midpoint": [
+              0.006091594087980712,
+              0.01235327719409407,
+              0.0
+            ],
+            "finger_gap": 0.027547121516909568,
+            "fingertip_max_gap": 0.09052528567691251,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013773560758454808,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504081388141622,
+            "object_top_z": 1.095905431568233,
+            "finger_top_clearance": 0.045497292754070884,
+            "fingertip_min_top_clearance": 0.013649187826221265,
+            "object_projection_between_fingers": 0.8043997278301568,
+            "object_to_finger_line_xy": 0.010926898518458695,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776264283845626,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.16819187035511243,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2894659020470267,
+              0.3476380278096597,
+              1.2411875680504219
+            ],
+            "held_position": [
+              0.29532322080308554,
+              0.3522721489950878,
+              1.241215814582117
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074688727421120885,
+            "max_held_gripper_dist": 0.007470088746828497,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 2.824653169519742e-05,
+            "max_held_gripper_z_dist": 0.0001547783480151388,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08858615323474278,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29532322080308554,
+              0.3265500536509691,
+              1.241215814582117
+            ],
+            "held_grasp_finger_b": [
+              0.2849987674472343,
+              0.3522721489950878,
+              1.241215814582117
+            ],
+            "held_grasp_midpoint": [
+              0.29016099412515994,
+              0.33941110132302843,
+              1.241215814582117
+            ],
+            "held_grasp_object_position": [
+              0.29532322080308554,
+              0.3522721489950878,
+              1.241215814582117
+            ],
+            "held_grasp_finger_gap": 0.027716791408622318,
+            "held_grasp_max_gap": 0.12496564298868179,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02485807388206866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07630943125852224,
+              -0.9970387988462501,
+              0.009513374597262314
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041676069222310085,
+            "held_grasp_line_xy_max_dist": 0.047482821494340896,
+            "held_grasp_object_top_z": 0.045200493186712265,
+            "held_grasp_top_clearance": 0.031983603082037786,
+            "held_grasp_min_top_clearance": 0.01356014795601368
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3446463317796713,
+              0.10345658167090674,
+              0.7625854797163902
+            ],
+            "target_position": [
+              0.33955419284000465,
+              0.09834414123290279,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007215741556694458,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17911920287737287,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854797163902,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586587600179519,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546737612866005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14690598649947065,
+            "release_required_pad_clearance": 0.05273368806433003,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5158554812811259,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b06a80854539f02e143e8eb6a4f58859c532af8aca8bc567c485b7683270b097",
+    "visual_seed": 2055228702151380320,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71a049eadf933ce77cf3cc16155b7329fd558277
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2850231933404132,
+              0.34931594426510487,
+              1.0481218417349882
+            ],
+            "current_z": 1.0481218417349882,
+            "required_z": 0.8565866134999304,
+            "initial_z": 0.7565866134999304,
+            "lift_margin": 0.19153522823505786,
+            "gripper_z": 1.0479927067908488,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2791910145416945,
+              0.3441311110329941,
+              1.0479927067908488
+            ],
+            "object_minus_gripper": [
+              0.0058321787987187235,
+              0.005184833232110775,
+              0.00012913494413946403
+            ],
+            "object_to_gripper_xy": 0.007803640508443763,
+            "object_to_gripper_z": 0.00012913494413946403,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2850231933404132,
+              0.3242721760720597,
+              1.0481218417349882
+            ],
+            "finger_b": [
+              0.27279158277689297,
+              0.34931594426510487,
+              1.0481218417349882
+            ],
+            "finger_midpoint": [
+              0.2789073880586531,
+              0.33679406016858227,
+              1.0481218417349882
+            ],
+            "object_minus_finger_midpoint": [
+              0.006115805281760089,
+              0.012521884096522606,
+              0.0
+            ],
+            "finger_gap": 0.027871179061614886,
+            "fingertip_max_gap": 0.09170414320281431,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013935589530807457,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481218417349882,
+            "object_top_z": 1.0939045163265178,
+            "finger_top_clearance": 0.045782674591529515,
+            "fingertip_min_top_clearance": 0.01373480237745882,
+            "object_projection_between_fingers": 0.807399855915,
+            "object_to_finger_line_xy": 0.01099076644383105,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835207160140716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6635505316838964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2848417702124493,
+              0.3478027741420985,
+              1.2379251180267214
+            ],
+            "held_position": [
+              0.2910062391902135,
+              0.35258922123302405,
+              1.2379900843096825
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0078048045555266345,
+            "max_held_gripper_dist": 0.007806719229849845,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 6.496628296104312e-05,
+            "max_held_gripper_z_dist": 0.00015403103522215744,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08864361827837985,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2910062391902135,
+              0.32670696837874447,
+              1.2379900843096825
+            ],
+            "held_grasp_finger_b": [
+              0.2803867281456084,
+              0.35258922123302405,
+              1.2379900843096825
+            ],
+            "held_grasp_midpoint": [
+              0.28569648366791095,
+              0.33964809480588426,
+              1.2379900843096825
+            ],
+            "held_grasp_object_position": [
+              0.2910062391902135,
+              0.35258922123302405,
+              1.2379900843096825
+            ],
+            "held_grasp_finger_gap": 0.02797615105119634,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02524368443388113,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05612325408703825,
+              -0.9983553632675783,
+              0.011693972188427715
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004577648298479966,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.045200660824775696,
+            "held_grasp_top_clearance": 0.03198281709119865,
+            "held_grasp_min_top_clearance": 0.013560198247432709
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3420907714157476,
+              0.10465906250480037,
+              0.7625859638236128
+            ],
+            "target_position": [
+              0.34019164079853076,
+              0.09949376178563099,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0055033652087338476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17555090869425502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859638236128,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531999466731144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582701888782006,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1449534188837971,
+            "release_required_pad_clearance": 0.05291350944391003,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.857727199842274,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b608ae93e1b0677c5874055cfbdea5048057ba2a4b796725937c5c62037b0400",
+    "visual_seed": 7465787072731389240,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8231f0b1112ed3bfd2e6c5a8905ba4d17b19b1a4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_92_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2863128372186723,
+              0.3504884065539318,
+              1.0504014564507038
+            ],
+            "current_z": 1.0504014564507038,
+            "required_z": 0.8565866399984217,
+            "initial_z": 0.7565866399984217,
+            "lift_margin": 0.19381481645228216,
+            "gripper_z": 1.0501204682366732,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2809236680137851,
+              0.3454717947828001,
+              1.0501204682366732
+            ],
+            "object_minus_gripper": [
+              0.00538916920488719,
+              0.005016611771131718,
+              0.0002809882140306641
+            ],
+            "object_to_gripper_xy": 0.007362712705325513,
+            "object_to_gripper_z": 0.0002809882140306641,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2863128372186723,
+              0.3258080381055433,
+              1.0504014564507038
+            ],
+            "finger_b": [
+              0.2742611579441791,
+              0.3504884065539318,
+              1.0504014564507038
+            ],
+            "finger_midpoint": [
+              0.2802869975814257,
+              0.33814822232973757,
+              1.0504014564507038
+            ],
+            "object_minus_finger_midpoint": [
+              0.006025839637246566,
+              0.01234018422419425,
+              0.0
+            ],
+            "finger_gap": 0.027465679676342607,
+            "fingertip_max_gap": 0.09161119035496587,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013732839838171291,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504014564507038,
+            "object_top_z": 1.0962045783460372,
+            "finger_top_clearance": 0.04580312189533342,
+            "fingertip_min_top_clearance": 0.013740936568600025,
+            "object_projection_between_fingers": 0.8074628985005856,
+            "object_to_finger_line_xy": 0.010829511172537887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830559517748294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6695875253821068,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28670485000339263,
+              0.3492423299367493,
+              1.2412331291772598
+            ],
+            "held_position": [
+              0.29246951909793034,
+              0.35382695306926265,
+              1.2414573602158367
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007368884487855403,
+            "max_held_gripper_dist": 0.007371831702419874,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002242310385769386,
+            "max_held_gripper_z_dist": 0.0003093434513317117,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885357546507265,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29246951909793034,
+              0.3281093133307038,
+              1.2414573602158367
+            ],
+            "held_grasp_finger_b": [
+              0.28229817201273677,
+              0.35382695306926265,
+              1.2414573602158367
+            ],
+            "held_grasp_midpoint": [
+              0.2873838455553336,
+              0.3409681331999832,
+              1.2414573602158367
+            ],
+            "held_grasp_object_position": [
+              0.29246951909793034,
+              0.35382695306926265,
+              1.2414573602158367
+            ],
+            "held_grasp_finger_gap": 0.027655981184000263,
+            "held_grasp_max_gap": 0.12496566534042358,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02473252354004782,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08703482999839504,
+              -0.9961172667821917,
+              0.013241192753170927
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003951006932363365,
+            "held_grasp_line_xy_max_dist": 0.04748283267021179,
+            "held_grasp_object_top_z": 0.04520063474774361,
+            "held_grasp_top_clearance": 0.031949111513305206,
+            "held_grasp_min_top_clearance": 0.013560190424323082
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3413308622326334,
+              0.10635445082824382,
+              0.7625866089748804
+            ],
+            "target_position": [
+              0.33746647770733273,
+              0.10136241381984488,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006312994634292672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17552222650048926,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625866089748804,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585202034587549,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14358189412076391,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1086883a4f79dae797803f9c396c5db4f4e9832a94a1c88bdf7c50a7a58b9352",
+    "visual_seed": 6891551799187915759,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a16570ec013be380518c4718d823babdae50ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2913265527257752,
+              0.34636810447286703,
+              1.0477384663709586
+            ],
+            "current_z": 1.0477384663709586,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19115201856703778,
+            "gripper_z": 1.0473612491517208,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2859634914959297,
+              0.34133272551820376,
+              1.0473612491517208
+            ],
+            "object_minus_gripper": [
+              0.005363061229845478,
+              0.005035378954663272,
+              0.00037721721923777984
+            ],
+            "object_to_gripper_xy": 0.007356457501551782,
+            "object_to_gripper_z": 0.00037721721923777984,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2913265527257752,
+              0.32175215562553766,
+              1.0477384663709586
+            ],
+            "finger_b": [
+              0.27918847337097646,
+              0.34636810447286703,
+              1.0477384663709586
+            ],
+            "finger_midpoint": [
+              0.2852575130483758,
+              0.3340601300492023,
+              1.0477384663709586
+            ],
+            "object_minus_finger_midpoint": [
+              0.006069039677399357,
+              0.012307974423664714,
+              0.0
+            ],
+            "finger_gap": 0.02744590876756911,
+            "fingertip_max_gap": 0.09136810021111605,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013722954383784581,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477384663709586,
+            "object_top_z": 1.0935436204819342,
+            "finger_top_clearance": 0.04580515411097563,
+            "fingertip_min_top_clearance": 0.01374154623329269,
+            "object_projection_between_fingers": 0.8044108703527938,
+            "object_to_finger_line_xy": 0.01088651656729285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818405010555803,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.502870993386867,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2916953841006648,
+              0.3450899030963679,
+              1.2368586678135967
+            ],
+            "held_position": [
+              0.2974575768371902,
+              0.3496702878453705,
+              1.23715459133008
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007366841949531009,
+            "max_held_gripper_dist": 0.007369494451911921,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00029592351648344284,
+            "max_held_gripper_z_dist": 0.000389505586450678,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885561267482261,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2974575768371902,
+              0.32396384320916366,
+              1.23715459133008
+            ],
+            "held_grasp_finger_b": [
+              0.28734476835859213,
+              0.3496702878453705,
+              1.23715459133008
+            ],
+            "held_grasp_midpoint": [
+              0.29240117259789117,
+              0.3368170655272671,
+              1.23715459133008
+            ],
+            "held_grasp_object_position": [
+              0.2974575768371902,
+              0.3496702878453705,
+              1.23715459133008
+            ],
+            "held_grasp_finger_gap": 0.027624087155219693,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024720724103446577,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08745420878863436,
+              -0.996058853331635,
+              0.01478249183400393
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003917731864726592,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0319554552499607,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3354949073841369,
+              0.10779761395384443,
+              0.7625843405511946
+            ],
+            "target_position": [
+              0.3377549330083179,
+              0.10351721983430141,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004840401805694763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17275508615326132,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843405511946,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541101934187446,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520318416003973,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14175751211744883,
+            "release_required_pad_clearance": 0.05260159208001987,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2563220374475031,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc78691237c929ec0061600cf54ac9b5c3d52767da3f15ff4c3839ca56be813a",
+    "visual_seed": 8618212312277354171,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d1c579560cb5f6111cd0d4be006ecddecee8bc6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2866001706288524,
+              0.34667406222715286,
+              1.049073103353475
+            ],
+            "current_z": 1.049073103353475,
+            "required_z": 0.856586588585961,
+            "initial_z": 0.7565865885859611,
+            "lift_margin": 0.192486514767514,
+            "gripper_z": 1.048965025293792,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28101186146110146,
+              0.34149436468383937,
+              1.048965025293792
+            ],
+            "object_minus_gripper": [
+              0.005588309167750938,
+              0.005179697543313488,
+              0.00010807805968293671
+            ],
+            "object_to_gripper_xy": 0.00761961061961679,
+            "object_to_gripper_z": 0.00010807805968293671,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2866001706288524,
+              0.3219567738307186,
+              1.049073103353475
+            ],
+            "finger_b": [
+              0.2741819312711577,
+              0.34667406222715286,
+              1.049073103353475
+            ],
+            "finger_midpoint": [
+              0.28039105095000505,
+              0.3343154180289357,
+              1.049073103353475
+            ],
+            "object_minus_finger_midpoint": [
+              0.006209119678847352,
+              0.012358644198217139,
+              0.0
+            ],
+            "finger_gap": 0.0276614716603709,
+            "fingertip_max_gap": 0.09023089758873362,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01383073583018545,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049073103353475,
+            "object_top_z": 1.0943925339034322,
+            "finger_top_clearance": 0.04531943054995713,
+            "fingertip_min_top_clearance": 0.013595829164987139,
+            "object_projection_between_fingers": 0.7984561784846257,
+            "object_to_finger_line_xy": 0.01109648855089059,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04761544879436681,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.076457392351049,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28670583669061206,
+              0.34527906156779864,
+              1.2392958036935873
+            ],
+            "held_position": [
+              0.2926952901487438,
+              0.3499910899770129,
+              1.2393466087359235
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007620980619887126,
+            "max_held_gripper_dist": 0.007624159662056797,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 5.080504233623273e-05,
+            "max_held_gripper_z_dist": 0.00013663824189302787,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08863217014699254,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2926952901487438,
+              0.32420462192206284,
+              1.2393466087359235
+            ],
+            "held_grasp_finger_b": [
+              0.2822122012023228,
+              0.3499910899770129,
+              1.2393466087359235
+            ],
+            "held_grasp_midpoint": [
+              0.2874537456755333,
+              0.3370978559495379,
+              1.2393466087359235
+            ],
+            "held_grasp_object_position": [
+              0.2926952901487438,
+              0.3499910899770129,
+              1.2393466087359235
+            ],
+            "held_grasp_finger_gap": 0.027835895685383163,
+            "held_grasp_max_gap": 0.12496570259332657,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0248441958570904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08161561852294938,
+              -0.9966382208962593,
+              0.007151745371273277
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004172821632368426,
+            "held_grasp_line_xy_max_dist": 0.047482851296663284,
+            "held_grasp_object_top_z": 0.04520060494542122,
+            "held_grasp_top_clearance": 0.03192292322848278,
+            "held_grasp_min_top_clearance": 0.013560181483626366
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3520014613425174,
+              0.10773163810693945,
+              0.7625870414746692
+            ],
+            "target_position": [
+              0.34734317075811466,
+              0.1028153211412143,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006772727934607462,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1770466408650543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870414746692,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588551911590878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503381246734996,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14485828932724107,
+            "release_required_pad_clearance": 0.052516906233674984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09676595655131101,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72454959d0f642b5a48032a95883211aaf2d42dab65764710ce077abd51f5312",
+    "visual_seed": 3787512253353848977,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3c0994624f80e1dca5caea77855030d6c69d99
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2923579590439754,
+              0.34706047708854,
+              1.0495450655002572
+            ],
+            "current_z": 1.0495450655002572,
+            "required_z": 0.8565865715184989,
+            "initial_z": 0.756586571518499,
+            "lift_margin": 0.19295849398175824,
+            "gripper_z": 1.0490932613087305,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2870176028744731,
+              0.34206968560436884,
+              1.0490932613087305
+            ],
+            "object_minus_gripper": [
+              0.005340356169502292,
+              0.004990791484171142,
+              0.0004518041915266835
+            ],
+            "object_to_gripper_xy": 0.007309405150599902,
+            "object_to_gripper_z": 0.0004518041915266835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2923579590439754,
+              0.32241241050118047,
+              1.0495450655002572
+            ],
+            "finger_b": [
+              0.2803456294804428,
+              0.34706047708854,
+              1.0495450655002572
+            ],
+            "finger_midpoint": [
+              0.2863517942622091,
+              0.33473644379486023,
+              1.0495450655002572
+            ],
+            "object_minus_finger_midpoint": [
+              0.006006164781766299,
+              0.01232403329367976,
+              0.0
+            ],
+            "finger_gap": 0.027419395471779243,
+            "fingertip_max_gap": 0.09168591722000832,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013709697735889622,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495450655002572,
+            "object_top_z": 1.0954394142952566,
+            "finger_top_clearance": 0.04589434879499943,
+            "fingertip_min_top_clearance": 0.013768304638499795,
+            "object_projection_between_fingers": 0.8080718281597231,
+            "object_to_finger_line_xy": 0.010798221253856308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048342958610004164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6539178963489004,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29280389277665003,
+              0.34555386972917734,
+              1.2407708447825798
+            ],
+            "held_position": [
+              0.2985276185230154,
+              0.35010619230294765,
+              1.241172480714686
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073243421996260745,
+            "max_held_gripper_dist": 0.007327022218606651,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0004016359321061813,
+            "max_held_gripper_z_dist": 0.00048673659038400707,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08852968929656824,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2985276185230154,
+              0.32438680638986594,
+              1.241172480714686
+            ],
+            "held_grasp_finger_b": [
+              0.2884295964490596,
+              0.35010619230294765,
+              1.241172480714686
+            ],
+            "held_grasp_midpoint": [
+              0.2934786074860375,
+              0.3372464993464068,
+              1.241172480714686
+            ],
+            "held_grasp_object_position": [
+              0.2985276185230154,
+              0.35010619230294765,
+              1.241172480714686
+            ],
+            "held_grasp_finger_gap": 0.027630723145660247,
+            "held_grasp_max_gap": 0.12496562063694,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024731730130873635,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08772750348159551,
+              -0.9960426148625068,
+              0.014247614212446243
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003905844346930564,
+            "held_grasp_line_xy_max_dist": 0.04748281031847,
+            "held_grasp_object_top_z": 0.04520050436258316,
+            "held_grasp_top_clearance": 0.03194876503049615,
+            "held_grasp_min_top_clearance": 0.013560151308774948
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34268453127197446,
+              0.10319068150888651,
+              0.7625870141363759
+            ],
+            "target_position": [
+              0.3395077558864133,
+              0.09841805855816055,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057332217539620275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17665422091936897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870141363759,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591243584633484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512425605854572,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14435373276333396,
+            "release_required_pad_clearance": 0.05256212802927286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1855393608833796,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b8d01c807e1bad595ea5e0d05cdd3f82cdb408512b6fa8da1f0966ed12ad137",
+    "visual_seed": 2490481624989740035,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..859844c7338b200a4699faab59cda7a3dda6020b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_96_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2870121623687746,
+              0.3526588088724472,
+              1.0474324130816577
+            ],
+            "current_z": 1.0474324130816577,
+            "required_z": 0.8565866837356436,
+            "initial_z": 0.7565866837356436,
+            "lift_margin": 0.19084572934601407,
+            "gripper_z": 1.0471944408835758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28113045936061937,
+              0.34750669265302625,
+              1.0471944408835758
+            ],
+            "object_minus_gripper": [
+              0.005881703008155215,
+              0.005152116219420966,
+              0.00023797219808185943
+            ],
+            "object_to_gripper_xy": 0.007819126026261674,
+            "object_to_gripper_z": 0.00023797219808185943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2870121623687746,
+              0.3275385728302543,
+              1.0474324130816577
+            ],
+            "finger_b": [
+              0.2748905404942164,
+              0.3526588088724472,
+              1.0474324130816577
+            ],
+            "finger_midpoint": [
+              0.2809513514314955,
+              0.34009869085135075,
+              1.0474324130816577
+            ],
+            "object_minus_finger_midpoint": [
+              0.00606081093727906,
+              0.012560118021096467,
+              0.0
+            ],
+            "finger_gap": 0.027891933882132593,
+            "fingertip_max_gap": 0.09431872058961346,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013945966941066285,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474324130816577,
+            "object_top_z": 1.0942395503929723,
+            "finger_top_clearance": 0.046807137311314584,
+            "fingertip_min_top_clearance": 0.014042141193394374,
+            "object_projection_between_fingers": 0.8111294649312228,
+            "object_to_finger_line_xy": 0.010917063119032032,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049659360294806734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.513594831749259,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2865177831753097,
+              0.35170044343825757,
+              1.2381529729885763
+            ],
+            "held_position": [
+              0.2926589358825704,
+              0.35654090417548706,
+              1.2383534523295585
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007822020754812451,
+            "max_held_gripper_dist": 0.00782394988955681,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002004793409822181,
+            "max_held_gripper_z_dist": 0.0002797752075118787,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811794890484026,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2926589358825704,
+              0.3307607505776321,
+              1.2383534523295585
+            ],
+            "held_grasp_finger_b": [
+              0.2817730129882605,
+              0.35654090417548706,
+              1.2383534523295585
+            ],
+            "held_grasp_midpoint": [
+              0.28721597443541547,
+              0.3436508273765596,
+              1.2383534523295585
+            ],
+            "held_grasp_object_position": [
+              0.2926589358825704,
+              0.35654090417548706,
+              1.2383534523295585
+            ],
+            "held_grasp_finger_gap": 0.02798427481264888,
+            "held_grasp_max_gap": 0.12496559083461761,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02542630184375742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03086532114767726,
+              -0.9993074421411788,
+              0.02078384063895078
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005049716279304937,
+            "held_grasp_line_xy_max_dist": 0.04748279541730881,
+            "held_grasp_object_top_z": 0.04520048946142197,
+            "held_grasp_top_clearance": 0.03215134103342153,
+            "held_grasp_min_top_clearance": 0.013560146838426589
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3438761467491269,
+              0.10927734646084444,
+              0.7625855370546215
+            ],
+            "target_position": [
+              0.3418058865229275,
+              0.10487786346872506,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0048622451606362945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17409119417854246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855370546215,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548799281338324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645643488099324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14298619997810982,
+            "release_required_pad_clearance": 0.05322821744049662,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4750874004517196,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "886d9e61a699425c7cd8071bb8a901b08e44576ec6c18cc5d25b8f87522d595d",
+    "visual_seed": 1866292189552828367,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..826f1c499057b6d53927598747a66095e5ab6b8c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2885728426502402,
+              0.3503627769964315,
+              1.0476610719430095
+            ],
+            "current_z": 1.0476610719430095,
+            "required_z": 0.8565865934849594,
+            "initial_z": 0.7565865934849594,
+            "lift_margin": 0.19107447845805015,
+            "gripper_z": 1.0474795316108498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2832159093505534,
+              0.3452839990806385,
+              1.0474795316108498
+            ],
+            "object_minus_gripper": [
+              0.0053569332996867836,
+              0.005078777915792976,
+              0.0001815403321596687
+            ],
+            "object_to_gripper_xy": 0.007381782948261184,
+            "object_to_gripper_z": 0.0001815403321596687,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2885728426502402,
+              0.32585176150064343,
+              1.0476610719430095
+            ],
+            "finger_b": [
+              0.2762263546344471,
+              0.3503627769964315,
+              1.0476610719430095
+            ],
+            "finger_midpoint": [
+              0.28239959864234365,
+              0.33810726924853746,
+              1.0476610719430095
+            ],
+            "object_minus_finger_midpoint": [
+              0.006173244007896539,
+              0.012255507747894023,
+              0.0
+            ],
+            "finger_gap": 0.027444956676207086,
+            "fingertip_max_gap": 0.09248367927547893,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013722478338103543,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476610719430095,
+            "object_top_z": 1.0942985777862173,
+            "finger_top_clearance": 0.046637505843207805,
+            "fingertip_min_top_clearance": 0.013991251752962341,
+            "object_projection_between_fingers": 0.7976227084943602,
+            "object_to_finger_line_xy": 0.011026614566894941,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874183963773947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0902274265574574,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28938914446408587,
+              0.3480263605355004,
+              1.2382449032254241
+            ],
+            "held_position": [
+              0.29524832268941187,
+              0.35251728491553325,
+              1.2383593098699455
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007383187668183599,
+            "max_held_gripper_dist": 0.007384300703386228,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00011440664452133653,
+            "max_held_gripper_z_dist": 0.00020542000279655248,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08878904271361443,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29524832268941187,
+              0.32660202991108456,
+              1.2383593098699455
+            ],
+            "held_grasp_finger_b": [
+              0.2854272733878067,
+              0.35256307321608205,
+              1.2383593098699455
+            ],
+            "held_grasp_midpoint": [
+              0.29033779803860926,
+              0.3395825515635833,
+              1.2383593098699455
+            ],
+            "held_grasp_object_position": [
+              0.29524832268941187,
+              0.35251728491553325,
+              1.2383593098699455
+            ],
+            "held_grasp_finger_gap": 0.027756598834664775,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024807389877680015,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1025811691393892,
+              -0.994368534959645,
+              0.0266142897745848
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035750247949101416,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.031835145919864805,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3452199294532581,
+              0.10040515134896844,
+              0.7625862528111629
+            ],
+            "target_position": [
+              0.34414631484800673,
+              0.09794934160543652,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002680233164677156,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17531080375383817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625862528111629,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562846859914267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500126043677801,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1433051858236536,
+            "release_required_pad_clearance": 0.05250063021838901,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06843409586652159,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6581985c256b95f38a963ee4625c674cd6a687a6605cfaf87ec204374a48ec36",
+    "visual_seed": 2884099225330184975,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8ca97a149386b4e5009cd5112da4c844450458e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28616423682390296,
+              0.3483976685290564,
+              1.0484420522923557
+            ],
+            "current_z": 1.0484420522923557,
+            "required_z": 0.8565865998572608,
+            "initial_z": 0.7565865998572608,
+            "lift_margin": 0.19185545243509483,
+            "gripper_z": 1.0481521829177867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2807829068663372,
+              0.343357069087952,
+              1.0481521829177867
+            ],
+            "object_minus_gripper": [
+              0.005381329957565739,
+              0.00504059944110441,
+              0.0002898693745689851
+            ],
+            "object_to_gripper_xy": 0.007373354381681147,
+            "object_to_gripper_z": 0.0002898693745689851,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28616423682390296,
+              0.3237775621194961,
+              1.0484420522923557
+            ],
+            "finger_b": [
+              0.2740043078772603,
+              0.3483976685290564,
+              1.0484420522923557
+            ],
+            "finger_midpoint": [
+              0.28008427235058164,
+              0.3360876153242762,
+              1.0484420522923557
+            ],
+            "object_minus_finger_midpoint": [
+              0.00607996447332132,
+              0.01231005320478018,
+              0.0
+            ],
+            "finger_gap": 0.027459306466214146,
+            "fingertip_max_gap": 0.09169414297356407,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013729653233107098,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484420522923557,
+            "object_top_z": 1.0945382164739756,
+            "finger_top_clearance": 0.04609616418161999,
+            "fingertip_min_top_clearance": 0.013828849254485964,
+            "object_projection_between_fingers": 0.8038975831181578,
+            "object_to_finger_line_xy": 0.010902633137052796,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834707148678204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6144533225775843,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 228,
+            "max_stable_success_frames": 228,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28650864914681573,
+              0.3468921271886506,
+              1.2385115598408005
+            ],
+            "held_position": [
+              0.29228172252593804,
+              0.3514808798951926,
+              1.2387466772747342
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007378367559986892,
+            "max_held_gripper_dist": 0.007379802097455192,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00023511743393367368,
+            "max_held_gripper_z_dist": 0.0003195074957900168,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08855028240922308,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29228172252593804,
+              0.32577058682056426,
+              1.2387466772747342
+            ],
+            "held_grasp_finger_b": [
+              0.2820755838816028,
+              0.3514808798951926,
+              1.2387466772747342
+            ],
+            "held_grasp_midpoint": [
+              0.28717865320377045,
+              0.33862573335787843,
+              1.2387466772747342
+            ],
+            "held_grasp_object_position": [
+              0.29228172252593804,
+              0.3514808798951926,
+              1.2387466772747342
+            ],
+            "held_grasp_finger_gap": 0.02766196731996254,
+            "held_grasp_max_gap": 0.12496603786945343,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024767997175176082,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08322526636649799,
+              -0.9963871554503699,
+              0.016917195150079053
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004021572207274799,
+            "held_grasp_line_xy_max_dist": 0.047483018934726715,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.03196733931161631,
+            "held_grasp_min_top_clearance": 0.013560223951935768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3484151035773475,
+              0.10239589065863537,
+              0.762584937379144
+            ],
+            "target_position": [
+              0.3464390878479481,
+              0.09874152326916806,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004154399978340564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17445484340906992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584937379144,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581180519742643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531926049932324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14226202805237584,
+            "release_required_pad_clearance": 0.052659630249661624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36027347011349564,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99c92a7226fd1b1aecb526ed16b706184e589d6b154e24442502e8a9bd39980a",
+    "visual_seed": 8961535905248686253,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33b60dd32660a4c2f59b27681fc67dd34b943bff
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2888208165320576,
+              0.34985251249761534,
+              1.0502128793365906
+            ],
+            "current_z": 1.0502128793365906,
+            "required_z": 0.8565866715426743,
+            "initial_z": 0.7565866715426743,
+            "lift_margin": 0.19362620779391626,
+            "gripper_z": 1.049895336231952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.283484087359612,
+              0.3447889133913854,
+              1.049895336231952
+            ],
+            "object_minus_gripper": [
+              0.005336729172445598,
+              0.0050635991062299435,
+              0.0003175431046384958
+            ],
+            "object_to_gripper_xy": 0.007356678202058627,
+            "object_to_gripper_z": 0.0003175431046384958,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2888208165320576,
+              0.32533450657498,
+              1.0502128793365906
+            ],
+            "finger_b": [
+              0.2765307368592015,
+              0.34985251249761534,
+              1.0502128793365906
+            ],
+            "finger_midpoint": [
+              0.28267577669562954,
+              0.33759350953629763,
+              1.0502128793365906
+            ],
+            "object_minus_finger_midpoint": [
+              0.006145039836428057,
+              0.012259002961317711,
+              0.0
+            ],
+            "finger_gap": 0.027425875971197965,
+            "fingertip_max_gap": 0.09204689587042372,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013712937985599008,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502128793365906,
+            "object_top_z": 1.0966134785048356,
+            "finger_top_clearance": 0.046400599168245016,
+            "fingertip_min_top_clearance": 0.013920179750473504,
+            "object_projection_between_fingers": 0.7991885919799049,
+            "object_to_finger_line_xy": 0.01098700535673661,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048523447935211864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8690144975825024,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28954490310062575,
+              0.34778146535048127,
+              1.2416099282141664
+            ],
+            "held_position": [
+              0.29535449520510937,
+              0.352296907585561,
+              1.2418742034958508
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007362772604347457,
+            "max_held_gripper_dist": 0.007363737087556782,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002642752816843785,
+            "max_held_gripper_z_dist": 0.00035521797766446817,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0891093878245881,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29535449520510937,
+              0.32644556034062455,
+              1.2418742034958508
+            ],
+            "held_grasp_finger_b": [
+              0.28541688188791137,
+              0.352296907585561,
+              1.2418742034958508
+            ],
+            "held_grasp_midpoint": [
+              0.29038568854651037,
+              0.33937123396309277,
+              1.2418742034958508
+            ],
+            "held_grasp_object_position": [
+              0.29535449520510937,
+              0.352296907585561,
+              1.2418742034958508
+            ],
+            "held_grasp_finger_gap": 0.02769563707193668,
+            "held_grasp_max_gap": 0.12496553122997284,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02474023333474506,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09852329853605345,
+              -0.9948928206582707,
+              0.021941628203162807
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036825065522656194,
+            "held_grasp_line_xy_max_dist": 0.04748276561498642,
+            "held_grasp_object_top_z": 0.045200444757938385,
+            "held_grasp_top_clearance": 0.031851241646979694,
+            "held_grasp_min_top_clearance": 0.013560133427381516
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3402339213635226,
+              0.10806661993540743,
+              0.7625862047175511
+            ],
+            "target_position": [
+              0.34194751197137946,
+              0.10426508530358847,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004169899078905174,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17202109325399878,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625862047175511,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564836665371631,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499965064542668,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14041045645425615,
+            "release_required_pad_clearance": 0.05249982532271334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06848049375566018,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8ddcc2a238cfddbbcbe32301e919df95bcdc4fbd3c68881c485d81000eaec60",
+    "visual_seed": 6759233413986999582,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..187835a4a635ce0a553cf00770c5b0c3103c0c1b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2868738675220185,
+              0.35382146448313073,
+              1.048008202039482
+            ],
+            "current_z": 1.048008202039482,
+            "required_z": 0.8565866090463911,
+            "initial_z": 0.7565866090463911,
+            "lift_margin": 0.19142159299309103,
+            "gripper_z": 1.047590892800827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2814227069163502,
+              0.34884916595811516,
+              1.047590892800827
+            ],
+            "object_minus_gripper": [
+              0.005451160605668304,
+              0.004972298525015573,
+              0.000417309238655017
+            ],
+            "object_to_gripper_xy": 0.007378272465195499,
+            "object_to_gripper_z": 0.000417309238655017,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2868738675220185,
+              0.3289916128475315,
+              1.048008202039482
+            ],
+            "finger_b": [
+              0.2750220279206108,
+              0.35382146448313073,
+              1.048008202039482
+            ],
+            "finger_midpoint": [
+              0.28094794772131465,
+              0.3414065386653311,
+              1.048008202039482
+            ],
+            "object_minus_finger_midpoint": [
+              0.005925919800703838,
+              0.012414925817799627,
+              0.0
+            ],
+            "finger_gap": 0.02751340826185237,
+            "fingertip_max_gap": 0.09086688201412083,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013756704130926185,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048008202039482,
+            "object_top_z": 1.0934560093684698,
+            "finger_top_clearance": 0.04544780732898768,
+            "fingertip_min_top_clearance": 0.013634342198696303,
+            "object_projection_between_fingers": 0.8144406915061047,
+            "object_to_finger_line_xy": 0.010695854766924457,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047933441007060415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3488810367505693,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 227,
+            "max_stable_success_frames": 227,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28711022250723384,
+              0.35269119617349565,
+              1.237939563426105
+            ],
+            "held_position": [
+              0.29289174514388583,
+              0.3572850272500037,
+              1.238295640557835
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007392974968262215,
+            "max_held_gripper_dist": 0.007394390466529632,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00035607713172991495,
+            "max_held_gripper_z_dist": 0.0004418164970512173,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0885344340053556,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29289174514388583,
+              0.33156898472747676,
+              1.238295640557835
+            ],
+            "held_grasp_finger_b": [
+              0.28269887275035116,
+              0.3572850272500037,
+              1.238295640557835
+            ],
+            "held_grasp_midpoint": [
+              0.28779530894711847,
+              0.3444270059887402,
+              1.238295640557835
+            ],
+            "held_grasp_object_position": [
+              0.29289174514388583,
+              0.3572850272500037,
+              1.238295640557835
+            ],
+            "held_grasp_finger_gap": 0.027662420187888403,
+            "held_grasp_max_gap": 0.12496551632881164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02489581679831425,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07356804688664455,
+              -0.9972641198584915,
+              0.007212331117799507
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004137756098968002,
+            "held_grasp_line_xy_max_dist": 0.04748275816440582,
+            "held_grasp_object_top_z": 0.04520050436258316,
+            "held_grasp_top_clearance": 0.03200272624926889,
+            "held_grasp_min_top_clearance": 0.013560151308774948
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3498997276431965,
+              0.10235248555506175,
+              0.762585969071482
+            ],
+            "target_position": [
+              0.34570855924567895,
+              0.09806656968612573,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005994578164637389,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17643763470521032,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585969071482,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585098959566379,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619934364495883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14430604585766857,
+            "release_required_pad_clearance": 0.05309967182247942,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.225233458991342,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8946113069649801365,
+    "physical_seed": 5956078570648836201,
+    "layout_id": "layout_00025",
+    "step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "workflow_spec_digest": "7cb61cde62d33c4d9988cbd5b7006906587228b3c6c0d6d08abed90c40c536fb",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21968026969ae69fd568f70e73238a4337af90586e51419810a4500be8c21b45",
+    "visual_seed": 9112613701903472994,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3535246988300564580,
+      3930001998081723350,
+      4554555277898534358
+    ],
+    "runtime_workflow_digest": "8870ec6087e8efbce92a2764e7ad9f79fed317bc4c701958a5b43379fb50f843"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..716649445162a71682587a9a154f6d152812d1d2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00025/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_2beaker_dual_target_s03_psl_gqr_00025",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..261706152268e9986c37ce53e0250ef0a35dbf74
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db4bcbfd663f7dd6b3abccd9de58cb2e6b13bbcb866b4ddf3481c23b486a821b
+size 5980012
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b67f85527fa88249b89fb550210ce7900f85e94f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2cec6bf72b75cbb9e6acc54bdb47f67f95fa0275f87fc643c94bab48d256f33
+size 6291933
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bdaa5ed7bafaeec03fdade493c7ce77dd7a7fa28
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e02daff7469e74a18a663adaf1bd618f598f4dd12ee30a3b28061ff92f3e2b94
+size 4826314
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..986c9dab2d9e501bf8f18f6f0049f142087c4eae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a0d104bbff14acb11cd06e7de076b7bca64bbc698688f8e68f7034214495738
+size 4709480
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a17072cb4a089fefc3f5da8011d80568dce7d960
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a55da56214c73485b2048834fd9cadea4c32f0849176d93da2b0a460d48e15ee
+size 4874693
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..75416cf9e32384117934dd3991c4b5ad22649fa7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db68375f1b38e58764400d3e19dd78783237cd9c687965d1a44bdda7eb3fb67
+size 4960952
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a490498c7d703a7ad316d65a87ea7830e5d8f64
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe68040abe689a4d20dd4e68e27eb181d2f4cd24184271bd0f223699c12d0e4
+size 4888528
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..46cbcdd505d0ca2808cb00ff8fc492f6fc0e3d5b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd984ec9e53a06bda17eaf899d71f3816c7c9735052b808e0d54227f0ef17d5
+size 4895383
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0f2e60cbcf4d3a531d814f383115c230425986b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9a1e391cee20d42dc171f7e333ee005eb445d28a21722a04da7300e4c0000ea
+size 5371200
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ad137d0d16747b0be55d22c3a6cfa2b83dbc8c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86faf5a8014ccb0f64731e561ff17efa1c0703260523ce675cafe25994111234
+size 5133936
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0db7d6596d5980e821a9d5cba0c4ac7e3f60e165
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98e356e2b3f080beb3b9f15eab0465112fbfd87c813ac4694bc2035671d5aa02
+size 4693042
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0085daa1f2261d3568d5da76a431a22bfec3c291
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0ed8fe393dad86503b767297035b1b42152b317db38e8663ec5dcc8ffd0157
+size 4898395
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc83763a6a2997ee8777c94e429bc40cf19d83bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5672ba24554f81854e0751d252c003766af84f4de8f03c97370d1f4408b111c1
+size 5474133
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..223165579e412e858ef3eb6e3a0750324c4a0624
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e65e572c8c8f99cfeb968b4a9b31348bd64e9fb99ca4aa69e69ebe962b93de24
+size 4421369
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e1fd17f34d12273aacbd930eccd91b0399c05f47
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a7117ad3e6cbadae6c2af48e4db3f4d3a4f0dbbb00f6a4c9c38e1942e8903f5
+size 4461703
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e0b03bbf2ce8627090a6c690f88e39cf31c69bcf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:720521c9f7befe4dd121857030e0908dcaff02571baf73c0a884123ee7695a6e
+size 4709758
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f5a8fb1ee5654d8f6b0ee0c080152b2fc6f8ec1b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538497cb88b735ee543b1fe2c84ddacafc7c8c9b280bdced2fad9feb1f215d12
+size 5748699
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2761ea7ea655f4058258b4a17355ee051a082a1c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34d1a49c6d64770eb75ae668a67bab64f7508e240b55c6d0786622df841f4e8
+size 5711686
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3930aaea2ef10622527adb152736280e915f4c10
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:558cb5dc07a46c8d3e1e59601098bfa861259f25188868e6d3dab958ef797cf3
+size 5303304
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a6dafc11c13ba4008f79f09b11d11ca1620b5735
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d850435bc9dc63a77f3a529d1630d09e892596e1911a87b99d8cb6dfde8508
+size 5081107
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e5c52c6e41555cde97f6d7ce47f982eeb5c3429d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:899131a565e19c482e5ff402253d4a6f4f4181015f5e1cc09fba86efbf28212b
+size 4410306
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1dc6f57fae49161a7614e9ad5f4b9e42e9927af1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4ed569e9973854b5be877435c9871406852b6612b791c7c117708d78771fc3d
+size 5226673
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e4aa5891d74fb797fe0cf479fb6c8b571bc63b67
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3907ce3d248a0d9d33f134e18c4a71e1524cad8e110e4d319e4803985a02d9a0
+size 4666049
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5a6cc2d1f157a00a3f35998daa72eb9b68090ee1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9cc0163976f4770f374b201153dbe2f0021a9f087354f6752cf70843fdb8bad
+size 4106805
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0fea715eb6aca588551624fe8fbcfd4b9503a87
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5ee440459f24859c6ceed8601c3ebf581dd324f6b1f3c7158568bd0d357b4a6
+size 4318631
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3640967e93ad696bdaa9f67946833604a9e584b0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a228c69b3442eb626177de9a46dcc70c81ee5b12dd809f2bfb9a637dba15d190
+size 4203530
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24a91fcbc05038a638263b05dfe1567bf2eb7a64
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4d2927a04fab3499125c33ed6ead1d6ab83bb883dd41ad523257579cc15ee67
+size 5827771
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1502183e14bff30606cceb0de488599f689d4506
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dacb2cb559a739ff7f11e935b8f98e1004609d4ef47ce9c1f1aa22f5e890e09
+size 5972987
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c0c4fb9c5fe1cdd68d2932cd149acb6bc8c1b15
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:523bb6753882171cfceb95c07f97c866d7726728145728877d4cfdf1a044e156
+size 4519838
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..565b8bb126771b864a284bee3365b81d66f549ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f1572b528079202bb33a170d3272a44e423c78c2fd6724131bb31e2c32ccb7
+size 5810173
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5eed100abf0acdba1dfeb4029f2b7daec4a81094
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8cb7240c0d4db029e8b1ca7b9f5da89c4033ef87aa388f19fddc45e52b3ada
+size 5752671
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..708c34d5f683d99a2b603f79e73b9b55ba32b419
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d71c7e73f1f80e0beabe98eba06ebd3452201bbd59c38f96accb2a4ef62a4e91
+size 3640467
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5f2bd03a1c22cdd0537a1e079253a78d49e9b93c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb15b6da144ea9e53c46ebbfa441ff0a1dab24b21b8964f4447eac7dff0f69bd
+size 4441004
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9bf9662fb71bcb643252b792fa21168ee344ded8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd30f8ccf5a9ec482ea9d366da29f9a10e2abeb6703c28c6967d2982fb07f20
+size 5094524
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..713fba00affa85a14e775ecb8b50917f90810385
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80bb606da12c26e641225a15a3de90942d63951e180e9a3898ef1c68d767cda6
+size 3851609
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..75629189e8a7462a012dfd155d4a26192608950f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ac5d3120e3dcb032916b457e3d76319a73fc74840d39c72fd8fab0a36b3e87
+size 4961569
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a06760ce5c0cf74065165828da7e35e5b0b84360
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:204d3d364046b3cfa2541c41011984c746ac9464b48b40f3786ac6fbf5db3be8
+size 4147743
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..579c89158d3dc04cac5bbac6d2c543516947c810
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0887de354861d19793a45cceb8ec2f92fde29a217c471ab8d1a5bbc4c873c74
+size 4587566
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2151a71361c2423855207db5dad7f52f02b7a03d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:081651114c6c88fdbf3f15a3f67ba835b5776c026ac6476540b00e7476a65878
+size 4247525
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb3c3624fa53e60779c63a8c6f405cb2ab7c40d2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08cf641110e4dca5c35fbdc15a9cd10a183e2d54ed58c3d8f05c5ddb70a3dec4
+size 4276211
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20f53b8fe613b3db4bc0d0e22456981956c9e707
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a6e9e2755127bf1f95f3823dfc894d2df1e36d5cd7896300719cfeaf943aaca
+size 4440840
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..db36d4b66697e0d586f66670373d77a7b74f026d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71dccf502d491f2443942d5b38d537f41aa22544f431af1dc66cb356a4f8a685
+size 4336505
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0044.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..59a08f14d11f527a684ee606390c89b5053dba35
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a727d296094e1633a8734be82ecc941fec41dc861c3cd2d0878c4788e3fc871d
+size 4318033
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bdd44095dce78469112eaec9400e51a34a84b1c7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c06590b15f953cec421b75ef19386cd8ee7d928157457e533148b01c39786f6
+size 7442857
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c55d7895146a5bd0273b63d36d96032a3f000ff7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcbc53795e55b0ce37fcb1b496a2e1ad2319f4285a98bf792420b853663f9584
+size 4987928
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cccdb2ecf7ada4c8c2ce6f6df3d642eef50dfc09
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c212a068b6137353120abcc979f3ac434d5a89ee9cab2d37b285cf0cd1724da3
+size 4759060
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29892f7a293ec41501bbea59400eb196a3ccab04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c1ed77ae909ab571e24779a53eafa290ee8f9d0b8a7d956a426be22b529810e
+size 4495741
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ad701c45e3438f94a6c8835be102ec62c99693c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d5769cdb8d39f502ff823456b2c32092eda4af4f0bb5fdf74cf6ab6e7b2b55e
+size 4470737
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b61f5e389bc88282c92873234447d161bf598695
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502c70406cf55759548940ca4115f43c812d015580a0696f8a10eeb06606bcf6
+size 3844874
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9779da6e85327e5fa4f2aa84564d9f7f2cfe50f1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f1579dc9076a24149f1512d1a6bec34e59e580d89e08d975965efbe4cc07ff6
+size 5909219
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1103844b562b91c2ab0c1caebd1fccb6f782ae78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba7ce82387a1d7a987054a787680ea664ab188eb1da6f673119bfecce23c6afb
+size 4221312
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f21c955cd3564d18f1b83714ea757846d9a1994
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c82e0c190df57b99d1dd143899312613372ef2827f3fe3a8eb42b9f33d1490bd
+size 4443759
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab8af2b06b25d6b54e106bac4e40dc8dd3f18a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02ad0fd5e76a8ee5c92d9f4753c20b88da1a44fe0ce1c9e0cc237cae5d7ee561
+size 4152099
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79caa6597cb3b2cca0e19f74a1ea039da226282e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:249c72b50d31a33bc6acedf99565abd6b7735af72015d0ac877301cfb4096091
+size 4388281
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..06d8315029252dcdb6bcf090338188e05587a454
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a000f867e6647f18ee663609bb0431cf30aef4e5e939601c680e2667d2e49424
+size 4315961
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dbc449305fa331b03d62691d04551fd742f05278
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ff93931626590ebd8a230decf570d914b471509840e566cd9c0b029915d9024
+size 5068449
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dbd0e5bf12cbd5990dc9f2e0aa523f97c5815c91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e13a1d908d65ac5f3f07401686ad07ff4105aa93c8abedcaa7998c3d753d292c
+size 4033444
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e507fb199164a0564482631c0a036f8f4be48bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4150d20a8787d469d7a8a6d9a25c33cfafe7c2dd6eea86a64fe43fe26620f049
+size 5686160
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fcc51c02d0b91dbf259d0ba699d92dc2cd8a9d90
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0dba9fc50274b57611f26b8b497a417f0ed430cff5de6eeb71ed676327f9700
+size 4715518
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8e709c12bc44f02c38ea059a3f24629c86f3e5aa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ba680765ed1f3f69dbad0d6b1a985e10e67e9a2cd53b059345ea1f8f8692f83
+size 4362117
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ce133d67a1ad65818c925b48ca224a8ca320172
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3677ca94bfea6eb82febed76db25c671045a6ddb11ac2b4aad42ca92085ab20b
+size 4800024
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de1b2c3491af683bb41105e9b816f48ae888ebd6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:446f6e1213095855e1e702773c072eb8527db1973ab018f6367cab35e661d2e1
+size 4804813
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8095f929c409822c0004e58d73aaea8215b2067e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ff32b42d0469a919ecfdc26003a1892ccf60d79a3c1b10b8114214fba83498
+size 4513418
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d8989810c0f2dce4adbff98f5180fcfcdd06329e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44d613d9173b74f04a56f923d5551176929991c38de99667857edc37d1b284c6
+size 3396390
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bfa5c5440c2524b77ac4143c7df33191aea7b7ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9096b080de25bf53a1953ef3403a1caea0780626865a31596d69ecb39c688a4
+size 5041237
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d9082edc2d56cbc07f49890bf02c007a110c1c49
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2cca03c8605c5ab62b3d3095721aa2d144b6897f31e39ee089931302b66172b
+size 4340435
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0068.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..516187a6819d86320ce85fe15444c243c6954447
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:511144452bc513cd889f341570b1f6f883c9c6c50e9966e5b9b31e4758dc2832
+size 4905708
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5c3b16d8d3ab017acc298daa7b2353e2fe5e6530
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4e44069398ed087959a71e8afb92b7177e120f6759a7576bb2f580d62cfa9c
+size 5512808
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..778814b0f975a3c8de1c7b9745e404134e826974
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750994e27b98ff92ebe8b0eb81cc49edc2f2dcb7291e4b948acdcb829c4772b8
+size 4735052
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ef7915b2d41cf5a63f7da2b5752331127841f06f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0cec436d1a73e6bad7a04f9b192a6897c6a08c03c972b425a07259c363eb0d3
+size 5395954
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8247363735fb248cbc86ee10ea08ad998a5de846
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e86eec45d46110df377d8ee2c4c08913c108785e2fc29331501611cd0620774
+size 4347221
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..53dd906fb401a1abfaa70364d04f344aaf080342
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec46e67c37826c96c820a327a09a026e2b618a24412536fcfdba23181372306c
+size 3958872
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5ec186c8792b28b1aeeed24febe0bd6e5b5dad58
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:407287e154c76a4630907501c9f1a8ef0e5b31dc4d526cf4cdc8647008838d90
+size 4980757
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cece01072d56710f7623184b311a13b5dd7b03d6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff2cf85458beab55ee7ab6de1a339034a31043eed13155c1b40de11c5f5c0cf6
+size 5171769
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c00e1a7222aee8188c95ba0441344ab9f1acd797
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:370feece5cf724216b74fe45cb756d07abc787c6d194fe7a267744f0d64c4eb3
+size 3834623
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd75a7cd0cbbc5bbd579c8ac00af026c3a8e970f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e29fb2fb7477051e5c0f4fe6f0b467ad095ed1b6de8a816439d63ca9bb5619f
+size 3964373
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f315757fe26ac0a6d1c39c502c6ee8cf6e54f302
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4e814aacc9a2a913b5d9eefff865a545368d869b24238380394308f1f581e07
+size 3925399
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..410fad25f6b03a7ddb65e27d63d702d41ee9a296
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aad849b4d5bfc517e2f93f1175d1ee3de6c32c845ed045fb9bb8a2ec2ee9dc3
+size 4621798
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3af5a38f9daa4cdb6639eae4c0479419af4551f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec76bd4d1fba30a095ce12b102d72183939d955081d871bab3726e18dad87733
+size 4138231
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0cda0fb53b44df4cf688e38eb713a6c8c31358df
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76aac9bbeac5753c1dc06e02709a165383f573e6b4d40c4264d2d4e638a9b9a2
+size 4654607
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b128901354e136712cfa2d8a858ee9723ab81e37
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5851a8c30300269ace0e065b9f28dc644ce023241b5cb412741f2744064899dd
+size 5664878
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f6ebe00b3d9dd9fa59ef8f6ce14f921d9f3d625e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a2f258f13fb8a3dbbdaf3a9059d1782fa0d74babb1dbe93eb6d2ab19be65555
+size 5043742
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79c6ea2b9041154ec2bd34e1d0a7b06098b16871
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66e614d33f9b66ee75669a873d4a24a6728d6e212a063500e543d3e333bc515
+size 3851532
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e57b6b4e18f544841ebc397f1dd317f861dcf8a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c23b366d8db6032687f96d9fc483cd907df113a96b9cdfce0abadfdcc668b00
+size 4131083
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a1ff4f2965fa4bf1f7f60f1837482e082568880e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7672752b1451eb21b817e18b767005d039d8a2d12efa53a4fad8ed889c2770d
+size 4941221
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b771bfef5315d1ee50cef60036ed1ead5bf18e06
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3294029c6ac346616a1dc615bf83e5639115397e4595ff03e91263c84c582e
+size 4871947
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d0976f00a3a0459c3800a8190fdef3165aba3b6b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:699a3501385ed08c16f3deb23a905d3bf5debfc876747b24d1d78771fa365287
+size 4709422
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..639ea88a6d68945fc9145f0a74e6cae7dec2c150
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2577d347ac1963e3a8a12d58a1d365698708ee3ede902412cbd026c55027c64b
+size 4674870
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..669d7785cdbe95e47edfa1148dc63fbe00237cc8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c087dd093d5b1887e6494f8dd5ce5843ed0511931d7923667f22c314d91591a
+size 4765044
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41c9c8d6a13ba5117378ae962bb2c4be34bcc349
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ef9af6456050f06733c93c71fac507b5677b64b92fc5f27b0b68676db23c4e
+size 3642396
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..51070e5e30b9e416fe716e73cc9aa7dfb46b9a43
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6ac68e90a39f8dcedf7682f648c73c6d9423ec876153707f359fc9601af0f9
+size 4259566
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24dc7c99e1e5cc91bf4d1d91d323983386f7f250
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f53e4512d46544d74507802ce4b5e38b98312fb0e8bbd792f15cd3d1306f0f46
+size 5203030
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fbeda8e3812e32a8e020089cab5c51cf5ea74f54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ef56719743b7ca14f64680f28ee014a1ad213b65be7edf619b488491c98b7b
+size 5740550
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..90ed3de27140e37851facfba5d1a140ffa7bbc94
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:426f71377116fc83135879c4c9bd5bb9936ea438c9a036f9f4817762eb87ced2
+size 5214090
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a715a1cbd0a617e91559a53e30a0009878c2afbc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf35db0fbccb1d2e63a47e1d271a458c0f7244fed4ea07cda04ad5113e53e3f6
+size 5016545
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..194e2d7fba24dbf36e6b4aaeacd754f977524583
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5954ab3ad79ba9d57a1b8ae35a448cdd5a646d72d452457c91f6d247b33097e7
+size 5535275
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4a567d014300bc7a418056d92685f9c06a5bb91d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1998dc5c2a71a7c46c3c776f93c99fc6dc46656c525e0edfbbd88bf57e2d1b9
+size 5856378
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6159c447b53099661a96a94455c8b77f7994ba9f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db6eee92aa3b2e87043abc1c989c98e0008f99b69a632c7f8ea665444683c074
+size 4336188
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e2ecc2342810172f0aa508b24f344056746a2ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f520ef5eb15c9c9068fb7808416ca3a454d61c8774676b6bd244241b978b84c5
+size 4016557
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c59bebb9fa9c6b72bd5291ef734b51fbb0eacfe6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1e514dd47672991963e0b62f4a82671f5632fd0182d4ffcf5df7a0bc8c11275
+size 4615151
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bba5b5a2eecddbfe7ee16dffba79abd6f20d0df2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":855,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":864,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":864,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":864,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":862,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":861,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":856,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":858,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":863,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":860,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78512d8306daf73816d791e883b07eee8967521b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-02T03:06:43","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.0228834393116244,1.1369073225375455,0.71338606911949],"aabb_xy":[[-0.08788343786869723,1.1071547891236626],[0.04211655924544844,1.1666598559514278]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.08256839558446005,-2.0424217182194724,0.71338606911949],"aabb_xy":[[0.0025683981808666124,-2.1224142894176548],[0.16256839298805342,-1.9624291470212893]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.126365567245044,-2.130671892613701,0.71338606911949],"aabb_xy":[[-0.19036126464014055,-2.1946718909144094],[-0.062369869849947385,-2.066671894312992]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.6398586521280303,0.07723662240431839,0.71338606911949],"aabb_xy":[[-0.6438191358977646,0.0695687578187978],[-0.6358981683582959,0.084904486989839]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.5104969306035794,-1.3127632400975433,0.71338606911949],"aabb_xy":[[0.4605195137383257,-1.3627632415867916],[0.5604743474688328,-1.2627632386082945]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[-0.401663937316661,0.8717484653348047,0.71338606911949],"aabb_xy":[[-0.46566393590323346,0.8247415019352959],[-0.33766393873008854,0.9187554287343134]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.11465515917582092,0.24387627395858003,0.71338606911949],"aabb_xy":[[-0.2046551585941918,0.21050077711439025],[-0.02465515975745003,0.2772517708027697]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.40252021445098385,-2.4234548000370535,0.71338606911949],"aabb_xy":[[0.3687446552602909,-2.437493295250218],[0.4362957736416768,-2.409416304823888]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[-0.1368168740519493,-0.5437697674992479,0.71338606911949],"aabb_xy":[[-0.18663365351678407,-0.5937697659835511],[-0.08700009458711455,-0.4937697690149444]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.47073962962359484,-1.9856122529153253,0.71338606911949],"aabb_xy":[[0.4625250845079108,-1.9942888432129664],[0.47895417473927876,-1.9769356626176837]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[-0.4040712522200678,-2.101280225159233,0.71338606911949],"aabb_xy":[[-0.4840712532931881,-2.1110582714966175],[-0.32407125114694746,-2.0915021788218486]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.2353561254862589,-1.8377980090224582,0.71338606911949],"aabb_xy":[[-0.2532252332407144,-1.8516309169996688],[-0.2174870177318034,-1.8239651010452467]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.04615050079599514,1.4763536925117449,0.71338606911949],"aabb_xy":[[-0.01884950016113206,1.4244054805780393],[0.11115050175312235,1.5283019044454504]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.3329325792059128,1.2259324042923678,0.71338606911949],"aabb_xy":[[0.32589112825516525,1.2189056525545734],[0.33997403015666045,1.2329591560301623]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.4087880171422426,-1.6731388911122813,0.71338606911949],"aabb_xy":[[-0.44628801793423806,-1.679506732070471],[-0.37128801635024716,-1.666771050154091]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.5641108082789106,1.3688474098068042,0.71338606911949],"aabb_xy":[[0.5440523966656703,1.3487823228976465],[0.5841692198921509,1.3889124967159614]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.41009566606243497,-1.3885141471864135,0.71338606911949],"aabb_xy":[[-0.4997827423705504,-1.478514147440864],[-0.3204085897543195,-1.298514146931963]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.4536921574361661,1.2739466689770564,0.71338606911949],"aabb_xy":[[-0.4663189447233624,1.2644005952754833],[-0.4410653701489697,1.2834927426786291]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.6409227575256224,1.5484026616652327,0.71338606911949],"aabb_xy":[[-0.657932854815673,1.5322681731669587],[-0.6239126602355717,1.5645371501635066]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.08713304171506597,-0.8787951416654058,0.71338606911949],"aabb_xy":[[-0.14212529235057692,-0.9337951434087187],[-0.032140791079555024,-0.8237951399220932]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.16892516131270374,-0.26551150269960866,0.71338606911949],"aabb_xy":[[-0.2289251615641049,-0.31979282773607326],[-0.10892516106130254,-0.21123017766314395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820459147028485,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5314.png","name":"5314"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5314.png","name":"5314"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4763.png","name":"4763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6323.png","name":"6323"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":706.3584868832701,"rotation_z_degrees":322.1238241750263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012098050881853676,0.012853661345373777,0.0147576399695309]},{"name":"camera_2","offset_m":[-0.0045035808832929545,0.008518784310921023,0.009776747010292502]},{"name":"camera_3","offset_m":[0.0056871168891175425,-0.0002905901201874436,0.008073535093417447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00044044949778341983,0.0008981279308883862,0.0007014733797644245],"end_effector_yaw_offset_degrees":0.3530346952799126},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011072758615347956,-0.001484094575506124,0.00017243568016571615],"end_effector_yaw_offset_degrees":0.2789074697199736},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009279859971825842,-0.00010055411464864007,0.00091329071278211],"end_effector_yaw_offset_degrees":-0.9906874938294707}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020010469392144235,0.004499708141253208],"position_m":[0.25009895306078556,-0.09000029185874679,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004343140171299908,0.004228745972542623],"position_m":[0.3589431401712999,0.07502874597254262,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004377648297456284,0.003292887022600481],"position_m":[0.3096223517025437,0.2513928870226005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024251987480770265,0.0004409609887191038],"position_m":[0.24447480125192297,-0.3782590390112809,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b16ed4de926e704db737dd1782d682e263699c7d30351bdeadbded325bc0aca6","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5314/tex_ceiling_textures_6323/tex_floor_textures_4763/tex_table_textures_4423/tex_wall_textures_7219","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":82803306339185375,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":82803306339185375,"visual_seed":82803306339185375,"scene_id":"lab_003","finished_at":"2026-09-02T03:09:23"}
+{"episode_id":"ep_000001","started_at":"2026-09-02T03:09:27","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.571107703074178,-2.510060701333817,0.71338606911949],"aabb_xy":[[0.5427779931256378,-2.5145214435275345],[0.5994374130227182,-2.5055999591401004]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.584229952481335,-1.96558586518479,0.71338606911949],"aabb_xy":[[-0.6739170287894505,-2.0555858654392405],[-0.49454287617321957,-1.8755858649303394]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[0.09520852005176439,-1.1468474804754851,0.71338606911949],"aabb_xy":[[0.08758425196158615,-1.1544807040120288],[0.10283278814194265,-1.1392142569389414]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.07568937845265655,0.5516512299206799,0.71338606911949],"aabb_xy":[[-0.12568937947179182,0.5151850141828521],[-0.02568937743352128,0.588117445658508]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.47916920133792024,1.008088423986944,0.71338606911949],"aabb_xy":[[-0.49002080758679584,0.9972291332592931],[-0.46831759508904464,1.018947714714595]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.6699131282174751,-1.75837216049081,0.71338606911949],"aabb_xy":[[0.6324131296418543,-1.7711084561543677],[0.7074131267930959,-1.7456358648272519]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.6352961997511399,-0.2700961026838309,0.71338606911949],"aabb_xy":[[-0.6571859473400806,-0.36009609997307995],[-0.613406452162199,-0.18009610539458173]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.6693166353059093,-0.4703519353644392,0.71338606911949],"aabb_xy":[[-0.6922323481909592,-0.49325623250086265],[-0.6464009224208594,-0.44744763822801564]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.6284892799416781,-0.22010696844428157,0.71338606911949],"aabb_xy":[[0.6082049772182794,-0.24038959358699036],[0.6487735826650769,-0.19982434330157267]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.03714497784582271,-1.9378737671132371,0.71338606911949],"aabb_xy":[[-0.10114498106446057,-1.9845968790122457],[0.026855025372815138,-1.891150655214229]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.40542938781329085,1.2661562932890353,0.71338606911949],"aabb_xy":[[0.3414293854704893,1.2212154420449028],[0.4694293901560924,1.3110971445331678]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.3934015053715183,0.7161440016365366,0.71338606911949],"aabb_xy":[[0.37995497873747497,0.7026741499834454],[0.40684803200556163,0.7296138532896278]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[0.029754498789438588,-0.8580383429654106,0.71338606911949],"aabb_xy":[[-0.0197259224245202,-0.9220383408782625],[0.07923492000339738,-0.7940383450525589]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.43915034866959846,-0.5910871196577208,0.71338606911949],"aabb_xy":[[0.43356867703546975,-0.6035871194754961],[0.44473202030372727,-0.5785871198399452]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.26899916825517567,-0.49628839015884374,0.71338606911949],"aabb_xy":[[0.26107588801642734,-0.5187883903968471],[0.276922448493924,-0.4737883899208404]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.5947327129552326,1.0753640054923048,0.71338606911949],"aabb_xy":[[-0.6487483092371324,1.0113640026000474],[-0.5407171166733324,1.1393640083845618]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.16927751721091833,-2.037666460310981,0.71338606911949],"aabb_xy":[[0.09927751457433195,-2.0577713253068466],[0.23927751984750464,-2.0175615953151156]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.6755024033676608,-1.5285812103356484,0.71338606911949],"aabb_xy":[[-0.6906745726492941,-1.5437500672638518],[-0.6603302340860274,-1.513412353407445]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[0.33734037326909916,-2.347353621425298,0.71338606911949],"aabb_xy":[[0.2822151676395083,-2.407353622866585],[0.3924655788986899,-2.2873536199840108]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.3613403431729015,-0.09723615770058736,0.71338606911949],"aabb_xy":[[-0.37005431222283586,-0.11973615835977557],[-0.3526263741229669,-0.07473615704139912]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.6461247362071074,-1.0739803542020399,0.71338606911949],"aabb_xy":[[-0.6541182260023894,-1.0819784861425155],[-0.6381312464118254,-1.0659822222615642]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[0.37831935851015697,-1.0947681388732209,0.71338606911949],"aabb_xy":[[0.373475763748927,-1.099619791352205],[0.38316295327138694,-1.0899164863942368]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.5751227623863879,1.345103020013982,0.71338606911949],"aabb_xy":[[-0.6551227610432739,1.330598161089719],[-0.4951227637295019,1.3596078789382449]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.2920208568239782,-0.3997992789915936,0.71338606911949],"aabb_xy":[[-0.3270208559539338,-0.40554450006725773],[-0.2570208576940225,-0.3940540579159295]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.29157062226708974,-1.9658547052294164,0.71338606911949],"aabb_xy":[[-0.37156444584564796,-2.045854707822258],[-0.21157679868853152,-1.885854702636575]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[0.5099643246311885,0.7212599073481836,0.71338606911949],"aabb_xy":[[0.46497173791273805,0.6762599080737347],[0.5549569113496389,0.7662599066226322]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.1751639588089291,1.0222904232648307,0.71338606911949],"aabb_xy":[[0.12517972310075187,0.9722904244513351],[0.22514819451710633,1.0722904220783263]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[0.42913854065864276,0.5831916998828572,0.71338606911949],"aabb_xy":[[0.41025415689013256,0.5643057751025045],[0.44802292442715297,0.60207762466321]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[-0.12840267051808596,1.410787422990043,0.71338606911949],"aabb_xy":[[-0.13897015017618494,1.4002423928770342],[-0.11783519085998692,1.4213324531030513]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[-0.15615467659132443,0.23475782132132084,0.71338606911949],"aabb_xy":[[-0.17861944656272952,0.21225782044246033],[-0.13368990661991928,0.25725782220018134]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_30","position":[-0.6286939118190138,-0.08967382614274078,0.71338606911949],"aabb_xy":[[-0.6511939120625291,-0.10187846080251273],[-0.6061939115754983,-0.07746919148296882]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_31","position":[-0.5967698013574815,-1.7916496875270405,0.71338606911949],"aabb_xy":[[-0.6004730626866204,-1.7953517058357582],[-0.5930665400283426,-1.7879476692183223]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_32","position":[0.2000429546068675,1.2755763374702513,0.71338606911949],"aabb_xy":[[0.19126172745963133,1.2667965901817215],[0.20882418175410378,1.284356084758782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6819741173596169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7829.png","name":"7829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7829.png","name":"7829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2855.png","name":"2855"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5144.png","name":"5144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5000.png","name":"5000"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":577.9931315648885,"rotation_z_degrees":213.7071682285466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026329726692236773,0.013319731118756038,-0.0072739170181074005]},{"name":"camera_2","offset_m":[0.003743493181627623,-0.012709702174570677,0.010960633399723259]},{"name":"camera_3","offset_m":[-0.010418419840082968,-0.013758564162465493,-0.01380573164049698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006448088433093743,-0.001158809590154495,0.0004096455610106721],"end_effector_yaw_offset_degrees":-0.32350317834439046},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019081107849222819,-0.000629382887537116,0.0008199848394377131],"end_effector_yaw_offset_degrees":-0.32319688857877527},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001560504095917703,0.0008243307654582301,0.00029235682073933036],"end_effector_yaw_offset_degrees":0.8919033386514199}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003754942033917974,-0.0027789014710557568],"position_m":[0.24834505796608203,-0.09727890147105575,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024741151150008433,0.00487405064472768],"position_m":[0.3521258848849992,0.07567405064472768,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004440636822786855,0.00451990814316413],"position_m":[0.31844063682278684,0.2526199081431641,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005241427461407768,0.003439353817041157],"position_m":[0.24637585725385924,-0.37526064618295885,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b3d79083cbb9021a30ed0dd51539dc37620a0740464d566ea3646425f6c15d22","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7829/tex_ceiling_textures_5000/tex_floor_textures_5144/tex_table_textures_2855/tex_wall_textures_2285","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2193217910378500916,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2193217910378500916,"visual_seed":2193217910378500916,"scene_id":"lab_003","finished_at":"2026-09-02T03:12:35"}
+{"episode_id":"ep_000002","started_at":"2026-09-02T03:12:39","dimensions":{"distractor":{"count":32,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.4287868973036636,0.6563720070816781,0.71338606911949],"aabb_xy":[[-0.5087868959605495,0.6418671481574153],[-0.34878689864677753,0.6708768660059409]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.11220507139045888,-1.883385918777834,0.71338606911949],"aabb_xy":[[-0.12012835162920721,-1.905885919015837],[-0.10428179115171055,-1.8608859185398303]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.11127821271233851,-0.5885468988875404,0.71338606911949],"aabb_xy":[[-0.12043809165621512,-0.5950781169310775],[-0.10211833376846192,-0.5820156808440033]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.6006349830274678,1.6101632728949036,0.71338606911949],"aabb_xy":[[0.5817505992589576,1.5912773481145508],[0.619519366795978,1.6290491976752564]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.23260073774533618,1.7264240909865909,0.71338606911949],"aabb_xy":[[0.2143949140840885,1.7153986904045992],[0.25080656140658386,1.7374494915685825]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.03400699315972622,-1.6556524636680316,0.71338606911949],"aabb_xy":[[-0.07150699158312657,-1.668816677635862],[0.0034930052636741316,-1.642488249700201]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.6364675039056786,0.22255957112706293,0.71338606911949],"aabb_xy":[[0.6014675056355587,0.21548544343207474],[0.6714675021757985,0.22963369882205106]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.30115328870471175,1.1280325146003052,0.71338606911949],"aabb_xy":[[-0.3651532919233496,1.081309402701297],[-0.2371532854860739,1.1747556264993138]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.6274577847243719,1.2545731998687129,0.71338606911949],"aabb_xy":[[0.6211456851880336,1.248806260615494],[0.6337698842607103,1.2603401391219318]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.22605625271475327,-0.7868829277409979,0.71338606911949],"aabb_xy":[[0.20850955779863437,-0.8243829293052493],[0.24360294763087223,-0.7493829261767467]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.45357451394254444,-1.7974367882914328,0.71338606911949],"aabb_xy":[[0.4496606407471219,-1.8061858036979896],[0.45748838713796697,-1.788687772884876]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.4271593700583629,-0.24378449157356963,0.71338606911949],"aabb_xy":[[0.40387752786023157,-0.32878449287079764],[0.45044121225649425,-0.15878449027634153]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[0.5368216580773679,-2.34304748005572,0.71338606911949],"aabb_xy":[[0.5169306181970278,-2.3557032913404172],[0.5567126979577083,-2.3303916687710236]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.39952407388444544,0.432552747069745,0.71338606911949],"aabb_xy":[[-0.44451666060289585,0.38755274779529625],[-0.35453148716599503,0.47755274634419376]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.35804934973339364,-2.0964535031342932,0.71338606911949],"aabb_xy":[[0.3205493485486008,-2.100871725830353],[0.3955493509181864,-2.092035280438232]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.6276275969220501,0.8427232520416164,0.71338606911949],"aabb_xy":[[-0.6776268720904862,0.7927232507656692],[-0.5776283217536139,0.8927232533175635]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.5499616456117808,-0.8614354985082582,0.71338606911949],"aabb_xy":[[0.5423373775216027,-0.869068722044802],[0.5575859137019592,-0.8538022749717146]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.1955892040942842,-0.36419076335493905,0.71338606911949],"aabb_xy":[[-0.20430317314421867,-0.3866907640141272],[-0.1868752350443497,-0.34169076269575077]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.5983100374877397,1.0197763371715065,0.71338606911949],"aabb_xy":[[0.5511806584859039,0.9557763361271046],[0.6454394164895753,1.0837763382159085]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.4433522199127604,-2.088205646579597,0.71338606911949],"aabb_xy":[[-0.45851509288969755,-2.103371103874716],[-0.4281893469358234,-2.0730401892844785]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.18713853045725615,-1.2804401647371522,0.71338606911949],"aabb_xy":[[0.16213853052473826,-1.2873228329580755],[0.21213853038977404,-1.2735574965162288]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[-0.5505249142596068,-0.8314740522516992,0.71338606911949],"aabb_xy":[[-0.5757457511194464,-0.856697803104586],[-0.525304077399767,-0.8062503013988125]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.22712081476071516,1.4224406274862642,0.71338606911949],"aabb_xy":[[-0.24929334173736595,1.400264960330141],[-0.20494828778406426,1.444616294642387]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.6190510951347005,-2.279751802465235,0.71338606911949],"aabb_xy":[[-0.6558457282596067,-2.316657677561817],[-0.5822564620097942,-2.2428459273686525]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.2540368680485687,-0.1130872376325911,0.71338606911949],"aabb_xy":[[-0.32403686985731417,-0.13444100639677847],[-0.1840368662398233,-0.09173346886840374]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[0.220597570341027,-1.7272569501864918,0.71338606911949],"aabb_xy":[[0.21569827803446348,-1.7549338694890606],[0.22549686264759047,-1.699580030883923]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[0.5963544401092769,-2.094975578934721,0.71338606911949],"aabb_xy":[[0.5163544429497016,-2.106523179892538],[0.6763544372688521,-2.083427977976904]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[-0.18060451490667317,1.7096194503156261,0.71338606911949],"aabb_xy":[[-0.20311820673013034,1.6396194497146186],[-0.15809082308321595,1.7796194509166336]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[0.6088924591255087,-1.866945068603179,0.71338606911949],"aabb_xy":[[0.5188924605310388,-1.8831956549166002],[0.6988924577199787,-1.8506944822897582]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[0.533580806369828,-2.4394109994731132,0.71338606911949],"aabb_xy":[[0.4695808090841793,-2.480917718425957],[0.5975808036554766,-2.3979042805202693]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_30","position":[-0.002151974057750139,1.258311740079881,0.71338606911949],"aabb_xy":[[-0.07215197744931211,1.2229959663764498],[0.06784802933381183,1.2936275137833115]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_31","position":[-0.6023714390463022,1.5272020943256535,0.71338606911949],"aabb_xy":[[-0.6323389959561279,1.4972020940277677],[-0.5724038821364765,1.5572020946235392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866807463557734,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2038.png","name":"2038"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2038.png","name":"2038"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5202.png","name":"5202"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1993.png","name":"1993"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4009.png","name":"4009"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3250.png","name":"3250"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":825.1614444652074,"rotation_z_degrees":130.66737329654725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012311168634239606,0.0009194362872000476,-0.01088323398355426]},{"name":"camera_2","offset_m":[-0.010486478640018882,-0.002587877751203071,0.010247232738753973]},{"name":"camera_3","offset_m":[0.00875413376358886,0.013762628412992372,0.001710581232282543]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000579982162071901,0.0010860930760905516,-0.0016647835987412389],"end_effector_yaw_offset_degrees":-0.2798068646587013},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014263915926526626,0.0019888509894064304,-0.000491444947716587],"end_effector_yaw_offset_degrees":-0.5465848753287066},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001064401774418077,-0.0017793182745235421,0.0006460309160892836],"end_effector_yaw_offset_degrees":0.5612768215068131}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00312629326965859,0.0045458144237907035],"position_m":[0.2489737067303414,-0.0899541855762093,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032420161506720824,0.0042871673290129425],"position_m":[0.3513579838493279,0.07508716732901294,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0033897737237673165,0.001566815485480654],"position_m":[0.3106102262762327,0.24966681548548064,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037436611445636854,0.0013625682526519833],"position_m":[0.2506436611445637,-0.377337431747348,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aa73ab4955fb49cc5ad8aefe0aec2999e1a47569a03389268ad837337ed57e63","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2038/tex_ceiling_textures_3250/tex_floor_textures_4009/tex_table_textures_5202/tex_wall_textures_1993","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1569548924654956901,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1569548924654956901,"visual_seed":1569548924654956901,"scene_id":"lab_003","finished_at":"2026-09-02T03:15:37"}
+{"episode_id":"ep_000003","started_at":"2026-09-02T03:15:43","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.11033808280962654,-0.062292192820172065,0.71338606911949],"aabb_xy":[[-0.16031137681288696,-0.1122921933747194],[-0.06036478880636606,-0.012292192265624717]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.19258645656183748,-1.0898617755707074,0.71338606911949],"aabb_xy":[[0.17009003512797338,-1.1123617753774548],[0.21508287799570158,-1.06736177576396]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.5514765660102681,1.1799908357916342,0.71338606911949],"aabb_xy":[[-0.6014765669608009,1.1484416887881128],[-0.5014765650597353,1.2115399827951556]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.15506865059290686,0.8165648967531651,0.71338606911949],"aabb_xy":[[-0.17062442000317213,0.801014463508758],[-0.1395128811826416,0.8321153299975724]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.28587144894331934,-1.053810530245491,0.71338606911949],"aabb_xy":[[-0.32337144923549416,-1.0578520056460945],[-0.24837144865114452,-1.0497690548448875]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.2670261804753717,-1.6900215665408571,0.71338606911949],"aabb_xy":[[-0.2948712172559788,-1.7208060652791688],[-0.23918114369476456,-1.6592370678025454]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[-0.4618112264258106,-0.9384236124372671,0.71338606911949],"aabb_xy":[[-0.5218112270218267,-0.9932360849824906],[-0.4018112258297944,-0.8836111398920437]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.25181970363325235,1.3621047989333896,0.71338606911949],"aabb_xy":[[0.2265988667734126,1.3368810480805027],[0.2770405404930919,1.3873285497862762]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.5913040772622186,1.5545605343433135,0.71338606911949],"aabb_xy":[[-0.6553040776397522,1.5048152674925013],[-0.527304076884685,1.6043058011941258]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.3520664146556275,-2.4077598097540336,0.71338606911949],"aabb_xy":[[-0.4420664183325455,-2.4691922163311375],[-0.2620664109787092,-2.346327403176929]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.19112533859288272,-0.5776089032823304,0.71338606911949],"aabb_xy":[[-0.2460990606292156,-0.6326089028465636],[-0.13615161655654984,-0.5226089037180972]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[0.5322274060281047,-0.016538172649078753,0.71338606911949],"aabb_xy":[[0.4963139016031149,-0.052451680865833364],[0.5681409104530942,0.01937533556767587]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.22874775716147433,1.6651952091150908,0.71338606911949],"aabb_xy":[[-0.23678409186275914,1.6571570898106742],[-0.22071142246018946,1.6732333284195078]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.5130562162740298,1.6889148741097002,0.71338606911949],"aabb_xy":[[0.47175167321029365,1.624914874541583],[0.5543607593377656,1.752914873677817]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.4772261332415808,0.9677513711674277,0.71338606911949],"aabb_xy":[[-0.5412261349195782,0.9192339796881134],[-0.4132261315635834,1.016268762646742]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.47726842798826347,-0.7131923008465273,0.71338606911949],"aabb_xy":[[-0.4853961161815767,-0.7221059092572351],[-0.46914073979495025,-0.7042786924358198]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.4915823159652548,-1.591720875339182,0.71338606911949],"aabb_xy":[[0.48074183773873985,-1.6089071566298307],[0.5024227941917696,-1.5745345940485334]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.6220099221571307,-0.08583717774918309,0.71338606911949],"aabb_xy":[[0.6139836515265047,-0.0945886727265357],[0.6300361927877567,-0.07708568277183048]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.4084878712164699,-2.379689808274928,0.71338606911949],"aabb_xy":[[0.3284878679586269,-2.459686316066912],[0.4884878744743128,-2.299693300482944]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.6459793714028298,-1.7553933017925694,0.71338606911949],"aabb_xy":[[-0.6547814267118025,-1.7632046279474982],[-0.6371773160938571,-1.74758197563764]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.5467773911429492,0.24321199957014983,0.71338606911949],"aabb_xy":[[-0.584277391491177,0.23142060398906625],[-0.5092773907947215,0.2550033951512334]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.3588064765171816,1.5110596238744871,0.71338606911949],"aabb_xy":[[-0.3712738346269173,1.4985942992411638],[-0.346339118407446,1.5235249485078108]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.46659755272444964,0.7597188733629219,0.71338606911949],"aabb_xy":[[-0.5465975548872122,0.6797636897367783],[-0.3865975505616871,0.8396740569890655]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[0.29499361041894867,1.458329560355232,0.71338606911949],"aabb_xy":[[0.2778915324605805,1.4412227548239624],[0.3120956883773168,1.475436365886502]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.0631271424867782,0.2200930752815511,0.71338606911949],"aabb_xy":[[-0.07369462214487721,0.2095480451685425],[-0.05255966282867919,0.23063810539455962]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[0.05883958766847375,-1.870300993020197,0.71338606911949],"aabb_xy":[[0.024248504814428532,-1.935300993305228],[0.09343067052251897,-1.805300992735166]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[-0.12769140507325782,1.1566773429179076,0.71338606911949],"aabb_xy":[[-0.16519140625805057,1.1522591202218466],[-0.09019140388846499,1.1610955656139677]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[-0.3804979742965471,-1.4210643691635425,0.71338606911949],"aabb_xy":[[-0.4444979763462791,-1.4611588522528505],[-0.3164979722468151,-1.3809698860742345]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[0.3318627810702297,-0.7829073503495576,0.71338606911949],"aabb_xy":[[0.3239395008314814,-0.805407350587561],[0.33978606130897804,-0.7604073501115542]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_29","position":[-0.06938202457689124,-2.0479456749176816,0.71338606911949],"aabb_xy":[[-0.11063083560680598,-2.102945674429899],[-0.02813321354697652,-1.9929456754054644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829789354571336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9405.png","name":"9405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9405.png","name":"9405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7706.png","name":"7706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3470.png","name":"3470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4831.png","name":"4831"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":796.1757860560947,"rotation_z_degrees":265.28609489538985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016716461801937324,0.01745292863665728,-0.014490086743024672]},{"name":"camera_2","offset_m":[0.016375106675775245,0.017331538490904252,0.014744891232068413]},{"name":"camera_3","offset_m":[0.017930210732084322,0.012569035213350208,-0.007736323483509579]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001125361950978115,-0.001610676178107962,-0.0014485170581093412],"end_effector_yaw_offset_degrees":-0.6675676320581334},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013367232119879365,0.0016954437055742388,8.671956602396757e-05],"end_effector_yaw_offset_degrees":-0.5761098269973315},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013828139675513824,-0.0015714589914191124,-0.0007819809913031008],"end_effector_yaw_offset_degrees":-0.9177916469526657}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0022519920444480103,0.0039527998107523705],"position_m":[0.24984800795555198,-0.09054720018924763,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004129718238353927,-0.0038133742291008976],"position_m":[0.3504702817616461,0.0669866257708991,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000865951145362206,0.0025081235502118935],"position_m":[0.3131340488546378,0.2506081235502119,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005077894089360272,0.0016410798930616552],"position_m":[0.24639221059106398,-0.3770589201069383,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"68e1418336d196547c8baa1b29050b3535db9afc64b185afd09602c40fc2d073","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0003.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9405/tex_ceiling_textures_4266/tex_floor_textures_4831/tex_table_textures_7706/tex_wall_textures_3470","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6374884418001731921,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6374884418001731921,"visual_seed":6374884418001731921,"scene_id":"lab_003","finished_at":"2026-09-02T03:18:27"}
+{"episode_id":"ep_000004","started_at":"2026-09-02T03:18:30","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.27407111040448895,-2.014649940956974,0.71338606911949],"aabb_xy":[[0.2240711091206489,-2.064628795347596],[0.3240711116883288,-1.9646710865663521]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.2861414655873593,1.0004625064113721,0.71338606911949],"aabb_xy":[[0.20614146511714337,0.9921517987970238],[0.36614146605757525,1.0087732140257204]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.13872141753165168,1.1798243615933566,0.71338606911949],"aabb_xy":[[-0.16122141804369228,1.157332503227958],[-0.11622141701961108,1.2023162199587547]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.2833054340510889,-0.5689315983678256,0.71338606911949],"aabb_xy":[[-0.30580543406123717,-0.5830278180074289],[-0.2608054340409406,-0.5548353787282223]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.4880586078018634,-0.15662902659509959,0.71338606911949],"aabb_xy":[[0.4512080598648758,-0.19412902741813332],[0.524909155738851,-0.11912902577206586]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.1706458026998806,-2.396066926835294,0.71338606911949],"aabb_xy":[[-0.19392764489801192,-2.481066928132522],[-0.14736396050174924,-2.311066925538066]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.07836402508832918,-1.1422677155672958,0.71338606911949],"aabb_xy":[[-0.14336402296997697,-1.1933913792738369],[-0.013364027206681384,-1.0911440518607551]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.42978369526894616,-0.7074427813629047,0.71338606911949],"aabb_xy":[[-0.49978369687122565,-0.7208755745645623],[-0.3597836936666667,-0.6940099881612471]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.1672549192712146,-1.3497759907602693,0.71338606911949],"aabb_xy":[[-0.21735238325228823,-1.4137759912700811],[-0.11715745529014099,-1.2857759902504575]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.5916886589611352,1.5451295210913565,0.71338606911949],"aabb_xy":[[-0.6716886576180212,1.5306246621670938],[-0.5116886603042492,1.5596343800156196]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.644048106186988,-0.16982223062310586,0.71338606911949],"aabb_xy":[[-0.6665617980104452,-0.2398222312241134],[-0.6215344143635309,-0.09982223002209833]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.5667944995231204,-2.257201473331548,0.71338606911949],"aabb_xy":[[-0.5749081541964975,-2.2653072897855764],[-0.5586808448497433,-2.2490956568775187]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.22238130223834462,-2.384873460861476,0.71338606911949],"aabb_xy":[[0.15838130584277157,-2.4488367492802094],[0.2863812986339177,-2.3209101724427423]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.3125013282997704,-2.0597394860974605,0.71338606911949],"aabb_xy":[[-0.3230688079578694,-2.070284516210469],[-0.3019338486416714,-2.049194455984452]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.48645133783886585,1.6789937551045653,0.71338606911949],"aabb_xy":[[-0.49036521103428826,1.6702447396980085],[-0.4825374646434432,1.687742770511122]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.2106851839380477,-1.228191272311698,0.71338606911949],"aabb_xy":[[0.19983357768917206,-1.239050563039349],[0.22153679018692327,-1.2173319815840469]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.19950184622747758,-0.8954191300195076,0.71338606911949],"aabb_xy":[[0.18909028754699383,-0.9007648633554061],[0.20991340490796126,-0.8900733966836091]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.28779162247294676,-1.422142140569135,0.71338606911949],"aabb_xy":[[0.2377966115134948,-1.4721421396047267],[0.33778663343239884,-1.3721421415335433]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.4952376688934089,-1.4988209502640701,0.71338606911949],"aabb_xy":[[-0.502940859567486,-1.506530320962808],[-0.4875344782193318,-1.4911115795653322]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.47260815495242214,0.962040185861877,0.71338606911949],"aabb_xy":[[-0.5366081571728292,0.9176671017365887],[-0.4086081527320151,1.0064132699871653]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[0.43111157214918583,-2.1053647391446693,0.71338606911949],"aabb_xy":[[0.41331806521426945,-2.123164484740467],[0.4489050790841023,-2.0875649935488716]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.12969908193978963,1.4247224402434608,0.71338606911949],"aabb_xy":[[-0.13899270017694018,1.387222441755327],[-0.12040546370263902,1.4622224387315947]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.16919504364185267,-0.9558895623456287,0.71338606911949],"aabb_xy":[[-0.176438809688098,-1.035889560549231],[-0.16195127759560735,-0.8758895641420265]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[0.1352728048185856,-2.2412361771905616,0.71338606911949],"aabb_xy":[[0.13113694848588542,-2.2787361766349186],[0.1394086611512858,-2.2037361777462046]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.3583230708838888,-1.4877656088455595,0.71338606911949],"aabb_xy":[[-0.3674829498277654,-1.4942968268890966],[-0.3491631919400122,-1.4812343908020225]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.11388658524622808,1.719504849109461,0.71338606911949],"aabb_xy":[[-0.13516459338970033,1.654504846783388],[-0.09260857710275582,1.7845048514355342]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[-0.3713163741863394,-1.2768844550784482,0.71338606911949],"aabb_xy":[[-0.4057787215844811,-1.3113783374762706],[-0.3368540267881975,-1.2423905726806252]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6891961449990869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9963.png","name":"9963"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9963.png","name":"9963"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9917.png","name":"9917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8164.png","name":"8164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8324.png","name":"8324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3227.png","name":"3227"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":670.8365637439608,"rotation_z_degrees":39.70602603823386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012903510412832598,0.012805960813705056,-0.011589716166891337]},{"name":"camera_2","offset_m":[0.014638835759588516,0.018367073963479735,0.009837824174394959]},{"name":"camera_3","offset_m":[-0.015302458957831657,0.016871384817529905,-0.010757316816309644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001893223260564317,-0.0011515672845245422,-0.0003550251590241822],"end_effector_yaw_offset_degrees":-0.7155951340549702},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017640007714938692,-0.0013315854861934056,0.0018306591385805916],"end_effector_yaw_offset_degrees":0.1400319250567612},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-7.550928564749662e-07,0.00046923319585381136,0.0012488274292795044],"end_effector_yaw_offset_degrees":-0.36837865144398196}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034505484341166336,0.0041397831772717305],"position_m":[0.2555505484341166,-0.09036021682272827,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004516198768111669,0.0020308625444240133],"position_m":[0.35008380123188837,0.07283086254442402,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003096526227009001,-0.004679983779257208],"position_m":[0.310903473772991,0.24342001622074277,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002869466684291457,-0.00450572185659413],"position_m":[0.24976946668429145,-0.38320572185659413,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4a97b6766831ebab7ce49f87889295be1f78608ad0f330b066dff97691cc7f6b","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9963/tex_ceiling_textures_3227/tex_floor_textures_8324/tex_table_textures_9917/tex_wall_textures_8164","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1115056726022522858,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1115056726022522858,"visual_seed":1115056726022522858,"scene_id":"lab_003","finished_at":"2026-09-02T03:21:26"}
+{"episode_id":"ep_000005","started_at":"2026-09-02T03:21:29","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.42113421370724846,1.6563349542196257,0.71338606911949],"aabb_xy":[[-0.428175664657996,1.6493082024818313],[-0.4140927627565008,1.6633617059574202]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[-0.5017426002317831,1.3184543105266626,0.71338606911949],"aabb_xy":[[-0.5176270934971081,1.3041013702278386],[-0.4858581069664578,1.3328072508254867]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.4444674339917078,-1.1803107216944246,0.71338606911949],"aabb_xy":[[-0.47075625831214846,-1.2065821553490756],[-0.41817860967126713,-1.1540392880397732]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.44582367503095477,1.1862114550304308,0.71338606911949],"aabb_xy":[[0.40832367384616197,1.18179323233437],[0.48332367621574757,1.190629677726491]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[-0.40584401445278356,-0.9534942702350226,0.71338606911949],"aabb_xy":[[-0.4303576385497895,-0.977758863537059],[-0.38133039035577776,-0.9292296769329861]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.4577521923227593,1.2018970007168628,0.71338606911949],"aabb_xy":[[-0.5227521902044072,1.150773337010322],[-0.3927521944411117,1.2530206644234037]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.11069264699825665,-1.4238907975894295,0.71338606911949],"aabb_xy":[[0.020692643321338463,-1.4853232041665334],[0.20069265067517478,-1.3624583910123247]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5291528484755045,-2.1814009122297557,0.71338606911949],"aabb_xy":[[-0.5466528487348412,-2.195492454418529],[-0.511652848216168,-2.1673093700409836]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.6711099591118828,0.2837979435712539,0.71338606911949],"aabb_xy":[[0.6535316569229359,0.2662234539971489],[0.6886882613008296,0.3013724331453587]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.06063164648552222,-0.743536125810184,0.71338606911949],"aabb_xy":[[0.055049974851393464,-0.7560361256279596],[0.06621331811965098,-0.7310361259924086]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.27340798371790154,0.7809990592126494,0.71338606911949],"aabb_xy":[[0.2384079854072061,0.7732840442891037],[0.308407982028597,0.788714074136195]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.4308172408457887,-0.6813405788598608,0.71338606911949],"aabb_xy":[[-0.4388107306410708,-0.6893387108003364],[-0.42282375105050674,-0.6733424469193852]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.5780254983091417,-1.5807744388456546,0.71338606911949],"aabb_xy":[[0.5651535948082016,-1.6607744392594903],[0.5908974018100819,-1.500774438431818]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.25003826542074226,-2.2527627207716865,0.71338606911949],"aabb_xy":[[-0.27009667703398255,-2.272827807680844],[-0.22997985380750197,-2.232697633862529]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.019828455239831677,-1.7873719064019777,0.71338606911949],"aabb_xy":[[0.013733827351713357,-1.7959413009536467],[0.025923083127949997,-1.7788025118503092]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.3690044075500405,0.6400785159295195,0.71338606911949],"aabb_xy":[[0.28900440889315443,0.6255736570052567],[0.44900440620692644,0.6545833748537823]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.3340364132081783,0.03230274640958042,0.71338606911949],"aabb_xy":[[-0.3436680494286079,0.022665433629871494],[-0.32440477698774867,0.04194005918928933]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.28554839841972823,-1.9956313113931312,0.71338606911949],"aabb_xy":[[0.20554839983240877,-2.074946913331292],[0.3655483970070476,-1.9163157094549705]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.16846251234212994,0.3190927145770388,0.71338606911949],"aabb_xy":[[-0.18625601927704638,0.30129296898124114],[-0.1506690054072135,0.33689246017283647]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[0.2156437288101063,-0.784130386900499,0.71338606911949],"aabb_xy":[[0.20377164579860518,-0.8691303865941492],[0.2275158118216074,-0.6991303872068485]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.5372043004233682,0.010849999567539292,0.71338606911949],"aabb_xy":[[0.48723123489085285,-0.039150000244993606],[0.5871773659558838,0.0608499993800722]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.017489235713014528,-1.545345993905522,0.71338606911949],"aabb_xy":[[-0.02629129102198724,-1.5531573200604507],[-0.008687180404041818,-1.5375346677505926]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.6090336814382429,0.3939148450928003,0.71338606911949],"aabb_xy":[[-0.6131695377709431,0.3564148456484433],[-0.6048978251055427,0.4314148445371573]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.10541074671392614,1.3805613337343323,0.71338606911949],"aabb_xy":[[0.06013213183277688,1.3165613343861486],[0.1506893615950754,1.444561333082516]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[0.4861464296543645,0.9624732781413154,0.71338606911949],"aabb_xy":[[0.43114643047777496,0.9074836033663578],[0.541146428830954,1.017462952916273]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[-0.6740328400997294,1.1286655097521576,0.71338606911949],"aabb_xy":[[-0.690943572536071,1.1151933041595428],[-0.6571221076633874,1.142137715344772]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.46805548157783394,0.19820952331827524,0.71338606911949],"aabb_xy":[[-0.5055554816834269,0.1913873614652941],[-0.430555481472241,0.20503168517125633]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_27","position":[-0.6284998784905779,0.21857171114108453,0.71338606911949],"aabb_xy":[[-0.6924955758856745,0.15457171284037585],[-0.5645041810954813,0.2825717094417932]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[0.010517413908026296,-2.5305536009207947,0.71338606911949],"aabb_xy":[[-0.05348258843477526,-2.575494452164927],[0.07451741625082785,-2.485612749676662]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.05330113764980127,-2.15149918353129,0.71338606911949],"aabb_xy":[[0.04153295085514375,-2.236499183436512],[0.0650693244444588,-2.066499183626069]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_30","position":[-0.48806692707181387,-1.543203271437417,0.71338606911949],"aabb_xy":[[-0.5293714701355499,-1.6072032710055342],[-0.4467623840080779,-1.4792032718693]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_31","position":[-0.41950622234968227,-2.5006337986709353,0.71338606911949],"aabb_xy":[[-0.49950622377980947,-2.5801509536835443],[-0.33950622091955507,-2.4211166436583254]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_32","position":[-0.14904162568180213,1.468540321569884,0.71338606911949],"aabb_xy":[[-0.1860757351098618,1.4341631142361744],[-0.11200751625374239,1.5029175289035932]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_33","position":[-0.5192825765211657,0.8726836089235737,0.71338606911949],"aabb_xy":[[-0.5425644187192971,0.7876836076263455],[-0.49600073432303443,0.9576836102208016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838736133856668,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6394.png","name":"6394"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6394.png","name":"6394"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5637.png","name":"5637"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6907.png","name":"6907"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9323.png","name":"9323"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4340.png","name":"4340"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":652.3248261633216,"rotation_z_degrees":125.3407556371761,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006390268254999089,0.009797259640045148,-0.005945263894055933]},{"name":"camera_2","offset_m":[-0.017591040688097165,0.018868467451218434,-0.01951248008394751]},{"name":"camera_3","offset_m":[0.016978185309462625,-0.0077685341109129166,-0.0013954668980949818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001975343179111004,0.0001741518146089996,0.0006698941773170645],"end_effector_yaw_offset_degrees":-0.6531887042404454},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013671068412935187,-0.0015814155721228774,-0.000175980050607286],"end_effector_yaw_offset_degrees":0.03287602470972484},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019151641571656256,-0.001903188058123559,-0.00048349123156480505],"end_effector_yaw_offset_degrees":0.9832900650436727}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010066922448670312,-0.004854105249951003],"position_m":[0.25109330775513294,-0.099354105249951,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006732642101293452,-0.0007582904733826881],"position_m":[0.35392673578987066,0.07004170952661731,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027294941020873575,-0.001204652968581329],"position_m":[0.31672949410208734,0.24689534703141866,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003345524642896069,0.0012927231076449086],"position_m":[0.2472345524642896,-0.3774072768923551,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"21b3f59a53f6b37f9b885fe7200c5d53dd3caebd4f9e958a347ffa8d5609b786","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6394/tex_ceiling_textures_4340/tex_floor_textures_9323/tex_table_textures_5637/tex_wall_textures_6907","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":271027608702808626,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":271027608702808626,"visual_seed":271027608702808626,"scene_id":"lab_003","finished_at":"2026-09-02T03:24:09"}
+{"episode_id":"ep_000006","started_at":"2026-09-02T03:24:12","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.649608993759863,-1.0366018330985132,0.71338606911949],"aabb_xy":[[0.6408950247099283,-1.0591018337577012],[0.6583229628097973,-1.0141018324393247]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[-0.1651102585217641,-0.5160011295120279,0.71338606911949],"aabb_xy":[[-0.20261025901912233,-0.5199698130601463],[-0.12761025802440584,-0.5120324459639095]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.47556625618490417,1.383014763506719,0.71338606911949],"aabb_xy":[[-0.5126003656129638,1.3486375561730093],[-0.4385321467568444,1.4173919708404281]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.4632549536533126,1.5081511923243913,0.71338606911949],"aabb_xy":[[-0.4854274806299634,1.4859755251682683],[-0.4410824266766617,1.5303268594805142]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.11563181051378724,-0.7851829187817898,0.71338606911949],"aabb_xy":[[0.09651950315580839,-0.8043176976590318],[0.1347441178717661,-0.7660481399045478]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[0.5173353272208865,0.43551906961347076,0.71338606911949],"aabb_xy":[[0.45233532626375933,0.3835708576797651],[0.5823353281780137,0.4874672815471763]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.06925022675537185,-2.212040361844351,0.71338606911949],"aabb_xy":[[-0.10675022533099264,-2.224776657507909],[-0.03175022817975103,-2.199304066180793]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.20118295485812054,-1.8460079005468488,0.71338606911949],"aabb_xy":[[0.13718725746302393,-1.9100078988475573],[0.26517865225321713,-1.78200790224614]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.3273850732621455,-2.061310617791688,0.71338606911949],"aabb_xy":[[0.3061070651186732,-2.126310620117761],[0.3486630814056177,-1.9963106154656147]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.26668844525468527,-0.6311849859644139,0.71338606911949],"aabb_xy":[[0.20268844487715165,-0.6809302528152261],[0.3306884456322189,-0.5814397191136016]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.0023176499348156465,-1.7619000303518368,0.71338606911949],"aabb_xy":[[-0.07231765153709513,-1.7753328235534944],[0.06768235166746384,-1.7484672371501793]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.6234989408207585,1.0277533438440072,0.71338606911949],"aabb_xy":[[-0.6602935739456648,0.9908474687474249],[-0.5867043076958522,1.0646592189405895]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.2448536447647438,-2.2256505759386904,0.71338606911949],"aabb_xy":[[0.1808536427150118,-2.2657450590279984],[0.3088536468144758,-2.1855560928493825]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.3779250806430204,-1.5681010154529287,0.71338606911949],"aabb_xy":[[-0.4429250792000932,-1.5978535488668115],[-0.31292508208594755,-1.5383484820390463]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.46032509767359997,-0.9636333056049491,0.71338606911949],"aabb_xy":[[0.3963251005614943,-1.0126656753993597],[0.5243250947857057,-0.9146009358105385]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.4514262956109637,-0.5865766601430424,0.71338606911949],"aabb_xy":[[-0.5314262927705389,-0.5981242611008594],[-0.37142629845138836,-0.5750290591852253]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.30938991548351114,1.4264048639452498,0.71338606911949],"aabb_xy":[[0.2718899170601108,1.4132406499774188],[0.3468899139069115,1.4395690779130803]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_17","position":[-0.0743220358300164,-0.39591594423768317,0.71338606911949],"aabb_xy":[[-0.14432203796144594,-0.41867790986337877],[-0.004322033698586844,-0.37315397861198746]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.6366395807486311,0.08294639609094734,0.71338606911949],"aabb_xy":[[0.6054926619050479,0.01294639740414015],[0.6677864995922141,0.1529463947777545]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[-0.6454146865725389,-1.3210316361326977,0.71338606911949],"aabb_xy":[[-0.6642990703410492,-1.3399175609130505],[-0.6265303028040288,-1.302145711352345]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.09430073931562566,-1.1021528889589791,0.71338606911949],"aabb_xy":[[-0.10586972006256225,-1.127152889075911],[-0.0827317585686891,-1.0771528888420476]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[-0.589719836186263,-0.3308364678033424,0.71338606911949],"aabb_xy":[[-0.6122198361964113,-0.3449326874429457],[-0.5672198361761147,-0.31674024816373914]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.4765013736982824,-2.123996847736203,0.71338606911949],"aabb_xy":[[0.4265013750523612,-2.1739163913956654],[0.5265013723442036,-2.0740773040767406]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[0.5022705934861409,0.9629425163830216,0.71338606911949],"aabb_xy":[[0.47727059432050767,0.9559902706776651],[0.5272705926517739,0.9698947620883782]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[0.5598339250904427,-1.9989772083936508,0.71338606911949],"aabb_xy":[[0.5431567890973472,-2.015677132367581],[0.5765110610835382,-1.9822772844197207]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[0.6099661906562788,0.731238270960922,0.71338606911949],"aabb_xy":[[0.5299661895831584,0.7214602246235375],[0.6899661917293991,0.7410163172983064]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[-0.5235322739151845,-2.2213913221439876,0.71338606911949],"aabb_xy":[[-0.5585322738112034,-2.2297655576559277],[-0.4885322740191657,-2.2130170866320475]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[-0.1642091401100868,-0.034940125410841016,0.71338606911949],"aabb_xy":[[-0.17498211403145458,-0.06994012362988],[-0.15343616618871903,5.98728081979763e-05]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.3138127339733699,-1.0747840557230426,0.71338606911949],"aabb_xy":[[-0.32185609389932507,-1.159784056818409],[-0.3057693740474147,-0.9897840546276762]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_29","position":[-0.4242949805611497,0.15956286151047916,0.71338606911949],"aabb_xy":[[-0.45929498191263146,0.1392031255536583],[-0.389294979209668,0.17992259746729997]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_30","position":[-0.21185050260659327,-2.0562918817361195,0.71338606911949],"aabb_xy":[[-0.24631285000473505,-2.0907857641339413],[-0.17738815520845144,-2.021797999338296]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_31","position":[-0.06682235246148438,-1.507555146253301,0.71338606911949],"aabb_xy":[[-0.0780674080321022,-1.5187969439773963],[-0.05557729689086653,-1.4963133485292057]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_32","position":[-0.2454483323800823,0.6687883714524476,0.71338606911949],"aabb_xy":[[-0.2606205016617156,0.6536195145242443],[-0.23027616309844892,0.683957228380651]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_33","position":[-0.1509620695701619,0.6044813227969028,0.71338606911949],"aabb_xy":[[-0.15586136187672536,0.576804403494334],[-0.14606277726359837,0.6321582420994716]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_34","position":[-0.30586799258321284,1.7724123158933742,0.71338606911949],"aabb_xy":[[-0.32833276255461796,1.7499123150145137],[-0.2834032226118077,1.7949123167722347]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6789159260183806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9941.png","name":"9941"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9941.png","name":"9941"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4177.png","name":"4177"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7935.png","name":"7935"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5563.png","name":"5563"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":654.5274470358698,"rotation_z_degrees":279.3692670623756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021335562499836605,-0.017804130680325506,-0.004251373267905784]},{"name":"camera_2","offset_m":[0.009817626538222206,-0.018735873414543493,-0.017940405936952293]},{"name":"camera_3","offset_m":[-0.0007921973062879305,0.016297542234638866,-0.010447677270166173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006713393111861935,6.378183818903527e-05,0.0014016997636234515],"end_effector_yaw_offset_degrees":0.13557278172456222},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014607978468537141,0.0017524585074723,0.00081711192481429],"end_effector_yaw_offset_degrees":0.7040774498495839},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0010911192226936025,0.0009849765707192616,0.00043753793271784957],"end_effector_yaw_offset_degrees":0.31631072729308385}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030941706690796114,-0.0012012824396265076],"position_m":[0.2490058293309204,-0.09570128243962651,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012156883190035384,0.00046208851684424474],"position_m":[0.35581568831900356,0.07126208851684425,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016603729797530242,-0.0037508448397286656],"position_m":[0.312339627020247,0.2443491551602713,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036326974483105023,0.004281366316587599],"position_m":[0.24326730255168952,-0.3744186336834124,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c22916ccaae799c38d9456f8674d4522d263e3064354c26fa10d7885e4172b40","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9941/tex_ceiling_textures_5563/tex_floor_textures_7935/tex_table_textures_2575/tex_wall_textures_4177","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":851904749166781244,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":851904749166781244,"visual_seed":851904749166781244,"scene_id":"lab_003","finished_at":"2026-09-02T03:27:21"}
+{"episode_id":"ep_000007","started_at":"2026-09-02T03:27:25","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.23749671064161448,0.5597331796444909,0.71338606911949],"aabb_xy":[[0.22774072113244057,0.5499706455852563],[0.24725270015078835,0.5694957137037252]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.12033015493496979,-1.566044231062268,0.71338606911949],"aabb_xy":[[0.08283015443761153,-1.5700129146103865],[0.15783015543232803,-1.56207554751415]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.10878657057896657,-1.3827396775835086,0.71338606911949],"aabb_xy":[[-0.11962704880548147,-1.3999259588741575],[-0.09794609235245166,-1.3655533962928597]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.2231055669669183,-1.330765244459213,0.71338606911949],"aabb_xy":[[0.1679803613373275,-1.3907652459005],[0.278230772596509,-1.2707652430179257]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.37755207999373264,1.6777111114014303,0.71338606911949],"aabb_xy":[[0.3322734651125834,1.6137111120532464],[0.4228306948748819,1.7417111107496137]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.5397178521527253,-2.494935896941372,0.71338606911949],"aabb_xy":[[0.5047178521762294,-2.504400512988989],[0.5747178521292211,-2.4854712808937562]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.37888664756176565,1.2665945729863521,0.71338606911949],"aabb_xy":[[-0.3851987470981041,1.2608276337331332],[-0.3725745480254272,1.272361512239571]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.623896589443609,-1.0058582406890053,0.71338606911949],"aabb_xy":[[0.6062637538500814,-1.023481186704628],[0.6415294250371365,-0.9882352946733822]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.4976377028950838,-1.041911996766711,0.71338606911949],"aabb_xy":[[0.48673192680752103,-1.1219119931655401],[0.5085434789826464,-0.9619120003678818]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.04619531309644287,-2.2384204477947347,0.71338606911949],"aabb_xy":[[0.042492051767303994,-2.242122466103452],[0.04989857442558173,-2.2347184294860165]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.5375928349812489,-1.6640533461927882,0.71338606911949],"aabb_xy":[[-0.5552684655698471,-1.681733562472191],[-0.5199172043926504,-1.6463731299133855]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.4041923450611884,-0.8178656460977376,0.71338606911949],"aabb_xy":[[0.39172498695145275,-0.8303309707310612],[0.41665970317092405,-0.8054003214644142]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.3084238721137482,-0.4790023043954563,0.71338606911949],"aabb_xy":[[-0.31899135177184723,-0.4895473345084648],[-0.2978563924556492,-0.4684572742824477]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.1633211841737724,-0.8683263166861193,0.71338606911949],"aabb_xy":[[-0.17525391853560046,-0.8807084694939787],[-0.15138844981194433,-0.85594416387826]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.4554369307872414,1.4448781018360948,0.71338606911949],"aabb_xy":[[-0.5454369272881132,1.3989664594176363],[-0.36543693428636964,1.4907897442545528]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.22770974075391404,0.4700095953579062,0.71338606911949],"aabb_xy":[[-0.23895479632453187,0.4587677976338109],[-0.2164646851832962,0.4812513930820015]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.1589337912797305,0.7529273906798979,0.71338606911949],"aabb_xy":[[0.15123060060565344,0.7452180199811599],[0.16663698195380752,0.7606367613786359]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[-0.18103960574889866,0.8842030912982368,0.71338606911949],"aabb_xy":[[-0.19620247872583577,0.8690376340031182],[-0.16587673277196158,0.8993685485933557]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.1908662033817824,-0.8779768089918627,0.71338606911949],"aabb_xy":[[0.17799429988084225,-0.9579768094056987],[0.20373810688272254,-0.7979768085780264]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.0075294916592860694,1.2613207925509502,0.71338606911949],"aabb_xy":[[-0.06515996054655691,1.2013207936242394],[0.050100977227984775,1.3213207914776606]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.6289281028285989,1.0688438935305338,0.71338606911949],"aabb_xy":[[0.6209346130333169,1.0608457615900584],[0.6369215926238809,1.0768420254710096]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.20088495109638776,-2.479778900123105,0.71338606911949],"aabb_xy":[[-0.26488495179985716,-2.525797282596026],[-0.13688495039291843,-2.433760517650184]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.2763341205368471,0.9718497122588192,0.71338606911949],"aabb_xy":[[-0.2804122784438968,0.9677687320105558],[-0.27225596262979734,0.9759306925070824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.684429355869437,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6076.png","name":"6076"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2355.png","name":"2355"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":770.7434976995895,"rotation_z_degrees":308.834377802678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009434512473015796,-0.0066818210201659185,0.015489871052212962]},{"name":"camera_2","offset_m":[-0.010461013711193564,-0.01762247860830125,-0.014659495090330795]},{"name":"camera_3","offset_m":[0.010624039610246782,-0.014556406720315499,0.019808698272056727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005350520683495077,-0.0014517764060840235,-0.0018261518452532585],"end_effector_yaw_offset_degrees":-0.726855453945739},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[6.142280246301856e-05,-0.0006757268592751883,0.0012992784535004439],"end_effector_yaw_offset_degrees":-0.9805946424766474},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00028644147969589533,0.0014245244678687571,0.001455234280475004],"end_effector_yaw_offset_degrees":-0.7156545746234697}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003621154633221238,-0.0035270226924925263],"position_m":[0.2557211546332212,-0.09802702269249253,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003514094895005424,0.00041810128757406324],"position_m":[0.3510859051049946,0.07121810128757407,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009369704911853039,-0.0006375903158064274],"position_m":[0.3149369704911853,0.24746240968419356,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001795475951405513,-0.0029039574650084623],"position_m":[0.2451045240485945,-0.38160395746500847,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4082f38f82f851812d052510bed9c7595540f9c9d46fb1e95e9b44c7aaa1231d","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6076/tex_ceiling_textures_3964/tex_floor_textures_2355/tex_table_textures_444/tex_wall_textures_2170","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":5288253942787192873,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":5288253942787192873,"visual_seed":5288253942787192873,"scene_id":"lab_003","finished_at":"2026-09-02T03:30:09"}
+{"episode_id":"ep_000008","started_at":"2026-09-02T03:30:12","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.5492534053507472,1.572297457893416,0.71338606911949],"aabb_xy":[[-0.5867534054563401,1.5654752960404348],[-0.5117534052451542,1.579119619746397]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.35129558870165756,1.699797343940523,0.71338606911949],"aabb_xy":[[0.2963033380661466,1.6447973421972104],[0.40628783933716855,1.754797345683836]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.42249793640661903,-2.4694826502466016,0.71338606911949],"aabb_xy":[[0.3849979364628526,-2.477775740281438],[0.4599979363503854,-2.461189560211765]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.5263651914374752,1.5171435485666929,0.71338606911949],"aabb_xy":[[0.4768847702235164,1.453143550653841],[0.575845612651434,1.5811435464795447]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.6978982310152653,-1.5225431931863984,0.71338606911949],"aabb_xy":[[0.6812210950221698,-1.5392431171603287],[0.7145753670083608,-1.5058432692124681]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.4840878523784765,-1.911750854679992,0.71338606911949],"aabb_xy":[[-0.49493945862735206,-1.9226101454076427],[-0.47323624612960086,-1.9008915639523407]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[0.13371723938540636,-1.5432681716981689,0.71338606911949],"aabb_xy":[[0.0962172395683728,-1.5479063830093107],[0.17121723920243992,-1.538629960387027]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.3698236873926124,-0.9838715412743704,0.71338606911949],"aabb_xy":[[0.361829698814909,-0.9918716213694605],[0.3778176759703158,-0.9758714611792798]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.2313962876464506,-1.3877746971118274,0.71338606911949],"aabb_xy":[[0.1938962868544551,-1.3941425380700172],[0.268896288438446,-1.3814068561536372]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.6723553341838255,0.9454637366186822,0.71338606911949],"aabb_xy":[[0.6545618272489091,0.9276639910228844],[0.690148841118742,0.9632634822144798]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.4378961293598028,-1.3805283061085538,0.71338606911949],"aabb_xy":[[-0.472487212213848,-1.4455283063935846],[-0.40330504650575755,-1.3155283058235225]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.30783727637175673,1.060901729792581,0.71338606911949],"aabb_xy":[[0.3017426484836384,1.0523323352409124],[0.31393190425987505,1.0694711243442498]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.5833922186726523,1.3770228382799639,0.71338606911949],"aabb_xy":[[0.560892218662504,1.3629266186403606],[0.6058922186828006,1.3911190579195671]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.4305467224338899,-0.5124962003116336,0.71338606911949],"aabb_xy":[[-0.44643121569921507,-0.5268491406104576],[-0.41466222916856477,-0.4981432600128095]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.3509828188721029,-0.8392268019481144,0.71338606911949],"aabb_xy":[[0.34007704278454015,-0.9192267983469435],[0.3618885949596656,-0.7592268055492852]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.6358944308409014,-0.9948669330754143,0.71338606911949],"aabb_xy":[[0.5758944309943345,-1.051685555268453],[0.695894430687468,-0.9380483108823756]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.5412511245155835,-1.2299347106637013,0.71338606911949],"aabb_xy":[[-0.5757134719137251,-1.2644285930615238],[-0.5067887771174415,-1.1954408282658784]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[0.5234141074317782,-1.4016636758434484,0.71338606911949],"aabb_xy":[[0.5087707018777451,-1.4163223955002324],[0.5380575129858111,-1.387004956186664]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.178392599778755,-2.0749539717899506,0.71338606911949],"aabb_xy":[[0.16863661026958107,-2.0847165058491846],[0.18814858928792885,-2.0651914377307157]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[-0.1389277851028471,0.34731209454504697,0.71338606911949],"aabb_xy":[[-0.16142778491674947,0.3428374781745663],[-0.11642778528894471,0.35178671091552766]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.43476047284329405,-0.401807584576924,0.71338606911949],"aabb_xy":[[-0.43960406760452403,-0.4066592370559081],[-0.4299168780820641,-0.3969559320979399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874250146762481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/666.png","name":"666"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5507.png","name":"5507"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1460.png","name":"1460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7638.png","name":"7638"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7935.png","name":"7935"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":501.35863204255526,"rotation_z_degrees":251.8668116840429,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017626413827936133,0.007698550564379337,0.005904171436267633]},{"name":"camera_2","offset_m":[0.0035860545262523143,0.0016972746188668696,-0.017462963798576113]},{"name":"camera_3","offset_m":[0.015160357126787209,0.00547950934838029,0.007028441685171104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010926093326995793,0.00019744418064414262,-0.001498237495597052],"end_effector_yaw_offset_degrees":0.5139738213756502},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-9.547164487988882e-05,0.0016288361381899554,0.001318033676958315],"end_effector_yaw_offset_degrees":-0.622400363617051},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016635031730080172,-0.0012457282517037015,-0.0009115560133731101],"end_effector_yaw_offset_degrees":-0.9997202173033795}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004569612978130502,0.004731879854119491],"position_m":[0.2475303870218695,-0.08976812014588051,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021188546265276708,-0.00021535298644765038],"position_m":[0.35248114537347236,0.07058464701355235,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004075337465305711,0.0007928537812393489],"position_m":[0.3099246625346943,0.24889285378123935,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048887240094734425,0.0017503058271817378],"position_m":[0.25178872400947344,-0.37694969417281826,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"de5eaf92f039d552e8674e512822af69734232f6933012059e69927535f6bb16","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0008.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_666/tex_ceiling_textures_7935/tex_floor_textures_7638/tex_table_textures_5507/tex_wall_textures_1460","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":230688408035861774,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":230688408035861774,"visual_seed":230688408035861774,"scene_id":"lab_003","finished_at":"2026-09-02T03:33:10"}
+{"episode_id":"ep_000009","started_at":"2026-09-02T03:33:14","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.4090454659603677,-0.907130579787669,0.71338606911949],"aabb_xy":[[0.3840454666884055,-0.9234759433838314],[0.43404546523233006,-0.8907852161915067]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.311823587647138,-1.9800750881965277,0.71338606911949],"aabb_xy":[[-0.326925889108156,-1.995176609827589],[-0.2967212861861198,-1.964973566565465]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.5469045900889173,-2.5153981643837326,0.71338606911949],"aabb_xy":[[-0.6109045924317189,-2.560339015627865],[-0.48290458774611583,-2.4704573131396]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.5713092134155111,1.366040043813205,0.71338606911949],"aabb_xy":[[-0.6163092148817401,1.3210401869517243],[-0.5263092119492824,1.4110399006746857]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.1696808094608434,-2.3101101430985853,0.71338606911949],"aabb_xy":[[0.07968080973766921,-2.3331834956337647],[0.25968080918401754,-2.287036790563405]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.12079581609204482,0.039690475408722836,0.71338606911949],"aabb_xy":[[-0.15579581522200048,0.03394525433305872],[-0.08579581696208916,0.04543569648438694]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.6850641187682134,-0.1519694282210553,0.71338606911949],"aabb_xy":[[0.6625641187580651,-0.16606564786065858],[0.7075641187783617,-0.13787320858145202]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.6867510742287508,-0.344880946094702,0.71338606911949],"aabb_xy":[[0.677333599658888,-0.35429712323242096],[0.6961685487986135,-0.3354647689569829]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[0.27143905347613895,-2.4812082492647014,0.71338606911949],"aabb_xy":[[0.2074390514264069,-2.5213027323540094],[0.3354390555258709,-2.4411137661753934]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.01072223781813364,1.6685656306502152,0.71338606911949],"aabb_xy":[[-0.045019148835874254,1.6342687444402735],[0.023574673199606985,1.702862516860156]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.4659106363308033,-2.351801915696241,0.71338606911949],"aabb_xy":[[-0.4884070577646674,-2.3743019155029885],[-0.4434142148969392,-2.3293019158894936]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.6963505451726049,-2.0025429292084937,0.71338606911949],"aabb_xy":[[0.6788038502564858,-2.040042930772745],[0.7138972400887237,-1.9650429276442425]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.5637407672465604,-0.20929317406400028,0.71338606911949],"aabb_xy":[[-0.6136234641242566,-0.259293173310275],[-0.5138580703688642,-0.15929317481772554]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.6652029563643529,1.506068018110319,0.71338606911949],"aabb_xy":[[0.6591659433636883,1.5000413170413711],[0.6712399693650177,1.5120947191792673]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.3826351824773497,1.6574085918041388,0.71338606911949],"aabb_xy":[[-0.4078560193371893,1.6321848409512518],[-0.35741434561750995,1.6826323426570253]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[0.4087423756738484,-2.097985361048646,0.71338606911949],"aabb_xy":[[0.37496681648315544,-2.112023856261811],[0.4425179348645414,-2.083946865835481]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.16921785725236782,-1.2879364664105364,0.71338606911949],"aabb_xy":[[0.109217856391555,-1.3393628964170226],[0.2292178581131806,-1.2365100364040498]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.5557453298330901,-1.6255947249856697,0.71338606911949],"aabb_xy":[[-0.5782453296469925,-1.6300693413561504],[-0.5332453300191877,-1.621120108615189]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.07115647504546607,-2.3593814476626145,0.71338606911949],"aabb_xy":[[-0.15115647531907306,-2.432330995488331],[0.008843525228140898,-2.2864318998368978]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.5421453288556386,-2.0762881203977903,0.71338606911949],"aabb_xy":[[0.5071453305449432,-2.084003135321336],[0.577145327166334,-2.0685731054742447]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[0.5839518021595367,-1.6345655298721704,0.71338606911949],"aabb_xy":[[0.4942647258514211,-1.7245655301266212],[0.673638878467652,-1.54456552961772]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.10708266227220564,0.359227979350476,0.71338606911949],"aabb_xy":[[-0.14208266224870147,0.3497633633028594],[-0.07208266229570982,0.3686925953980926]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.2968011960284924,-1.7669076323073627,0.71338606911949],"aabb_xy":[[0.23180119502799185,-1.8176939974620376],[0.3618011970289929,-1.7161212671526878]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.016379740734184356,-1.0744712920996904,0.71338606911949],"aabb_xy":[[-0.09637973769722352,-1.1515469337434638],[0.06362025622885481,-0.9973956504559169]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[0.10657424095716794,-1.7421222703615942,0.71338606911949],"aabb_xy":[[0.09887105028309089,-1.749831641060332],[0.11427743163124497,-1.7344128996628558]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[0.21973986892034802,0.6369393918485473,0.71338606911949],"aabb_xy":[[0.18223986842298973,0.6329707083004289],[0.2572398694177062,0.6409080753966657]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[0.3128583868794774,1.564531466005517,0.71338606911949],"aabb_xy":[[0.3084277575246373,1.5590830942708347],[0.31728901623431766,1.5699798377401997]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[-0.2358896383846908,-0.2078699871406262,0.71338606911949],"aabb_xy":[[-0.2729237478127505,-0.24224719447433563],[-0.19885552895663103,-0.17349277980691674]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_28","position":[-0.5220470699155935,1.1437867129019113,0.71338606911949],"aabb_xy":[[-0.5860470732053016,1.1004517938979932],[-0.4580470666258854,1.1871216319058284]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[0.6114961096569165,1.7819235382092926,0.71338606911949],"aabb_xy":[[0.5916050697765763,1.7692677269245962],[0.6313871495372568,1.79457934949399]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_30","position":[-0.011739175147654324,-1.5527919840946363,0.71338606911949],"aabb_xy":[[-0.024970120682335617,-1.5660194031166355],[0.0014917703870269711,-1.5395645650726366]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_31","position":[0.18726645209302273,0.798303531711622,0.71338606911949],"aabb_xy":[[0.16976645281493585,0.7809654316452761],[0.2047664513711096,0.815641631777968]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854456953511794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3120.png","name":"3120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8746.png","name":"8746"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/133.png","name":"133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2812.png","name":"2812"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":680.1806554491077,"rotation_z_degrees":41.148557432361734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006478905156607099,0.014300248189929834,0.008972692218665451]},{"name":"camera_2","offset_m":[-0.0151226596089331,-0.0019702877153795276,-0.017383364467307955]},{"name":"camera_3","offset_m":[-0.013112971429181393,0.0003265835541702705,-0.012719530232410074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009018280841385287,-0.001498250968485533,-0.0018849760298297103],"end_effector_yaw_offset_degrees":0.48651568258488864},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009721387360123277,0.0013700089852235714,0.0018442378787001871],"end_effector_yaw_offset_degrees":0.010717311132333984},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00013356561935011697,-0.0015267657632027562,-0.00017314707631345123],"end_effector_yaw_offset_degrees":0.5577381247950337}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004831658561321241,0.004696184744778695],"position_m":[0.2569316585613212,-0.08980381525522131,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042131755554141405,0.00027738941153761937],"position_m":[0.35881317555541414,0.07107738941153763,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009339015261905902,0.004408047860257481],"position_m":[0.3149339015261906,0.2525080478602575,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006447887585413923,-0.00301316863478176],"position_m":[0.2462552112414586,-0.3817131686347817,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f264574564e799d3a47bf4b4f9327a9aa52ce65ea994328713f59cbfa5676dfa","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0009.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_308/tex_ceiling_textures_2812/tex_floor_textures_133/tex_table_textures_3120/tex_wall_textures_8746","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2370752557470139278,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2370752557470139278,"visual_seed":2370752557470139278,"scene_id":"lab_003","finished_at":"2026-09-02T03:36:04"}
+{"episode_id":"ep_000010","started_at":"2026-09-02T03:36:08","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.44045752314595094,-0.7841839488884439,0.71338606911949],"aabb_xy":[[-0.45390404977999427,-0.7976538005415351],[-0.4270109965119076,-0.7707140972353527]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.2655221527705084,-2.0642338903011592,0.71338606911949],"aabb_xy":[[0.228022152826742,-2.072526980335996],[0.3030221527142748,-2.0559408002663226]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.39569288249224965,1.3039276499568326,0.71338606911949],"aabb_xy":[[0.38053000951531263,1.2887621926617139],[0.4108557554691868,1.3190931072519514]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.2841344004289594,-0.677217228187045,0.71338606911949],"aabb_xy":[[-0.33413440078952544,-0.727197215396648],[-0.23413440006839334,-0.627237240977442]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.210496349925948,-2.569287076961639,0.71338606911949],"aabb_xy":[[-0.23299634973985042,-2.5737616933321195],[-0.18799635011204566,-2.5648124605911584]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.3301746762205882,1.5129595493948416,0.71338606911949],"aabb_xy":[[-0.33721612717133587,1.5059327976570471],[-0.3231332252698407,1.519986301132636]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.6438571052462494,0.9909211399186302,0.71338606911949],"aabb_xy":[[-0.6613571054912987,0.9734213520790632],[-0.6263571050011999,1.0084209277581968]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.11468116263094796,-1.892369928417028,0.71338606911949],"aabb_xy":[[0.09139932043281661,-1.977369929714256],[0.13796300482907928,-1.8073699271197998]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.6673489087135109,-2.091395894357615,0.71338606911949],"aabb_xy":[[0.6348872078315834,-2.121528726472517],[0.6998106095954383,-2.0612630622427113]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.5051643173749065,1.4500408973605183,0.71338606911949],"aabb_xy":[[0.4813280997343016,1.360040896552032],[0.5290005350155117,1.5400408981690052]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.39351226055153865,-0.017075419052084317,0.71338606911949],"aabb_xy":[[-0.4187330974113782,-0.042299169904971054],[-0.36829142369169887,0.008148331800802435]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.1322197221206859,-0.6654255699188316,0.71338606911949],"aabb_xy":[[0.11788529699452244,-0.6774857854733703],[0.14655414724684934,-0.6533653543642927]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.6221208392715529,-2.241798619051175,0.71338606911949],"aabb_xy":[[0.6156192027635483,-2.2515664410774847],[0.6286224757795575,-2.232030797024865]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[0.6562775994785521,-2.478584780241463,0.71338606911949],"aabb_xy":[[0.6475796371878367,-2.490709754548938],[0.6649755617692673,-2.4664598059339884]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.47240158042343106,0.8799902157909281,0.71338606911949],"aabb_xy":[[-0.4974015799751696,0.8698477319257935],[-0.44740158087169263,0.8901326996560629]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[0.3035592818530837,-0.8559845542110096,0.71338606911949],"aabb_xy":[[0.2690969344549418,-0.8904784366088322],[0.3380216292512254,-0.8214906718131868]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.7001034491951388,-0.8902921947856541,0.71338606911949],"aabb_xy":[[0.6798191464717398,-0.910574819928363],[0.7203877519185373,-0.8700095696429453]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.3744447765746066,-1.4550539938936438,0.71338606911949],"aabb_xy":[[-0.43844477368671225,-1.5040863636880544],[-0.3104447794625009,-1.4060216240992331]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.32271536544310814,-0.13026730621018823,0.71338606911949],"aabb_xy":[[-0.3577153667945899,-0.15062704216700903],[-0.2877153640916264,-0.10990757025336738]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.4844684715148223,1.097254640759401,0.71338606911949],"aabb_xy":[[-0.5021013071083499,1.079631694743778],[-0.4668356359212948,1.114877586775024]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[-0.3537674658395071,0.7966756190361997,0.71338606911949],"aabb_xy":[[-0.3610497822161707,0.7066756154266904],[-0.34648514946284337,0.8866756226457084]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[0.22218324655417776,-0.9549916281831208,0.71338606911949],"aabb_xy":[[0.19968324631066234,-0.967196262842893],[0.24468324679769313,-0.942786993523349]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.4878780470679782,0.9555694517792088,0.71338606911949],"aabb_xy":[[0.43787804762778254,0.9056015272948924],[0.5378780465081738,1.0055373762635251]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.4517564157044809,-1.7447725397693397,0.71338606911949],"aabb_xy":[[0.4105076046745661,-1.7997725392815571],[0.49300522673439556,-1.6897725402571222]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.1207741055842898,0.8823602209127217,0.71338606911949],"aabb_xy":[[0.10920512483735323,0.85736022079579],[0.13234308633122638,0.9073602210296534]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[0.30801189803084505,1.7866200979960394,0.71338606911949],"aabb_xy":[[0.28349827393383914,1.7623555046940027],[0.33252552212785086,1.8108846912980756]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[-0.4405925884639444,-2.5133416084390494,0.71338606911949],"aabb_xy":[[-0.4618705966074166,-2.5783416107651225],[-0.4193145803204721,-2.4483416061129764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6878499764946302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8845.png","name":"8845"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8845.png","name":"8845"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8951.png","name":"8951"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1266.png","name":"1266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1075.png","name":"1075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9781.png","name":"9781"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":637.419738936343,"rotation_z_degrees":273.0020110515403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006189234629999284,0.015135427140015107,-0.015003356745642026]},{"name":"camera_2","offset_m":[-0.006745424561132798,-0.014931865989769295,-0.016615579073486004]},{"name":"camera_3","offset_m":[0.012177847980363577,-0.007376216434408445,-0.00971255113835472]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006147479060138101,0.0017763878591738097,0.0011660665479933242],"end_effector_yaw_offset_degrees":0.4643509181995684},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012033169615503381,-0.0012254235071593427,-0.0012052250002809557],"end_effector_yaw_offset_degrees":-0.4220253999873558},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016590874413311663,-0.0015658933469156523,0.0005534648948684181],"end_effector_yaw_offset_degrees":0.3319477761506413}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003987665641705878,0.0027732460074771396],"position_m":[0.2560876656417059,-0.09172675399252286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004740944245559558,-0.003228710044121499],"position_m":[0.35934094424555957,0.06757128995587851,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0012039056208893303,-0.004969036578793551],"position_m":[0.31520390562088935,0.24313096342120644,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031566003953339026,-0.001647067179723737],"position_m":[0.2500566003953339,-0.3803470671797237,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a837e72ba38bd42308e258403b9d6813fffd6ed421192d1b62b9da961c081d84","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8845/tex_ceiling_textures_9781/tex_floor_textures_1075/tex_table_textures_8951/tex_wall_textures_1266","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7811978269430733156,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7811978269430733156,"visual_seed":7811978269430733156,"scene_id":"lab_003","finished_at":"2026-09-02T03:38:53"}
+{"episode_id":"ep_000011","started_at":"2026-09-02T03:38:56","dimensions":{"distractor":{"count":23,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.35101580919565933,0.26703226138039327,0.71338606911949],"aabb_xy":[[-0.4310158062099073,0.246897709706982],[-0.27101581218141135,0.28716681305380454]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.05576201353432653,0.43789686532439864,0.71338606911949],"aabb_xy":[[-0.07934713699822138,0.37289686307896686],[-0.032176890070431674,0.5028968675698304]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.516162815093985,-0.5613620495215765,0.71338606911949],"aabb_xy":[[-0.5340319228484405,-0.5751949574987875],[-0.4982937073395295,-0.5475291415443656]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.30354759804215603,-1.7497173734077156,0.71338606911949],"aabb_xy":[[0.2972354985058176,-1.7554843126609347],[0.30985969757849446,-1.743950434154497]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.518129626708014,-1.726621331835855,0.71338606911949],"aabb_xy":[[-0.5676100479219728,-1.7906213297487068],[-0.4686492054940552,-1.6626213339230032]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.1703532616147143,1.0150252602086365,0.71338606911949],"aabb_xy":[[-0.17446921172678695,1.0109097051757907],[-0.16623731150264162,1.0191408152414818]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.5930636249871598,-2.34720307717936,0.71338606911949],"aabb_xy":[[-0.625525325869087,-2.377335909294262],[-0.5606019241052321,-2.3170702450644565]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[0.6766082326062073,0.8726987899975991,0.71338606911949],"aabb_xy":[[0.6596975001698653,0.8592265844049845],[0.6935189650425488,0.8861709955902135]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.39160421741972623,0.1498286797355326,0.71338606911949],"aabb_xy":[[-0.42845476535671384,0.11232867891249887],[-0.3547536694827386,0.18732868055856633]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.6739850091805484,1.6597453460073726,0.71338606911949],"aabb_xy":[[-0.6848366154294239,1.6488860552797213],[-0.6631334029316727,1.6706046367350234]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.1643855357895413,1.680148385492784,0.71338606911949],"aabb_xy":[[-0.17761648132422256,1.6669209664707842],[-0.15115459025485997,1.693375804514783]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.6670375338140955,-1.4562435100836482,0.71338606911949],"aabb_xy":[[-0.6750310236093775,-1.464241642024124],[-0.6590440440188134,-1.4482453781431728]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.02406772166762483,0.7742024696347678,0.71338606911949],"aabb_xy":[[-0.025927289291827207,0.7242024705991762],[0.07406273262707685,0.8242024686703597]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.4965387072437263,-1.3724012943835282,0.71338606911949],"aabb_xy":[[-0.5324522116687158,-1.4083148026002825],[-0.4606252028187364,-1.3364877861667734]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.6863968067264754,-2.2537717679923794,0.71338606911949],"aabb_xy":[[0.6763150996479018,-2.3337717658844936],[0.6964785138050488,-2.1737717701002643]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.28421860766661355,-0.9339050158186641,0.71338606911949],"aabb_xy":[[0.272649626919677,-0.958905015935596],[0.29578758841355013,-0.9089050157017325]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.2750790765682399,-2.1523151143800203,0.71338606911949],"aabb_xy":[[-0.34007907472415894,-2.178611358929932],[-0.21007907841232082,-2.1260188698301077]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[-0.27968158028458495,-1.9087907037597085,0.71338606911949],"aabb_xy":[[-0.3436815835032228,-1.9555138156587168],[-0.2156815770659471,-1.8620675918607001]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.12756382799311905,1.1981389113778915,0.71338606911949],"aabb_xy":[[-0.13627779704305348,1.1756389107187029],[-0.11884985894318452,1.2206389120370793]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.4422616369965867,-1.131035075259286,0.71338606911949],"aabb_xy":[[-0.5072616348782346,-1.1821587389658268],[-0.377261639114939,-1.079911411552745]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[0.2922123265730987,1.1717005202844488,0.71338606911949],"aabb_xy":[[0.25471232578110325,1.1653326793262586],[0.32971232736509415,1.178068361242639]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[0.41170034275682954,1.3146406751807427,0.71338606911949],"aabb_xy":[[0.4076221848497798,1.3105596949324794],[0.4157785006638793,1.318721655429006]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.4445538240181326,1.6639043026219986,0.71338606911949],"aabb_xy":[[0.3944563600370589,1.599904302112187],[0.49465128799920616,1.7279043031318106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854994244333007,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3562.png","name":"3562"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3562.png","name":"3562"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9039.png","name":"9039"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2964.png","name":"2964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3806.png","name":"3806"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8210.png","name":"8210"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":799.754790456584,"rotation_z_degrees":152.59357483432603,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019224345723929854,0.004497056971175858,0.005511467998448611]},{"name":"camera_2","offset_m":[0.00850286331849849,-0.0036577574854817878,-0.008602157984552413]},{"name":"camera_3","offset_m":[0.008794052447531696,-0.01703073256126591,-0.005040085299636262]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011884659801539932,-0.0005911106523632218,-0.0007576519845330675],"end_effector_yaw_offset_degrees":0.6903926699751681},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018963989913815206,0.00014523794106090704,-0.0010233498173900432],"end_effector_yaw_offset_degrees":0.2302291286470819},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006936440100700774,0.00023850483104291293,-0.0016910170916026495],"end_effector_yaw_offset_degrees":0.32162423929881556}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026718705208606044,0.0011128399827259683],"position_m":[0.2547718705208606,-0.09338716001727403,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019809570699881795,0.0017691609895897917],"position_m":[0.35261904293001184,0.07256916098958979,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005065173176376772,0.004373275667637721],"position_m":[0.3145065173176377,0.2524732756676377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037035993488638364,0.003455347089311088],"position_m":[0.25060359934886384,-0.37524465291068887,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"189ec784bd259b163ec41c9432e8c2bf45a4b7b5a379bbfaecc7999a36fdddca","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3562/tex_ceiling_textures_8210/tex_floor_textures_3806/tex_table_textures_9039/tex_wall_textures_2964","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6811352266915943793,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6811352266915943793,"visual_seed":6811352266915943793,"scene_id":"lab_003","finished_at":"2026-09-02T03:41:43"}
+{"episode_id":"ep_000012","started_at":"2026-09-02T03:41:47","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.6560044077158296,-0.48523181328159914,0.71338606911949],"aabb_xy":[[0.6210044094457096,-0.4923059409765873],[0.6910044059859494,-0.478157685586611]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.024970573466714385,0.9720339385981003,0.71338606911949],"aabb_xy":[[-0.06176520659162066,0.935128063501518],[0.011824059658191891,1.0089398136946826]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.5358890962925937,-1.2216420798934784,0.71338606911949],"aabb_xy":[[-0.5733890963981866,-1.2284642417464593],[-0.4983890961870007,-1.214819918040497]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[0.6963346738610614,-1.6956524464946314,0.71338606911949],"aabb_xy":[[0.6882913139351062,-1.7806524475899976],[0.7043780337870166,-1.6106524453992648]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[0.5777510835837734,0.782080806292432,0.71338606911949],"aabb_xy":[[0.5277681333962939,0.7320808066498715],[0.6277340337712526,0.8320808059349923]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[-0.5277101885777239,-1.2998173305399883,0.71338606911949],"aabb_xy":[[-0.5496188707170749,-1.3217179973600788],[-0.5058015064383728,-1.2779166637198973]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.5323197285393797,-0.00038408839112547,0.71338606911949],"aabb_xy":[[-0.5688155491666583,-0.036868030817883035],[-0.49582390791210085,0.036099854035632095]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.1030276815786777,0.4882134678804668,0.71338606911949],"aabb_xy":[[-0.11589958507961784,0.4082134674666307],[-0.09015577807773756,0.568213468294303]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.6297481343444459,-0.5670716140514935,0.71338606911949],"aabb_xy":[[-0.6897481349404622,-0.621884086596717],[-0.5697481337484298,-0.51225914150627]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.278218950035559,-1.4169513162750844,0.71338606911949],"aabb_xy":[[-0.34221894733790537,-1.461317743242941],[-0.21421895273321256,-1.3725848893072274]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.5561491615012204,-2.1111703775811343,0.71338606911949],"aabb_xy":[[0.5011491632994756,-2.1516923442075715],[0.6111491597029652,-2.0706484109546963]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.35198854953351205,0.7008666726244703,0.71338606911949],"aabb_xy":[[-0.3769885490852505,0.6907241887593357],[-0.3269885499817735,0.7110091564896052]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.25774225907909076,-1.6766895928549008,0.71338606911949],"aabb_xy":[[0.23524225883557542,-1.6888942275146728],[0.2802422593226062,-1.6644849581951289]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.49046166663392343,-1.3053254998010626,0.71338606911949],"aabb_xy":[[0.46754595374887364,-1.328229796937486],[0.5133773795189734,-1.282421202664639]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.5242655940298888,0.1058373806031283,0.71338606911949],"aabb_xy":[[0.5188076483928687,0.025837377295469185],[0.5297235396669089,0.1858373839107874]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.17121580869309383,1.020194975303534,0.71338606911949],"aabb_xy":[[0.16380335315170536,1.014343764881906],[0.1786282642344823,1.026046185725162]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.310258527231551,-1.208484788831417,0.71338606911949],"aabb_xy":[[0.22653630173146855,-1.298484792366113],[0.39398075273163347,-1.118484785296721]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.5583282135526384,1.324400750614267,0.71338606911949],"aabb_xy":[[-0.6483282132758126,1.301327398079087],[-0.46832821382946427,1.3474741031494466]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.3105240608980553,-0.5337690152273766,0.71338606911949],"aabb_xy":[[0.24652406361240664,-0.5752757341802206],[0.37452405818370393,-0.49226229627453266]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[-0.01411798555228283,-2.198826617597085,0.71338606911949],"aabb_xy":[[-0.03191149248719927,-2.2166263631928826],[0.0036755213826336064,-2.1810268720012873]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.46318612110515633,-2.1517159716494847,0.71338606911949],"aabb_xy":[[-0.48840695796499595,-2.1769397225023708],[-0.4379652842453166,-2.126492220796597]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.28982764876278255,-1.300561650776066,0.71338606911949],"aabb_xy":[[-0.29579418770351834,-1.3065227954354302],[-0.28386110982204676,-1.2946005061167019]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[-0.4940968400776595,0.7574829546604773,0.71338606911949],"aabb_xy":[[-0.5309473880146471,0.7199829538374435],[-0.4572462921406719,0.794982955483511]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[-0.12523645618414514,1.4228233655920541,0.71338606911949],"aabb_xy":[[-0.18036166181373592,1.3628233641507665],[-0.07011125055455437,1.4828233670333408]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[0.42219494752691267,-2.2908068224320157,0.71338606911949],"aabb_xy":[[0.3722216535236521,-2.3408068229865626],[0.472168241530173,-2.240806821877468]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.29501352917485285,-2.2654958771425235,0.71338606911949],"aabb_xy":[[-0.385013525910463,-2.3186793404598176],[-0.20501353243924259,-2.2123124138252286]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.037188725898023356,-0.8055579407370879,0.71338606911949],"aabb_xy":[[-0.07843753692793808,-0.8605579402493053],[0.004060085131891377,-0.7505579412248704]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[0.6328487478631561,-0.06583982708525982,0.71338606911949],"aabb_xy":[[0.5678487478288534,-0.1125405037655871],[0.6978487478974589,-0.019139150404932512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831978577114657,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8728.png","name":"8728"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8728.png","name":"8728"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4701.png","name":"4701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2583.png","name":"2583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3803.png","name":"3803"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8980.png","name":"8980"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":517.9948888448861,"rotation_z_degrees":82.62147816745293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006726063276165158,0.006057755094251088,0.017200445287497607]},{"name":"camera_2","offset_m":[-0.002285984192613312,-0.012746054384393812,-0.005812806158772013]},{"name":"camera_3","offset_m":[0.012800594683907731,-0.017445742042971,-0.00013684882078257576]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001873642397849011,0.0006844981839882426,0.0008906311796359244],"end_effector_yaw_offset_degrees":0.6146817895314176},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015187004233779208,-0.0013586857437058943,0.0017612673512397117],"end_effector_yaw_offset_degrees":-0.2049222495178067},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001801665130855326,0.0017996347692108882,0.0011689463085475943],"end_effector_yaw_offset_degrees":0.5755429496021984}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0018046082399556093,-0.004729096039444663],"position_m":[0.2539046082399556,-0.09922909603944466,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019782204498228918,0.00010205397940842541],"position_m":[0.35262177955017715,0.07090205397940842,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00033996769603876834,-0.0022062560281593856],"position_m":[0.3136600323039612,0.2458937439718406,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015428766123520687,-0.000312253674430143],"position_m":[0.24535712338764795,-0.37901225367443014,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f491f2ef6b9d1c7e70102577edb312b660b9f089ffe2bf705700578102552144","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0012.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8728/tex_ceiling_textures_8980/tex_floor_textures_3803/tex_table_textures_4701/tex_wall_textures_2583","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8161358391641193559,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8161358391641193559,"visual_seed":8161358391641193559,"scene_id":"lab_003","finished_at":"2026-09-02T03:44:27"}
+{"episode_id":"ep_000013","started_at":"2026-09-02T03:44:30","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.11144847118470569,1.5383365303092718,0.71338606911949],"aabb_xy":[[-0.11634776349126917,1.5106596110067028],[-0.10654917887814218,1.5660134496118403]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[-0.5648897655222671,0.07585458895286035,0.71338606911949],"aabb_xy":[[-0.5688502492920016,0.06818672436733975],[-0.5609292817525329,0.08352245353838095]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.3200907761696907,0.8010816563723426,0.71338606911949],"aabb_xy":[[0.255090776135388,0.7543809796920153],[0.38509077620399346,0.8477823330526699]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.4974128962059565,1.0405720802051057,0.71338606911949],"aabb_xy":[[0.4074128997050847,0.9946604377866474],[0.5874128927068282,1.0864837226235637]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[-0.02587982342952122,0.3324305809178285,0.71338606911949],"aabb_xy":[[-0.03850661071671757,0.32288450721625556],[-0.013253036142324866,0.34197665461940135]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.1443198686754794,-0.3304798169554455,0.71338606911949],"aabb_xy":[[-0.2243198658350547,-0.3420274179132625],[-0.06431987151590413,-0.31893221599762844]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.33753056458733444,-0.612763223286583,0.71338606911949],"aabb_xy":[[-0.38751351477481366,-0.6627632229291434],[-0.287547614399855,-0.5627632236440225]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.2289621655470805,-1.5821804773467356,0.71338606911949],"aabb_xy":[[-0.23707582022045753,-1.5902862938007647],[-0.22084851087370333,-1.5740746608927065]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.3854378405115848,0.5354286821795076,0.71338606911949],"aabb_xy":[[0.3304378413349953,0.4804390074045498],[0.4404378396881743,0.5904183569544651]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.28773104019736917,1.524833118965144,0.71338606911949],"aabb_xy":[[0.2676726285841288,1.5047680320559866],[0.3077894518106094,1.5448982058743015]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.642672114098287,-1.0055627911053644,0.71338606911949],"aabb_xy":[[0.609192946837246,-1.0390419044764716],[0.6761512813593279,-0.9720836777342576]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.18685996496726565,1.3969473017100773,0.71338606911949],"aabb_xy":[[0.1820163702060357,1.3920956492310932],[0.19170355972849565,1.4017989541890614]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.1118440580918546,-2.454366734127116,0.71338606911949],"aabb_xy":[[-0.14747321399181434,-2.4899994008839688],[-0.07621490219189486,-2.418734067370263]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.017155280072735812,-0.9191506593187033,0.71338606911949],"aabb_xy":[[0.006249503985173099,-0.9991506557175324],[0.028061056160298525,-0.8391506629198741]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.5478694728239948,-0.8288567044915374,0.71338606911949],"aabb_xy":[[0.5144292976279751,-0.8623003303224673],[0.5813096480200143,-0.7954130786606072]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.5305659141105685,-0.669641676160406,0.71338606911949],"aabb_xy":[[0.4689751548865757,-0.733641674269453],[0.5921566733345613,-0.6056416780513593]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.5094673424690727,1.6189055459516521,0.71338606911949],"aabb_xy":[[-0.5594673428296385,1.568925558742049],[-0.4594673421085064,1.6688855331612549]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.25386730165439475,-1.5991590114187924,0.71338606911949],"aabb_xy":[[0.2367652236960266,-1.616265816950062],[0.2709693796127629,-1.5820522058875226]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.04245896856334619,0.736453631259256,0.71338606911949],"aabb_xy":[[-0.08370777959326092,0.6814536317470383],[-0.0012101575334314619,0.7914536307714732]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.6039195914615364,-1.8735444115898483,0.71338606911949],"aabb_xy":[[-0.6689195940993299,-1.9250240102892953],[-0.5389195888237429,-1.8220648128904013]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.5797744124535367,-0.07446865546809445,0.71338606911949],"aabb_xy":[[-0.6597744157113795,-0.15446516326007842],[-0.4997744091956936,0.005527852323889526]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.4048777096914029,-1.9338472978291903,0.71338606911949],"aabb_xy":[[0.32487770922118697,-1.9421580054435388],[0.4848777101616189,-1.9255365902148422]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[-0.3923451855951667,1.1832588589350768,0.71338606911949],"aabb_xy":[[-0.42282943572219683,1.1332588591535806],[-0.3618609354681365,1.2332588587165725]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.07515282434912562,0.5600706367619677,0.71338606911949],"aabb_xy":[[-0.1251520995175618,0.5100706354860206],[-0.02515354918068946,0.610070638037915]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828026122356635,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/78.png","name":"78"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/78.png","name":"78"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4229.png","name":"4229"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1943.png","name":"1943"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6696.png","name":"6696"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4081.png","name":"4081"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":508.3970401752613,"rotation_z_degrees":197.53168594198073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00910927771341548,-0.012047561211548876,-0.004333868730903082]},{"name":"camera_2","offset_m":[0.010431063990572413,-0.003275856017600956,0.008899004803109942]},{"name":"camera_3","offset_m":[0.011610188303909117,0.008966818324681693,0.002067125155241163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001550740543895758,0.0019477519412301816,-0.0017396082834092667],"end_effector_yaw_offset_degrees":-0.4460841700708258},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010067500332816368,0.001926505760761808,-0.001608841036707962],"end_effector_yaw_offset_degrees":0.12499110758020726},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012917892517500494,-0.0005929534524546055,0.0007972425554092599],"end_effector_yaw_offset_degrees":-0.413215193488369}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034420920960203548,0.00012770242340372478],"position_m":[0.24865790790397962,-0.09437229757659628,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017583103706104442,-0.00045340315905442047],"position_m":[0.35284168962938955,0.07034659684094557,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019363621779528847,-0.0009230880795293639],"position_m":[0.3159363621779529,0.24717691192047062,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004241776907312183,-0.0036235194115799233],"position_m":[0.24265822309268784,-0.3823235194115799,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a24236aa19ee8a4ce0b265444f99ad1d5cc779c3d5771641dacf80d9413c6096","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_78/tex_ceiling_textures_4081/tex_floor_textures_6696/tex_table_textures_4229/tex_wall_textures_1943","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8788268118714543823,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8788268118714543823,"visual_seed":8788268118714543823,"scene_id":"lab_003","finished_at":"2026-09-02T03:47:28"}
+{"episode_id":"ep_000014","started_at":"2026-09-02T03:47:31","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.4595478826143431,-1.5928151779526925,0.71338606911949],"aabb_xy":[[0.42251377318628336,-1.6271923852864016],[0.49658199204240283,-1.5584379706189828]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.01861048156437073,-1.4371047776906805,0.71338606911949],"aabb_xy":[[-0.004671360633760612,-1.5221047789879085],[0.041892323762502064,-1.3521047763934524]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.0025706854518270372,1.7624283367504145,0.71338606911949],"aabb_xy":[[-0.011268647742542328,1.7503033624429398],[0.006127276838888253,1.7745533110578893]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.26830292107881887,-2.06966409973984,0.71338606911949],"aabb_xy":[[-0.27534437202956646,-2.0766908514776343],[-0.26126147012807127,-2.0626373480020455]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.09970025937148697,1.3150828309732354,0.71338606911949],"aabb_xy":[[0.09245649332524163,1.235082832769633],[0.10694402541773228,1.3950828291768378]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.5083420761201849,1.6596332573272226,0.71338606911949],"aabb_xy":[[-0.5117827523602421,1.6557718243528583],[-0.5049013998801277,1.6634946903015873]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[0.6225558592378004,1.0063576123718971,0.71338606911949],"aabb_xy":[[0.5425558589641934,0.9334080645461805],[0.7025558595114074,1.0793071601976139]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.1556614032382444,-1.0044284245277084,0.71338606911949],"aabb_xy":[[0.14303461595104802,-1.0139744982292813],[0.16828819052544072,-0.9948823508261355]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.13293562339603227,0.8691964682835822,0.71338606911949],"aabb_xy":[[-0.15182000716454244,0.8503105435032293],[-0.11405123962752203,0.8880823930639349]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[-0.5812518711465349,0.9353977461337597,0.71338606911949],"aabb_xy":[[-0.5886643266879233,0.9295465357121319],[-0.5738394156051464,0.9412489565553878]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.012701437056345855,-1.011113074847722,0.71338606911949],"aabb_xy":[[-0.03770143622197897,-1.0180653205530785],[0.012298562109287259,-1.0041608291423654]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.43808500033173625,-0.39566285422337355,0.71338606911949],"aabb_xy":[[-0.455585000591073,-0.4097543964121463],[-0.42058500007239974,-0.38157131203460104]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.5384779063029683,-2.373332812881699,0.71338606911949],"aabb_xy":[[0.5209779070248814,-2.3906709129480443],[0.5559779055810552,-2.3559947128153524]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.5740280947326482,-1.5506876829480398,0.71338606911949],"aabb_xy":[[-0.6340280963755699,-1.6026878322399842],[-0.5140280930897262,-1.4986875336560959]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.45231764009499525,0.738729203317007,0.71338606911949],"aabb_xy":[[-0.48981764038717,0.7346877279164032],[-0.4148176398028204,0.7427706787176105]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.21903065163697677,-1.9636214558662193,0.71338606911949],"aabb_xy":[[0.18403065028549503,-1.9839811918230403],[0.2540306529884585,-1.9432617199093987]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.6461531744368225,-1.962785652133936,0.71338606911949],"aabb_xy":[[0.5966727532228637,-2.0267856500467882],[0.6956335956507813,-1.8987856542210844]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[-0.32109705206936917,-0.2647183492653129,0.71338606911949],"aabb_xy":[[-0.37109705343025634,-0.3146962538407285],[-0.2710970507084819,-0.2147404446898973]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[0.618982862309672,1.206209010952175,0.71338606911949],"aabb_xy":[[0.5814828623659055,1.1979159209173385],[0.6564828622534383,1.2145021009870116]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.5043562118309142,0.09996353631322652,0.71338606911949],"aabb_xy":[[0.5006529505017752,0.09626151800450866],[0.508059473160053,0.10366555462194438]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[-0.6133614723433477,-1.302520257465829,0.71338606911949],"aabb_xy":[[-0.6508614730079263,-1.318207315466051],[-0.5758614716787689,-1.2868331994656066]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[0.6311123095089612,-0.7026608258957809,0.71338606911949],"aabb_xy":[[0.5671123074592292,-0.7427553089850888],[0.6951123115586932,-0.6625663428064729]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.36550286510347996,1.4488165633728127,0.71338606911949],"aabb_xy":[[0.30150286472594634,1.3990712965220005],[0.4295028654810136,1.498561830223625]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.6548213801620517,-2.499367428673804,0.71338606911949],"aabb_xy":[[0.5908213837347298,-2.546537052495901],[0.7188213765893736,-2.452197804851708]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[0.6039553108601285,-1.4505145376185489,0.71338606911949],"aabb_xy":[[0.5693642280060832,-1.51551453790358],[0.6385463937141737,-1.3855145373335178]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.5090064543078665,-0.33224588129097077,0.71338606911949],"aabb_xy":[[0.4450064536043973,-0.37826426376389183],[0.573006455011336,-0.28622749881804976]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.5124177267031162,-1.7055560840832347,0.71338606911949],"aabb_xy":[[0.49725485372617917,-1.7207215413783536],[0.5275805996800533,-1.6903906267881161]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6854024145920634,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6388.png","name":"6388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9239.png","name":"9239"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8299.png","name":"8299"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1651.png","name":"1651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5974.png","name":"5974"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":849.5724618339598,"rotation_z_degrees":291.68312111268784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010044767476949365,-0.007580056315356876,-0.008495021858152079]},{"name":"camera_2","offset_m":[0.009690536313376383,0.011301451829676627,-0.011527814598268508]},{"name":"camera_3","offset_m":[-0.015937363644787504,-0.009233368039551442,-0.017841950724641224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005101030740825721,0.0014245800481465483,-0.0010446425945524617],"end_effector_yaw_offset_degrees":-0.8591503317920917},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001370122880955714,-0.0017404755192878757,-0.00022064927000902432],"end_effector_yaw_offset_degrees":0.2565150017072624},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005318495105766496,-0.0010573683446776188,-0.0006704520044492378],"end_effector_yaw_offset_degrees":0.6805242883236928}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023059901863843177,0.0012778171481969318],"position_m":[0.2544059901863843,-0.09322218285180307,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039376502869456565,-0.0025919292551351836],"position_m":[0.3506623497130544,0.06820807074486482,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007673191415497969,-0.0026981089834650397],"position_m":[0.3132326808584502,0.24540189101653495,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027053113614253664,0.0021101530333005178],"position_m":[0.24960531136142539,-0.37658984696669945,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9458ae7cb42e5ba3d76edccf052f2d35ba3b8a96eb9b8f163ee3d0c374063781","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6388/tex_ceiling_textures_5974/tex_floor_textures_1651/tex_table_textures_9239/tex_wall_textures_8299","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3851449619807897322,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3851449619807897322,"visual_seed":3851449619807897322,"scene_id":"lab_003","finished_at":"2026-09-02T03:50:12"}
+{"episode_id":"ep_000015","started_at":"2026-09-02T03:50:18","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.41838322609346434,0.5824546360017191,0.71338606911949],"aabb_xy":[[0.3383832275061449,0.5031390340635581],[0.4983832246807838,0.6617702379398799]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.45401994519245714,1.5240609503239742,0.71338606911949],"aabb_xy":[[-0.4664873033021929,1.5115956256906509],[-0.4415525870827216,1.5365262749572979]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.06058661725884962,-1.0939784219882251,0.71338606911949],"aabb_xy":[[0.019282074195113637,-1.1579784215563422],[0.1018911603225856,-1.029978422420108]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.6096086464496707,1.006057963039153,0.71338606911949],"aabb_xy":[[-0.6400067575488142,0.9756510610374834],[-0.579210535350527,1.0364648650408224]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.27220119155168426,-0.23764798232307927,0.71338606911949],"aabb_xy":[[-0.2893032695100525,-0.254754787854349],[-0.25509911359331616,-0.22054117679180948]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[0.09109177090124676,-0.6181896397305207,0.71338606911949],"aabb_xy":[[0.05359176938561505,-0.6294164127466657],[0.12859177241687847,-0.6069628667143756]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.5733634060124447,-0.44764610016618755,0.71338606911949],"aabb_xy":[[-0.6092769104374344,-0.48355960838294215],[-0.5374499015874551,-0.41173259194943296]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.5181336467761564,-0.12485570977307292,0.71338606911949],"aabb_xy":[[0.49028860999554924,-0.1556402085113846],[0.5459786835567635,-0.09407121103476125]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.4113200564095493,-0.484011085798973,0.71338606911949],"aabb_xy":[[-0.4244713023808387,-0.5090110855556597],[-0.39816881043825997,-0.4590110860422866]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.32057523922260645,-1.3049031210661508,0.71338606911949],"aabb_xy":[[0.2405752422083584,-1.325037672739562],[0.40057523623685437,-1.2847685693927395]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.6110468217781211,-0.09872301896996483,0.71338606911949],"aabb_xy":[[0.586046822612488,-0.10567526467532141],[0.6360468209437542,-0.09177077326460827]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.330407974970118,0.8444145170707453,0.71338606911949],"aabb_xy":[[-0.3855331805997087,0.7844145156294581],[-0.27528276934052714,0.9044145185120324]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.6087098801661464,0.15935651080153068,0.71338606911949],"aabb_xy":[[0.58006054780573,0.1307109515244549],[0.6373592125265625,0.18800207007860648]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.07195019945444747,1.7648429888714507,0.71338606911949],"aabb_xy":[[-0.1094501996263194,1.7321422534885433],[-0.03445019928257552,1.7975437242543577]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.1870033624885845,1.4543511106780893,0.71338606911949],"aabb_xy":[[-0.2095033620122919,1.4318551632274685],[-0.16450336296487708,1.47684705812871]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[0.380791451166973,1.646316858320739,0.71338606911949],"aabb_xy":[[0.372765180536347,1.6375653633433866],[0.388817721797599,1.6550683532980919]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.264651003467337,-1.865376653341746,0.71338606911949],"aabb_xy":[[-0.27555677955489966,-1.9453766497405751],[-0.25374522737977423,-1.7853766569429168]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.14002625825140946,-2.0201098764064978,0.71338606911949],"aabb_xy":[[0.11974195552801066,-2.040392501549206],[0.16031056097480817,-1.9998272512637887]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.6484276660121552,0.23924381766667713,0.71338606911949],"aabb_xy":[[-0.6717095082102865,0.15424381636944903],[-0.6251458238140238,0.32424381896390514]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.21125610764924851,1.44572477342227,0.71338606911949],"aabb_xy":[[0.18997809950577627,1.380724771096197],[0.23253411579272076,1.510724775748343]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.27374556360715036,1.1206145137819385,0.71338606911949],"aabb_xy":[[-0.2830925711894456,1.1063108915642943],[-0.2643985560248551,1.1349181359995824]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.4060967086454008,1.7696909641139675,0.71338606911949],"aabb_xy":[[0.3510967104436559,1.7291689974875297],[0.4610967068471456,1.810212930740405]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.1320293318852458,-0.6767519229252899,0.71338606911949],"aabb_xy":[[-0.19602933105501574,-0.7235186100442522],[-0.06802933271547586,-0.6299852358063273]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.3751364524595482,-2.329575154330832,0.71338606911949],"aabb_xy":[[0.366355225312312,-2.3383549016193625],[0.3839176796067845,-2.320795407042302]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[-0.6256302468184922,1.3058492325693245,0.71338606911949],"aabb_xy":[[-0.6390767734525357,1.2923793809162332],[-0.612183720184449,1.3193190842224158]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.26516032260832795,-2.097321485696316,0.71338606911949],"aabb_xy":[[-0.31296649022209655,-2.162321488403375],[-0.21735415499455923,-2.032321482989257]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.5735789223901704,-1.7842960938355619,0.71338606911949],"aabb_xy":[[-0.5912545529787686,-1.8019763101149644],[-0.5559032918015719,-1.766615877556159]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[0.7061177091070361,-0.3886532835614247,0.71338606911949],"aabb_xy":[[0.7019818527743359,-0.4261532830057817],[0.7102535654397363,-0.3511532841170677]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[0.38378781284704133,-1.6980647516393639,0.71338606911949],"aabb_xy":[[0.30378780958302815,-1.7116247839482768],[0.4637878161110544,-1.68450471933045]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.6140570508756084,-0.13594661228365368,0.71338606911949],"aabb_xy":[[-0.6220505406708904,-0.14394474422412937],[-0.6060635610803263,-0.12794848034317804]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_30","position":[-0.014963227605275242,-2.00421172161266,0.71338606911949],"aabb_xy":[[-0.020544899239404,-2.016711721430435],[-0.00938155597114648,-1.9917117217948843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863516726727688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/339.png","name":"339"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/339.png","name":"339"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8056.png","name":"8056"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8173.png","name":"8173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2830.png","name":"2830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6056.png","name":"6056"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":537.0087589465616,"rotation_z_degrees":288.19011327866644,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01861617035629466,-0.01882203399322674,-0.009178822687184023]},{"name":"camera_2","offset_m":[0.010213388780196966,-0.008042539982428742,0.008868965161915394]},{"name":"camera_3","offset_m":[-0.01218900013903641,0.015405286895781068,0.013662005668358675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00046286724111890007,0.0019720501789371563,0.0006986409822646125],"end_effector_yaw_offset_degrees":-0.08691400437145758},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004933387790045805,-0.000118663159882706,0.0005273655876140136],"end_effector_yaw_offset_degrees":-0.5171914264482076},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007550848586051922,0.0005687209012214074,8.367670845277906e-05],"end_effector_yaw_offset_degrees":-0.7692251453221175}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004682619455529802,-0.0004559949614020842],"position_m":[0.24741738054447018,-0.09495599496140208,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002357207660859494,-0.0016605402728608666],"position_m":[0.35695720766085953,0.06913945972713914,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002545792380248892,-0.0026639044810596057],"position_m":[0.3165457923802489,0.24543609551894038,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00015134104192661164,-0.003903768953649641],"position_m":[0.2467486589580734,-0.3826037689536496,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"57c35b822565ba2e673fa250aa1045bae1b59b2e561b6ffab304b716b352535c","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_339/tex_ceiling_textures_6056/tex_floor_textures_2830/tex_table_textures_8056/tex_wall_textures_8173","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3051030828735763855,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3051030828735763855,"visual_seed":3051030828735763855,"scene_id":"lab_003","finished_at":"2026-09-02T03:53:01"}
+{"episode_id":"ep_000016","started_at":"2026-09-02T03:53:04","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[0.20851961601990288,-1.3404796348840822,0.71338606911949],"aabb_xy":[[0.19245768856138523,-1.425479636696674],[0.22458154347842052,-1.2554796330714904]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[-0.4872045854409529,-0.9568204645374785,0.71338606911949],"aabb_xy":[[-0.4937062219489576,-0.9665882865637883],[-0.48070294893294835,-0.9470526425111687]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.2096086959898848,-1.9176578547664933,0.71338606911949],"aabb_xy":[[-0.2736086931019905,-1.966690224560904],[-0.1456086988777791,-1.8686254849720827]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.3950709566559505,-1.9376084506045563,0.71338606911949],"aabb_xy":[[-0.4063160122265684,-1.9488502483286514],[-0.3838259010853327,-1.9263666528804608]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.28247142999803543,-1.4499726187923245,0.71338606911949],"aabb_xy":[[0.2692404844633541,-1.4632000378143237],[0.29570237553271667,-1.4367451997703249]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.6623664804640497,1.5473973438183068,0.71338606911949],"aabb_xy":[[0.6401939534873987,1.5252216766621836],[0.6845390074407004,1.5695730109744297]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[0.252279537591494,-1.750120174713875,0.71338606911949],"aabb_xy":[[0.21768845473744877,-1.8151201749989057],[0.2868706204455392,-1.6851201744288435]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[0.6275492802786355,-0.5997265428631964,0.71338606911949],"aabb_xy":[[0.5814641890239041,-0.6637265401157514],[0.673634371533367,-0.5357265456106411]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[-0.04876334568476959,-2.543237935430661,0.71338606911949],"aabb_xy":[[-0.0661940607637761,-2.560510050094511],[-0.03133263060576308,-2.52596582076681]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.3614977165073141,1.407387668604918,0.71338606911949],"aabb_xy":[[0.2714977128303959,1.3459552620278135],[0.45149772018423223,1.4688200751820222]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.37928869246567176,-1.3007308410728486,0.71338606911949],"aabb_xy":[[-0.4292886937495116,-1.3507096954634705],[-0.3292886911818317,-1.2507519866822263]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.3098209114080688,-0.4253675510360533,0.71338606911949],"aabb_xy":[[-0.31784718203869483,-0.43411904601340595],[-0.30179464077744284,-0.4166160560587007]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[0.5504634317200916,-1.4314998542216881,0.71338606911949],"aabb_xy":[[0.495463432543502,-1.4864895289966453],[0.605463430896681,-1.37651017944673]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.015996837198794966,-2.165117919832576,0.71338606911949],"aabb_xy":[[-0.0031154701591838974,-2.184252698709818],[0.03510914455677383,-2.145983140955334]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.16516904983721925,-0.959447149641931,0.71338606911949],"aabb_xy":[[-0.21918464611911923,-1.023447152534188],[-0.11115345355531922,-0.8954471467496737]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.4136438758127082,-0.6125495893087458,0.71338606911949],"aabb_xy":[[-0.48364387222266986,-0.6329875249604274],[-0.34364387940274627,-0.592111653657064]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.4023694235871411,-1.0625046976755415,0.71338606911949],"aabb_xy":[[-0.4398694239353688,-1.0742960932566248],[-0.3648694232389133,-1.0507133020944577]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[-0.40132241298039567,-2.120670611584789,0.71338606911949],"aabb_xy":[[-0.4913224097160059,-2.173854074902083],[-0.31132241624478546,-2.067487148267494]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.1725093678819959,-0.04521579188107161,0.71338606911949],"aabb_xy":[[-0.18131142319096857,-0.05302711803600068],[-0.16370731257302315,-0.037404465726142526]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.3088272149647562,0.6386437083514074,0.71338606911949],"aabb_xy":[[0.25382721534301034,0.5836600155639347],[0.363827214586502,0.6936274011388801]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.6182824541366589,0.6527010794215342,0.71338606911949],"aabb_xy":[[-0.6604668682974898,0.5887010791443229],[-0.5760980399758283,0.7167010796987453]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.5036206816429192,1.0815828526681672,0.71338606911949],"aabb_xy":[[-0.5636206818943204,1.0273015276317026],[-0.443620681391518,1.1358641777046319]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.4741116493838252,0.2517641053449693,0.71338606911949],"aabb_xy":[[-0.5381116457793983,0.18780081692623574],[-0.41011165298825214,0.31572739376370285]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.36176866187963785,-1.144359349132587,0.71338606911949],"aabb_xy":[[0.3557316488789732,-1.150386050201535],[0.36780567488030264,-1.1383326480636389]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[0.06442451260723048,0.7657722188846345,0.71338606911949],"aabb_xy":[[0.05718074656098515,0.6857722206810322],[0.0716682786534758,0.8457722170882369]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.29237000464397683,1.2521557783668742,0.71338606911949],"aabb_xy":[[-0.3102391123984323,1.2383228703896632],[-0.27450089688952134,1.2659886863440852]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[-0.47582000564013427,-0.3172250320307266,0.71338606911949],"aabb_xy":[[-0.5101169166578747,-0.3515219182406679],[-0.4415230946223936,-0.2829281458207852]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[0.17080977480394455,1.4135502813240683,0.71338606911949],"aabb_xy":[[0.16352745842728084,1.3235502777145591],[0.17809209118060815,1.5035502849335771]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[-0.10126362868005212,1.7143054717414423,0.71338606911949],"aabb_xy":[[-0.10522411244978648,1.706637607155922],[-0.09730314491031773,1.7219733363269631]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[0.251400716637191,1.57855023256591,0.71338606911949],"aabb_xy":[[0.23390071750282385,1.568670605528322],[0.26890071577155816,1.5884298596034976]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[0.5510021950538184,1.6005408561654098,0.71338606911949],"aabb_xy":[[0.5210346381439929,1.5705408558675238],[0.5809697519636442,1.6305408564632953]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[0.4859967104067384,-1.9409616490247643,0.71338606911949],"aabb_xy":[[0.47837244231656023,-1.9485948725613085],[0.4936209784969167,-1.933328425488221]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6834414690559644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3949.png","name":"3949"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9568.png","name":"9568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1885.png","name":"1885"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":738.5490211951374,"rotation_z_degrees":241.23517795985265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017294066149433122,-0.008140089813651202,-0.0018422987454940996]},{"name":"camera_2","offset_m":[0.003099788709648204,0.0032570595810216367,-0.010372875815470537]},{"name":"camera_3","offset_m":[0.0010966489171643883,0.002620938705376087,0.008837257745536193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007933995648622271,0.0017987661155522343,0.0012943739841865145],"end_effector_yaw_offset_degrees":0.7008505983652134},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003299600868910454,-0.00017764228000850184,0.0017723642862680971],"end_effector_yaw_offset_degrees":-0.3593793793448785},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001959991773290203,0.00103078767436763,0.0004802504400595667],"end_effector_yaw_offset_degrees":0.8599122282714624}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00291835301031598,-0.0006428818199207967],"position_m":[0.25501835301031595,-0.0951428818199208,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022340552670129022,-0.004391320051033615],"position_m":[0.3523659447329871,0.06640867994896639,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0045298720483645995,0.002968349087507669],"position_m":[0.3094701279516354,0.25106834908750764,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004128037059776199,0.0021948473727080855],"position_m":[0.24731280370597764,-0.3765051526272919,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9347d6b5dbc8f0020531d67d673f3c25ddab9896b0034ab86a54e0904fe7a812","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7157/tex_ceiling_textures_1885/tex_floor_textures_6649/tex_table_textures_3949/tex_wall_textures_9568","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1912138567629881147,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1912138567629881147,"visual_seed":1912138567629881147,"scene_id":"lab_003","finished_at":"2026-09-02T03:55:54"}
+{"episode_id":"ep_000017","started_at":"2026-09-02T03:55:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.378263618138571,0.9165728042757135,0.71338606911949],"aabb_xy":[[0.2882636144616528,0.8551403976986091],[0.4682636218154891,0.9780052108528178]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.5055302919630007,-0.7114239638972677,0.71338606911949],"aabb_xy":[[-0.5695302943058022,-0.7563648151414002],[-0.4415302896201991,-0.6664831126531352]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.11210894690605477,-1.453841513013947,0.71338606911949],"aabb_xy":[[0.03210894994301562,-1.5309171546577205],[0.19210894386909394,-1.3767658713701736]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.15926589956962978,-1.656612779341447,0.71338606911949],"aabb_xy":[[0.12467481671558454,-1.721612779626478],[0.19385698242367497,-1.5916127790564158]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.24954276229091377,1.44722258944604,0.71338606911949],"aabb_xy":[[0.21204276386751336,1.4340583754782092],[0.28704276071431406,1.4603868034138707]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.38263101462347865,-0.5270359603281851,0.71338606911949],"aabb_xy":[[-0.39509837273321424,-0.5395012849615087],[-0.37016365651374294,-0.5145706356948617]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.24231512996589988,1.3237639301653266,0.71338606911949],"aabb_xy":[[-0.3223151313960271,1.244246775152717],[-0.16231512853577265,1.403281085177936]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.4619755193947692,1.2291534290165518,0.71338606911949],"aabb_xy":[[0.371975519671595,1.2060800764813717],[0.5519755191179433,1.2522267815517314]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.3205704715008846,0.5211013392780175,0.71338606911949],"aabb_xy":[[-0.33807047063525164,0.5112217122404296],[-0.3030704723665173,0.5309809663156052]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.6149060964961202,-1.0348940100021344,0.71338606911949],"aabb_xy":[[0.5923924046726629,-1.1048940106031417],[0.6374197883195772,-0.9648940094011267]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.139353545728081,-0.5099754288614387,0.71338606911949],"aabb_xy":[[-0.17435354403877645,-0.5176904437849843],[-0.10435354741738556,-0.502260413937893]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.22181938545313667,0.43155721599374264,0.71338606911949],"aabb_xy":[[-0.2421036881765354,0.41127459085103374],[-0.20153508272973789,0.4518398411364514]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.705246655696397,0.839621411629301,0.71338606911949],"aabb_xy":[[0.6971330010230198,0.831515595175272],[0.713360310369774,0.8477272280833301]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.6133194595477212,-0.259741897207479,0.71338606911949],"aabb_xy":[[-0.6833194613564666,-0.2810956659716664],[-0.5433194577389757,-0.23838812844329166]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.1158804877431392,0.8287524067107692,0.71338606911949],"aabb_xy":[[0.10817729706906214,0.8210430360120311],[0.12358367841721622,0.8364617774095071]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.3640653029038765,-1.494407096508174,0.71338606911949],"aabb_xy":[[0.356652847362488,-1.500258306929802],[0.3714777584452649,-1.4885558860865462]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.4134677820617154,-1.0268808214284322,0.71338606911949],"aabb_xy":[[0.4086241873004855,-1.0317324739074163],[0.41831137682294545,-1.022029168949448]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.69159610284773,0.9208269067496411,0.71338606911949],"aabb_xy":[[0.6757116095824047,0.906473966450817],[0.707480596113055,0.9351798470484651]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.11837352516995525,0.5011021706537186,0.71338606911949],"aabb_xy":[[-0.13024560818145636,0.4161021709600683],[-0.10650144215845413,0.586102170347369]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.5988306289526626,1.4022043135189808,0.71338606911949],"aabb_xy":[[0.5348306272746652,1.3536869220396663],[0.66283063063066,1.4507217049982948]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[0.509820241972404,-1.5106013715275493,0.71338606911949],"aabb_xy":[[0.5017839072711192,-1.5186394908319658],[0.5178565766736889,-1.5025632522231323]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.4981907546011446,-1.206019501300969,0.71338606911949],"aabb_xy":[[0.4864225678064871,-1.2910195012061905],[0.5099589413958021,-1.1210195013957474]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.00618479748958467,-1.6318625500779846,0.71338606911949],"aabb_xy":[[-0.014986852798557382,-1.6396738762329137],[0.00261725781938804,-1.6240512239230556]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[-0.4752086406463919,-2.2593836620029086,0.71338606911949],"aabb_xy":[[-0.5030536774269991,-2.2901681607412203],[-0.44736360386578483,-2.228599163264597]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[-0.08402993663885738,0.05185758779917915,0.71338606911949],"aabb_xy":[[-0.10786615427946247,-0.038142413009307326],[-0.060193718998252335,0.14185758860766565]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.31866134622638337,-0.7621111462643522,0.71338606911949],"aabb_xy":[[-0.35616134701837876,-0.7684789872225422],[-0.28116134543438787,-0.755743305306162]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[0.025932584344512177,-0.8189285253642014,0.71338606911949],"aabb_xy":[[0.018688818298266848,-0.8989285235678036],[0.0331763503907575,-0.7389285271605989]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[0.2105021324016516,0.590963877634032,0.71338606911949],"aabb_xy":[[0.16050213138251634,0.5544976618962042],[0.2605021334207869,0.6274300933718601]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.5009569857969662,-1.666110527404195,0.71338606911949],"aabb_xy":[[-0.5090003457229214,-1.7511105284995614],[-0.49291362587101106,-1.5811105263088285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679400626409257,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7873.png","name":"7873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4489.png","name":"4489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9640.png","name":"9640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7604.png","name":"7604"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":620.1316687145386,"rotation_z_degrees":349.6998763321381,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008407737040362604,0.011344172767062993,0.007724745221159908]},{"name":"camera_2","offset_m":[-0.008124892972855955,0.011971815923572934,0.015639006185320884]},{"name":"camera_3","offset_m":[0.006368948462881146,0.0112770723232699,0.01310033651313047]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008218323667826596,-0.0010611171335318833,0.0017274877333964254],"end_effector_yaw_offset_degrees":0.14653203776945278},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000647527646550369,0.00014573864349855638,0.0005741286485937145],"end_effector_yaw_offset_degrees":-0.7707399860345621},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001809752531027378,-0.0009707633544671008,0.00037126395070427283],"end_effector_yaw_offset_degrees":0.8975319929834669}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004979226377448274,-0.004748714015109683],"position_m":[0.24712077362255172,-0.09924871401510968,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036179272185876297,-0.003793410051893392],"position_m":[0.3509820727814124,0.06700658994810661,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-2.498019637483563e-05,0.004101746446004205],"position_m":[0.3139750198036252,0.2522017464460042,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036859288388364753,0.003322902596548654],"position_m":[0.24321407116116353,-0.3753770974034513,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e8fba59518b24c2f1d5273d72f5cb895cd6583b1ee46beffbef5091ddb8463b6","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4762/tex_ceiling_textures_7604/tex_floor_textures_9640/tex_table_textures_7873/tex_wall_textures_4489","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2312220464228727875,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2312220464228727875,"visual_seed":2312220464228727875,"scene_id":"lab_003","finished_at":"2026-09-02T03:58:48"}
+{"episode_id":"ep_000018","started_at":"2026-09-02T03:58:53","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.22551703129109013,1.1576462793499736,0.71338606911949],"aabb_xy":[[-0.3055170334538526,1.07769109572383],[-0.14551702912832767,1.2376014629761172]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.5981276732044676,0.17325782265812206,0.71338606911949],"aabb_xy":[[-0.6061710331304226,0.08825782156275563],[-0.5900843132785123,0.2582578237534885]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.4169915075755171,-2.036112722069003,0.71338606911949],"aabb_xy":[[-0.48099150468762275,-2.0851450918634136],[-0.3529915104634114,-1.9870803522745923]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.11941847451811749,-1.80394605567771,0.71338606911949],"aabb_xy":[[-0.12333234771353999,-1.8126950710842669],[-0.11550460132269494,-1.7951970402711532]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.58685256588161,1.6729124636652117,0.71338606911949],"aabb_xy":[[-0.6368525668321428,1.64136331666169],[-0.5368525649310771,1.704461610668733]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.6412148214912771,-0.23416337052290137,0.71338606911949],"aabb_xy":[[-0.6636795914626821,-0.2566633714017619],[-0.6187500515198718,-0.2116633696440409]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.1258100790174813,0.9945840822155247,0.71338606911949],"aabb_xy":[[0.12047250335147675,0.969584081286385],[0.13114765468348588,1.0195840831446645]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.6939316129664834,-1.0915194291917543,0.71338606911949],"aabb_xy":[[0.6838499058879098,-1.1715194270838687],[0.7040133200450568,-1.0115194312996394]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.572361176604189,1.009553247136644,0.71338606911949],"aabb_xy":[[0.5473611774385558,1.0026010014312874],[0.5973611757698221,1.0165054928420005]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.5395906911296215,0.06978735647083534,0.71338606911949],"aabb_xy":[[0.5278225043349641,-0.015212643434386223],[0.5513588779242792,0.15478735637605692]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.5122461870270406,-0.21171729230771685,0.71338606911949],"aabb_xy":[[-0.5487420076543194,-0.2482012347344744],[-0.47575036639976187,-0.17523334988095926]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.1263765721699721,-0.9408819579960424,0.71338606911949],"aabb_xy":[[-0.1913765748077656,-0.9923615566954892],[-0.061376569532178626,-0.8894023592965953]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.5687808194611189,1.5312597742620988,0.71338606911949],"aabb_xy":[[-0.5992650695881491,1.4812597744806029],[-0.5382965693340888,1.5812597740435947]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.5440680773451987,-2.3125786781754476,0.71338606911949],"aabb_xy":[[0.509771166327458,-2.3468755643853885],[0.5783649883629391,-2.278281791965506]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.6288650433248855,1.7773900720109252,0.71338606911949],"aabb_xy":[[0.5648650460225391,1.7330236450430683],[0.6928650406272319,1.8217564989787818]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.11344695047991904,-1.2729973524656015,0.71338606911949],"aabb_xy":[[0.09653621804357725,-1.286469558058216],[0.1303576829162608,-1.2595251468729871]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.11402813755284036,-2.0658991560701945,0.71338606911949],"aabb_xy":[[0.04402813595056089,-2.0793319492718516],[0.18402813915511984,-2.0524663628685365]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.14649802194127648,-0.2643992605166683,0.71338606911949],"aabb_xy":[[-0.17149802187379437,-0.2712819287375916],[-0.12149802200875859,-0.257516592295745]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.38560545985846606,1.6052543484317687,0.71338606911949],"aabb_xy":[[-0.426910002922202,1.5412543488636514],[-0.34430091679473,1.6692543479998856]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.5905577765090014,-2.483052763051932,0.71338606911949],"aabb_xy":[[-0.6248740536836194,-2.53305276302511],[-0.5562414993343835,-2.4330527630787544]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.20122035503685481,-1.4831451245398022,0.71338606911949],"aabb_xy":[[-0.23872035582885026,-1.4895129654979922],[-0.16372035424485937,-1.4767772835816122]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.49531619641822966,1.057709460597875,0.71338606911949],"aabb_xy":[[-0.5216050207386702,1.0314380269432235],[-0.46902737209778894,1.083980894252526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903714201473653,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3683.png","name":"3683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3683.png","name":"3683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6264.png","name":"6264"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4092.png","name":"4092"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8634.png","name":"8634"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":650.7599655088728,"rotation_z_degrees":315.8386939647573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01425862305915301,-0.009040245689936461,0.006392480390358394]},{"name":"camera_2","offset_m":[-0.012131822536316346,-0.004714991080877629,0.017435118870412453]},{"name":"camera_3","offset_m":[0.00982536825731712,0.00033203183178490484,0.01652646636143321]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001190645082523257,-0.0011038531368360526,-7.499068818855349e-06],"end_effector_yaw_offset_degrees":0.2835106624880852},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001032299849087343,-0.0013333956491890652,-0.0008746266022598061],"end_effector_yaw_offset_degrees":-0.4808430013258742},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0003878029281966025,-0.0012358883870116695,-0.0008242329611237774],"end_effector_yaw_offset_degrees":-0.5858179461164483}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003936967151569704,0.0025609826444105473],"position_m":[0.24816303284843028,-0.09193901735558946,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041074851258845755,0.0033677971943271963],"position_m":[0.3504925148741154,0.0741677971943272,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001071165771288107,-0.000596406315299303],"position_m":[0.31292883422871187,0.24750359368470068,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004213027021637378,-0.00461046952694201],"position_m":[0.2511130270216374,-0.383310469526942,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"67b01bb3fbdf611d4ff9c793fa7ce4e4b1525db890cb7610c3cf558deda77744","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3683/tex_ceiling_textures_8634/tex_floor_textures_3961/tex_table_textures_6264/tex_wall_textures_4092","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8430373650927341238,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8430373650927341238,"visual_seed":8430373650927341238,"scene_id":"lab_003","finished_at":"2026-09-02T04:01:38"}
+{"episode_id":"ep_000019","started_at":"2026-09-02T04:01:42","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.016929303343956925,0.9329039734975546,0.71338606911949],"aabb_xy":[[-0.0344293035890063,0.9154041856579878],[0.00057069690109246,0.9504037613371215]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.6081279789519938,-2.5368792109093947,0.71338606911949],"aabb_xy":[[-0.623290851928931,-2.552044668204514],[-0.5929651059750568,-2.5217137536142764]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.5300893192262015,-2.5686106674992613,0.71338606911949],"aabb_xy":[[0.5259733691141286,-2.5727262225321064],[0.534205269338274,-2.5644951124664153]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.35480121856621183,0.8807921576928561,0.71338606911949],"aabb_xy":[[-0.3691356436923752,0.8687319421383173],[-0.3404667934400483,0.892852373247395]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_4","position":[-0.3147408452193018,1.7539772434147687,0.71338606911949],"aabb_xy":[[-0.31964013752586523,1.7263003241121995],[-0.30984155291273824,1.781654162717337]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.7046007974543618,0.5581725213538298,0.71338606911949],"aabb_xy":[[0.6991428518173416,0.47817251804617067],[0.7100587430913817,0.6381725246614889]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[0.1893790053912915,0.9446790683768489,0.71338606911949],"aabb_xy":[[0.13437900718954662,0.9041571017504114],[0.2443790035930363,0.9852010350032866]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.5893518432142917,-1.7568503202013166,0.71338606911949],"aabb_xy":[[-0.6693518464783048,-1.77041035251023],[-0.5093518399502786,-1.7432902878924033]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.5089997297802525,1.6115709194070234,0.71338606911949],"aabb_xy":[[-0.5939997281976758,1.5266966239447384],[-0.4239997313628293,1.6964452148693083]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.03206491809457579,-1.709661178388132,0.71338606911949],"aabb_xy":[[-0.1120649154981692,-1.7896537495863143],[0.04793507930901763,-1.6296686071899487]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.10345776863434486,1.0901986438302496,0.71338606911949],"aabb_xy":[[0.039457766413937834,1.0458255597049613],[0.1674577708547519,1.1345717279555378]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.5061007559244486,-1.9153125480953133,0.71338606911949],"aabb_xy":[[0.4261007572675627,-1.9298174070195762],[0.5861007545813347,-1.9008076891710504]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.1713269107760439,0.36575934116895414,0.71338606911949],"aabb_xy":[[-0.17873936631743237,0.35990813074732614],[-0.16391445523465542,0.37161055159058204]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.4352038043575554,0.9866588033225114,0.71338606911949],"aabb_xy":[[-0.4480757078584955,0.9066588029086753],[-0.4223319008566152,1.0666588037363476]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[-0.42899182341045317,-0.3282796681261364,0.71338606911949],"aabb_xy":[[-0.4466246590039807,-0.34590261414175943],[-0.41135898781692554,-0.3106567221105135]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[-0.3819634648517889,-0.4848530671843645,0.71338606911949],"aabb_xy":[[-0.40696346478430684,-0.49173573540528787],[-0.35696346491927106,-0.47797039896344123]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.45929165597633154,-2.4870446376018602,0.71338606911949],"aabb_xy":[[-0.47006462989769926,-2.5220446358208988],[-0.4485186820549637,-2.452044639382821]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.03425662256606221,-1.5467885272747797,0.71338606911949],"aabb_xy":[[-0.05246244622730989,-1.5578139278567715],[-0.016050798904814534,-1.5357631266927882]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.5039329143891584,-0.9895908393721498,0.71338606911949],"aabb_xy":[[0.48143377866293147,-1.0120908401504127],[0.5264320501153854,-0.9670908385938868]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.3654869627089905,-0.8983644451490178,0.71338606911949],"aabb_xy":[[0.33508885160984686,-0.9287713471506873],[0.39588507380813404,-0.8679575431473483]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.6186467019498452,-2.103792383427993,0.71338606911949],"aabb_xy":[[-0.673771907579436,-2.1637923848692795],[-0.5635214963202544,-2.043792381986705]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.42688002858892954,-0.6739479573023259,0.71338606911949],"aabb_xy":[[-0.47187261530737995,-0.7189479565767747],[-0.3818874418704791,-0.6289479580278772]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[-0.14161313597733394,1.2887048448508027,0.71338606911949],"aabb_xy":[[-0.2056088333724305,1.224704846550094],[-0.07761743858223732,1.3527048431515114]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.44192883048887954,1.5354921140614324,0.71338606911949],"aabb_xy":[[0.433214861438945,1.5129921134022437],[0.450642799538814,1.5579921147206202]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[0.5038744062557994,-0.6900830873170225,0.71338606911949],"aabb_xy":[[0.47865356939595954,-0.7153068381699091],[0.5290952431156388,-0.6648593364641356]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.14383844687785097,-2.3716309618890126,0.71338606911949],"aabb_xy":[[-0.21383844900928045,-2.3943929275147076],[-0.07383844474642137,-2.348868996263316]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[-0.25844004072162713,-0.7153027311125075,0.71338606911949],"aabb_xy":[[-0.29344004207310886,-0.7356624670693283],[-0.22344003937014542,-0.6949429951556866]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[0.28692368352487174,-1.8647569441651957,0.71338606911949],"aabb_xy":[[0.26442368328135635,-1.8769615788249678],[0.30942368376838714,-1.852552309505424]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[0.1100362019178327,-1.4298944566255498,0.71338606911949],"aabb_xy":[[0.10277495434742528,-1.4426814668890593],[0.11729744948824011,-1.4171074463620403]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[0.4972513647728882,-1.3988293012482733,0.71338606911949],"aabb_xy":[[0.4694063279922811,-1.429613799986585],[0.5250964015534954,-1.3680448025099616]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_30","position":[-0.36841873977688677,-1.483848305583908,0.71338606911949],"aabb_xy":[[-0.37185941601694394,-1.4877097385582725],[-0.3649780635368296,-1.4799868726095435]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_31","position":[-0.09906048178114113,0.7368561161872353,0.71338606911949],"aabb_xy":[[-0.10509749478180587,0.7308294151182871],[-0.0930234687804764,0.7428828172561835]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[-0.49130928908743443,1.4027499813973918,0.71338606911949],"aabb_xy":[[-0.5115935918108331,1.3824673562546828],[-0.4710249863640356,1.4230326065401004]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_33","position":[0.14581417089371973,-1.171338600604317,0.71338606911949],"aabb_xy":[[0.055814172299249815,-1.1875891869177382],[0.2358141694881897,-1.1550880142908961]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_34","position":[-0.5308975498011382,0.16509052373981925,0.71338606911949],"aabb_xy":[[-0.5633592506830656,0.1349576916249166],[-0.4984358489192107,0.19522335585472184]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843809729081125,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5876.png","name":"5876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9061.png","name":"9061"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2642.png","name":"2642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8571.png","name":"8571"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":727.3044589786793,"rotation_z_degrees":262.6112671104499,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007150341189302682,-0.003577223268841273,0.012134384714065364]},{"name":"camera_2","offset_m":[0.013782045966594925,0.012717105954456385,0.004095448064416498]},{"name":"camera_3","offset_m":[0.016863065057122383,-0.000996858461070834,0.00307377579589661]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00021148623328602536,-0.0011448748033390434,0.0003435142191538943],"end_effector_yaw_offset_degrees":-0.58799738430442},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007169225878013909,0.0016141538253833278,0.000347524770217769],"end_effector_yaw_offset_degrees":-0.6659601896946803},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014458869006854515,-0.0012017767210837577,0.0011152973985569564],"end_effector_yaw_offset_degrees":0.5656675487895035}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00131019150852546,0.004022674320797758],"position_m":[0.25341019150852545,-0.09047732567920225,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003913799466149331,-0.004995240421956339],"position_m":[0.35851379946614936,0.06580475957804366,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004372971771299417,0.004372784568842081],"position_m":[0.3183729717712994,0.2524727845688421,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003106416734729859,-0.004762224272448895],"position_m":[0.24379358326527015,-0.38346222427244886,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4f9a97433cd4fc912e2e12fcd3d294c95bcaa333b5249f7ce3e801fd5f93d792","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0019.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2260/tex_ceiling_textures_8571/tex_floor_textures_2642/tex_table_textures_5876/tex_wall_textures_9061","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6117779128955821848,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6117779128955821848,"visual_seed":6117779128955821848,"scene_id":"lab_003","finished_at":"2026-09-02T04:04:31"}
+{"episode_id":"ep_000020","started_at":"2026-09-02T04:04:35","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.19043935863254735,-0.8528618328892577,0.71338606911949],"aabb_xy":[[0.18339790768179975,-0.8598885846270521],[0.19748080958329495,-0.845835081151463]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.24873892473653464,1.0509010297896397,0.71338606911949],"aabb_xy":[[-0.2524421860656735,1.0471990114809218],[-0.24503566340739577,1.0546030480983573]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.4282563654778576,0.5267900511989168,0.71338606911949],"aabb_xy":[[-0.49825636760928704,0.504028085573221],[-0.35825636334642796,0.5495520168246123]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.21880463159074165,-0.08497275245544822,0.71338606911949],"aabb_xy":[[-0.24877218850056732,-0.11497275275333396],[-0.18883707468091598,-0.05497275215756248]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.23929526889577013,-2.117097284461475,0.71338606911949],"aabb_xy":[[-0.2992952697565829,-2.1685237144679608],[-0.1792952680349573,-2.0656708544549875]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.002816450346771915,-2.0777017657009282,0.71338606911949],"aabb_xy":[[-0.010944138540085135,-2.086615374111636],[0.005311237846541306,-2.0687881572902205]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[0.686335019106959,0.3825053743247633,0.71338606911949],"aabb_xy":[[0.6687883241908401,0.345005372760512],[0.703881714023078,0.42000537588901454]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.10035965864090945,-1.4578912560629878,0.71338606911949],"aabb_xy":[[0.05035965920071381,-1.5078591805473038],[0.15035965808110505,-1.4079233315786712]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.5337492657089887,0.7700802493169894,0.71338606911949],"aabb_xy":[[-0.5559217926856395,0.7479045821608662],[-0.5115767387323378,0.7922559164731124]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.31536406855511356,-2.3216098441039335,0.71338606911949],"aabb_xy":[[0.2513640678516442,-2.3676282265768545],[0.37936406925858296,-2.2755914616310124]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.17029746229873566,1.549681816656006,0.71338606911949],"aabb_xy":[[0.1327974611139428,1.545263593959945],[0.2077974634835284,1.554100039352066]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.3310647056473346,-1.760319959479535,0.71338606911949],"aabb_xy":[[0.32502769264666986,-1.766346660548483],[0.3371017186479993,-1.7542932584105868]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.2052420454619327,1.5261423718397595,0.71338606911949],"aabb_xy":[[-0.2692420447561009,1.4621562314709053],[-0.14124204616776448,1.5901285122086137]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.28248239931435026,0.5505992653202734,0.71338606911949],"aabb_xy":[[0.24801992130126244,0.5439355881373505],[0.316944877327438,0.5572629425031962]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.4863867546557781,1.0160986445600821,0.71338606911949],"aabb_xy":[[-0.5206836656735186,0.9818017583501406],[-0.45208984363803745,1.0503955307700232]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.23229925310400484,-0.5985414612647599,0.71338606911949],"aabb_xy":[[-0.28729925272575074,-0.6535251540522328],[-0.17729925348225903,-0.5435577684772873]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.01783761806938511,1.5101638207180854,0.71338606911949],"aabb_xy":[[-0.016478659105232826,1.4601638207449077],[0.052153895244003046,1.5601638206912631]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.10658736565814653,1.2764747278771402,0.71338606911949],"aabb_xy":[[-0.1517586835063155,1.212474730732602],[-0.06141604780997756,1.3404747250216789]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.40809286832363456,0.03545467773488653,0.71338606911949],"aabb_xy":[[-0.43137471052176585,-0.04954532356234152],[-0.38481102612550316,0.1204546790321146]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.4540164885722182,0.8544696152175701,0.71338606911949],"aabb_xy":[[0.4315164890485108,0.8319736677669493],[0.4765164880959256,0.8769655626681908]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.2951681629451806,-0.7655744205767001,0.71338606911949],"aabb_xy":[[-0.3501636407658399,-0.8205744220106069],[-0.2401726851245211,-0.7105744191427931]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828785922568312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8742.png","name":"8742"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8742.png","name":"8742"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8595.png","name":"8595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/278.png","name":"278"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3326.png","name":"3326"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5202.png","name":"5202"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":688.7672447889394,"rotation_z_degrees":88.84238897185361,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019055868919747938,-0.017107344116532048,0.013652729432954789]},{"name":"camera_2","offset_m":[0.007798777850238709,-0.013410091067188015,0.01034590976195263]},{"name":"camera_3","offset_m":[0.01660266995610862,0.013091642226835929,0.011349860074517795]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014779016966467852,0.0011101362654567103,-0.001122651766899359],"end_effector_yaw_offset_degrees":-0.6018602586746706},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000500247201894215,0.0017848375731828736,-0.0010367225464527076],"end_effector_yaw_offset_degrees":-0.18154705523289483},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005436980337200259,0.0008293758522457404,-0.001276126868147411],"end_effector_yaw_offset_degrees":0.4626581114869317}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002561070655855052,-0.0017477829788168052],"position_m":[0.254661070655855,-0.09624778297881681,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006687257974938602,-0.0018478316982597997],"position_m":[0.35393127420250614,0.0689521683017402,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[6.23907598522079e-05,0.002291108312800859],"position_m":[0.3140623907598522,0.25039110831280087,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00448958362047243,-0.004125480458361255],"position_m":[0.24241041637952757,-0.38282548045836123,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5425102e4d3bbe324caf62420158c6ef62c22fedeae1303445b43c76fe477e83","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8742/tex_ceiling_textures_5202/tex_floor_textures_3326/tex_table_textures_8595/tex_wall_textures_278","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7883377665811173758,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7883377665811173758,"visual_seed":7883377665811173758,"scene_id":"lab_003","finished_at":"2026-09-02T04:07:33"}
+{"episode_id":"ep_000021","started_at":"2026-09-02T04:07:37","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.02154342235202822,-1.3764447754765199,0.71338606911949],"aabb_xy":[[-0.013456575918091684,-1.383518903171508],[0.05654342062214812,-1.3693706477815317]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.09717794828646709,-0.5182786630121212,0.71338606911949],"aabb_xy":[[-0.14234926613463608,-0.5822786601566596],[-0.05200663043829813,-0.4542786658675828]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.5707326847139971,-1.1917917055328657,0.71338606911949],"aabb_xy":[[0.5067326876018914,-1.2408240753272763],[0.6347326818261028,-1.1427593357384551]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.4029346497436579,-2.576232474341012,0.71338606911949],"aabb_xy":[[0.3982995345914245,-2.58009980941816],[0.4075697648958912,-2.5723651392638627]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.024853394695884656,-1.8239520189478728,0.71338606911949],"aabb_xy":[[-0.032879665326510654,-1.8327035139252252],[-0.016827124065258662,-1.81520052397052]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.03369728067316513,0.9326477208124553,0.71338606911949],"aabb_xy":[[-0.003633995852077493,0.897994666017603],[0.07102855719840775,0.9673007756073075]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.10945795233681754,1.09237982828847,0.71338606911949],"aabb_xy":[[-0.1213906866986456,1.0799976754806107],[-0.09752521797498946,1.1047619810963294]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.4880199632405502,-0.6356812812696941,0.71338606911949],"aabb_xy":[[0.40801995998270724,-0.715677789061678],[0.5680199664983931,-0.5556847734777101]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.03111224817729441,-1.2345529586224322,0.71338606911949],"aabb_xy":[[-0.08110725913674643,-1.284552957658024],[0.018882762782157624,-1.1845529595868405]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.45745885441551515,-1.0182592448277887,0.71338606911949],"aabb_xy":[[-0.48374767873595576,-1.0445306784824397],[-0.43117003009507443,-0.9919878111731374]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.5944410588941605,0.31481948659523695,0.71338606911949],"aabb_xy":[[-0.6319410593915188,0.31085080304711854],[-0.5569410583968023,0.31878817014335536]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.25573571305412485,1.487837792802146,0.71338606911949],"aabb_xy":[[-0.3197357162727627,1.4411146809031374],[-0.191735709835487,1.5345609047011541]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.34388030084654564,0.794256261838393,0.71338606911949],"aabb_xy":[[0.30941782283345787,0.7875925846554701],[0.3783427788596334,0.8009199390213158]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.6045789288005318,0.19317106016740704,0.71338606911949],"aabb_xy":[[-0.6388952059751497,0.14317106019422934],[-0.5702626516259138,0.2431710601405848]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.1681253430519597,0.44056568544633334,0.71338606911949],"aabb_xy":[[-0.18580097364055803,0.4228854691669306],[-0.15044971246336136,0.4582459017257361]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.2586300096098709,1.2535260240535342,0.71338606911949],"aabb_xy":[[0.22518983441385124,1.2200823982226037],[0.2920701848058904,1.2869696498844638]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.6143631323706744,-0.40572050779428936,0.71338606911949],"aabb_xy":[[0.5918983623992693,-0.42822050867314987],[0.6368279023420795,-0.38322050691542886]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.11764546232519346,-0.7524886571792684,0.71338606911949],"aabb_xy":[[-0.12488922837143879,-0.8324886553828709],[-0.11040169627894814,-0.6724886589756661]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.3884565181078982,-0.6838680571501545,0.71338606911949],"aabb_xy":[[-0.3992969963344131,-0.7010543384408034],[-0.3776160398813833,-0.6666817758595058]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.185792198727584,1.2393401276391902,0.71338606911949],"aabb_xy":[[-0.24579219932360016,1.1845276550939667],[-0.1257921981315678,1.2941526001844137]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.24879181072937218,-1.754109556878403,0.71338606911949],"aabb_xy":[[-0.27379181028111066,-1.7642520407435376],[-0.22379181117763372,-1.7439670730132681]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.09733634792464485,0.9740837610214825,0.71338606911949],"aabb_xy":[[-0.1426149628057941,0.9100837616732987],[-0.05205773304349559,1.0380837603696662]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.2719380331419612,-2.345861062983068,0.71338606911949],"aabb_xy":[[0.18821580764187873,-2.435861066517764],[0.35566025864204365,-2.255861059448372]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.34041848068591096,1.4356142341214668,0.71338606911949],"aabb_xy":[[0.28041848043450973,1.381332909085002],[0.4004184809373121,1.4898955591579313]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.44793815986814445,1.588112822708546,0.71338606911949],"aabb_xy":[[-0.4558614401068927,1.5656128224705428],[-0.44001487962939606,1.6106128229465495]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6790445138463141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2747.png","name":"2747"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2747.png","name":"2747"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1931.png","name":"1931"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5748.png","name":"5748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4643.png","name":"4643"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8866.png","name":"8866"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":528.8895321574724,"rotation_z_degrees":320.05335689601685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015510455003333184,-0.009752339892068891,-0.007398987239975785]},{"name":"camera_2","offset_m":[0.017291572516542345,-0.001096967449221508,-0.011134409056662133]},{"name":"camera_3","offset_m":[-0.0009186687961678791,-0.012270042503377949,0.005145870131456117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011666433543352237,-0.0008313728737864726,0.0018296590964623277],"end_effector_yaw_offset_degrees":-0.07442676111387914},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019053098331998962,-0.0017525925026710908,0.0019779367123673973],"end_effector_yaw_offset_degrees":-0.28869880330677056},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006718625220031643,0.0016653467073860615,0.0019945484338303133],"end_effector_yaw_offset_degrees":-0.9455502221120762}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0039729825081065645,0.0023385071213799105],"position_m":[0.25607298250810656,-0.09216149287862009,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002827250404816372,0.003243512928064238],"position_m":[0.3574272504048164,0.07404351292806424,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015182458016107904,-0.004441983600045472],"position_m":[0.3124817541983892,0.24365801639995452,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003901294454090669,0.0036425666137423858],"position_m":[0.24299870554590933,-0.3750574333862576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1e1992f14da7240a5a77cd0837d24aa5b74ad2d83aa09230967903baa841abd1","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2747/tex_ceiling_textures_8866/tex_floor_textures_4643/tex_table_textures_1931/tex_wall_textures_5748","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2287887763720497073,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2287887763720497073,"visual_seed":2287887763720497073,"scene_id":"lab_003","finished_at":"2026-09-02T04:10:24"}
+{"episode_id":"ep_000022","started_at":"2026-09-02T04:10:27","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.3117991666621196,1.168695068420543,0.71338606911949],"aabb_xy":[[0.23179916449935706,1.0887398847943994],[0.391799168824882,1.2486502520466867]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.580213077739635,-1.17033549463836,0.71338606911949],"aabb_xy":[[0.5302342692293192,-1.2203354946440788],[0.6301918862499509,-1.1203354946326411]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.588008778004526,-2.292891903878549,0.71338606911949],"aabb_xy":[[0.5713316420114305,-2.309591827852479],[0.6046859139976215,-2.2761919799046186]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[0.5068547413923787,-1.7367660272942944,0.71338606911949],"aabb_xy":[[0.4893547411330422,-1.7508575694830673],[0.5243547416517155,-1.722674485105522]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.56723683411705,1.767809394324917,0.71338606911949],"aabb_xy":[[0.5502267368269993,1.751674905826643],[0.5842469314071006,1.7839438828231908]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.4324873055402636,-0.850527231025364,0.71338606911949],"aabb_xy":[[0.37749182771960416,-0.9055272324592707],[0.48748278336092293,-0.7955272295914568]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.012211387957541175,1.724392158939143,0.71338606911949],"aabb_xy":[[-0.06720459929467794,1.6693921586003497],[0.04278182337959559,1.779392159277937]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.008634339092687848,1.033701817734015,0.71338606911949],"aabb_xy":[[-0.05136566150332833,0.9788893451887917],[0.06863433968870403,1.0885142902792386]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.6450895396365286,0.2671288584496865,0.71338606911949],"aabb_xy":[[0.610792628618788,0.23283197223974506],[0.6793864506542692,0.3014257446596278]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.0779259960733345,1.1980707785740958,0.71338606911949],"aabb_xy":[[0.02795293054081905,1.1480707787615632],[0.12789906160585,1.248070778386629]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[-0.13612385383789904,-2.485265602493736,0.71338606911949],"aabb_xy":[[-0.14170552547202778,-2.497765602311511],[-0.13054218220377026,-2.4727656026759606]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.44621249563043275,0.3260055523220937,0.71338606911949],"aabb_xy":[[0.38121249467330554,0.27405734038838814],[0.51121249658756,0.3779537642557993]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.34114481256233115,0.2803733126147603,0.71338606911949],"aabb_xy":[[-0.39096159202716596,0.23037331413045686],[-0.29132803309749644,0.3303733110990636]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[0.7157592307567089,1.667964279727991,0.71338606911949],"aabb_xy":[[0.7120559694275699,1.664262261419273],[0.7194624920858477,1.6716662980367085]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.04691677634560676,0.6458543677847817,0.71338606911949],"aabb_xy":[[0.03555504169232059,0.6344859013784935],[0.05827851099889291,0.6572228341910696]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.16380980509798537,-1.2917527826800619,0.71338606911949],"aabb_xy":[[-0.22880980325390443,-1.318049027229974],[-0.09880980694206631,-1.2654565381301497]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.07057397564857171,-1.8647762096335008,0.71338606911949],"aabb_xy":[[0.053073975403522315,-1.8822759974730676],[0.08807397589362108,-1.847276421793934]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.011877232515484892,-1.5287554350427757,0.71338606911949],"aabb_xy":[[-0.07587292991058148,-1.5927554333434841],[0.05211846487961169,-1.4647554367420668]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.2863092987029867,0.6496417698604406,0.71338606911949],"aabb_xy":[[0.28097678404837373,0.6443174416152051],[0.2916418133575997,0.6549660981056762]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[0.25996679643407805,-0.7806022942524256,0.71338606911949],"aabb_xy":[[0.19596680000675615,-0.8277719180745221],[0.32396679286139995,-0.7334326704303292]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.22300834102108924,-1.617640050978304,0.71338606911949],"aabb_xy":[[0.1855083395054575,-1.6288668239944488],[0.26050834253672095,-1.6064132779621587]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.2472452499588182,-0.6481617938561302,0.71338606911949],"aabb_xy":[[-0.3112452518711605,-0.7040729431141406],[-0.18324524804647582,-0.5922506445981197]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[0.48261751465653435,-0.27491833744348604,0.71338606911949],"aabb_xy":[[0.4326226817285928,-0.3249183363387296],[0.532612347584476,-0.2249183385482425]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.4909591253655481,1.6380682688905854,0.71338606911949],"aabb_xy":[[0.4684454335420908,1.5680682682895775],[0.5134728171890052,1.7080682694915925]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[-0.5327174554946452,0.8447792713754794,0.71338606911949],"aabb_xy":[[-0.5399997718713088,0.7547792677659702],[-0.5254351391179815,0.9347792749849881]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[-0.5251304965898591,-0.1386528853708655,0.71338606911949],"aabb_xy":[[-0.6151304930907308,-0.18456452778932372],[-0.4351305000889873,-0.09274124295240725]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6813228618019953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4808.png","name":"4808"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4808.png","name":"4808"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3423.png","name":"3423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8191.png","name":"8191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2908.png","name":"2908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":654.2716737459248,"rotation_z_degrees":318.77742713103635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01067305143537049,-0.005289491993380269,-0.01490469286143654]},{"name":"camera_2","offset_m":[0.015069884840569581,0.016977354404970956,-0.0005171120847110369]},{"name":"camera_3","offset_m":[0.018393488395273844,0.01860505144348024,0.007244257790551996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018519356080184224,0.0004529957940768098,8.429524713482158e-05],"end_effector_yaw_offset_degrees":-0.7401372558205521},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016400600347585594,-0.00013749668402773308,5.9115365481596585e-05],"end_effector_yaw_offset_degrees":0.6895373855340099},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00025663093355299173,-0.0007332009613845475,-0.00033882625052677486],"end_effector_yaw_offset_degrees":0.4812987448389603}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00023035427146886854,0.004999576606421966],"position_m":[0.2523303542714689,-0.08950042339357804,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003118615371350493,0.0009858560976148045],"position_m":[0.3577186153713505,0.0717858560976148,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004696036440365197,0.000730476332998449],"position_m":[0.3186960364403652,0.24883047633299843,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009464305124719328,0.003982155004481303],"position_m":[0.24595356948752808,-0.3747178449955187,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5dd2830181fff9eda425cfc1df4de098113c970a53c44280c7f8a7142e720340","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4808/tex_ceiling_textures_6934/tex_floor_textures_2908/tex_table_textures_3423/tex_wall_textures_8191","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6488452176983430450,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6488452176983430450,"visual_seed":6488452176983430450,"scene_id":"lab_003","finished_at":"2026-09-02T04:13:18"}
+{"episode_id":"ep_000023","started_at":"2026-09-02T04:13:21","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.20042324237064746,0.7321966019450477,0.71338606911949],"aabb_xy":[[-0.25541549300615846,0.6771966002017349],[-0.14543099173513654,0.7871966036883605]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[0.3753071305940783,1.2069715697654213,0.71338606911949],"aabb_xy":[[0.29531330701552005,1.12697156717258],[0.4553009541726365,1.286971572358263]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[0.35121160073713553,-1.058859906034041,0.71338606911949],"aabb_xy":[[0.31777142554111587,-1.0923035318649708],[0.3846517759331551,-1.0254162802031106]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.3139438049393608,-0.6789073894939575,0.71338606911949],"aabb_xy":[[0.3105031286993036,-0.6827688224683219],[0.3173844811794179,-0.675045956519593]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.25142218097577146,0.5223902583442404,0.71338606911949],"aabb_xy":[[-0.2607691885580667,0.5080866361265964],[-0.24207517339347623,0.5366938805618845]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.5859750617649845,-1.038399931825185,0.71338606911949],"aabb_xy":[[-0.6084741974912115,-1.060899932603448],[-0.5634759260387575,-1.0158999310469221]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.6532691654196809,1.2763575428132103,0.71338606911949],"aabb_xy":[[0.5882691675380332,1.2252338791066695],[0.7182691633013287,1.3274812065197512]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.4739101416269342,-2.011417417122022,0.71338606911949],"aabb_xy":[[-0.4830700205708108,-2.0179486351655593],[-0.4647502626830576,-2.0048861990784856]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.22269904726811218,1.616176792946526,0.71338606911949],"aabb_xy":[[0.17769904580188334,1.5711769360850456],[0.267699048734341,1.661176649808007]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.38402826671026596,-1.5827068269632414,0.71338606911949],"aabb_xy":[[-0.4190282680617477,-1.6030665629200622],[-0.34902826535878423,-1.5623470910064206]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.45069126922549674,1.566598119518781,0.71338606911949],"aabb_xy":[[0.401210848011538,1.5025981216059294],[0.5001716904394555,1.630598117431633]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.6681185366836184,0.8245024184613943,0.71338606911949],"aabb_xy":[[-0.6768997638308549,0.8157226711728643],[-0.6593373095363824,0.8332821657499246]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.2555126692139187,-0.7796375974652219,0.71338606911949],"aabb_xy":[[-0.2604119615204821,-0.8073145167677905],[-0.25061337690735513,-0.751960678162653]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.513929074482088,1.1982505920363544,0.71338606911949],"aabb_xy":[[-0.5976512999821705,1.1082505885016585],[-0.43020684898200556,1.2882505955710504]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.4668247503531533,1.7642616089764185,0.71338606911949],"aabb_xy":[[0.4477124429951745,1.7451268300991767],[0.4859370577111322,1.7833963878536607]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.5045573414149722,1.638179422060062,0.71338606911949],"aabb_xy":[[-0.5685573385270779,1.5891470522656512],[-0.4405573443028665,1.6872117918544725]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.4567321709195258,1.4333840048100321,0.71338606911949],"aabb_xy":[[-0.5267321725218053,1.4199512116083748],[-0.3867321693172463,1.44681679801169]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.11944476787066494,-0.2702669401783404,0.71338606911949],"aabb_xy":[[-0.15694476836802318,-0.2742356237264588],[-0.08194476737330669,-0.266298256630222]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.5128417239682348,-1.0976974853765287,0.71338606911949],"aabb_xy":[[0.4803800230863072,-1.127830317491431],[0.545303424850162,-1.0675646532616259]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.20888479288558426,0.796863928732285,0.71338606911949],"aabb_xy":[[0.13888479024899786,0.7767590637364193],[0.27888479552217055,0.8169687937281503]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.6094873954072504,-1.411717728374585,0.71338606911949],"aabb_xy":[[0.5454873961130822,-1.4757038687434392],[0.6734873947014186,-1.3477315880057308]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.1490254685348814,1.2673884505828448,0.71338606911949],"aabb_xy":[[-0.21402546949200862,1.215440238649139],[-0.08402546757775421,1.3193366625165501]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.4402452027011377,-0.29346633771811126,0.71338606911949],"aabb_xy":[[-0.44438105903383796,-0.3309663371624683],[-0.43610934636843757,-0.2559663382737543]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.12493119684666032,-0.5727089352461916,0.71338606911949],"aabb_xy":[[-0.19493120023822227,-0.6080247089496224],[-0.05493119345509833,-0.5373931615427606]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.5592364356534429,0.8337058096262826,0.71338606911949],"aabb_xy":[[0.541689740737324,0.7962058080620313],[0.5767831305695619,0.8712058111905339]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[-0.6175421464978236,0.032107778186922786,0.71338606911949],"aabb_xy":[[-0.6815421450843959,-0.01489918521258593],[-0.553542147911251,0.0791147415864315]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[0.08190227162318187,-1.0025574501245786,0.71338606911949],"aabb_xy":[[0.05075535277959875,-1.0725574488113858],[0.11304919046676498,-0.9325574514377715]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[-0.3677610331086707,-0.8713517019225598,0.71338606911949],"aabb_xy":[[-0.37172151687840504,-0.8790195665080804],[-0.36380054933893635,-0.8636838373370392]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[0.18788381001336396,-2.4850195728311606,0.71338606911949],"aabb_xy":[[0.12388380975289316,-2.530028372184088],[0.2518838102738348,-2.440010773478232]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_29","position":[0.39361492177763835,-1.3439726285653635,0.71338606911949],"aabb_xy":[[0.32961492140010473,-1.3937178954161755],[0.45761492215517197,-1.294227361714551]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681326674791658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6483.png","name":"6483"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6483.png","name":"6483"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2784.png","name":"2784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4936.png","name":"4936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7370.png","name":"7370"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2759.png","name":"2759"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":834.2232503198302,"rotation_z_degrees":238.76307906043874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002224048426746301,-0.011837042306187286,0.018907677969653116]},{"name":"camera_2","offset_m":[-0.003945808084522575,0.011228160633497079,0.014444974617513495]},{"name":"camera_3","offset_m":[-0.006058327552367531,-0.011617738925531538,0.002699309625692748]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001077247997230552,0.0013823935548068459,0.0010959648253405455],"end_effector_yaw_offset_degrees":0.47120986750534244},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016583553396766482,0.0012110517121051555,0.000494755778189714],"end_effector_yaw_offset_degrees":-0.20044928229789205},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013110872703936626,0.00011370470124030764,-0.00010890116810738479],"end_effector_yaw_offset_degrees":-0.47546319151999583}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00010933457040845484,-0.00417313343388545],"position_m":[0.25220933457040845,-0.09867313343388545,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004119502415971349,0.0018271157952778165],"position_m":[0.35048049758402866,0.07262711579527782,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011701832203174656,-0.004300185175562152],"position_m":[0.3151701832203175,0.24379981482443783,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020350946015622973,0.00232732953572363],"position_m":[0.24486490539843772,-0.37637267046427636,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d60a41e435643347751cd9a73d58fe9e7d225deadff45ccccd3ef58d59e6e7ae","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0023.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6483/tex_ceiling_textures_2759/tex_floor_textures_7370/tex_table_textures_2784/tex_wall_textures_4936","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":9169761072388045665,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":9169761072388045665,"visual_seed":9169761072388045665,"scene_id":"lab_003","finished_at":"2026-09-02T04:16:34"}
+{"episode_id":"ep_000024","started_at":"2026-09-02T04:16:38","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.5444123611126624,-0.8999926675454897,0.71338606911949],"aabb_xy":[[-0.5524058509079445,-0.9079907994859655],[-0.5364188713173804,-0.8919945356050143]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.5123035619423528,1.0579909104518515,0.71338606911949],"aabb_xy":[[-0.522456577496502,1.021921368879111],[-0.5021505463882032,1.0940604520245916]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.17730732020412843,0.9677756252104208,0.71338606911949],"aabb_xy":[[0.13980731970677018,0.9638069416623023],[0.21480732070148667,0.9717443087585391]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.09500620673368532,-0.6961236475229766,0.71338606911949],"aabb_xy":[[0.08966863106768073,-0.7211236484521164],[0.10034378239968987,-0.6711236465938368]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.16274811413345713,-0.4182756910219365,0.71338606911949],"aabb_xy":[[-0.1758993601047465,-0.4432756907786231],[-0.14959686816216777,-0.39327569126525]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[0.2814866384559296,-2.5140255913561798,0.71338606911949],"aabb_xy":[[0.23148663743679432,-2.550491807094008],[0.33148663947506485,-2.4775593756183523]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.4043371140674162,1.0795338641195644,0.71338606911949],"aabb_xy":[[-0.4386340250851567,1.045236977909623],[-0.37004020304967544,1.1138307503295057]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.19988064643434844,0.8315390848148652,0.71338606911949],"aabb_xy":[[0.18863559086373055,0.8202972870907699],[0.21112570200496622,0.8427808825389604]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.5107095567881714,-2.3777522231018278,0.71338606911949],"aabb_xy":[[0.4607095564276053,-2.4277322103114303],[0.5607095571487374,-2.3277722358922244]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.3617226475679082,-2.011838515942795,0.71338606911949],"aabb_xy":[[-0.38422264738181056,-2.0163131323132752],[-0.3392226477540058,-2.007363899572314]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.49614311987755233,-0.5600885510627385,0.71338606911949],"aabb_xy":[[0.4611431216074323,-0.5671626787577266],[0.5311431181476721,-0.5530144233677503]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.2938184115928921,0.4124236563743926,0.71338606911949],"aabb_xy":[[-0.3437011084705883,0.36242365712811786],[-0.24393571471519593,0.4624236556206674]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.5114163151030771,1.5715962205165073,0.71338606911949],"aabb_xy":[[0.44641631410257654,1.5208098553618323],[0.5764163161035776,1.6223825856711822]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.5192982907143543,-0.046767307825791526,0.71338606911949],"aabb_xy":[[-0.5274119453877314,-0.054873124279820606],[-0.5111846360409772,-0.038661491371762446]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.16519233927773047,0.8004011249370264,0.71338606911949],"aabb_xy":[[-0.22919233953820126,0.7553923255840984],[-0.10119233901725964,0.8454099242899544]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.22548950936319562,-1.1986428189543523,0.71338606911949],"aabb_xy":[[-0.24335861711765108,-1.2124757269315634],[-0.2076204016087401,-1.1848099109771413]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.5159592299524753,-0.9623457637396595,0.71338606911949],"aabb_xy":[[0.5051862560311075,-0.9973457619586985],[0.526732203873843,-0.9273457655206205]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.5129461633520833,-1.6776952318185931,0.71338606911949],"aabb_xy":[[-0.5557128702315036,-1.7416952352403956],[-0.47017945647266324,-1.6136952283967907]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.3467964410528132,1.2660810943581038,0.71338606911949],"aabb_xy":[[-0.3811127182274311,1.216081094384926],[-0.3124801638781952,1.3160810943312815]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.19337319381324336,-2.2665843181376,0.71338606911949],"aabb_xy":[[0.17587319355390674,-2.280675860326373],[0.21087319407258,-2.2524927759488276]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.18259423201209268,1.5853537542203475,0.71338606911949],"aabb_xy":[[-0.2190900526393714,1.5488698117935902],[-0.14609841138481391,1.6218376966471053]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[0.3012628143641283,-1.4970288078365792,0.71338606911949],"aabb_xy":[[0.251262813003241,-1.5470067124119946],[0.35126281572501544,-1.4470509032611634]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.4434078726998727,1.2766426457474669,0.71338606911949],"aabb_xy":[[0.4088167898458274,1.2116426454624356],[0.47799895555391786,1.3416426460324977]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.22705811450521612,-1.4858792814787867,0.71338606911949],"aabb_xy":[[-0.30705811166479136,-1.4974268824366035],[-0.1470581173456408,-1.4743316805209694]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.5112814620723363,1.383844911006833,0.71338606911949],"aabb_xy":[[-0.5216930207528199,1.3784991776709343],[-0.5008699033918524,1.389190644342731]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[0.6727169243034079,0.9715398753747095,0.71338606911949],"aabb_xy":[[0.6227169247270734,0.9215592964226036],[0.7227169238797428,1.0215204543268155]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.44305924040057665,-2.2086036785591183,0.71338606911949],"aabb_xy":[[-0.44676250172971554,-2.212305696867836],[-0.43935597907143775,-2.2049016602504006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860098709125748,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9849.png","name":"9849"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9849.png","name":"9849"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/224.png","name":"224"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/455.png","name":"455"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":682.686471039608,"rotation_z_degrees":109.56405971227612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01155083186066928,-0.0013804982519241976,0.005504776647783878]},{"name":"camera_2","offset_m":[-0.014972373449304667,0.013946206479625734,-0.01817023333626081]},{"name":"camera_3","offset_m":[-0.0030653768912018813,0.011205390141592515,0.01721863563623306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012565065179176815,0.0005286243640479152,-0.0009777406177647384],"end_effector_yaw_offset_degrees":0.10723779680824652},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00015782868513609482,-0.0009090583271840456,0.0004893839442678075],"end_effector_yaw_offset_degrees":0.28618943689501886},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012878346541898295,-0.0018296260686111784,0.0009868869864962798],"end_effector_yaw_offset_degrees":0.5692628821130157}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001695174294039491,0.0007453635888624221],"position_m":[0.2504048257059605,-0.09375463641113758,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002881092098482377,-0.0035229523293015953],"position_m":[0.3543118907901518,0.0672770476706984,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003409935200527633,-0.0034129896521107694],"position_m":[0.3174099352005276,0.24468701034788923,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002836558920177981,0.0012047927405473158],"position_m":[0.249736558920178,-0.3774952072594527,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"716acc4608e346cf0aa71e2e1795e918484d9db19b5630acc9b47183e45574bc","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9849/tex_ceiling_textures_3492/tex_floor_textures_2466/tex_table_textures_224/tex_wall_textures_455","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3093724941738882455,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3093724941738882455,"visual_seed":3093724941738882455,"scene_id":"lab_003","finished_at":"2026-09-02T04:19:21"}
+{"episode_id":"ep_000025","started_at":"2026-09-02T04:19:24","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.4434748067590277,0.07725334826405206,0.71338606911949],"aabb_xy":[[-0.523474804162621,-0.002739222934130758],[-0.3634748093554342,0.15724591946223485]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.5439110841460071,1.0702944337614504,0.71338606911949],"aabb_xy":[[-0.5492435988006201,1.0649701055162148],[-0.538578569491394,1.075618762006686]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.521099388353274,0.5892239834381465,0.71338606911949],"aabb_xy":[[-0.5663780032344232,0.5252239840899628],[-0.4758207734721247,0.6532239827863302]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.5991698940419945,-0.2258802669898352,0.71338606911949],"aabb_xy":[[-0.6641698949991217,-0.2778284789235408],[-0.5341698930848673,-0.17393205505612966]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.3918307723689325,0.6404089644567788,0.71338606911949],"aabb_xy":[[0.3693307728452249,0.6179130170061579],[0.4143307718926397,0.6629049119073994]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.3871551612286402,-0.5742138916731623,0.71338606911949],"aabb_xy":[[-0.42145207224638076,-0.6085107778831035],[-0.3528582502108995,-0.5399170054632209]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.3374348118156316,-1.7020026107317143,0.71338606911949],"aabb_xy":[[0.32944132202034965,-1.7100007426721902],[0.3454283016109137,-1.694004478791239]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.609198344555578,1.6147692950393515,0.71338606911949],"aabb_xy":[[0.603616672921449,1.6022692952215762],[0.6147800161897067,1.6272692948571272]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[-0.5602563426821471,-2.05064230241163,0.71338606911949],"aabb_xy":[[-0.5643345005891969,-2.054723282659893],[-0.5561781847750973,-2.0465613221633667]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.7059609782040024,1.8114422777740296,0.71338606911949],"aabb_xy":[[0.6884609779446659,1.7973507355852572],[0.7234609784633391,1.8255338199628024]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.03799683638742879,-1.9854022584266429,0.71338606911949],"aabb_xy":[[-0.07549683649302173,-1.9922244202796238],[-0.0004968362818358328,-1.9785800965736615]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.08699242965996867,-0.45295679718121695,0.71338606911949],"aabb_xy":[[-0.13696984652522223,-0.5029567986704655],[-0.03701501279471508,-0.4029567956919684]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.2764927264925682,-1.9019384851478285,0.71338606911949],"aabb_xy":[[-0.2896439724638576,-1.926938484904515],[-0.26334148052127887,-1.876938485391142]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.25161905943236623,-1.289692186927691,0.71338606911949],"aabb_xy":[[-0.2752041828962611,-1.354692189173123],[-0.22803393596847138,-1.2246921846822594]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[-0.2888465031140222,0.8350340139855557,0.71338606911949],"aabb_xy":[[-0.3528465024081905,0.7710478736167014],[-0.22484650381985405,0.8990201543544097]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.2175417763499261,1.1548736020669628,0.71338606911949],"aabb_xy":[[-0.25504177492554686,1.1421373064034046],[-0.18004177777430527,1.1676098977305205]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.641889405261868,0.9389990562207959,0.71338606911949],"aabb_xy":[[0.5818894044010551,0.8875726262143094],[0.7018894061226807,0.9904254862272822]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.5644282871243963,-1.1128863217040337,0.71338606911949],"aabb_xy":[[-0.5683887708941306,-1.1205541862895543],[-0.560467803354662,-1.105218457118513]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.6693638941812883,-2.5693389123727686,0.71338606911949],"aabb_xy":[[0.6523537968912375,-2.5854734008710425],[0.6863739914713388,-2.5532044238744946]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.4401148987920842,-2.4039771093403894,0.71338606911949],"aabb_xy":[[0.3551149001000095,-2.435962972735268],[0.5251148974841588,-2.37199124594551]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.207617898113292,1.6077170216616632,0.71338606911949],"aabb_xy":[[0.1851531281418869,1.5852170207828025],[0.23008266808469713,1.6302170225405235]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.6283679716617909,-0.30130704322475355,0.71338606911949],"aabb_xy":[[0.5583679698530454,-0.32266081198894087],[0.6983679734705363,-0.2799532744605661]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.45679423003552544,1.5895538934379938,0.71338606911949],"aabb_xy":[[0.42088072561053574,1.553640385221239],[0.49270773446051513,1.6254674016547481]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.37683805459115494,1.2518700102022042,0.71338606911949],"aabb_xy":[[-0.42665483405598964,1.2018700117179009],[-0.3270212751263201,1.3018700086865076]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[0.03859166483835352,1.6383472255734524,0.71338606911949],"aabb_xy":[[0.0017970317134472502,1.60144135047687],[0.0753862979632598,1.6752531006700346]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.07209227398259521,-2.2768521927563548,0.71338606911949],"aabb_xy":[[0.022092272963459936,-2.3133184084941827],[0.12209227500173049,-2.240385977018527]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.24110474979304614,-2.21664661755906,0.71338606911949],"aabb_xy":[[-0.244808011122185,-2.220348635867777],[-0.23740148846390727,-2.2129445992503416]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.5689690155913465,-0.7371095982372327,0.71338606911949],"aabb_xy":[[-0.5939690148633087,-0.753454961833395],[-0.5439690163193841,-0.7207642346410703]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883603393284512,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3478.png","name":"3478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3478.png","name":"3478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4721.png","name":"4721"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6613.png","name":"6613"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":709.1851320870021,"rotation_z_degrees":137.48892782293024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017406628023837908,-0.0031987243530873996,-0.009122664156593005]},{"name":"camera_2","offset_m":[-0.00489827602862416,-0.01305100151838463,-0.0057990633235700615]},{"name":"camera_3","offset_m":[-0.0005208645275009208,0.002541223176186082,-0.016712111224420192]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004099656973272298,-0.0005751047549082684,7.534336076604059e-06],"end_effector_yaw_offset_degrees":-0.3455603993254215},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013173904752315693,-0.00023620669573125893,0.0016941954126398367],"end_effector_yaw_offset_degrees":0.8958944619014995},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00021694214236323657,0.0015075784359620645,0.00014380036845892475],"end_effector_yaw_offset_degrees":-0.35940345426942155}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036433580137396763,-0.0030079690773463664],"position_m":[0.25574335801373965,-0.09750796907734637,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044064010649432,-0.0011076439266928038],"position_m":[0.35900640106494325,0.0696923560733072,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023914110865356163,0.003651202147109977],"position_m":[0.3116085889134644,0.25175120214710994,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004105759198733057,-0.001138649093650238],"position_m":[0.2510057591987331,-0.3798386490936502,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"be151fa09441bf30c5ee78230a48eb08d83cee61f918f779f2823a49b892f956","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3478/tex_ceiling_textures_6613/tex_floor_textures_8377/tex_table_textures_4222/tex_wall_textures_4721","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2014817890533077304,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2014817890533077304,"visual_seed":2014817890533077304,"scene_id":"lab_003","finished_at":"2026-09-02T04:22:17"}
+{"episode_id":"ep_000026","started_at":"2026-09-02T04:22:20","dimensions":{"distractor":{"count":30,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.6690911803692923,-2.1220861196541025,0.71338606911949],"aabb_xy":[[-0.6915911806128078,-2.1342907543138745],[-0.646591180125777,-2.1098814849943306]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.11401684163930503,-0.8849610040253006,0.71338606911949],"aabb_xy":[[0.08353259151227489,-0.9349610038067965],[0.1445010917663352,-0.8349610042438046]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[-0.5145584483631105,1.1964774979978152,0.71338606911949],"aabb_xy":[[-0.562364615976879,1.1314774952907563],[-0.4667522807493417,1.2614775007048742]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.4808751879483232,-2.4704765944048748,0.71338606911949],"aabb_xy":[[-0.48828764348971165,-2.4763278048265027],[-0.4734627324069347,-2.464625383983247]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.10140542108728445,-1.855387103298507,0.71338606911949],"aabb_xy":[[-0.10844573102082147,-1.9353871026981788],[-0.09436511115374749,-1.775387103898836]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.3513067134307055,0.8711538012969751,0.71338606911949],"aabb_xy":[[-0.4153067098580275,0.8239841774748787],[-0.28730671700338367,0.9183234251190716]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.05969110201910521,-2.2475480469613536,0.71338606911949],"aabb_xy":[[0.05157744734572812,-2.2556538634153824],[0.06780475669248232,-2.2394422305073247]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.2699290979707793,-1.7720477080227168,0.71338606911949],"aabb_xy":[[-0.3349290965278522,-1.8018002414365992],[-0.20492909941370652,-1.742295174608834]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.6352529419182951,0.8867549895872244,0.71338606911949],"aabb_xy":[[0.5752529402753732,0.8347548402952802],[0.6952529435612169,0.9387551388791686]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.3541885851574538,-2.091694967794996,0.71338606911949],"aabb_xy":[[0.27418858650056777,-2.106199826719259],[0.4341885838143398,-2.077190108870733]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.08721771924701627,0.39606258256382443,0.71338606911949],"aabb_xy":[[-0.15721772084929575,0.38262978936216685],[-0.017217717644736785,0.409495375765482]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.3107731231573241,1.1523350208120036,0.71338606911949],"aabb_xy":[[0.2734418466320815,1.1176819660171513],[0.3481043996825667,1.1869880756068558]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.5273620554245624,-0.8481155326575334,0.71338606911949],"aabb_xy":[[0.46336205374656503,-0.8966329241368475],[0.5913620571025597,-0.799598141178219]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.28376737011023423,-2.3234347108110796,0.71338606911949],"aabb_xy":[[0.2711646709731578,-2.336030107035945],[0.2963700692473107,-2.310839314586214]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.09314679263333281,1.3177882227132445,0.71338606911949],"aabb_xy":[[0.08257931297523378,1.3072431926002357],[0.1037142722914318,1.3283332528262528]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.6414523846792319,-1.4860128204324172,0.71338606911949],"aabb_xy":[[0.5863271790496409,-1.5460128218737044],[0.6965775903088225,-1.42601281899113]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.5766729345514912,1.1876371700808823,0.71338606911949],"aabb_xy":[[0.5686794447562091,1.1796390381404067],[0.5846664243467732,1.195635302021358]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.4986060370197136,-2.3609406783142184,0.71338606911949],"aabb_xy":[[0.43360603606258646,-2.412888890247924],[0.5636060379768408,-2.308992466380513]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.47036548436849124,-0.5172418573277158,0.71338606911949],"aabb_xy":[[0.4063654820256897,-0.5621827085718482],[0.5343654867112928,-0.4723010060835832]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.07719886714324753,0.5783474822694346,0.71338606911949],"aabb_xy":[[-0.09469886627761469,0.5684678552318466],[-0.05969886800888035,0.5882271093070223]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.5767120075531305,1.7193919942697398,0.71338606911949],"aabb_xy":[[-0.5843362756433088,1.7117587707331963],[-0.5690877394629523,1.7270252178062837]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.5961459011570929,1.0006026562143875,0.71338606911949],"aabb_xy":[[-0.621145900322726,0.9936504105090309],[-0.5711459019914598,1.007554901919744]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.063734411280158,-1.3575904832026209,0.71338606911949],"aabb_xy":[[0.027238590652879244,-1.3940744256293784],[0.10023023190743673,-1.3211065407758633]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.3200347854605997,-1.061396980937019,0.71338606911949],"aabb_xy":[[-0.36128359649051445,-1.1163969804492364],[-0.278785974430685,-1.0063969814248015]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.10031042350711283,-1.51794990822349,0.71338606911949],"aabb_xy":[[-0.11072198218759652,-1.5232956415593881],[-0.0898988648266291,-1.5126041748875914]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[-0.6420249732287631,-1.761309122225272,0.71338606911949],"aabb_xy":[[-0.6619160131091033,-1.7739649335099692],[-0.6221339333484228,-1.7486533109405755]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[0.2987442908593869,0.8082856233286129,0.71338606911949],"aabb_xy":[[0.26526512359834603,0.7748065099575059],[0.3322234581204279,0.8417647366997199]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[-0.08654029703090249,-0.8115663642155333,0.71338606911949],"aabb_xy":[[-0.12404029769548118,-0.8272534222157554],[-0.04904029636632378,-0.795879306215311]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[0.3392826389541357,-0.741556733098022,0.71338606911949],"aabb_xy":[[0.31299381463369497,-0.7678281667526731],[0.3655714632745763,-0.7152852994433706]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_29","position":[-0.4577417606906353,-2.1957764870591525,0.71338606911949],"aabb_xy":[[-0.5217417592772078,-2.2427834504586612],[-0.39374176210406286,-2.148769523659644]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861706178900384,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/627.png","name":"627"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/627.png","name":"627"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5941.png","name":"5941"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1282.png","name":"1282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4402.png","name":"4402"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/342.png","name":"342"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":525.5463542522434,"rotation_z_degrees":219.1311566398505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011117197170071834,-0.008410454843184798,-0.015658238344593102]},{"name":"camera_2","offset_m":[-0.017090629687170032,0.008704334585111134,-0.002639786574949135]},{"name":"camera_3","offset_m":[-0.011087354635087433,0.01960762599152668,-0.019133124825557173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.7559219366960356e-05,-0.0016968490940119049,-0.0013324432789233488],"end_effector_yaw_offset_degrees":-0.21669033266164672},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017218698545655407,-0.001587308043924368,-0.00023081867094489495],"end_effector_yaw_offset_degrees":-0.29518534480875425},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012663417867044683,0.0002812896586292229,-0.0008325392388327476],"end_effector_yaw_offset_degrees":0.7484076750247299}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004428013590278304,0.002855178321178484],"position_m":[0.25652801359027827,-0.09164482167882151,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011141311549278487,0.002726151493575777],"position_m":[0.35348586884507216,0.07352615149357578,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004398019954290615,-0.0015063314597873788],"position_m":[0.3096019800457094,0.2465936685402126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023261143164000995,0.0001399723203562575],"position_m":[0.2492261143164001,-0.3785600276796437,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"451b65a0480e29c68a826d9f27bb05ecc8ec273ba53be429b3b976c5c9d3bab1","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_627/tex_ceiling_textures_342/tex_floor_textures_4402/tex_table_textures_5941/tex_wall_textures_1282","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":684033481349728495,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":684033481349728495,"visual_seed":684033481349728495,"scene_id":"lab_003","finished_at":"2026-09-02T04:24:53"}
+{"episode_id":"ep_000027","started_at":"2026-09-02T04:24:56","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.12610707887794115,-2.068496381133784,0.71338606911949],"aabb_xy":[[-0.1861070791293423,-2.122777706170248],[-0.06610707862653994,-2.0142150560973193]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[0.161192011771487,-1.8231348524105842,0.71338606911949],"aabb_xy":[[0.11619942505303657,-1.868134851685033],[0.2061845984899374,-1.7781348531361354]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[0.33286052662270205,-0.8547637564284691,0.71338606911949],"aabb_xy":[[0.32025782748562565,-0.8673591526533346],[0.34546322575977856,-0.8421683602036036]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.4263927447270134,0.63143578584907,0.71338606911949],"aabb_xy":[[-0.47620952419184814,0.5814357873647666],[-0.3765759652621786,0.6814357843333734]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.5022113573469797,1.4368927854349391,0.71338606911949],"aabb_xy":[[0.467211358217024,1.4311475643592748],[0.5372113564769353,1.442638006510603]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.2653340796989994,0.12798857492075477,0.71338606911949],"aabb_xy":[[-0.2733280682767028,0.11998849482566443],[-0.257340091121296,0.13598865501584512]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.11698019603951337,-2.2602706811635307,0.71338606911949],"aabb_xy":[[0.10521200924485587,-2.3452706810687527],[0.1287483828341709,-2.1752706812583096]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.5070687787524832,1.731250607278779,0.71338606911949],"aabb_xy":[[0.42706878077169824,1.7236490663169268],[0.5870687767332683,1.7388521482406307]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.025680566462471188,-1.8947685846216533,0.71338606911949],"aabb_xy":[[-0.08568056732328398,-1.9461950146281395],[0.03431943439834161,-1.8433421546151667]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.3793037527645125,-1.7121315857434969,0.71338606911949],"aabb_xy":[[-0.4017685227359177,-1.7346315866223574],[-0.35683898279310744,-1.6896315848646364]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.20655149336467976,-1.1987504160951836,0.71338606911949],"aabb_xy":[[-0.21596896793454248,-1.2081665932329027],[-0.19713401879481698,-1.1893342389574646]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.09452433905150193,-1.0433186962259582,0.71338606911949],"aabb_xy":[[0.07742226109313378,-1.060425501757228],[0.1116264170098701,-1.0262118906946884]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[0.19010886419930995,-2.1350715310766466,0.71338606911949],"aabb_xy":[[0.179268385972795,-2.1522578123672953],[0.20094934242582482,-2.117885249785998]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.4740276398459915,-1.0842593075863867,0.71338606911949],"aabb_xy":[[0.42414494296829536,-1.1342593068326614],[0.5239103367236877,-1.034259308340112]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.24137894752679623,0.6530344899002452,0.71338606911949],"aabb_xy":[[0.177378948232628,0.5890483495313911],[0.30537894682096445,0.7170206302690995]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.06997834570421946,-1.7340286995640404,0.71338606911949],"aabb_xy":[[-0.1085240385294205,-1.772574470620229],[-0.031432652879018426,-1.6954829285078516]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.637212851131209,-0.5584587517728155,0.71338606911949],"aabb_xy":[[-0.68721284977713,-0.6083782954322778],[-0.5872128524852877,-0.5085392081133531]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.17254589165418377,-0.6019831352782317,0.71338606911949],"aabb_xy":[[-0.2622329679622992,-0.6919831355326822],[-0.08285881534606829,-0.5119831350237811]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[-0.3966313600023554,-0.23647679485344186,0.71338606911949],"aabb_xy":[[-0.40196893566835995,-0.26147679578258165],[-0.3912937843363508,-0.21147679392430208]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.31876909846160495,1.118034281490409,0.71338606911949],"aabb_xy":[[0.3133111528245848,1.0380342781827498],[0.32422704409862496,1.198034284798068]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.1100425060478194,1.270585108900384,0.71338606911949],"aabb_xy":[[0.07254250555046117,1.2666164253522654],[0.14754250654517764,1.2745537924485024]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.48465160875114566,1.1375327420136436,0.71338606911949],"aabb_xy":[[0.3946516122502739,1.0916210995951854],[0.5746516052520174,1.1834443844321019]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.4086293612386458,-1.821789150195789,0.71338606911949],"aabb_xy":[[0.3536361499015091,-1.8767891505345828],[0.46362257257578265,-1.7667891498569956]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[0.10412119087500593,-2.531631641411757,0.71338606911949],"aabb_xy":[[0.040121193572659516,-2.5759980683796138],[0.16812118817735233,-2.4872652144439003]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.5824503087842221,0.766199264816465,0.71338606911949],"aabb_xy":[[0.5224503071413003,0.7141991155245209],[0.642450310427144,0.8181994141084092]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.40279203319060985,1.2603395669074597,0.71338606911949],"aabb_xy":[[-0.41466411620211097,1.1753395672138094],[-0.39091995017910874,1.34533956660111]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[-0.2497785019198988,-2.324197739985027,0.71338606911949],"aabb_xy":[[-0.33977850164307294,-2.347271092520206],[-0.1597785021967246,-2.301124387449846]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[0.6263171981486488,-1.1201811848633405,0.71338606911949],"aabb_xy":[[0.601803574051643,-1.144445778165377],[0.6508308222456547,-1.095916591561304]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[-0.5078418638626652,-0.1566076572856323,0.71338606911949],"aabb_xy":[[-0.5203092219724008,-0.16907298191895584],[-0.4953745057529295,-0.14414233265230883]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[-0.579178249601656,0.8122094812083733,0.71338606911949],"aabb_xy":[[-0.6641782482937305,0.7802236178134944],[-0.49417825090958123,0.8441953446032521]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[0.44685021314166606,0.24630136517335854,0.71338606911949],"aabb_xy":[[0.4387365584682889,0.23819554871932944],[0.4549638678150431,0.2544071816273876]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[-0.22941929354568963,0.6915013622338395,0.71338606911949],"aabb_xy":[[-0.23431858585225307,0.6638244429312706],[-0.22452000123912608,0.7191782815364082]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857213730734373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1883.png","name":"1883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9685.png","name":"9685"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/580.png","name":"580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1600.png","name":"1600"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":685.0706947487969,"rotation_z_degrees":245.9377911192615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017852169965180305,0.01480714859669215,0.01639236351436744]},{"name":"camera_2","offset_m":[0.017780846512866887,-0.014499159510303379,0.008537317298219192]},{"name":"camera_3","offset_m":[0.003776488646135709,0.014631867797416511,-0.012254389581739251]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014789115029295737,-0.0012001887369740517,-0.0016438566058317307],"end_effector_yaw_offset_degrees":0.30664220837833445},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012673504563563047,-0.0019392998966364977,0.0014430834687994927],"end_effector_yaw_offset_degrees":-0.858328728129155},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014365012355707918,-0.0011222939079405915,-0.0011742717753132638],"end_effector_yaw_offset_degrees":0.2970753557143293}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004253545890032617,-0.003356737839455095],"position_m":[0.2563535458900326,-0.0978567378394551,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009511662433578216,-0.004403957959654508],"position_m":[0.3536488337566422,0.0663960420403455,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0008642964928356625,0.0028761828565508846],"position_m":[0.31313570350716435,0.2509761828565509,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014327358725828199,-0.004679034400058682],"position_m":[0.24546726412741718,-0.38337903440005866,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"58bd42b9d0dbb8233e5caa2d782cbd45d59bcc20717d3235abe2da06907b889e","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4894/tex_ceiling_textures_1600/tex_floor_textures_580/tex_table_textures_1883/tex_wall_textures_9685","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":5457468259476166306,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":5457468259476166306,"visual_seed":5457468259476166306,"scene_id":"lab_003","finished_at":"2026-09-02T04:27:44"}
+{"episode_id":"ep_000028","started_at":"2026-09-02T04:27:49","dimensions":{"distractor":{"count":29,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.4513338873645786,-1.2719171805463432,0.71338606911949],"aabb_xy":[[-0.48987958018977956,-1.310462951602532],[-0.4127881945393775,-1.2333714094901544]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.4958355740040967,0.2416324214590464,0.71338606911949],"aabb_xy":[[0.45833557371192185,0.23759094605844283],[0.5333355742962715,0.24567389685965002]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.22140550781731083,-2.3006702719775323,0.71338606911949],"aabb_xy":[[0.17140550615581607,-2.3506687142332345],[0.2714055094788056,-2.250671829721829]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.6298824915624799,-0.7406618043368323,0.71338606911949],"aabb_xy":[[-0.6948824925196071,-0.7926100162705377],[-0.5648824906053527,-0.6887135924031266]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.023088079920881577,-1.1800854846092372,0.71338606911949],"aabb_xy":[[-0.040588080165930955,-1.197585272448804],[-0.005588079675832191,-1.1625856967696704]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.46545499359579434,-0.42847527274877306,0.71338606911949],"aabb_xy":[[0.44724916993454666,-0.43950067333076476],[0.483660817257042,-0.4174498721667815]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.5606165421460358,-2.06000522880212,0.71338606911949],"aabb_xy":[[-0.6406103657245941,-2.140005231394962],[-0.4806227185674776,-1.9800052262092787]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.6769217006163872,-1.4106076136646357,0.71338606911949],"aabb_xy":[[0.663770454645098,-1.4356076134213223],[0.6900729465876767,-1.3856076139079492]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.5004524710005083,-1.5968180426620302,0.71338606911949],"aabb_xy":[[-0.5223422185894491,-1.6868180399512793],[-0.4785627234115675,-1.506818045372781]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.18178022642713454,-2.389423271955426,0.71338606911949],"aabb_xy":[[-0.2617802296849775,-2.46941977974741],[-0.10178022316929158,-2.309426764163442]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.2529431263023133,1.7383705891784689,0.71338606911949],"aabb_xy":[[-0.29044312781794496,1.7271438161623236],[-0.21544312478668154,1.7495973621946137]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.4090732389295486,-1.739412855894763,0.71338606911949],"aabb_xy":[[0.34507324253397553,-1.8033761443134966],[0.4730732353251217,-1.6754495674760295]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.05021016093162689,1.1382055250580305,0.71338606911949],"aabb_xy":[[0.014296656506637202,1.102292016841276],[0.08612366535661656,1.174119033274785]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.38623072344429765,0.8709664174234399,0.71338606911949],"aabb_xy":[[0.3222307217663003,0.8224490259441257],[0.450230725122295,0.9194838089027542]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.3347497598875251,-2.5568566538518684,0.71338606911949],"aabb_xy":[[0.312253338453661,-2.5793566536586154],[0.3572461813213892,-2.5343566540451206]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.5276007875670772,0.07946853155340694,0.71338606911949],"aabb_xy":[[0.47762337070182365,0.02946853006415839],[0.5775782044323308,0.12946853304265546]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.2829524205610364,0.9861445048621316,0.71338606911949],"aabb_xy":[[0.2479524213682181,0.9751774588644687],[0.31795241975385463,0.997111550859794]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.6633373609241213,-0.22816043641794614,0.71338606911949],"aabb_xy":[[0.6553438711288393,-0.23615856835842186],[0.6713308507194033,-0.22016230447747054]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.16085167598515193,-2.4602048729963264,0.71338606911949],"aabb_xy":[[0.12838997510322442,-2.4903377051112283],[0.19331337686707933,-2.4300720408814227]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.6202667767651047,-0.605834146520629,0.71338606911949],"aabb_xy":[[0.5402667764914977,-0.6787836943463456],[0.7002667770387117,-0.5328845986949121]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.36732730478774256,-2.048910371174296,0.71338606911949],"aabb_xy":[[0.3564756985388669,-2.0597696619019468],[0.3781789110366181,-2.038051080446645]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.1999401458835227,0.8625357411710559,0.71338606911949],"aabb_xy":[[-0.2499243815916999,0.8125357423575604],[-0.14995591017534546,0.9125357399845516]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[-0.021488918052771533,1.5625558646983708,0.71338606911949],"aabb_xy":[[-0.04981862800131176,1.5580951225046538],[0.006840791895768694,1.5670166068920879]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[-0.5414940627253187,-1.4423424212960416,0.71338606911949],"aabb_xy":[[-0.5566662320069521,-1.457511278224245],[-0.5263218934436854,-1.4271735643678383]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.22038836473704482,-1.1939271897108212,0.71338606911949],"aabb_xy":[[-0.28197912396103764,-1.2579271878198683],[-0.158797605513052,-1.1299271916017746]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[-0.5058904468682811,0.7311416873598673,0.71338606911949],"aabb_xy":[[-0.5858904440278563,0.7195940864020502],[-0.4258904497087057,0.7426892883176843]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[0.5429348959908993,-2.081637860961865,0.71338606911949],"aabb_xy":[[0.4929417838817074,-2.1316378616360607],[0.5929280081000912,-2.0316378602876695]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[-0.5399220630619188,-0.3405717288664607,0.71338606911949],"aabb_xy":[[-0.5574220623400057,-0.35790982893280665],[-0.5224220637838319,-0.32323362880011475]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_28","position":[-0.5866574341335455,0.4979555750087532,0.71338606911949],"aabb_xy":[[-0.6361378553475043,0.4339555770959014],[-0.5371770129195867,0.561955572921605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844308000210484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2984.png","name":"2984"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2984.png","name":"2984"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6134.png","name":"6134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/780.png","name":"780"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8721.png","name":"8721"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":793.0485317640901,"rotation_z_degrees":245.1338829925325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034451838286317094,0.00975751157634229,0.007558343655255047]},{"name":"camera_2","offset_m":[0.016687385804782035,-0.01843552506129171,-0.008951525231664502]},{"name":"camera_3","offset_m":[-0.004639004853892348,0.007521406916081479,-0.007174334620873819]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004050103897494492,-0.0019445184589500335,0.001277315660946798],"end_effector_yaw_offset_degrees":0.35668653593273225},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000862855108925168,-0.001746811901299064,-0.0004438135598651444],"end_effector_yaw_offset_degrees":0.4694843651764089},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003940550843606694,-0.0009590864590148232,0.0009105471688633858],"end_effector_yaw_offset_degrees":0.6499507254423902}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030177437246436613,-0.00399303732797619],"position_m":[0.24908225627535632,-0.0984930373279762,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004007809705622615,-0.002942521551569308],"position_m":[0.3550007809705623,0.0678574784484307,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003186520286909421,0.004643464087019963],"position_m":[0.3108134797130906,0.25274346408702,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012561915913276754,0.0016766712915609857],"position_m":[0.24815619159132768,-0.377023328708439,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7cdbdde2e49835c020efba55b391dcb47e9af0078bdb2164730fdb7ed5c30373","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2984/tex_ceiling_textures_8721/tex_floor_textures_780/tex_table_textures_6134/tex_wall_textures_5697","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3975157296191848643,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3975157296191848643,"visual_seed":3975157296191848643,"scene_id":"lab_003","finished_at":"2026-09-02T04:30:52"}
+{"episode_id":"ep_000029","started_at":"2026-09-02T04:30:56","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.2977223019562123,1.1710854385535274,0.71338606911949],"aabb_xy":[[0.28014399976726545,1.1535109489794224],[0.31530060414515915,1.1886599281276324]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.6059100606599116,0.5705623140547535,0.71338606911949],"aabb_xy":[[-0.6699100625722539,0.5146511647967431],[-0.5419100587475693,0.626473463312764]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.4744605178406507,0.4475714008156726,0.71338606911949],"aabb_xy":[[0.4638930381825517,0.437026370702664],[0.4850279974987497,0.4581164309286811]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.6239871302161326,0.258231697363549,0.71338606911949],"aabb_xy":[[0.5639871297082797,0.20138496367762773],[0.6839871307239855,0.3150784310494703]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.09051203537081254,-2.117642652689355,0.71338606911949],"aabb_xy":[[0.07283640478221419,-2.1353228689687573],[0.10818766595941086,-2.099962436409952]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.01584284759559318,-1.7016916825936796,0.71338606911949],"aabb_xy":[[-0.0010678848407486006,-1.7151638881862943],[0.03275358003193495,-1.688219477001065]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.5556800854189599,-2.552192658883991,0.71338606911949],"aabb_xy":[[-0.5593833467480986,-2.5558946771927085],[-0.5519768240898209,-2.548490640575273]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[-0.3562177376008428,0.7360777937622922,0.71338606911949],"aabb_xy":[[-0.364261097526798,0.6510777926669257],[-0.3481743776748876,0.8210777948576585]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.25901582258150213,1.429925428008786,0.71338606911949],"aabb_xy":[[0.17529359708141973,1.3399254244740901],[0.34273804808158465,1.519925431543482]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.24927149935663429,0.9326068262489886,0.71338606911949],"aabb_xy":[[0.2293804594762941,0.9199510149642918],[0.2691625392369746,0.9452626375336854]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.6685121581456511,1.0553955530592019,0.71338606911949],"aabb_xy":[[-0.6860121572800183,1.0455159260216138],[-0.651012159011284,1.0652751800967895]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.2231228466921621,1.1338179557377082,0.71338606911949],"aabb_xy":[[0.21670903304897712,1.1274081354900396],[0.229536660335347,1.1402277759853763]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.6412371633365596,-0.04038785493496366,0.71338606911949],"aabb_xy":[[-0.691214580201813,-0.09038785642421221],[-0.5912597464713059,0.009612146554284875]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.17542880781451486,-0.45210356721249845,0.71338606911949],"aabb_xy":[[-0.22541175800199414,-0.5021035668550587],[-0.12544585762703547,-0.402103567569938]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.38493941029940654,1.0927853163381487,0.71338606911949],"aabb_xy":[[-0.4192556874740245,1.042785316364971],[-0.3506231331247886,1.1427853163113264]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.4764329670698584,1.4941337540681876,0.71338606911949],"aabb_xy":[[-0.5099121343308994,1.4606546406970806],[-0.4429537998088175,1.5276128674392946]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.636120612854957,-1.8945625394292718,0.71338606911949],"aabb_xy":[[0.6061530559451314,-1.9245625397271575],[0.6660881697647827,-1.864562539131386]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.21631174616219478,0.46679063877918026,0.71338606911949],"aabb_xy":[[-0.2548574389873958,0.4282448677229916],[-0.17776605333699375,0.5053364098353689]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.39420269261673613,-1.260793446999387,0.71338606911949],"aabb_xy":[[0.3442238841064202,-1.3107934470051057],[0.44418150112705196,-1.210793446993668]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.6011546715959536,-0.4788098142595434,0.71338606911949],"aabb_xy":[[-0.6561478829330903,-0.533809814598337],[-0.5461614602588168,-0.4238098139207498]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.13751504513251633,1.6528248145255753,0.71338606911949],"aabb_xy":[[-0.14792660381300002,1.6474790811896765],[-0.1271034864520326,1.6581705478614732]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[-0.11527760976285328,-0.051464204605941255,0.71338606911949],"aabb_xy":[[-0.1223179196963903,-0.13146420400561268],[-0.10823729982931632,0.028535794793730147]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.2143778898987907,-0.9017300526874856,0.71338606911949],"aabb_xy":[[0.13437788773602818,-0.9816852363136294],[0.2943778920615532,-0.8217748690613421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835580646155441,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8061.png","name":"8061"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8336.png","name":"8336"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4515.png","name":"4515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1896.png","name":"1896"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6923.png","name":"6923"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":584.1273545524808,"rotation_z_degrees":227.8210689425295,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007929881194866185,0.01672638552800197,0.006650541093863344]},{"name":"camera_2","offset_m":[0.004162362198069557,-0.013916736022534418,-0.014561969410699191]},{"name":"camera_3","offset_m":[-0.00646091278201439,0.009319050033807334,-0.008565749319429687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012368154927108314,0.0013976770095027783,0.0017759559706162237],"end_effector_yaw_offset_degrees":-0.06150943931811792},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017930486486430926,-0.0008227786640680646,0.0015494778427192538],"end_effector_yaw_offset_degrees":0.7081300575097982},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014001649366563009,-0.0016750839660905968,-0.0016880179465207795],"end_effector_yaw_offset_degrees":0.860963727950818}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006506656774025133,-0.0036517918214783182],"position_m":[0.2514493343225975,-0.09815179182147832,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027117844785201884,-0.00022121037344093562],"position_m":[0.35188821552147986,0.07057878962655907,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003960045447969784,0.0015449607204150858],"position_m":[0.3179600454479698,0.24964496072041506,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002054456698918893,0.004480634342822671],"position_m":[0.2489544566989189,-0.3742193656571773,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2abb96f8fcdc509a1e7885cbe037377b902b86be8950f4ece41e64339920ae45","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8061/tex_ceiling_textures_6923/tex_floor_textures_1896/tex_table_textures_8336/tex_wall_textures_4515","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4135185837454450449,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4135185837454450449,"visual_seed":4135185837454450449,"scene_id":"lab_003","finished_at":"2026-09-02T04:33:43"}
+{"episode_id":"ep_000030","started_at":"2026-09-02T04:33:47","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.28162805384731143,-0.6315809137502508,0.71338606911949],"aabb_xy":[[-0.3184226869722177,-0.668486788846833],[-0.24483342072240516,-0.5946750386536684]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.06343411657306297,-2.520100942037296,0.71338606911949],"aabb_xy":[[-0.026565880162547253,-2.57328440535459],[0.15343411330867318,-2.466917478720001]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.15504780144269859,1.7198618858121537,0.71338606911949],"aabb_xy":[[0.14780403539645326,1.6398618876085511],[0.1622915674889439,1.7998618840157559]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.2818072215783749,-2.479812975266422,0.71338606911949],"aabb_xy":[[0.2726473426344983,-2.486344193309959],[0.2909671005222515,-2.4732817572228853]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.4005635955559107,1.3843899473943693,0.71338606911949],"aabb_xy":[[-0.46456359198323266,1.3372203235722728],[-0.33656359912858885,1.4315595712164657]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.25316123131928614,-1.507658874370441,0.71338606911949],"aabb_xy":[[-0.2732196429325265,-1.5277239612795985],[-0.2331028197060459,-1.4875937874612837]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.35111564127114336,-1.2482274260473931,0.71338606911949],"aabb_xy":[[0.3161156413751245,-1.256601661559333],[0.38611564116716224,-1.2398531905354533]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.6376168709083893,-0.6318238917085977,0.71338606911949],"aabb_xy":[[-0.6876168712689552,-0.6818038789182005],[-0.5876168705478231,-0.5818439044989946]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.48723524579028094,0.19334482608779435,0.71338606911949],"aabb_xy":[[-0.495228735585563,0.1853466941473187],[-0.47924175599499896,0.20134295802827004]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.3235565354652976,-0.7797055259632826,0.71338606911949],"aabb_xy":[[-0.3323377626125339,-0.788485273251813],[-0.31477530831806144,-0.7709257786747526]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.5656587208134203,-0.8252708187136963,0.71338606911949],"aabb_xy":[[-0.6456587240712632,-0.9052673265056803],[-0.4856587175555773,-0.7452743109217124]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.22759909716482807,1.4034873867677589,0.71338606911949],"aabb_xy":[[0.16759909731826128,1.3466687645747202],[0.28759909701139486,1.4603060089607975]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.3670768955080566,-2.205335403353277,0.71338606911949],"aabb_xy":[[-0.42207010684519347,-2.260335403692071],[-0.3120836841709199,-2.1503354030144837]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.444375860155648,-1.5305051506697227,0.71338606911949],"aabb_xy":[[-0.5083758574412967,-1.5720118696225664],[-0.3803758628699993,-1.4889984317168785]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.5540759478703043,-0.9953378971168707,0.71338606911949],"aabb_xy":[[0.4890759497143854,-1.021634141666783],[0.6190759460262235,-0.9690416525669584]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.5612964355359844,-0.20765273795500505,0.71338606911949],"aabb_xy":[[-0.6262964364931115,-0.2596009498887106],[-0.49629643457885714,-0.15570452602129944]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.10227109466658912,-0.7129059679630516,0.71338606911949],"aabb_xy":[[-0.1393052040946488,-0.7472831752967609],[-0.0652369852385294,-0.6785287606293421]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[-0.5653880927465631,1.2405620267846622,0.71338606911949],"aabb_xy":[[-0.5878880932586037,1.2180701684192639],[-0.5428880922345225,1.2630538851500606]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.5369039878182255,0.08619544489890352,0.71338606911949],"aabb_xy":[[-0.567302098917369,0.055788542897234],[-0.5065058767190819,0.11660234690057301]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.37052741103997233,-2.475329040900287,0.71338606911949],"aabb_xy":[[-0.44052741317140187,-2.4980910065259825],[-0.3005274089085428,-2.4525670752745907]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.12566269601727775,-2.010942775174242,0.71338606911949],"aabb_xy":[[-0.1330751515586662,-2.01679398559587],[-0.11825024047588925,-2.005091564752614]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.6070625556176592,1.0717708374914205,0.71338606911949],"aabb_xy":[[0.5784132232572429,1.0431252782143445],[0.6357118879780753,1.1004163967684961]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.657595766213144,-0.1221345869257382,0.71338606911949],"aabb_xy":[[0.6350957659696287,-0.13433922158551015],[0.6800957664566595,-0.10992995226596623]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.11948317337352021,-0.555957206749151,0.71338606911949],"aabb_xy":[[-0.12740645361226854,-0.5784572069871544],[-0.1115598931347719,-0.5334572065111477]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.24736090274442918,-2.0813930425630724,0.71338606911949],"aabb_xy":[[-0.26523001049888467,-2.095225950540284],[-0.22949179498997369,-2.067560134585862]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[-0.34870694893749016,-0.12210489025706606,0.71338606911949],"aabb_xy":[[-0.3548015768256085,-0.13067428480873478],[-0.34261232104937184,-0.11353549570539734]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.012156346451311695,0.9889468892244149,0.71338606911949],"aabb_xy":[[-0.051843652842856525,0.9249607488555607],[0.07615634574547991,1.052933029593269]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.44901366323181136,1.0783477940485429,0.71338606911949],"aabb_xy":[[-0.48651366474744306,1.0671210210323976],[-0.41151366171617965,1.0895745670646877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68766107747277,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9904.png","name":"9904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9904.png","name":"9904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2319.png","name":"2319"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5219.png","name":"5219"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4766.png","name":"4766"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":680.2406441835346,"rotation_z_degrees":94.9935717343241,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00965484777313372,0.01790040033344863,0.005661705335473388]},{"name":"camera_2","offset_m":[0.004990964440538027,-0.007660006595321751,-0.01615746204232466]},{"name":"camera_3","offset_m":[0.0018466609731184781,0.007858618556674385,-0.016402607795232834]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012359478371816468,-0.0011775001701242172,0.00034539478105721647],"end_effector_yaw_offset_degrees":-0.4465103008625364},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015383007987598133,0.0008525072618218109,-0.0007305296412006604],"end_effector_yaw_offset_degrees":0.9017359832442389},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001285108583533011,0.001191317902410862,0.0019642926593840147],"end_effector_yaw_offset_degrees":-0.35921802150626503}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005254367961549733,0.003091663375501509],"position_m":[0.25262543679615496,-0.09140833662449849,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013155120133372389,0.0007123570011457279],"position_m":[0.3532844879866628,0.07151235700114573,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00025271788525951366,0.00466658434360922],"position_m":[0.3142527178852595,0.2527665843436092,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027534302157704253,-0.0019126939117487486],"position_m":[0.24965343021577044,-0.38061269391174873,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"899e8093b6a1e59d2f6fd3710d18e857ecf7107d7366630f7a9180fae57f8829","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9904/tex_ceiling_textures_4766/tex_floor_textures_5219/tex_table_textures_2319/tex_wall_textures_341","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1696670243316111386,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1696670243316111386,"visual_seed":1696670243316111386,"scene_id":"lab_003","finished_at":"2026-09-02T04:36:36"}
+{"episode_id":"ep_000031","started_at":"2026-09-02T04:36:41","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.4620033409226293,-0.08645427178311937,0.71338606911949],"aabb_xy":[[-0.499037450350689,-0.12083147911682883],[-0.42496923149456955,-0.05207706444940994]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.5022514594821963,1.5645764226127166,0.71338606911949],"aabb_xy":[[-0.557251457683941,1.5240544559862788],[-0.4472514612804514,1.605098389239154]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.43385824995163635,1.6144716277202389,0.71338606911949],"aabb_xy":[[0.42744443630845136,1.6080618074725705],[0.44027206359482124,1.6208814479679072]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.548482287255281,1.5905037540559168,0.71338606911949],"aabb_xy":[[0.5109822869631061,1.5864622786553133],[0.5859822875474557,1.5945452294565203]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.43797657871747125,-0.3745617229962357,0.71338606911949],"aabb_xy":[[-0.5179765761210645,-0.4545542941944185],[-0.3579765813138778,-0.2945691517980529]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.10796352224672345,0.47370348047942645,0.71338606911949],"aabb_xy":[[-0.17296352012837127,0.42257981677288564],[-0.042963524365075674,0.5248271441859673]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.12842463472179544,-2.3831677597729657,0.71338606911949],"aabb_xy":[[0.10595986475039032,-2.405667760651826],[0.15088940469320056,-2.360667758894105]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.2800088650316853,-0.6445639133493046,0.71338606911949],"aabb_xy":[[-0.3150088649277042,-0.6529381488612446],[-0.24500886513566647,-0.6361896778373647]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.5481157036041634,-0.7233281749470206,0.71338606911949],"aabb_xy":[[-0.5733365404640028,-0.7485519257999073],[-0.5228948667443235,-0.6981044240941338]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.25947783728291485,-2.052898394598447,0.71338606911949],"aabb_xy":[[0.21817329421917886,-2.1168983941665642],[0.30078238034665084,-1.98889839503033]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[0.21465907086632063,0.7086817556486795,0.71338606911949],"aabb_xy":[[0.20341401529570277,0.6974399579245844],[0.22590412643693844,0.7199235533727749]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[0.489740652762541,-1.2390872241508084,0.71338606911949],"aabb_xy":[[0.4834285532262025,-1.2448541634040273],[0.49605275229887935,-1.2333202848975895]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.059682817477626604,-1.2817183095620588,0.71338606911949],"aabb_xy":[[-0.12368281982042817,-1.3266591608061913],[0.004317184865174953,-1.2367774583179263]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[0.12762658019299178,-2.522038517628638,0.71338606911949],"aabb_xy":[[0.0901265817695914,-2.5352027315964687],[0.1651265786163921,-2.508874303660807]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.48427914101876857,1.2385162608758775,0.71338606911949],"aabb_xy":[[0.40427914400452053,1.2183817092024662],[0.5642791380330165,1.2586508125492888]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.27682726830373844,-1.3096419874298915,0.71338606911949],"aabb_xy":[[-0.31274077272872813,-1.3455554956466458],[-0.24091376387874874,-1.2737284792131367]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.24008499907452802,-1.4515360940768165,0.71338606911949],"aabb_xy":[[-0.320084999544744,-1.459846801691165],[-0.16008499860431208,-1.4432253864624685]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.16199886702659883,1.6342606312788202,0.71338606911949],"aabb_xy":[[-0.22599886345392073,1.587091007456724],[-0.09799887059927692,1.6814302551009168]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.42129651270337093,-1.6778186615011954,0.71338606911949],"aabb_xy":[[-0.4852965159220088,-1.7245417734002038],[-0.35729650948473307,-1.631095549602187]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.14198126426747038,-0.3139748276102927,0.71338606911949],"aabb_xy":[[-0.19697351490298137,-0.3689748293536055],[-0.08698901363195945,-0.25897482586697995]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.2171759102951385,-0.45989135140839066,0.71338606911949],"aabb_xy":[[-0.22509919053388683,-0.482391351646394],[-0.20925263005639017,-0.4373913511703873]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.5465274179359281,-1.865274886593634,0.71338606911949],"aabb_xy":[[-0.569443130820978,-1.8881791837300579],[-0.5236117050508782,-1.8423705894572109]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.17524563807532012,-2.4758719281166255,0.71338606911949],"aabb_xy":[[-0.22237501707715573,-2.539871929161027],[-0.1281162590734844,-2.411871927072223]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.49243469077591184,-0.5731758302188781,0.71338606911949],"aabb_xy":[[-0.4985293186640302,-0.5817452247705468],[-0.4863400628877936,-0.5646064356672094]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.29369241377573335,1.5182586721724056,0.71338606911949],"aabb_xy":[[-0.3182060378727392,1.4939940788703692],[-0.2691787896787275,1.542523265474442]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.4093671938961938,-0.516926301218017,0.71338606911949],"aabb_xy":[[0.3918671936511444,-0.5344260890575837],[0.4268671941412432,-0.49942651337845007]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_26","position":[-0.4776817864800319,1.1142524260294198,0.71338606911949],"aabb_xy":[[-0.48944997327468953,1.0292524261241982],[-0.4659135996853745,1.1992524259346413]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[-0.20458799582978376,0.7894843109908498,0.71338606911949],"aabb_xy":[[-0.23958799409990364,0.7824101832958615],[-0.16958799755966383,0.7965584386858379]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[-0.4119556548364776,0.14364498462383324,0.71338606911949],"aabb_xy":[[-0.43106796219445653,0.12451020574659125],[-0.3928433474784988,0.1627797635010753]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[-0.2419689615950022,0.919182754022446,0.71338606911949],"aabb_xy":[[-0.30596896088917036,0.8551966136535917],[-0.17796896230083395,0.9831688943913001]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.5057877500078565,-1.3093062591029971,0.71338606911949],"aabb_xy":[[0.4887776527178057,-1.3254407476012708],[0.522797847297907,-1.293171770604723]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_31","position":[0.02064512126376361,-2.4722512565913783,0.71338606911949],"aabb_xy":[[0.014143484755758995,-2.482019078617688],[0.02714675777176823,-2.4624834345650686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6796754628494837,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2656.png","name":"2656"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7680.png","name":"7680"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1541.png","name":"1541"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8539.png","name":"8539"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.8118216089724,"rotation_z_degrees":303.4093418681343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006434855212905665,-0.01678915196164492,0.00838678038192012]},{"name":"camera_2","offset_m":[-0.013665787376675422,-0.004194258990935781,-0.004318249987690682]},{"name":"camera_3","offset_m":[0.0058251573055957025,0.0037683693290820885,0.008181429253409669]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009727973597876232,-0.0010101367717604587,-0.0007519055520018646],"end_effector_yaw_offset_degrees":0.25415131776577704},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010314567176075299,-0.001354776414913919,0.000968074266427935],"end_effector_yaw_offset_degrees":-0.6498899133185392},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010967543514459486,0.0007717323318682371,-0.0014896342484046511],"end_effector_yaw_offset_degrees":0.7374757695668976}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007183576053704519,-0.0031256780565870335],"position_m":[0.25281835760537047,-0.09762567805658703,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003014897777354989,0.001963343472388952],"position_m":[0.35158510222264505,0.07276334347238896,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0037842690287956783,-0.00380907112747829],"position_m":[0.3102157309712043,0.24429092887252168,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00495877261477888,0.0009151414553472325],"position_m":[0.24194122738522114,-0.37778485854465277,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"920f56e2cc1313d8a48926f467f1ecf9814648e795ee6a4340209b0d618848b4","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8264/tex_ceiling_textures_8539/tex_floor_textures_1541/tex_table_textures_2656/tex_wall_textures_7680","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":9030258150718371577,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":9030258150718371577,"visual_seed":9030258150718371577,"scene_id":"lab_003","finished_at":"2026-09-02T04:39:28"}
+{"episode_id":"ep_000032","started_at":"2026-09-02T04:39:31","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.02739708119185269,1.1095503298160154,0.71338606911949],"aabb_xy":[[-0.009934195333389934,1.0748972750211632],[0.06472835771709531,1.1442033846108677]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.3268564050208266,1.7277898800031815,0.71338606911949],"aabb_xy":[[-0.3768564060399619,1.691323664265354],[-0.2768564040016913,1.7642560957410098]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.47600058297473224,0.41918412772554126,0.71338606911949],"aabb_xy":[[0.4110005829404295,0.37248345104521396],[0.541000583009035,0.46588480440586855]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.2504365349880986,-1.1777423874945407,0.71338606911949],"aabb_xy":[[-0.2601925244972725,-1.187504921553775],[-0.2406805454789247,-1.167979853435306]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.3954059728259654,0.9358703945913698,0.71338606911949],"aabb_xy":[[-0.4854059722443363,0.9024948977471801],[-0.3054059734075945,0.9692458914355595]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.4681646144587801,1.1823706682405395,0.71338606911949],"aabb_xy":[[-0.5056646156435729,1.1779524455444788],[-0.4306646132739873,1.1867888909365998]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.4423867079107392,-0.058464540062765025,0.71338606911949],"aabb_xy":[[-0.5323867044116108,-0.10437618248122325],[-0.3523867114098674,-0.01255289764430678]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.5694272985272413,-0.991666886259229,0.71338606911949],"aabb_xy":[[-0.6344272964088891,-1.04279054996577],[-0.5044273006455935,-0.9405432225526883]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.24839491199093905,0.8420959073183245,0.71338606911949],"aabb_xy":[[-0.2658949122359884,0.8245961194787574],[-0.2308949117458896,0.8595956951578911]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.5079100622454593,-0.8359506122781517,0.71338606911949],"aabb_xy":[[0.4714142416181806,-0.8724345547049092],[0.5444058828727381,-0.799466669851394]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.29477921954862585,-1.6680512765299216,0.71338606911949],"aabb_xy":[[0.230779216329988,-1.7147743884289302],[0.3587792227672637,-1.6213281646309134]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.04766239160636088,-1.9625812665895368,0.71338606911949],"aabb_xy":[[-0.08516239239835632,-1.9689491075477268],[-0.01016239081436543,-1.9562134256313464]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.45896255459049806,-0.35332541512263616,0.71338606911949],"aabb_xy":[[0.45484660447842534,-0.3574409701554816],[0.46307850470257067,-0.3492098600897906]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.5956090991355101,-0.027383022836562354,0.71338606911949],"aabb_xy":[[0.5156091021724709,-0.1044586644803358],[0.6756090960985492,0.0496926188072111]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.5082785556221829,-0.45571051203425084,0.71338606911949],"aabb_xy":[[0.5003552753834346,-0.4782105122722542],[0.5162018358609313,-0.4332105117962475]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.5787320597296653,1.755249857805476,0.71338606911949],"aabb_xy":[[-0.5965255666645818,1.7374501122096784],[-0.5609385527947489,1.7730496034012737]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[0.11733570479825861,-1.5376064811180405,0.71338606911949],"aabb_xy":[[0.10470891751106225,-1.5471525548196134],[0.12996249208545496,-1.5280604074164676]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.14143545577577799,0.7210830116461162,0.71338606911949],"aabb_xy":[[-0.2014354574186998,0.669082862354172],[-0.0814354541328561,0.7730831609380604]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.5360457567311441,-1.7511537644435595,0.71338606911949],"aabb_xy":[[0.5193686207380486,-1.7678536884174896],[0.5527228927242396,-1.734453840469629]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.3459411258328613,-1.9512696483852188,0.71338606911949],"aabb_xy":[[0.33278987986157194,-1.9762696481419053],[0.35909237180415066,-1.9262696486285322]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.12259787380649867,0.9376838927207665,0.71338606911949],"aabb_xy":[[-0.16787648868764793,0.8736838933725827],[-0.0773192589253494,1.0016838920689501]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.5940109086958651,-1.4601370838187395,0.71338606911949],"aabb_xy":[[-0.6027921358431015,-1.4689168311072702],[-0.585229681548629,-1.4513573365302097]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.7067837970312376,1.4584422849381533,0.71338606911949],"aabb_xy":[[0.69601082310987,1.4234422867191145],[0.7175567709526055,1.4934422831571925]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.164284208558931,-2.2981624179324256,0.71338606911949],"aabb_xy":[[-0.19674590944085843,-2.328295250047328],[-0.13182250767700351,-2.2680295858175223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6781262132151714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4413.png","name":"4413"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4413.png","name":"4413"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3165.png","name":"3165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9091.png","name":"9091"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1282.png","name":"1282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6502.png","name":"6502"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":618.8074262500767,"rotation_z_degrees":268.5161699295184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007254945705348143,-0.01102685831095855,0.00834755567330172]},{"name":"camera_2","offset_m":[0.004651192974874669,0.003319803624514065,0.000201666236146706]},{"name":"camera_3","offset_m":[0.0007208477800947632,0.006751031175622035,0.017209451375193318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001248055716455988,0.0010755640974595814,0.00021216996998117644],"end_effector_yaw_offset_degrees":-0.28900881915905274},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001801001564494403,-8.571084753787941e-06,-0.001324427263162975],"end_effector_yaw_offset_degrees":0.9388419778454089},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016038223481933667,-0.000674783792671327,0.001072081851975003],"end_effector_yaw_offset_degrees":0.006072943761628924}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011274153576681456,-0.0024409905778481067],"position_m":[0.25322741535766813,-0.09694099057784811,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035046080352675443,-0.0029352190074287098],"position_m":[0.35810460803526756,0.06786478099257129,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035605541991391492,0.0026996080931618446],"position_m":[0.31756055419913914,0.2507996080931618,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004577763772882063,0.0042842033869063085],"position_m":[0.24232223622711793,-0.37441579661309365,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3a502455bc093723f0649c4fd9b31349323855d0f992443617a6af1d9136490e","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4413/tex_ceiling_textures_6502/tex_floor_textures_1282/tex_table_textures_3165/tex_wall_textures_9091","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7102106040680917804,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7102106040680917804,"visual_seed":7102106040680917804,"scene_id":"lab_003","finished_at":"2026-09-02T04:42:12"}
+{"episode_id":"ep_000033","started_at":"2026-09-02T04:45:32","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.33565058716744167,-1.4310491058890398,0.71338606911949],"aabb_xy":[[-0.33935384849658057,-1.4347511241977575],[-0.3319473258383028,-1.4273470875803216]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.27200323833544404,-2.2677656756152715,0.71338606911949],"aabb_xy":[[0.19200323967855804,-2.2822705345395344],[0.35200323699233005,-2.2532608166910086]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.22657136199652195,1.0088778730883288,0.71338606911949],"aabb_xy":[[-0.27655017050683783,0.95887787308261],[-0.17659255348620606,1.0588778730940476]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.001647988724332139,0.7534558321556069,0.71338606911949],"aabb_xy":[[-0.06564798789410208,0.7066891450366444],[0.062352010445437804,0.8002225192745693]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.49063727928936557,-0.4098535597394375,0.71338606911949],"aabb_xy":[[-0.5131020492607707,-0.432353560618298],[-0.4681725093179604,-0.387353558860577]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.23544055410473763,0.31754837224949206,0.71338606911949],"aabb_xy":[[-0.3254405535231085,0.28417287540530234],[-0.14544055468636674,0.3509238690936818]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.15087977875272318,-2.104651457638452,0.71338606911949],"aabb_xy":[[-0.16281251311455125,-2.1170336104463114],[-0.1389470443908951,-2.0922693048305927]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.2777274180388155,-2.4418200312477265,0.71338606911949],"aabb_xy":[[0.21772741778741428,-2.4961013562841905],[0.33772741829021663,-2.3875387062112616]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.31008502723495246,-1.8497509618533166,0.71338606911949],"aabb_xy":[[-0.3572144062367881,-1.9137509628977183],[-0.26295564823311673,-1.7857509608089144]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.5664698465351048,-1.5180885283708137,0.71338606911949],"aabb_xy":[[0.529974025907826,-1.5545724707975712],[0.6029656671623835,-1.481604585944056]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.3823068847554549,-0.6875756000780957,0.71338606911949],"aabb_xy":[[-0.4173068830661503,-0.6952906150016415],[-0.34730688644475943,-0.6798605851545502]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.5040676293650744,1.065795020217426,0.71338606911949],"aabb_xy":[[-0.5492389472132435,1.0017950230728878],[-0.4588963115169056,1.1297950173619646]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[0.029444468045326966,-0.8131877722071663,0.71338606911949],"aabb_xy":[[-0.020555532905205846,-0.8447369192106876],[0.07944446899585977,-0.7816386252036448]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[-0.36044707901690926,-1.309816132558898,0.71338606911949],"aabb_xy":[[-0.397947080201702,-1.314234355254958],[-0.3229470778321164,-1.305397909862837]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.519597347328482,1.546274789835636,0.71338606911949],"aabb_xy":[[-0.5420973475719972,1.5340701551758638],[-0.49709734708496645,1.5584794244954077]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.14365029609611268,-1.752393435224848,0.71338606911949],"aabb_xy":[[0.11250337725252957,-1.822393433911655],[0.1747972149396958,-1.6823934365380406]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.004454285853051521,-2.3932309803455336,0.71338606911949],"aabb_xy":[[-0.033103618213467745,-2.4218765396226094],[0.024195046507364704,-2.364585421068458]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.06304861858314059,-2.0093198991270684,0.71338606911949],"aabb_xy":[[-0.1270486206328726,-2.0494143822163764],[0.0009513834665914045,-1.9692254160377605]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.10007415214211757,-0.5019409022371937,0.71338606911949],"aabb_xy":[[-0.12365927560601243,-0.5669409044826255],[-0.07648902867822273,-0.4369408999917619]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.5881798062011117,0.16059539992574923,0.71338606911949],"aabb_xy":[[0.5833362114398817,0.1557437474467651],[0.5930234009623416,0.16544705240473334]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[0.07563837584338984,1.548978780794236,0.71338606911949],"aabb_xy":[[-0.014361627833528356,1.487546374217131],[0.16563837952030797,1.6104111873713396]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.43822590394465766,-1.999980847756472,0.71338606911949],"aabb_xy":[[0.35822590698161844,-2.077056489400245],[0.5182259009076968,-1.922905206112698]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857755661198386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6992.png","name":"6992"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6992.png","name":"6992"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6480.png","name":"6480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/378.png","name":"378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4430.png","name":"4430"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.3100297555154,"rotation_z_degrees":266.1173303696074,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018623558648344227,0.018067117005838452,-0.005155779900164376]},{"name":"camera_2","offset_m":[-0.009562847687375512,-0.0014189940087089709,-0.0023241702141089705]},{"name":"camera_3","offset_m":[0.014193307542292064,0.005680625106268683,-0.014137965043023577]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004462626503235008,0.0019418043529893445,0.001205521749888595],"end_effector_yaw_offset_degrees":0.44581441946395683},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017926331023480975,-0.0009050591936872751,-0.001060517012139352],"end_effector_yaw_offset_degrees":0.06551849725039394},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-8.071154178011905e-05,0.001878553056207192,0.0014376136186179216],"end_effector_yaw_offset_degrees":0.15685917283002415}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004885047223072419,0.0049529759694428984],"position_m":[0.2569850472230724,-0.0895470240305571,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013260289270578861,0.004014303891688075],"position_m":[0.35592602892705794,0.07481430389168808,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0023356184530995616,-0.0012144957328715745],"position_m":[0.31633561845309954,0.2468855042671284,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004389852186137956,0.004000933229854211],"position_m":[0.251289852186138,-0.37469906677014575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dfe2d6512fce0a73ad8686830eec16ba3adebe94efbb6c509a77d4c05f73336c","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6992/tex_ceiling_textures_4430/tex_floor_textures_585/tex_table_textures_6480/tex_wall_textures_378","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2438111047610175296,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2438111047610175296,"visual_seed":2438111047610175296,"scene_id":"lab_003","finished_at":"2026-09-02T04:48:14"}
+{"episode_id":"ep_000034","started_at":"2026-09-02T04:48:19","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.5539062740495994,1.606579610551694,0.71338606911949],"aabb_xy":[[-0.5727906578181096,1.5876936857713413],[-0.5350218902810892,1.6254655353320469]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.5134315517676997,1.5169409732758905,0.71338606911949],"aabb_xy":[[0.50379991554727,1.5073036604961816],[0.5230631879881292,1.5265782860555994]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.4639642232407303,-2.4796340478652885,0.71338606911949],"aabb_xy":[[-0.5279642251530726,-2.535545197123299],[-0.39996422132838794,-2.423722898607278]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[0.3091223497023299,-2.4826079610988923,0.71338606911949],"aabb_xy":[[0.2990406426237563,-2.5626079589910065],[0.31920405678090324,-2.402607963206777]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.41270755294028394,0.9516688641984743,0.71338606911949],"aabb_xy":[[0.352707552079471,0.9002424341919879],[0.47270755380109664,1.0030952942049605]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[-0.23898183168141762,-1.8326942292380037,0.71338606911949],"aabb_xy":[[-0.2841531495295866,-1.8966942263825426],[-0.19381051383324868,-1.7686942320934658]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.3437620847605016,-0.40467320683840624,0.71338606911949],"aabb_xy":[[-0.42376208523071757,-0.4129839144527547],[-0.26376208429028564,-0.3963624992240579]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.13110558923796367,1.4721140718972898,0.71338606911949],"aabb_xy":[[-0.19510558563353672,1.408150783478556],[-0.06710559284239057,1.5360773603160232]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.14035042300542921,1.0057995189494093,0.71338606911949],"aabb_xy":[[0.13539440282054804,0.9832995187472879],[0.14530644319031044,1.0282995191515312]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.3853763359614174,0.20205764905819334,0.71338606911949],"aabb_xy":[[-0.44937633818182443,0.15768456493290503],[-0.3213763337410104,0.2464307331834816]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.33312513590833204,1.3007138778949763,0.71338606911949],"aabb_xy":[[0.28312513424683716,1.2507154356392736],[0.3831251375698267,1.350712320150679]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.42879052328410006,-0.41969570549897606,0.71338606911949],"aabb_xy":[[0.3953113560230591,-0.4531748188700831],[0.462269690545141,-0.38621659212786913]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[0.308793517213509,0.44394819982167455,0.71338606911949],"aabb_xy":[[0.27379351586202727,0.4235884638648537],[0.34379351856499074,0.4643079357784954]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.002434280258714283,-0.7477899424994656,0.71338606911949],"aabb_xy":[[-0.038814530771200444,-0.8027899420116831],[0.04368309128862901,-0.6927899429872482]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.5452547286676384,-2.5456838587197583,0.71338606911949],"aabb_xy":[[0.5261424213096594,-2.5648186375970004],[0.5643670360256171,-2.5265490798425163]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.1442035395541672,1.3456012961139705,0.71338606911949],"aabb_xy":[[-0.16920353871980032,1.338649050408614],[-0.11920354038853409,1.352553541819327]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.3037519685452948,1.2575811322244657,0.71338606911949],"aabb_xy":[[-0.3262519685554431,1.2434849125848624],[-0.2812519685351465,1.271677351864069]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.6083429855840725,1.7364910106648863,0.71338606911949],"aabb_xy":[[0.6049023093440153,1.7326295776905223],[0.6117836618241297,1.7403524436392512]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.15083408828242895,-1.7301857641553249,0.71338606911949],"aabb_xy":[[0.10370470928059325,-1.7941857651997268],[0.1979634672842646,-1.666185763110923]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.14205207112424534,1.6048997184886304,0.71338606911949],"aabb_xy":[[0.11156782099721516,1.5548997187071343],[0.17253632125127547,1.6548997182701262]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.014898394881171617,0.9668036315473305,0.71338606911949],"aabb_xy":[[-0.0009860983841535349,0.9524506912485066],[0.030782888146496767,0.9811565718461547]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[-0.558032754677906,-2.172856463487961,0.71338606911949],"aabb_xy":[[-0.5832535915377456,-2.198080214340847],[-0.5328119178180662,-2.147632712635074]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[-0.021108353203186603,-2.4803093205541855,0.71338606911949],"aabb_xy":[[-0.055699436057231815,-2.545309320839216],[0.013482729650858614,-2.415309320269154]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.1967579718295729,1.0192473126203279,0.71338606911949],"aabb_xy":[[-0.24284306308430437,0.9552473153677729],[-0.1506728805748414,1.083247309872883]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.2070548063659599,-0.7025422581407432,0.71338606911949],"aabb_xy":[[-0.2252606300272076,-0.713567658722735],[-0.18884898270471223,-0.6915168575587517]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[-0.5769548090675002,-1.1744971530765247,0.71338606911949],"aabb_xy":[[-0.6619548077595748,-1.2064830164714035],[-0.49195481037542554,-1.1425112896816458]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.5327443847193827,-0.5986725781227771,0.71338606911949],"aabb_xy":[[-0.5563295081832775,-0.6636725803682089],[-0.5091592612554878,-0.5336725758773453]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[-0.0047459212885649915,-1.6757752822975203,0.71338606911949],"aabb_xy":[[-0.04065942571355467,-1.7116887905142748],[0.03116758313642469,-1.6398617740807657]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[-0.07448851053420569,1.1566842475091916,0.71338606911949],"aabb_xy":[[-0.10948851051070152,1.1472196314615752],[-0.039488510557709855,1.1661488635568085]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.08593151299367585,0.43396783667831595,0.71338606911949],"aabb_xy":[[-0.13092409971212626,0.38896783740386714],[-0.04093892627522544,0.47896783595276465]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686976456311967,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7810.png","name":"7810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5742.png","name":"5742"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9499.png","name":"9499"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7306.png","name":"7306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5860.png","name":"5860"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":680.6730069584066,"rotation_z_degrees":235.64122661293686,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034166517426103583,-0.01447321415059669,0.0051081277194492715]},{"name":"camera_2","offset_m":[-0.00044572514808441724,0.006238759584653586,-0.019707422201561443]},{"name":"camera_3","offset_m":[-0.0021938450125332035,0.0045905158254194375,0.007754774814340389]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015038095260644065,-0.00030278238057477496,-0.0017917934016085568],"end_effector_yaw_offset_degrees":0.6497659478687934},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018703312957279354,0.0012983762507707938,-0.0012464489183263141],"end_effector_yaw_offset_degrees":-0.007906087044616816},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009915078821148252,-4.934259914741459e-05,-2.0552512455590186e-07],"end_effector_yaw_offset_degrees":-0.878099430750608}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003517334347265394,0.004605182194051032],"position_m":[0.2485826656527346,-0.08989481780594896,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004631208649256841,0.002967314260378406],"position_m":[0.3592312086492569,0.07376731426037841,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00460755986146422,-0.0024221591908228815],"position_m":[0.3093924401385358,0.2456778408091771,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0041373408310891166,0.0014230818068160511],"position_m":[0.25103734083108914,-0.37727691819318393,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9e0e774e810a4730d59b7a9b4200f8b16adabd28fda28a9dd0462fb0dd474107","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7810/tex_ceiling_textures_5860/tex_floor_textures_7306/tex_table_textures_5742/tex_wall_textures_9499","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":421901990154128222,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":421901990154128222,"visual_seed":421901990154128222,"scene_id":"lab_003","finished_at":"2026-09-02T04:51:00"}
+{"episode_id":"ep_000035","started_at":"2026-09-02T04:51:03","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.30289068701532595,1.70547992419143,0.71338606911949],"aabb_xy":[[-0.32075979476978145,1.691647016214219],[-0.28502157926087046,1.719312832168641]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.1408029149238853,1.0300004808622854,0.71338606911949],"aabb_xy":[[-0.18182085831025618,0.980000480231328],[-0.09978497153751442,1.0800004814932427]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.0014234593513948735,-1.9289021028094369,0.71338606911949],"aabb_xy":[[-0.04659477719956385,-1.9929020999539755],[0.0437478584967741,-1.8649021056648987]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.2028296795367316,1.5691797515528614,0.71338606911949],"aabb_xy":[[0.13282967614516958,1.5338639778494303],[0.2728296829282935,1.604495525256292]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.5866138389324828,-0.5788835223915778,0.71338606911949],"aabb_xy":[[-0.6144588757130899,-0.6096680211298895],[-0.5587688021518756,-0.5480990236532661]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.6089167394328765,-2.319728355467275,0.71338606911949],"aabb_xy":[[0.6029502004921408,-2.3256895001266393],[0.6148832783736122,-2.313767210807911]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.615070600883586,1.6094797334199131,0.71338606911949],"aabb_xy":[[0.5926058309121809,1.5869797325410528],[0.6375353708549911,1.6319797342987739]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.1366409851610484,-2.118781517087217,0.71338606911949],"aabb_xy":[[0.07664098490964721,-2.1730628421236817],[0.19664098541244956,-2.064500192050752]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.24308280768377133,-2.330946675693916,0.71338606911949],"aabb_xy":[[-0.2655964995072285,-2.400946676294923],[-0.22056911586031416,-2.260946675092908]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[0.3658756828331813,-2.5339515311664655,0.71338606911949],"aabb_xy":[[0.35123227727914824,-2.5486102508232493],[0.3805190883872142,-2.519292811509681]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.5184953714159142,-0.24835796836888502,0.71338606911949],"aabb_xy":[[-0.5265216420465402,-0.25710946334623763],[-0.5104691007852882,-0.23960647339153238]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[-0.5069187631275281,-2.083386451023755,0.71338606911949],"aabb_xy":[[-0.5444187630712946,-2.0916795410585918],[-0.46941876318376174,-2.0750933609889186]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.2995272055009139,0.9676829256922397,0.71338606911949],"aabb_xy":[[-0.3495203176101058,0.9176829250180443],[-0.24953409339172206,1.0176829263664355]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.6318138332943597,0.8010030595361135,0.71338606911949],"aabb_xy":[[0.5818138316328648,0.7510046172804108],[0.6818138349558543,0.8510015017918162]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.626510424093287,-1.1897306591237111,0.71338606911949],"aabb_xy":[[-0.68148414612962,-1.2447306586879443],[-0.5715367020569543,-1.134730659559478]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[-0.23053809114204088,-1.666961244513729,0.71338606911949],"aabb_xy":[[-0.24061979822061436,-1.7469612424058432],[-0.2204563840634674,-1.5869612466216139]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.11804167435459423,-2.014943515497598,0.71338606911949],"aabb_xy":[[-0.13050903246432988,-2.0274088401309216],[-0.10557431624485858,-2.0024781908642746]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[0.21912582886409926,-0.9292569001879638,0.71338606911949],"aabb_xy":[[0.21281372932776085,-0.9350238394411828],[0.22543792840043772,-0.9234899609347452]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.6382381670388741,-0.27421771924130534,0.71338606911949],"aabb_xy":[[0.6007381666906463,-0.28600911482238883],[0.6757381673871018,-0.2624263236602217]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.11502022117200073,1.7727291925453543,0.71338606911949],"aabb_xy":[[-0.15252022196399617,1.7663613515871641],[-0.07752022038000526,1.7790970335035445]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.4859012616248446,-1.880985249996482,0.71338606911949],"aabb_xy":[[0.4509012624320262,-1.8919522959941446],[0.5209012608176627,-1.8700182039988196]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.08207833521939001,-2.269840049461678,0.71338606911949],"aabb_xy":[[-0.08817296310750834,-2.278409444013347],[-0.0759837073312717,-2.2612706549100094]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.31861636937549187,-0.5704447083062516,0.71338606911949],"aabb_xy":[[-0.3613830762549121,-0.6344447117280541],[-0.27584966249607173,-0.5064447048844491]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.10679598986670369,-1.0380352087254192,0.71338606911949],"aabb_xy":[[-0.11449918054078072,-1.045744579424157],[-0.09909279919262663,-1.0303258380266813]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[-0.5363231364994124,-1.9914373141190134,0.71338606911949],"aabb_xy":[[-0.5552075202679226,-2.0103232388993666],[-0.5174387527309022,-1.9725513893386608]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[-0.2754138497583668,0.3849554704823155,0.71338606911949],"aabb_xy":[[-0.3394138483449392,0.33794850708280677],[-0.2114138511717943,0.4319624338818242]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[-0.6001246821470527,0.5377739673986222,0.71338606911949],"aabb_xy":[[-0.6050239744536161,0.5100970480960533],[-0.5952253898404891,0.5654508867011908]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[0.519832588160001,0.3371972798053591,0.71338606911949],"aabb_xy":[[0.4558325917326791,0.2900276559832627],[0.5838325845873229,0.38436690362745557]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[-0.536802535124677,-0.12065692257532046,0.71338606911949],"aabb_xy":[[-0.5618025350571949,-0.1275395907962438],[-0.5118025351921591,-0.11377425435439717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6834776366680088,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6058.png","name":"6058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6058.png","name":"6058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7805.png","name":"7805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9037.png","name":"9037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4844.png","name":"4844"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":728.9549462853797,"rotation_z_degrees":64.19404540244548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-3.198175649700083e-05,-0.005557775891938718,0.0013550556051933754]},{"name":"camera_2","offset_m":[0.013413393076212952,-0.003983522139914496,0.017803894571208224]},{"name":"camera_3","offset_m":[0.015651394375297095,0.015776720139788123,-0.0112410022784971]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017357737068017494,-5.222597158764772e-05,0.0017831484863873094],"end_effector_yaw_offset_degrees":-0.0440341376587956},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000713579516758292,-0.0012434366648018166,0.00035967003752884795],"end_effector_yaw_offset_degrees":0.0587616590447857},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.000325751402350988,0.0015814401917040913,-0.0018342367543087838],"end_effector_yaw_offset_degrees":-0.09575648255291891}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029535835879762355,-0.0035139857296962243],"position_m":[0.25505358358797625,-0.09801398572969622,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025017899639952056,0.0003801497989665212],"position_m":[0.3571017899639952,0.07118014979896653,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001817220964094892,0.00037709024270073197],"position_m":[0.31581722096409487,0.24847709024270073,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001552995528950286,0.0017394665752326743],"position_m":[0.24705529955289504,-0.3769605334247673,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"69e289a01c663aa1da019eef28b274a1bccffd6b40c374d21e6de34b4f811448","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6058/tex_ceiling_textures_4844/tex_floor_textures_9037/tex_table_textures_9003/tex_wall_textures_7805","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8437705619020649879,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8437705619020649879,"visual_seed":8437705619020649879,"scene_id":"lab_003","finished_at":"2026-09-02T04:53:44"}
+{"episode_id":"ep_000036","started_at":"2026-09-02T04:53:48","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.09482280700045731,1.756959282034416,0.71338606911949],"aabb_xy":[[-0.10085982000112205,1.7509325809654679],[-0.08878579399979258,1.762985983103364]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.22175616410726906,-1.4741358780924536,0.71338606911949],"aabb_xy":[[-0.24425616435078448,-1.4863405127522258],[-0.1992561638637537,-1.4619312434326819]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.5110415102577965,0.11802837378938325,0.71338606911949],"aabb_xy":[[0.4609440462767228,0.05402837327957144],[0.56113897423887,0.18202837429919505]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[0.35658619518180745,1.7235857501865541,0.71338606911949],"aabb_xy":[[0.34650448810323387,1.6435857522944395],[0.3666679022603808,1.8035857480786688]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[0.5577199846052634,0.28372427351555984,0.71338606911949],"aabb_xy":[[0.5388356008367532,0.26483834873520706],[0.5766043683737736,0.3026101982959126]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.3861097493285903,-1.917970704064781,0.71338606911949],"aabb_xy":[[0.3311097497068445,-1.9729543968522538],[0.44110974895033617,-1.8629870112773084]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.08380181263488617,-1.8424060840619996,0.71338606911949],"aabb_xy":[[-0.14380181427780803,-1.894406233353944],[-0.023801810991964323,-1.7904059347700556]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.6749357255210147,-0.4531670674370769,0.71338606911949],"aabb_xy":[[-0.6826389161950916,-0.4608764381358149],[-0.6672325348469377,-0.4454576967383389]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.004290537674504935,-1.3101746766387818,0.71338606911949],"aabb_xy":[[-0.05970946466829662,-1.3551155278829143],[0.06829054001730649,-1.2652338253946493]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.349658916238607,-0.8344863236118862,0.71338606911949],"aabb_xy":[[0.30438030135745775,-0.8984863229600699],[0.39493753111975627,-0.7704863242637026]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.2196324590594173,-1.1347926056466502,0.71338606911949],"aabb_xy":[[0.15463246090349822,-1.1610888501965624],[0.28463245721533637,-1.108496361096738]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.518854436038316,-2.2880648565771686,0.71338606911949],"aabb_xy":[[0.4884563249391724,-2.3184717585788377],[0.5492525471374595,-2.2576579545754987]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.23014979831005367,-1.4356762508093106,0.71338606911949],"aabb_xy":[[0.2213477430010809,-1.4434875769642395],[0.23895185361902632,-1.4278649246543813]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.5779803806834201,1.0863780942739947,0.71338606911949],"aabb_xy":[[0.5567023725399478,1.0213780919479214],[0.5992583888268923,1.1513780966000675]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.45022496635367426,-2.2723018660971386,0.71338606911949],"aabb_xy":[[-0.500041745818509,-2.322301864581442],[-0.4004081868888395,-2.222301867612835]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.5925358458939061,-0.20880247179385103,0.71338606911949],"aabb_xy":[[0.5374106402643152,-0.2688024732351381],[0.6476610515234967,-0.14880247035256386]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.28763591933688376,0.6849306723094859,0.71338606911949],"aabb_xy":[[-0.30769433095012405,0.6648655854003285],[-0.26757750772364347,0.7049957592186435]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.49103639497857765,-1.7796328769431595,0.71338606911949],"aabb_xy":[[0.4681206820935278,-1.8025371740795835],[0.5139521078636275,-1.7567285798067365]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.5647766445067626,0.09617632911137486,0.71338606911949],"aabb_xy":[[-0.634776646109042,0.0827435359097173],[-0.4947766429044831,0.10960912231303245]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.6584533571429403,-1.0713553622576588,0.71338606911949],"aabb_xy":[[0.6084691214347631,-1.1213553610711542],[0.7084375928511175,-1.021355363444163]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.18583276522712322,-1.9135986617679013,0.71338606911949],"aabb_xy":[[0.16833276609275602,-1.923478288805489],[0.20333276436149036,-1.9037190347303135]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.4857835836038933,-1.8124186042264707,0.71338606911949],"aabb_xy":[[-0.5357835830440889,-1.8623865287107868],[-0.43578358416369767,-1.7624506797421542]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.354050855147658,-1.5807377328915004,0.71338606911949],"aabb_xy":[[0.3229039363040748,-1.6507377315783076],[0.38519777399124105,-1.5107377342046933]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.32152603056618606,-0.9710069078088848,0.71338606911949],"aabb_xy":[[-0.3391043327551329,-0.9885813973829897],[-0.3039477283772392,-0.9534324182347799]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.46189129813847524,-0.8466713022406751,0.71338606911949],"aabb_xy":[[-0.498925407566535,-0.8810485095743845],[-0.4248571887104155,-0.8122940949069657]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.49466060522157895,-0.1853196114604776,0.71338606911949],"aabb_xy":[[-0.5179424474197102,-0.27031961275770566],[-0.47137876302344756,-0.10031961016324954]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.1066101466638234,-1.5979641391514419,0.71338606911949],"aabb_xy":[[0.0787651098832163,-1.6287486378897538],[0.13445518344443055,-1.5671796404131304]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[0.7018172678614942,-0.7339577564494151,0.71338606911949],"aabb_xy":[[0.6930360407142581,-0.7427375037379454],[0.7105984950087306,-0.7251780091608852]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[0.39787714979870836,-0.5988921986507258,0.71338606911949],"aabb_xy":[[0.31787714654086535,-0.6788887064427098],[0.47787715305655126,-0.5188956908587419]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888848401661862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9267.png","name":"9267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5660.png","name":"5660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1957.png","name":"1957"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6713.png","name":"6713"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":591.0316850029004,"rotation_z_degrees":60.283040550791725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010325992872920128,0.01800892472546423,0.0005450347851388392]},{"name":"camera_2","offset_m":[-0.0022279546234392072,0.001297596341280495,-0.018554285589397295]},{"name":"camera_3","offset_m":[-0.019678864265679455,-0.009351217798295721,0.01082264725917757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005371389962972616,-0.0006158312933346073,0.001989456268777506],"end_effector_yaw_offset_degrees":-0.8731962734788805},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009240194726252416,-0.0012509821044255358,0.0017633626164661065],"end_effector_yaw_offset_degrees":-0.5888164990933693},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006603343681839927,6.931551269843354e-05,0.0005620205959616232],"end_effector_yaw_offset_degrees":-0.01704474517668908}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00452725967275772,-0.0017659900846220735],"position_m":[0.24757274032724227,-0.09626599008462207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00188296294556318,-0.0011218418496369564],"position_m":[0.3564829629455632,0.06967815815036305,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038928134589249703,-0.0016359747540667978],"position_m":[0.31789281345892495,0.2464640252459332,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035032061087626716,-0.0029951520315556093],"position_m":[0.25040320610876265,-0.3816951520315556,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6afbcbc0bccf802e991533a3776cc245b9f152848b016bacf3f8adf818e91a2e","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1321/tex_ceiling_textures_6713/tex_floor_textures_1957/tex_table_textures_9267/tex_wall_textures_5660","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2021912926041360578,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2021912926041360578,"visual_seed":2021912926041360578,"scene_id":"lab_003","finished_at":"2026-09-02T04:56:29"}
+{"episode_id":"ep_000037","started_at":"2026-09-02T04:56:32","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.49047643147440345,-0.039290816571868614,0.71338606911949],"aabb_xy":[[-0.5704764286339787,-0.050838417529685646],[-0.4104764343148281,-0.027743215614051568]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.34877892926242393,0.6268257373185642,0.71338606911949],"aabb_xy":[[0.2587789327615521,0.5809140949001058],[0.43877892576329564,0.6727373797370223]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.4906322083557433,1.4650440950314247,0.71338606911949],"aabb_xy":[[0.48087621884656934,1.4552815609721903],[0.5003881978649172,1.4748066290906592]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.33692177234676435,1.736507789859798,0.71338606911949],"aabb_xy":[[0.31442535091290025,1.7140077900530504],[0.35941819378062845,1.7590077896665453]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.20814228381483801,-1.831853251968683,0.71338606911949],"aabb_xy":[[0.199927738699154,-1.8405298422663239],[0.21635682893052197,-1.8231766616710412]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[0.4206585329635264,-0.38323122849943525,0.71338606911949],"aabb_xy":[[0.40872579860169833,-0.3956133813072947],[0.43259126732535447,-0.37084907569157594]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.10386665445343068,1.3162495395567668,0.71338606911949],"aabb_xy":[[-0.10850176960566406,1.3123822044796178],[-0.09923153930119728,1.3201168746339154]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.05358668397620692,1.6173956199425006,0.71338606911949],"aabb_xy":[[0.03591105338760858,1.5997154036630976],[0.07126231456480525,1.6350758362219031]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.5864052672584124,-2.141158298008543,0.71338606911949],"aabb_xy":[[0.5403201760036809,-2.2051582952610977],[0.6324903585131438,-2.0771583007559875]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.3929272647166433,1.0346096470076902,0.71338606911949],"aabb_xy":[[0.3289272623738417,0.9896687957635576],[0.4569272670594448,1.0795504982518225]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.3208697410939205,1.436392067261583,0.71338606911949],"aabb_xy":[[0.3019853573254103,1.4175061424812303],[0.33975412486243073,1.4552779920419359]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.6893363323859172,-0.6995874092088541,0.71338606911949],"aabb_xy":[[0.6774642493744162,-0.7845874089025046],[0.7012084153974184,-0.6145874095152039]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.06985247172028342,-2.394502336190768,0.71338606911949],"aabb_xy":[[-0.07393062962733316,-2.398583316439031],[-0.06577431381323368,-2.3904213559425047]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.09180911150789028,-0.9567399284923968,0.71338606911949],"aabb_xy":[[0.00680911309046707,-1.0416142239546817],[0.1768091099253135,-0.8718656330301118]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.579154605475674,-0.7119583181646398,0.71338606911949],"aabb_xy":[[0.571451414801597,-0.7196676888633777],[0.586857796149751,-0.7042489474659017]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.27683155829263173,-1.136595541096105,0.71338606911949],"aabb_xy":[[-0.2944643938861593,-1.1542184871117278],[-0.25919872269910416,-1.1189725950804819]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.3931813006960685,-0.7240987689110778,0.71338606911949],"aabb_xy":[[-0.44315459469932894,-0.7740987694656251],[-0.34320800669280804,-0.6740987683565304]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.21621084077364117,0.20623106340294406,0.71338606911949],"aabb_xy":[[-0.28021084282337316,0.1661365803136361],[-0.15221083872390917,0.24632554649225202]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.2564050001643954,0.7652944709706357,0.71338606911949],"aabb_xy":[[-0.3064050005249614,0.7153144837610328],[-0.2064049998038293,0.8152744581802387]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.07651296691787102,-0.5302952304108675,0.71338606911949],"aabb_xy":[[-0.12651296649420574,-0.5802758093629735],[-0.026512967341536298,-0.4803146514587616]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.46095808174311625,-1.3220022736943322,0.71338606911949],"aabb_xy":[[0.4364444576461104,-1.3462668669963689],[0.4854717058401221,-1.297737680392296]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.5091631833389973,-1.7769252204751838,0.71338606911949],"aabb_xy":[[0.5050273270062972,-1.8144252199195408],[0.5132990396716975,-1.7394252210308268]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[-0.541823955677458,-2.1258213077412216,0.71338606911949],"aabb_xy":[[-0.5600297793387057,-2.136846708323213],[-0.5236181320162103,-2.11479590715923]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.4702100805186561,0.1414526385077921,0.71338606911949],"aabb_xy":[[-0.550210080988872,0.13314193089344373],[-0.39021008004844016,0.14976334612214048]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.5452434926424744,1.2886781993389542,0.71338606911949],"aabb_xy":[[-0.5802434918352926,1.2777111533412915],[-0.510243493449656,1.2996452453366165]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.08887040454122586,1.4097018688823248,0.71338606911949],"aabb_xy":[[-0.1013377626509615,1.3972365442490016],[-0.0764030464314902,1.4221671935156486]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[-0.05298013969983928,-2.2313095225509425,0.71338606911949],"aabb_xy":[[-0.0872770507175799,-2.265606408760883],[-0.018683228682098645,-2.1970126363410003]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[-0.14400467612331558,-0.1449461028693002,0.71338606911949],"aabb_xy":[[-0.16311698348129444,-0.16408088174654223],[-0.12489236876533671,-0.1258113239920582]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[-0.5636698649451045,0.24532451819493817,0.71338606911949],"aabb_xy":[[-0.578004290071268,0.23326430264039932],[-0.5493354398189411,0.257384733749477]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[0.4507178541385881,-0.9754519947969524,0.71338606911949],"aabb_xy":[[0.3607178544154139,-0.9985253473321322],[0.5407178538617622,-0.9523786422617725]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.6356028852230178,-0.1365578169316679,0.71338606911949],"aabb_xy":[[0.5716028879206714,-0.18092424389952466],[0.6996028825253642,-0.09219138996381115]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[-0.5101443155203971,-1.0141367906589216,0.71338606911949],"aabb_xy":[[-0.5602417795014707,-1.0781367911687334],[-0.46004685153932345,-0.9501367901491098]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_32","position":[0.2074487382729472,0.8259220435652121,0.71338606911949],"aabb_xy":[[0.12744874086935376,0.7459294723670293],[0.2874487356765406,0.905914614763395]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_33","position":[-0.41820657580687304,-1.3253636135329987,0.71338606911949],"aabb_xy":[[-0.48220657902551095,-1.372086725432007],[-0.35420657258823524,-1.2786405016339903]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_34","position":[-0.39792208942059554,-1.843220077154542,0.71338606911949],"aabb_xy":[[-0.4138065826859207,-1.8575730174533662],[-0.3820375961552704,-1.8288671368557181]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6787333925864011,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9327.png","name":"9327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9327.png","name":"9327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4948.png","name":"4948"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3401.png","name":"3401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2041.png","name":"2041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/255.png","name":"255"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":822.4405979286278,"rotation_z_degrees":58.82571062905936,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004699732625558974,-0.019144037024916686,0.016086564157195383]},{"name":"camera_2","offset_m":[-0.012737114848072264,-0.003087376216062053,-0.0038108734668654484]},{"name":"camera_3","offset_m":[-0.01804893300044152,-0.0009303065253696494,-0.01025443037308187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000810152322617524,-0.0007715199224024626,-0.001587472045925936],"end_effector_yaw_offset_degrees":0.9358162583372887},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007035463371404967,-0.0009706470967157928,0.00047435660494924304],"end_effector_yaw_offset_degrees":0.40016034705900383},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015641244346461225,0.00073870363707319,0.001380942529426125],"end_effector_yaw_offset_degrees":-0.6675931709062486}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002387422313015892,0.0018760611444586569],"position_m":[0.2544874223130159,-0.09262393885554135,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002419065294521826,-0.0005283574236765835],"position_m":[0.3570190652945219,0.07027164257632341,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00045814351644399634,0.0006433313996742325],"position_m":[0.313541856483556,0.24874333139967422,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004669333722051885,0.003047816364131757],"position_m":[0.24223066627794812,-0.3756521836358682,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6c55aa40b996c80ba5d0fcea63a9a05bdddf3bd5b963f1d19373461d26c7cbf8","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9327/tex_ceiling_textures_255/tex_floor_textures_2041/tex_table_textures_4948/tex_wall_textures_3401","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":87634313010640433,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":87634313010640433,"visual_seed":87634313010640433,"scene_id":"lab_003","finished_at":"2026-09-02T04:58:54"}
+{"episode_id":"ep_000038","started_at":"2026-09-02T04:58:59","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.42538521238546534,-2.1736279193966177,0.71338606911949],"aabb_xy":[[0.3613852121114871,-2.2236940195939057],[0.48938521265944357,-2.1235618191993297]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.6040509742084006,1.3921962554098295,0.71338606911949],"aabb_xy":[[-0.6215509733427677,1.3823166283722415],[-0.5865509750740333,1.402075882447417]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.5178972085661755,1.6268234690272299,0.71338606911949],"aabb_xy":[[0.4953972080541349,1.604331610661831],[0.5403972090782161,1.6493153273926278]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.32270179627554935,1.3201717271948703,0.71338606911949],"aabb_xy":[[-0.38670179356119805,1.2786650082420263],[-0.25870179898990076,1.3616784461477143]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.43806259444205575,0.937467770327268,0.71338606911949],"aabb_xy":[[0.43410211067232135,0.9297999057417474],[0.44202307821179004,0.9451356349127886]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.07526185783998307,-0.06123792301416353,0.71338606911949],"aabb_xy":[[-0.09269257291898957,-0.07851003767801433],[-0.057831142760976555,-0.04396580835031271]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.01710480332415165,-1.9559952091668849,0.71338606911949],"aabb_xy":[[-0.020395197860641142,-1.9604134318629451],[0.05460480450894444,-1.9515769864708241]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[-0.34918886245611863,-2.094771681525478,0.71338606911949],"aabb_xy":[[-0.4391888647901377,-2.1722540361105906],[-0.2591888601220996,-2.0172893269403653]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.36118132723653495,1.6495900812668425,0.71338606911949],"aabb_xy":[[0.3311896645026646,1.6195900819300417],[0.3911729899704053,1.6795900806036428]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.245482910974131,0.8721776167256579,0.71338606911949],"aabb_xy":[[0.165482912317245,0.857672757801395],[0.325482909631017,0.8866824756499205]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.41831075478717655,0.12667531484882444,0.71338606911949],"aabb_xy":[[-0.49831075219076987,0.04668274365064159],[-0.338310757383583,0.2066678860470072]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.6030554210544208,-0.3355280605680995,0.71338606911949],"aabb_xy":[[0.5805554215307133,-0.3580240080187202],[0.6255554205781281,-0.31303211311747864]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.2271004947308506,-1.6404289888369985,0.71338606911949],"aabb_xy":[[0.21910650615314717,-1.6484290689320888],[0.23509448330855395,-1.6324289087419082]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.2421662514671482,1.4099789449256868,0.71338606911949],"aabb_xy":[[0.19228355458945204,1.359978945679412],[0.2920489483448444,1.4599789441719615]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.22910700314867583,-1.9779495683217811,0.71338606911949],"aabb_xy":[[0.16510700147067844,-2.0264669598010956],[0.2931070048266732,-1.9294321768424667]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.11973997096634792,-1.292882669970106,0.71338606911949],"aabb_xy":[[0.05573996955835726,-1.3446716214940306],[0.1837399723743386,-1.2410937184461812]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.22646756619394126,-0.3910411612136264,0.71338606911949],"aabb_xy":[[-0.2362235557031151,-0.40080369527286086],[-0.21671157668476732,-0.381278627154392]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.6825180425627692,-1.5122286239789324,0.71338606911949],"aabb_xy":[[-0.6938797772160553,-1.5235970903852207],[-0.671156307909483,-1.5008601575726446]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.15352112462275402,-1.799151627338103,0.71338606911949],"aabb_xy":[[0.13602119118877062,-1.8166516272583375],[0.17102105805673737,-1.7816516274178684]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.24710824056422698,0.7191829071825753,0.71338606911949],"aabb_xy":[[0.19710824098789226,0.6692023282304694],[0.2971082401405617,0.7691634861346813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681769059075353,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8124.png","name":"8124"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8124.png","name":"8124"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4212.png","name":"4212"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3333.png","name":"3333"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8037.png","name":"8037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2977.png","name":"2977"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":738.436903623808,"rotation_z_degrees":100.71491111197619,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005488722093452761,0.017505536395322593,-0.0014951044663916377]},{"name":"camera_2","offset_m":[-0.010926877461529743,0.008211433972069165,-0.0161889489359729]},{"name":"camera_3","offset_m":[0.001399824519926339,-0.005229636912283611,0.016319974458919296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016759300975046532,0.0014044886829217866,0.0012481762935540467],"end_effector_yaw_offset_degrees":-0.520135934746232},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019146261118576013,0.0006497224006602395,0.0005534520588596479],"end_effector_yaw_offset_degrees":0.7379783490242728},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015451188138299547,0.0019781745043210112,-0.0013749118211409468],"end_effector_yaw_offset_degrees":-0.7871186053670003}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0003469473725746094,0.0015421061264534065],"position_m":[0.25175305262742537,-0.0929578938735466,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00037295540718312,0.001796073701460215],"position_m":[0.3542270445928169,0.07259607370146022,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0020371114884069853,-1.285905629701354e-05],"position_m":[0.31603711148840696,0.24808714094370296,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015728880491838971,0.002223994654569501],"position_m":[0.2453271119508161,-0.37647600534543046,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eb4d3a2031f4e31ab3a0ec475605bce90fa5bc1cd5a3c09b727ef98dfd273681","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8124/tex_ceiling_textures_2977/tex_floor_textures_8037/tex_table_textures_4212/tex_wall_textures_3333","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8421048902967412653,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8421048902967412653,"visual_seed":8421048902967412653,"scene_id":"lab_003","finished_at":"2026-09-02T05:01:28"}
+{"episode_id":"ep_000039","started_at":"2026-09-02T05:01:31","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.1391148544211619,-1.5649671480332392,0.71338606911949],"aabb_xy":[[0.1318325380444982,-1.6549671516427478],[0.14639717079782552,-1.4749671444237298]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.4299601420928061,1.0408938384312094,0.71338606911949],"aabb_xy":[[0.37998133358249014,0.9908938384254904],[0.4799389506031219,1.090893838436928]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.3997885723474762,-1.0125321415487598,0.71338606911949],"aabb_xy":[[-0.44978857192381094,-1.062512720500866],[-0.3497885727711415,-0.9625515625966541]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.32279778408425486,-0.9481877648789729,0.71338606911949],"aabb_xy":[[0.3003013626503907,-0.9706877646857204],[0.3452942055181189,-0.9256877650722255]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.4829718527980989,1.288953030712618,0.71338606911949],"aabb_xy":[[-0.5290569440528303,1.224953033460063],[-0.4368867615433675,1.3529530279651731]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.5180526535934233,-0.640695285091583,0.71338606911949],"aabb_xy":[[-0.5241472814815417,-0.6492646796432519],[-0.511958025705305,-0.6321258905399144]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.04913572791628762,0.8330631261059893,0.71338606911949],"aabb_xy":[[-0.08563154854356635,0.7965791836792318],[-0.012639907289008864,0.8695470685327469]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.0759198197336104,0.6404770205210459,0.71338606911949],"aabb_xy":[[-0.1129539291616701,0.6060998131873364],[-0.03888571030555068,0.6748542278547552]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[0.11876623080236604,-2.145540146885123,0.71338606911949],"aabb_xy":[[0.05376623264644696,-2.171836391435035],[0.1837662289582851,-2.1192439023352105]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.4052554176046513,1.7471689128770787,0.71338606911949],"aabb_xy":[[-0.4208111870149166,1.7316184796326717],[-0.3896996481943861,1.762719346121486]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.02171760892953356,-1.4064665298385244,0.71338606911949],"aabb_xy":[[-0.044231300752990754,-1.476466530439532],[0.0007960828939236365,-1.3364665292375169]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.1957186978546379,1.2059712026228468,0.71338606911949],"aabb_xy":[[0.16071869650315618,1.185611466666026],[0.23071869920611965,1.2263309385796677]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.019816154424488808,1.3945399994015584,0.71338606911949],"aabb_xy":[[-0.034979027401425895,1.3793745421064398],[-0.004653281447551728,1.4097054566966774]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.5581103798240322,1.4508562012689912,0.71338606911949],"aabb_xy":[[-0.595610379995904,1.418155465886084],[-0.5206103796521602,1.4835569366518984]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.007194335642398464,-2.520631148582,0.71338606911949],"aabb_xy":[[-0.05280566600052339,-2.5726312978739445],[0.06719433728532032,-2.468630999290056]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.46227736338026615,-1.7044482196814577,0.71338606911949],"aabb_xy":[[0.3982773631062879,-1.7545143198787456],[0.5262773636542444,-1.6543821194841697]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.3596571358047924,0.7889817267311479,0.71338606911949],"aabb_xy":[[0.2956571354272588,0.7392364598803355],[0.42365713618232603,0.83872699358196]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.16149089269211658,-1.3668374082765375,0.71338606911949],"aabb_xy":[[-0.1719024513726003,-1.3721831416124357],[-0.15107933401163287,-1.361491674940639]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.1844638411296773,-2.333024705450083,0.71338606911949],"aabb_xy":[[0.1718370538424809,-2.342570779151655],[0.1970906284168736,-2.3234786317485097]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.6290617602214135,-1.7090983254447596,0.71338606911949],"aabb_xy":[[-0.6640617601174323,-1.7174725609566996],[-0.5940617603253946,-1.7007240899328195]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.4406412021889121,-2.3973142124655027,0.71338606911949],"aabb_xy":[[0.3906582520014327,-2.4473142121080627],[0.4906241523763914,-2.347314212822942]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.5949655682696029,-0.7610477810976215,0.71338606911949],"aabb_xy":[[0.5896330536149897,-0.7663721093428572],[0.6002980829242158,-0.7557234528523861]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.45962600588774083,-2.214182305699792,0.71338606911949],"aabb_xy":[[0.42530972871312284,-2.2641823056729695],[0.4939422830623587,-2.164182305726614]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[0.5297039261645515,0.6542869730729475,0.71338606911949],"aabb_xy":[[0.4818977585507829,0.5892869703658885],[0.5775100937783202,0.7192869757800064]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.5363750949610417,-2.2127240847949614,0.71338606911949],"aabb_xy":[[-0.5663426518708674,-2.242724085092848],[-0.5064075380512161,-2.182724084497076]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.12834319003032846,-0.09391698091085487,0.71338606911949],"aabb_xy":[[-0.18333866785098782,-0.1489169823447618],[-0.07334771220966904,-0.03891697947694793]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[-0.5387491064018746,1.0112209246855959,0.71338606911949],"aabb_xy":[[-0.5858784854037101,0.9472209236411937],[-0.4916197274000388,1.0752209257299976]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[0.3624998299050355,-1.158373211787527,0.71338606911949],"aabb_xy":[[0.3515940538174728,-1.238373208186356],[0.3734056059925982,-1.0783732153886978]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.3764398503293853,-0.40313902883589003,0.71338606911949],"aabb_xy":[[0.3693983993786377,-0.4101657805736846],[0.3834813012801329,-0.3961122770980955]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_29","position":[0.24488377321449395,0.9265656488287526,0.71338606911949],"aabb_xy":[[0.18088377087169238,0.8816247975846201],[0.3088837755572955,0.9715065000728851]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[-0.35490947147018254,-2.4751574348087946,0.71338606911949],"aabb_xy":[[-0.4189094717306533,-2.520166234161722],[-0.29090947120971167,-2.430148635455866]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[0.5582615682733578,-1.521383488923452,0.71338606911949],"aabb_xy":[[0.5436181627193247,-1.5360422085802363],[0.5729049738273907,-1.5067247692666679]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_32","position":[-0.2726751625232022,0.8159116228854679,0.71338606911949],"aabb_xy":[[-0.3326751633840149,0.7644851928789814],[-0.21267516166238934,0.8673380528919542]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_33","position":[-9.380237970357808e-05,-1.0907142449677107,0.71338606911949],"aabb_xy":[[-0.06509380026135138,-1.1418379086742516],[0.06490619550194422,-1.0395905812611699]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843337601810072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7523.png","name":"7523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7523.png","name":"7523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8921.png","name":"8921"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9983.png","name":"9983"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9555.png","name":"9555"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8370.png","name":"8370"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":679.7623304933724,"rotation_z_degrees":264.38003101120114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006956036289666416,0.0019588784782422,0.015094029179542844]},{"name":"camera_2","offset_m":[0.015608754087144263,-0.011614213955386506,-0.0175188790596984]},{"name":"camera_3","offset_m":[-0.0035893551745888007,-0.0006144814005532122,0.01609103562815865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001821567450245561,-0.0008430523463715037,0.0009311354419030663],"end_effector_yaw_offset_degrees":0.08265832100789328},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010913037490391745,-0.00030775647506734805,0.0011505798908226094],"end_effector_yaw_offset_degrees":-0.30637347312165963},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00020018102920796874,-9.500794542064068e-05,-0.000736621750003875],"end_effector_yaw_offset_degrees":-0.6385931840207328}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00230717346688865,0.0006691302550410304],"position_m":[0.24979282653311133,-0.09383086974495897,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00012971578906906256,0.0003860667680373993],"position_m":[0.3547297157890691,0.0711860667680374,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004307077128721657,-0.003989304939619981],"position_m":[0.30969292287127836,0.24411069506038,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001606345895972308,0.0023841440991368154],"position_m":[0.2485063458959723,-0.37631585590086314,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"43623b02728c0d949390ec89916ac195a386f1f8e47e2334b72ebf7c3cc12636","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7523/tex_ceiling_textures_8370/tex_floor_textures_9555/tex_table_textures_8921/tex_wall_textures_9983","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4837001835366856568,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4837001835366856568,"visual_seed":4837001835366856568,"scene_id":"lab_003","finished_at":"2026-09-02T05:04:10"}
+{"episode_id":"ep_000040","started_at":"2026-09-02T05:04:13","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.26273438727658505,-2.129486827201952,0.71338606911949],"aabb_xy":[[0.25310275105615543,-2.1391241399816603],[0.27236602349701466,-2.1198495144222425]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.12062673177255034,-2.5563041077643245,0.71338606911949],"aabb_xy":[[0.11336548420214293,-2.569091118027834],[0.12788797934295776,-2.543517097500815]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.6602031006357871,0.01683426994558035,0.71338606911949],"aabb_xy":[[-0.6768802366288827,0.0001343459716500739],[-0.6435259646426917,0.033534193919510624]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.4541434768577193,-0.6648051733296247,0.71338606911949],"aabb_xy":[[0.41914347766490095,-0.6757722193272873],[0.4891434760505375,-0.653838127331962]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.35839099209526476,-1.8640581241953769,0.71338606911949],"aabb_xy":[[-0.4223909937732621,-1.912575515674691],[-0.2943909904172674,-1.8155407327160626]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.31608471208788314,-2.3279057650234707,0.71338606911949],"aabb_xy":[[0.2931689992028333,-2.3508100621598946],[0.3390004249729331,-2.3050014678870476]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.045036127059063236,-0.911880378539039,0.71338606911949],"aabb_xy":[[0.008241493934156956,-0.9487862536356212],[0.08183076018396951,-0.8749745034424566]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.5797336052685365,-1.2456318327082372,0.71338606911949],"aabb_xy":[[0.5246083996389456,-1.305631834149524],[0.6348588108981271,-1.1856318312669498]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[-0.40780686822950596,-0.8460327718861005,0.71338606911949],"aabb_xy":[[-0.4127061605360694,-0.8737096911886693],[-0.4029075759229424,-0.8183558525835317]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.18635666265711137,1.3652736834528616,0.71338606911949],"aabb_xy":[[-0.19958760819179264,1.352046264430862],[-0.17312571712243005,1.3785011024748608]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.3053254545630033,-1.4697365743239659,0.71338606911949],"aabb_xy":[[0.29733146598529986,-1.477736654419056],[0.31331944314070664,-1.4617364942288753]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.20827799419185478,-1.5304554915446056,0.71338606911949],"aabb_xy":[[0.18610546721520393,-1.5526311587007287],[0.2304505211685056,-1.508279824388482]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[0.5510605865577556,-0.4496383789166045,0.71338606911949],"aabb_xy":[[0.533629871478749,-0.4669104935804553],[0.568491301636762,-0.43236626425275365]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.1291500435694145,1.0930457567071654,0.71338606911949],"aabb_xy":[[0.12112377293878851,1.084294261729813],[0.1371763142000405,1.1017972516845183]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[0.446263268924016,-1.4559194081070532,0.71338606911949],"aabb_xy":[[0.4392218179732685,-1.4629461598448477],[0.4533047198747637,-1.4488926563692588]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.6517851575750075,0.15007525385789489,0.71338606911949],"aabb_xy":[[0.6144538810497651,0.11542219906304257],[0.6891164341002503,0.1847283086527472]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.21888112303306595,-1.3974807691622513,0.71338606911949],"aabb_xy":[[-0.2364594252220128,-1.4150552587363558],[-0.2013028208441191,-1.3799062795881463]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.46481662561224546,0.4514413363094518,0.71338606911949],"aabb_xy":[[0.4008166236999031,0.3955301870514414],[0.5288166275245878,0.5073524855674623]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.039521494355057585,-1.1359943573771738,0.71338606911949],"aabb_xy":[[0.0009758015298565598,-1.1745401284333625],[0.07806718718025862,-1.097448586320985]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.5662140666120815,-2.490769811705749,0.71338606911949],"aabb_xy":[[-0.5914349034719211,-2.5159935625586356],[-0.5409932297522417,-2.4655460608528617]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.12943613349241956,0.6502541345349448,0.71338606911949],"aabb_xy":[[0.10585101002852473,0.5852541322895131],[0.15302125695631444,0.7152541367803766]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.25794004305489915,0.7712737290036009,0.71338606911949],"aabb_xy":[[0.19394004278092092,0.7212076288063131],[0.3219400433288774,0.821339829200889]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.2532201020053658,-1.1604112996343334,0.71338606911949],"aabb_xy":[[0.1682201035879426,-1.2452855950966184],[0.33822010042278905,-1.0755370041720484]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.3882805031875214,-0.659906482642147,0.71338606911949],"aabb_xy":[[-0.45328050174459417,-0.6896590160560296],[-0.3232805046304485,-0.6301539492282644]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.3503436041534853,1.4694701344477008,0.71338606911949],"aabb_xy":[[0.2903436039020841,1.4151888094112361],[0.41034360440488643,1.5237514594841655]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[0.4645241658039925,0.9864059999185653,0.71338606911949],"aabb_xy":[[0.43006168779090465,0.9797423227356424],[0.4989866438170802,0.9930696771014881]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6811900540727517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8703.png","name":"8703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8703.png","name":"8703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4636.png","name":"4636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2540.png","name":"2540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6948.png","name":"6948"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":792.8116320047911,"rotation_z_degrees":181.79809784575252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01696412652835896,0.018065646256193734,0.009584065865888287]},{"name":"camera_2","offset_m":[0.013183882025687769,0.0014676711363700926,-0.006254545465642681]},{"name":"camera_3","offset_m":[0.0049619123753170055,-0.006329137771610696,0.01868623823198538]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005522473367543469,-0.0010536899864683749,0.001642696079088477],"end_effector_yaw_offset_degrees":-0.6563104184089223},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019624366333118835,0.0002421078322637901,0.0010109361897543967],"end_effector_yaw_offset_degrees":0.46685403221934796},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016319367369265168,-0.0008215914309953418,-0.0007203094462985872],"end_effector_yaw_offset_degrees":0.8634229010649568}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026679818125015554,0.0003966485706543045],"position_m":[0.25476798181250154,-0.0941033514293457,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003740814715315263,0.0017857864919642117],"position_m":[0.3583408147153153,0.07258578649196422,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016727006990417282,0.004658637082232782],"position_m":[0.31232729930095826,0.2527586370822328,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004603257151361006,-0.0012745480689135315],"position_m":[0.242296742848639,-0.3799745480689135,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6c88a4b083406733c05ba0a2520db8999996305abafc57694ffc2821965d6554","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8703/tex_ceiling_textures_6948/tex_floor_textures_2540/tex_table_textures_471/tex_wall_textures_4636","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2192045593117389355,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2192045593117389355,"visual_seed":2192045593117389355,"scene_id":"lab_003","finished_at":"2026-09-02T05:06:54"}
+{"episode_id":"ep_000041","started_at":"2026-09-02T05:06:57","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.39737296218964957,-0.9367226940317293,0.71338606911949],"aabb_xy":[[0.3927378470374161,-0.9405900291088778],[0.4020080773418828,-0.9328553589545805]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.009681059965303662,-1.120777665495657,0.71338606911949],"aabb_xy":[[-0.03549025788286531,-1.1847776626401956],[0.054852377813472644,-1.0567776683511187]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.5548459037971631,-1.1608027760010495,0.71338606911949],"aabb_xy":[[0.5429738207856619,-1.2458027756946999],[0.5667179868086641,-1.0758027763073992]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.34879274023957413,-1.675302261340277,0.71338606911949],"aabb_xy":[[-0.4187927428761604,-1.6954071263361423],[-0.27879273760298773,-1.6551973963444113]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.2644187728668721,1.563333512860503,0.71338606911949],"aabb_xy":[[-0.2737123911040227,1.525833514372369],[-0.2551251546297215,1.6008335113486367]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.09570652372207444,0.9138496348686189,0.71338606911949],"aabb_xy":[[0.015706526759035278,0.8367739932248454],[0.1757065206851136,0.9909252765123923]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.44303136517768016,0.8989690084460822,0.71338606911949],"aabb_xy":[[-0.533031364596051,0.8655935116018924],[-0.35303136575930927,0.9323445052902718]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[0.3670309169547523,1.1391083919625733,0.71338606911949],"aabb_xy":[[0.3503537809616568,1.122408467988643],[0.3837080529478478,1.1558083159365036]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[0.5297205314937579,-1.402091281739673,0.71338606911949],"aabb_xy":[[0.5236835184930932,-1.408117982808621],[0.5357575444944227,-1.3960645806707248]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.634951216684348,-1.3024979125126879,0.71338606911949],"aabb_xy":[[-0.6799512181505768,-1.3474977693741688],[-0.5899512152181191,-1.2574980556512074]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.001992716135158279,1.3410559029688014,0.71338606911949],"aabb_xy":[[-0.08199271329473357,1.3295083020109841],[0.07800728102441701,1.3526035039266182]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[-0.6760085606982158,-0.8171678490836383,0.71338606911949],"aabb_xy":[[-0.6832523267444611,-0.8971678472872406],[-0.6687647946519705,-0.7371678508800359]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.12444332567971639,0.09113346407487866,0.71338606911949],"aabb_xy":[[-0.1884433289694245,0.04779854507096105],[-0.060443322390008276,0.13446838307879627]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.0851582976159383,1.5336335299097326,0.71338606911949],"aabb_xy":[[-0.13228767661777396,1.4696335288653304],[-0.03802891861410261,1.5976335309541343]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.12179441839195204,1.520541261428662,0.71338606911949],"aabb_xy":[[0.0918027556580817,1.4905412620918614],[0.15178608112582237,1.5505412607654625]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.2968265425897897,-0.2196981636221138,0.71338606911949],"aabb_xy":[[-0.3038668525233267,-0.29969816302178526],[-0.2897862326562527,-0.13969816422244244]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.20885106527033148,-2.205106939464426,0.71338606911949],"aabb_xy":[[-0.22648390086385903,-2.222729885480049],[-0.19121822967680388,-2.187483993448803]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.6402298226610109,1.0794398172174064,0.71338606911949],"aabb_xy":[[-0.6767256432882897,1.0429558747906489],[-0.6037340020337322,1.115923759644164]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.5443885075089459,-1.6070473443019553,0.71338606911949],"aabb_xy":[[-0.5993807581444569,-1.6620473460452683],[-0.489396256873435,-1.5520473425586427]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.444348870770509,1.709010729450338,0.71338606911949],"aabb_xy":[[0.4242904591572687,1.6889456425411806],[0.4644072823837493,1.7290758163594955]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.24241211426454756,-1.5784343626954243,0.71338606911949],"aabb_xy":[[0.23419756914886358,-1.5871109529930654],[0.25062665938023154,-1.5697577723977827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872076973878051,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8749.png","name":"8749"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5173.png","name":"5173"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6148.png","name":"6148"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":577.7033850512094,"rotation_z_degrees":337.71552475978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009519046093881996,0.011557953572108499,0.009396523586602885]},{"name":"camera_2","offset_m":[-0.008661410800817136,-0.01912602785461652,0.019997507545338234]},{"name":"camera_3","offset_m":[-0.010875183735587433,0.012622868878997735,-0.0033719851936167035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001703785783020528,-0.0017639890477715912,0.00035957723056849553],"end_effector_yaw_offset_degrees":0.5973755196364785},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001102524239638067,-0.0015381824438978962,-0.00043167170602330797],"end_effector_yaw_offset_degrees":0.038996417889818336},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00033461399818937154,0.0004957787331060842,0.0011721673774245807],"end_effector_yaw_offset_degrees":0.8718065956741634}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0038525840836364025,-0.002349264599260964],"position_m":[0.2482474159163636,-0.09684926459926096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003748848436434602,0.004099758914516512],"position_m":[0.3583488484364346,0.07489975891451651,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001550001589273555,0.002712955186384547],"position_m":[0.31555000158927354,0.2508129551863845,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00499942183275924,0.002315798586005677],"position_m":[0.25189942183275926,-0.3763842014139943,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6ecec2816c3fcf26dfc9e3f479f0ab768b8c9bdb5ddb851ad6635d34f7bb28b0","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6541/tex_ceiling_textures_6148/tex_floor_textures_5173/tex_table_textures_8749/tex_wall_textures_2502","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6887216546544368499,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6887216546544368499,"visual_seed":6887216546544368499,"scene_id":"lab_003","finished_at":"2026-09-02T05:09:39"}
+{"episode_id":"ep_000042","started_at":"2026-09-02T05:11:06","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[-0.32693782084087514,-0.42606306371576963,0.71338606911949],"aabb_xy":[[-0.39093781795298077,-0.47509543351018024],[-0.2629378237287694,-0.377030693921359]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.5945624579451331,-2.499743084312017,0.71338606911949],"aabb_xy":[[-0.6445624593060203,-2.549720988887432],[-0.5445624565842458,-2.449765179736601]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.25469351453432776,-2.085810586797801,0.71338606911949],"aabb_xy":[[-0.28969351443034663,-2.0941848223097406],[-0.2196935146383089,-2.0774363512858605]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.5011773866109421,-1.0038258594283505,0.71338606911949],"aabb_xy":[[0.4646815659836634,-1.0403098018551082],[0.5376732072382209,-0.9673419170015931]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.18675692379324538,-1.648177950400798,0.71338606911949],"aabb_xy":[[-0.25675692539552486,-1.6616107436024559],[-0.11675692219096592,-1.6347451571991407]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.16202072026861214,1.3438540735168552,0.71338606911949],"aabb_xy":[[-0.17004699089923814,1.3351025785395028],[-0.15399444963798614,1.352605568494208]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.23670085728910034,1.6191038649839178,0.71338606911949],"aabb_xy":[[-0.26053707492970546,1.5291038641754318],[-0.21286463964849534,1.7091038657924047]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.6764131367410353,-2.118816501018958,0.71338606911949],"aabb_xy":[[-0.6890399240282316,-2.128362574720531],[-0.6637863494538389,-2.1092704273173855]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[-0.431590815183688,-1.1712831166678443,0.71338606911949],"aabb_xy":[[-0.45992052513222825,-1.1757438588615614],[-0.4032611052351478,-1.1668223744741273]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.6321723980132353,0.36747334015556365,0.71338606911949],"aabb_xy":[[-0.6821456920164957,0.31747333960101626],[-0.5821991040099748,0.41747334071011094]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.5100226451830789,-1.355743947632596,0.71338606911949],"aabb_xy":[[0.48547642956032816,-1.385992844181633],[0.5345688608058295,-1.3254950510835588]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.5670696063728108,-0.6779281667783201,0.71338606911949],"aabb_xy":[[-0.5762294853166873,-0.6844593848218571],[-0.5579097274289341,-0.671396948734783]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.4261852949732825,0.6083994596543469,0.71338606911949],"aabb_xy":[[0.34618529171543955,0.528402951862363],[0.5061852982311255,0.6883959674463309]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.1476062569336274,0.9061269504187881,0.71338606911949],"aabb_xy":[[0.08997578804635652,0.8461269514920774],[0.2052367258208982,0.9661269493454986]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[0.427338698609796,0.7360285452180721,0.71338606911949],"aabb_xy":[[0.42029724765904836,0.7290017934802776],[0.43438014956054355,0.7430552969558667]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.46002802526090947,0.6704904257430964,0.71338606911949],"aabb_xy":[[-0.48252802577295,0.647998567377698],[-0.4375280247488688,0.6929822841084947]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.3902736001768219,0.33141014395830926,0.71338606911949],"aabb_xy":[[0.35347896705191556,0.294504268861727],[0.4270682333017281,0.36831601905489153]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.04057432405546246,1.5470847091963251,0.71338606911949],"aabb_xy":[[-0.009404484454853423,1.497084709190606],[0.09055313256577835,1.5970847092020437]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.4360910861790337,0.9590114665915572,0.71338606911949],"aabb_xy":[[0.3720910859185628,0.9140026672386293],[0.5000910864395044,1.0040202659444852]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.45462617291531393,-0.18907780340103875,0.71338606911949],"aabb_xy":[[-0.49593071597904986,-0.25307780296915583],[-0.4133216298515779,-0.12507780383292166]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.12701677800240085,-1.0760993830021532,0.71338606911949],"aabb_xy":[[-0.1741461570042365,-1.1400993840465548],[-0.07988739900056516,-1.0120993819577508]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.30657922486492173,1.4226105785878684,0.71338606911949],"aabb_xy":[[0.3009975532307929,1.4101105787700927],[0.31216089649905043,1.4351105784056437]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[-0.2788091065939311,1.2937100120766742,0.71338606911949],"aabb_xy":[[-0.3289065705750047,1.2297100115668622],[-0.22871164261285748,1.3577100125864858]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.5058178087320926,-2.2658695039117305,0.71338606911949],"aabb_xy":[[-0.5358094714659629,-2.295869503248531],[-0.47582614599822226,-2.23586950457493]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.5653304778180945,-1.754180212064968,0.71338606911949],"aabb_xy":[[0.4953304751815081,-1.7742850770608336],[0.6353304804546808,-1.7340753470691026]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.57390674306425,0.02028291312425967,0.71338606911949],"aabb_xy":[[-0.60890674133437,0.013208785429271508],[-0.5389067447941301,0.027357040819247835]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860013707743735,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9876.png","name":"9876"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9876.png","name":"9876"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2164.png","name":"2164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5777.png","name":"5777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8509.png","name":"8509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1167.png","name":"1167"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":502.41101536366915,"rotation_z_degrees":74.40551373672368,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019500095060614085,0.007262542539188805,0.015318691161810765]},{"name":"camera_2","offset_m":[0.00093819565015138,-0.01801628898942295,0.012399525046371856]},{"name":"camera_3","offset_m":[0.012521335476988752,-0.0023411902159211177,-0.01918174859591204]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008755533928031434,-0.0007597867477353336,-0.0014330263672662257],"end_effector_yaw_offset_degrees":-0.19718114408812215},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009677783206302473,-0.0007759356903611027,-0.0010977064379719902],"end_effector_yaw_offset_degrees":-0.29372721934302604},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00012351991385110448,0.00027008750532732904,0.0001728890415570914],"end_effector_yaw_offset_degrees":0.9830865025046092}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0017195581422612305,-0.00023209069534416496],"position_m":[0.2503804418577388,-0.09473209069534416,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011477705096364036,-0.002658232107580484],"position_m":[0.3557477705096364,0.06814176789241952,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010825926407792173,-0.004045360284292108],"position_m":[0.3129174073592208,0.24405463971570787,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036284662763102554,0.0024246347701965707],"position_m":[0.25052846627631026,-0.3762753652298034,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b19a5df8ceb5096f262e796199b5826b5f659b7dfe379a4a4ff808ea3ca0cabe","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9876/tex_ceiling_textures_1167/tex_floor_textures_8509/tex_table_textures_2164/tex_wall_textures_5777","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4287872873258014877,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4287872873258014877,"visual_seed":4287872873258014877,"scene_id":"lab_003","finished_at":"2026-09-02T05:13:46"}
+{"episode_id":"ep_000043","started_at":"2026-09-02T05:13:49","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.30465615798775925,-1.1442816725929708,0.71338606911949],"aabb_xy":[[0.24065615657976855,-1.1960706241168955],[0.36865615939574986,-1.092492721069046]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.18647574396722055,-2.3866250889582608,0.71338606911949],"aabb_xy":[[-0.25147574496772107,-2.4374114541129357],[-0.12147574296672004,-2.335838723803586]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[-0.44206813523821964,-0.39002566347510115,0.71338606911949],"aabb_xy":[[-0.49608373152011964,-0.4540256663673583],[-0.38805253895631964,-0.326025660582844]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.3958317859767723,-1.4025311339932045,0.71338606911949],"aabb_xy":[[-0.44583178726061223,-1.4525099883838264],[-0.3458317846929323,-1.3525522796025822]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.24902482103821366,-2.269329781904855,0.71338606911949],"aabb_xy":[[0.18902482017740083,-2.3207562119113407],[0.3090248218990264,-2.2179033518983684]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.5534332404463986,0.7942936946503667,0.71338606911949],"aabb_xy":[[0.5034382294869467,0.744293695614775],[0.6034282514058508,0.8442936936859585]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.40030055208831045,-0.15928433261607244,0.71338606911949],"aabb_xy":[[-0.43592970798827013,-0.19491699937292536],[-0.36467139618835065,-0.12365166585921947]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.4248491759263132,0.4795217435136734,0.71338606911949],"aabb_xy":[[-0.4888491782691147,0.4345808922695409],[-0.3608491735835116,0.5244625947578059]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.5267824735344474,1.2959109615839592,0.71338606911949],"aabb_xy":[[-0.5907824737949182,1.250902162231031],[-0.46278247327397665,1.340919760936887]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.5895156905027279,0.9704824183400804,0.71338606911949],"aabb_xy":[[0.571937388313781,0.9529079287659755],[0.6070939926916747,0.9880569079141853]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.25602955556057894,1.5893815399194122,0.71338606911949],"aabb_xy":[[-0.27894526844562884,1.566477242782989],[-0.23311384267552904,1.612285837055836]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.5779795866216921,0.1280361328870101,0.71338606911949],"aabb_xy":[[-0.6279795875722248,0.09648698588348867],[-0.5279795856711592,0.15958527989053148]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.5324469588700527,-1.4963053674318139,0.71338606911949],"aabb_xy":[[0.4684469569577103,-1.5522165166898243],[0.596446960782395,-1.4403942181738034]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.15480440794087202,0.32274752905388304,0.71338606911949],"aabb_xy":[[-0.18980440625156747,0.3150325141303374],[-0.11980440963017658,0.3304625439774287]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.0332637866335026,-1.7879089929656407,0.71338606911949],"aabb_xy":[[-0.04673621552925989,-1.8678641765917843],[0.11326378879626509,-1.707953809339497]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.38904073827461283,-2.5481117331046317,0.71338606911949],"aabb_xy":[[0.36654073875090537,-2.570607680555252],[0.4115407377983202,-2.5256157856540105]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.025315653848634323,-0.8839930313159114,0.71338606911949],"aabb_xy":[[-0.06281565242425512,-0.8967293269794695],[0.01218434472698648,-0.8712567356523536]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.679890506390346,1.0021428262175003,0.71338606911949],"aabb_xy":[[0.6553442907675953,0.9718939296684631],[0.7044367220130967,1.0323917227665371]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.47022158896694183,-2.251302450805679,0.71338606911949],"aabb_xy":[[-0.4985512989154821,-2.2557631929993964],[-0.44189187901840166,-2.2468417086119623]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.44110260851223804,-0.6149635723928515,0.71338606911949],"aabb_xy":[[0.35110261177662777,-0.6681470357101459],[0.5311026052478482,-0.5617801090755569]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.47990370916452235,0.9240028050611988,0.71338606911949],"aabb_xy":[[-0.4906766830858901,0.8890028068421598],[-0.4691307352431545,0.9590028032802378]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.5207522067659813,0.2925690317090872,0.71338606911949],"aabb_xy":[[-0.5907522088974108,0.2698070660833915],[-0.4507522046345517,0.3153309973347828]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.5754476132151343,-0.9627235777464227,0.71338606911949],"aabb_xy":[[-0.5834909731410896,-1.0477235788417891],[-0.5674042532891792,-0.8777235766510562]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[-0.20774035738683483,-1.2472195714891363,0.71338606911949],"aabb_xy":[[-0.24121952464787577,-1.2806986848602433],[-0.17426119012579389,-1.2137404581180293]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.44228288210652633,-1.253345129417,0.71338606911949],"aabb_xy":[[-0.4601519898609819,-1.2671780373942105],[-0.4244137743520709,-1.239512221439789]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.4352620115060874,-0.665158922844632,0.71338606911949],"aabb_xy":[[-0.5152620129362147,-0.7446760778572414],[-0.35526201007596014,-0.5856417678320225]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.5253980526747595,-0.8598500473614323,0.71338606911949],"aabb_xy":[[0.5078980533966726,-0.8771881474277783],[0.5428980519528463,-0.8425119472950864]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[0.29704667812389174,0.46554770246734556,0.71338606911949],"aabb_xy":[[0.2876292035540289,0.45613152532962653],[0.3064641526937544,0.4749638796050646]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_28","position":[-0.051051270862824794,-1.0082592978711888,0.71338606911949],"aabb_xy":[[-0.09381797774224498,-1.0722593012929913],[-0.008284563983404603,-0.9442592944493864]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_29","position":[0.4907951666966004,-1.8643139303969671,0.71338606911949],"aabb_xy":[[0.4495463556666856,-1.9193139299091844],[0.532043977726515,-1.8093139308847495]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_30","position":[-0.3387974155497183,-1.6150945079383976,0.71338606911949],"aabb_xy":[[-0.3640182524095579,-1.6403182587912841],[-0.31357657868987854,-1.5898707570855106]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_31","position":[0.1817349881793623,-0.7815596145708492,0.71338606911949],"aabb_xy":[[0.14727264078122043,-0.8160534969686717],[0.21619733557750404,-0.7470657321730263]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844390309819506,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3887.png","name":"3887"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3887.png","name":"3887"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9201.png","name":"9201"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3618.png","name":"3618"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/420.png","name":"420"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7508.png","name":"7508"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":782.4987942183213,"rotation_z_degrees":213.58687836072423,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008777101847540044,-0.013277593581096344,-0.01461327315816182]},{"name":"camera_2","offset_m":[0.00228637187817423,-0.018320669122955754,0.001153055971890811]},{"name":"camera_3","offset_m":[-0.0005919780729735993,0.014985934239410751,0.005128645442291312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00190965469140138,0.00154751321948657,-0.000370256519843453],"end_effector_yaw_offset_degrees":0.12781137499401196},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018495564643298311,-0.0016827094670809357,8.332861865140932e-05],"end_effector_yaw_offset_degrees":-0.6292073054925713},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014011462761061085,0.0001287495253825331,0.001654543793363372],"end_effector_yaw_offset_degrees":0.6977047831803957}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002884646100670278,0.004755986404238772],"position_m":[0.2549846461006703,-0.08974401359576123,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001549958052730617,-0.00042635244418778515],"position_m":[0.3530500419472694,0.07037364755581221,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019830006040965032,-0.00490819050153859],"position_m":[0.3120169993959035,0.2431918094984614,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002624518046109076,0.0037429560447707943],"position_m":[0.2495245180461091,-0.37495704395522916,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bee9cd99258dc3c3d8be5ea7295e3ce4120b028ea7ae4e035353aca57f879f63","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3887/tex_ceiling_textures_7508/tex_floor_textures_420/tex_table_textures_9201/tex_wall_textures_3618","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3648612863391096355,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3648612863391096355,"visual_seed":3648612863391096355,"scene_id":"lab_003","finished_at":"2026-09-02T05:16:25"}
+{"episode_id":"ep_000044","started_at":"2026-09-02T05:16:28","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.44332263406583056,-0.9607873550884749,0.71338606911949],"aabb_xy":[[-0.4792361384908202,-0.9967008633052294],[-0.4074091296408408,-0.9248738468717201]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.5352965296076672,-0.8381691105868556,0.71338606911949],"aabb_xy":[[-0.5726278061329098,-0.8728221653817079],[-0.49796525308242456,-0.8035160557920034]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.5342626119700264,0.3739150762125427,0.71338606911949],"aabb_xy":[[0.4726718527460336,0.30991507810349583],[0.5958533711940193,0.4379150743215896]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.4204987025149803,-2.4041550797041698,0.71338606911949],"aabb_xy":[[-0.4275390124485174,-2.4841550791038416],[-0.4134583925814434,-2.324155080304499]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[0.6140795617336539,-2.1793843032951092,0.71338606911949],"aabb_xy":[[0.5718951475728231,-2.243384303572321],[0.6562639758944846,-2.1153843030178985]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.1707637168119046,0.6813133769203716,0.71338606911949],"aabb_xy":[[-0.2607637165350788,0.6582400243851917],[-0.08076371708873044,0.7043867294555514]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.22822885833409856,-0.6861353698700687,0.71338606911949],"aabb_xy":[[-0.2922288576282668,-0.7501215102389229],[-0.16422885903993034,-0.6221492295012145]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.18512530992802834,-1.3353524658590488,0.71338606911949],"aabb_xy":[[-0.24912531020200654,-1.3854185660563367],[-0.12112530965405008,-1.2852863656617608]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.3670573673740842,-1.854940677511495,0.71338606911949],"aabb_xy":[[-0.43205737001187766,-1.906420276210942],[-0.3020573647362907,-1.803461078812048]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.5730089277816606,-0.42878589648891907,0.71338606911949],"aabb_xy":[[0.5685782984268205,-0.4342342682236018],[0.5774395571365009,-0.4233375247542366]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.6311016214570702,0.9848664134371576,0.71338606911949],"aabb_xy":[[-0.691101621303637,0.9280477912441188],[-0.5711016216105034,1.0416850356301963]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.5997753584281103,-0.9520427698691831,0.71338606911949],"aabb_xy":[[-0.6219478854047611,-0.9742184370253062],[-0.5776028314514594,-0.9298671027130598]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.5168615566360715,0.6119647498642111,0.71338606911949],"aabb_xy":[[-0.5968615571062875,0.6036540422498627],[-0.43686155616585565,0.6202754574785595]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.4434715810708538,-0.708581008855035,0.71338606911949],"aabb_xy":[[0.41232466222727066,-0.7785810075418422],[0.4746184999144369,-0.6385810101682279]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.19764411665372966,1.3145300058305658,0.71338606911949],"aabb_xy":[[-0.24292273153487892,1.250530006482382],[-0.1523655017725804,1.3785300051787495]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.0617791221017745,-1.9363129239453443,0.71338606911949],"aabb_xy":[[-0.1157947183836745,-2.0003129268376014],[-0.007763525819874488,-1.8723129210530869]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.3369473667543494,0.9992490293237517,0.71338606911949],"aabb_xy":[[-0.3782519098180853,0.9352490297556346],[-0.29564282369061334,1.0632490288918688]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.49343540437619526,-1.0827016629403372,0.71338606911949],"aabb_xy":[[-0.5634354077677572,-1.1180174366437678],[-0.4234354009846333,-1.0473858892369061]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.29043068940577016,1.7686921772583148,0.71338606911949],"aabb_xy":[[-0.32746479883382984,1.734314969924605],[-0.25339657997771037,1.8030693845920238]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.18260219282614398,1.5192624003522108,0.71338606911949],"aabb_xy":[[0.17535842677989863,1.4392624021486085],[0.18984595887238928,1.5992623985558132]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.627920828262893,-0.8870655518697033,0.71338606911949],"aabb_xy":[[0.5379208259288739,-0.9645479064548159],[0.717920830596912,-0.8095831972845906]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.6041827994586118,-2.4208586788674387,0.71338606911949],"aabb_xy":[[0.5992835071520481,-2.448535598170007],[0.6090820917651751,-2.3931817595648694]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.3240096148131001,-2.057955352843287,0.71338606911949],"aabb_xy":[[-0.3540012775469704,-2.0879553521800873],[-0.29401795207922976,-2.0279553535064863]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.025699369353354262,-1.0635325572819954,0.71338606911949],"aabb_xy":[[-0.03885061532464363,-1.0885325570386821],[-0.012548123382064905,-1.038532557525309]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.3374281252451885,1.501899979859529,0.71338606911949],"aabb_xy":[[0.24742812874431672,1.4559883374410705],[0.4274281217460602,1.547811622277987]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[0.3819176623673237,1.6852775763806878,0.71338606911949],"aabb_xy":[[0.33192455025813183,1.6352775757064926],[0.43191077447651566,1.7352775770548838]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.35607850568984745,-1.5677622256219388,0.71338606911949],"aabb_xy":[[0.29607850509383127,-1.6225746981671623],[0.4160785062858636,-1.5129497530767153]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_27","position":[-0.4089970411426067,-1.689485585121424,0.71338606911949],"aabb_xy":[[-0.446497039566007,-1.7026497990892548],[-0.3714970427192063,-1.6763213711535934]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[0.49020101966102625,-0.5258427301567434,0.71338606911949],"aabb_xy":[[0.40520102096895155,-0.5578285935516222],[0.5752010183531009,-0.49385686676186447]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_29","position":[0.09082554467617476,-2.3116919319821982,0.71338606911949],"aabb_xy":[[0.07314991408757641,-2.329372148261601],[0.10850117526477308,-2.2940117157027955]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[0.5885520880126982,1.170317726769512,0.71338606911949],"aabb_xy":[[0.5660556665788341,1.1478177269627645],[0.6110485094465623,1.1928177265762594]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_31","position":[0.19582638050502033,0.5968462490481863,0.71338606911949],"aabb_xy":[[0.182595434970339,0.5836188300261868],[0.2090573260397016,0.6100736680701856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843100292783173,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6369.png","name":"6369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5966.png","name":"5966"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4695.png","name":"4695"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":585.5595598930823,"rotation_z_degrees":314.94959145175164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013183479207319916,0.0020224106142702654,0.016607501643497457]},{"name":"camera_2","offset_m":[0.0004319707260153349,-0.015247136524912261,-0.009371076090741504]},{"name":"camera_3","offset_m":[0.016089324354015274,-0.013479049594697971,-0.015258895496864131]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006985777551395908,-6.238509675223869e-05,0.0004631079259164619],"end_effector_yaw_offset_degrees":0.8398534574429053},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012665588750590201,-0.000389366932187888,0.0009893020684364848],"end_effector_yaw_offset_degrees":-0.30181072396406217},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009626156063690114,-0.0008906331464766666,0.0003870373792716911],"end_effector_yaw_offset_degrees":-0.5650434569249438}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009420969545158456,-0.0016313945300213996],"position_m":[0.25115790304548413,-0.0961313945300214,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003280287472768083,0.0010997073072331635],"position_m":[0.35492802874727686,0.07189970730723316,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010707945652441457,-0.0030978756402571814],"position_m":[0.31507079456524417,0.2450021243597428,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006134898499907697,-0.0009231704202655221],"position_m":[0.24628651015000924,-0.3796231704202655,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0544bcaa53f605956b4ffa6f6590f5747d1bba457fdf9a6836548aadea775297","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3051/tex_ceiling_textures_9304/tex_floor_textures_4695/tex_table_textures_6369/tex_wall_textures_5966","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8744656137870778256,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8744656137870778256,"visual_seed":8744656137870778256,"scene_id":"lab_003","finished_at":"2026-09-02T05:19:14"}
+{"episode_id":"ep_000045","started_at":"2026-09-02T05:19:18","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.40605343457734266,-1.7069801251805785,0.71338606911949],"aabb_xy":[[-0.4289691474623926,-1.7298844223170025],[-0.3831377216922928,-1.6840758280441555]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[-0.08507034493008825,-1.06341116933328,0.71338606911949],"aabb_xy":[[-0.10418265228806711,-1.082545948210522],[-0.06595803757210938,-1.044276390456038]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.16860617298895708,-2.3145273543980176,0.71338606911949],"aabb_xy":[[-0.18449066625428223,-2.328880294696842],[-0.15272167972363193,-2.3001744140991933]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.20968750595256935,1.1473347613408142,0.71338606911949],"aabb_xy":[[0.18585128831196432,1.057334760532328],[0.23352372359317447,1.237334762149301]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.4168627214422784,0.9794545242326369,0.71338606911949],"aabb_xy":[[0.39680430982903814,0.9593894373234795],[0.4369211330555187,0.9995196111417946]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.6518967336970514,-0.973392563446231,0.71338606911949],"aabb_xy":[[-0.6695295692905788,-0.9910155094618539],[-0.6342638981035237,-0.955769617430608]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.535066029216994,-1.3611228962086421,0.71338606911949],"aabb_xy":[[0.47106602883946036,-1.4108681630594544],[0.5990660295945276,-1.3113776293578299]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.5999845132043544,0.35309200377580074,0.71338606911949],"aabb_xy":[[-0.6412333242342692,0.2980920042635833],[-0.5587357021744397,0.4080920032880182]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.038437449802236734,-1.133487647481439,0.71338606911949],"aabb_xy":[[0.0025239453772470458,-1.1694011556981934],[0.0743509542272264,-1.0975741392646843]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_9","position":[-0.606747190155917,-1.6952669044947948,0.71338606911949],"aabb_xy":[[-0.6160941977382123,-1.7095705267124386],[-0.5974001825736218,-1.6809632822771505]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.5235957908960969,0.10203452446388495,0.71338606911949],"aabb_xy":[[-0.5289333665621014,0.07703452353474517],[-0.5182582152300923,0.12703452539302473]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.1004576760722925,-1.9996326307708214,0.71338606911949],"aabb_xy":[[0.07828514909564167,-2.0218082979269445],[0.12263020304894334,-1.9774569636146981]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.43776344690902375,0.9063087629193101,0.71338606911949],"aabb_xy":[[-0.45965319449796455,0.8163087656300608],[-0.41587369932008295,0.9963087602085591]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.036956860500671485,-0.8511507972288195,0.71338606911949],"aabb_xy":[[0.026051084413108765,-0.9311507936276486],[0.04786263658823419,-0.7711508008299903]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.6253600111715811,0.1606432471191508,0.71338606911949],"aabb_xy":[[0.6086828751784856,0.14394332314522051],[0.6420371471646766,0.17734317109308106]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.5136753731340644,1.0081088351595282,0.71338606911949],"aabb_xy":[[0.49617537385597754,0.9907707350931823],[0.5311753724121513,1.0254469352258742]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.2122639067255278,-0.26295491677785554,0.71338606911949],"aabb_xy":[[-0.21784557835965654,-0.27545491659563104],[-0.20668223509139902,-0.25045491696008004]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.24490550770038388,-1.0088598190334404,0.71338606911949],"aabb_xy":[[-0.2834512005255849,-1.047405590089629],[-0.20635981487518285,-0.9703140479772517]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.6675155022807606,1.2287673787291342,0.71338606911949],"aabb_xy":[[-0.6779270609612442,1.2234216453932356],[-0.6571039436002768,1.2341131120650324]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.1973139501709753,-0.650459775639362,0.71338606911949],"aabb_xy":[[0.13331394695233748,-0.6971828875383703],[0.26131395338961316,-0.6037366637403536]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[-0.10577786629616226,0.45240421611070936,0.71338606911949],"aabb_xy":[[-0.11073388648104349,0.42990421590858785],[-0.10082184611128109,0.4749042163128311]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.1867770239536305,0.5845285772755084,0.71338606911949],"aabb_xy":[[-0.2507770260033625,0.5444340941862006],[-0.1227770219038985,0.6246230603648165]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.681627957904787,1.1147193178422397,0.71338606911949],"aabb_xy":[[0.6591279580908848,1.1102447014717591],[0.7041279577186895,1.1191939342127206]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[0.20223545620609606,-2.469197565163146,0.71338606911949],"aabb_xy":[[0.17723545704046295,-2.4761498108685025],[0.22723545537172918,-2.4622453194577893]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.5320072929115821,-0.6707506889516865,0.71338606911949],"aabb_xy":[[-0.5451585388828715,-0.695750688708373],[-0.5188560469402927,-0.6457506891949999]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892688042347327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9645.png","name":"9645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9346.png","name":"9346"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/605.png","name":"605"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":763.5020573645145,"rotation_z_degrees":188.94448045231434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010201830813892622,-0.011838399162923277,0.015965173584620202]},{"name":"camera_2","offset_m":[0.0059074196519277,0.014574586609658113,-0.019490404643768937]},{"name":"camera_3","offset_m":[0.012690888374356672,-0.011343503967425233,0.009899423337170775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001881248397605174,0.0009083119640626827,-0.00027758806209378763],"end_effector_yaw_offset_degrees":-0.6099016420407277},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005091139924872736,0.00017803746514481657,0.0011750442850355074],"end_effector_yaw_offset_degrees":-0.28592247177346763},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017056665406705329,3.338551492648289e-05,0.0013337948021048675],"end_effector_yaw_offset_degrees":-0.11339780266154476}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002735252500502864,0.0007182285733423688],"position_m":[0.24936474749949714,-0.09378177142665763,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003077000670356187,-0.0013737372606692478],"position_m":[0.3515229993296438,0.06942626273933075,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002423052179623708,0.0036026116925382276],"position_m":[0.3115769478203763,0.2517026116925382,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036911231667953208,-0.0034057185132578514],"position_m":[0.2505911231667953,-0.3821057185132578,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"53695f2a374dfede2532a8078c7c739b232e2825389e1c1fcb51dc22816299ce","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9478/tex_ceiling_textures_605/tex_floor_textures_9346/tex_table_textures_9645/tex_wall_textures_4841","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3798014047267784925,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3798014047267784925,"visual_seed":3798014047267784925,"scene_id":"lab_003","finished_at":"2026-09-02T05:21:55"}
+{"episode_id":"ep_000046","started_at":"2026-09-02T05:21:58","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.6697552445954973,1.4162860978269918,0.71338606911949],"aabb_xy":[[0.6347552446190015,1.4068214817793752],[0.7047552445719931,1.4257507138746084]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[0.5137488133626746,0.1588114938770917,0.71338606911949],"aabb_xy":[[0.4497488140685063,0.09482535350823751],[0.5777488126568427,0.2227976342459459]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.21883859393167304,-1.8980590140452738,0.71338606911949],"aabb_xy":[[0.1901892615712568,-1.9267045733223496],[0.24748792629208924,-1.869413454768198]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.4155546270821968,-1.36787313677403,0.71338606911949],"aabb_xy":[[0.3787040791452092,-1.4053731375970637],[0.4524051750191844,-1.3303731359509963]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.6612132528996636,-1.2110214479954529,0.71338606911949],"aabb_xy":[[-0.6837096743335277,-1.2335214478022003],[-0.6387168314657995,-1.1885214481887054]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.1315639347633809,-2.080798544509036,0.71338606911949],"aabb_xy":[[0.06656393620630807,-2.1105510779229184],[0.19656393332045374,-2.051046011095153]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.5010675087585135,0.7193333602832439,0.71338606911949],"aabb_xy":[[0.4785675085149981,0.707128725623472],[0.5235675090020289,0.7315379949430159]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.6334670084858481,-0.010511414329303914,0.71338606911949],"aabb_xy":[[-0.6440344881439473,-0.021056444442312472],[-0.6228995288277492,3.3615783704643576e-05]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.45786367254529575,-0.49215917855952096,0.71338606911949],"aabb_xy":[[-0.46597732721867285,-0.50026499501355],[-0.44975001787191865,-0.4840533621054919]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.26274056540269547,1.2381629249329795,0.71338606911949],"aabb_xy":[[-0.34274056567630246,1.1652133771072626],[-0.1827405651290885,1.311112472758696]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.691322961331144,-2.289346712994436,0.71338606911949],"aabb_xy":[[0.6663229617794055,-2.2994891968595708],[0.7163229608828825,-2.2792042291293013]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.11217020538975175,1.4909466246492111,0.71338606911949],"aabb_xy":[[-0.17376096461374457,1.4269466265401642],[-0.05057944616575895,1.554946622758258]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.5986125562289805,-0.6439904261693534,0.71338606911949],"aabb_xy":[[-0.6161125564883171,-0.658081968358126],[-0.5811125559696438,-0.6298988839805808]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.2285681747117279,0.421138412163125,0.71338606911949],"aabb_xy":[[-0.2713348815911481,0.3571384087413225],[-0.18580146783230772,0.48513841558492743]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.14654906562412084,-1.611878913567665,0.71338606911949],"aabb_xy":[[0.08254906371177853,-1.6677900628256757],[0.2105490675364632,-1.5559677643096548]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.6505741647451007,0.43401329350009377,0.71338606911949],"aabb_xy":[[0.6451162191080806,0.35401329019243466],[0.6560321103821207,0.5140132968077529]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.011058041604806834,-1.710797120092506,0.71338606911949],"aabb_xy":[[0.00306405302710344,-1.7187972001875962],[0.019052030182510227,-1.7027970399974155]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.5003990422260738,1.6951809318099609,0.71338606911949],"aabb_xy":[[0.49311672584940985,1.6051809282004517],[0.5076813586027371,1.7851809354194696]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.5529185109276991,0.43689501828572475,0.71338606911949],"aabb_xy":[[-0.6028973194380148,0.38689501828000583],[-0.5029397024173831,0.48689501829144344]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.5307702597682105,-2.0408999836580435,0.71338606911949],"aabb_xy":[[0.4507702565103675,-2.1208964914500275],[0.6107702630260534,-1.9609034758660595]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[0.15675215442198298,1.2500231408528446,0.71338606911949],"aabb_xy":[[0.0867521528197035,1.2365903476511872],[0.22675215602426246,1.2634559340545024]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[0.459545986887119,-1.5424539895321359,0.71338606911949],"aabb_xy":[[0.4419676846981721,-1.5600284791062407],[0.4771242890760658,-1.5248794999580306]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.17857652143908564,0.7298112909330357,0.71338606911949],"aabb_xy":[[0.1145765190962841,0.6848704396889032],[0.2425765237818872,0.7747521421771681]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[-0.5524744894514233,-0.14573271121042009,0.71338606911949],"aabb_xy":[[-0.6174744905573666,-0.17069808427854838],[-0.48747448834548,-0.12076733814229179]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[0.026678492262151465,0.9782375398696521,0.71338606911949],"aabb_xy":[[-0.028321506914438025,0.9232478650946946],[0.08167849143874095,1.0332272146446098]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.5941102527415338,-0.31461696196465416,0.71338606911949],"aabb_xy":[[-0.6591102553793273,-0.3660965606641011],[-0.5291102501037404,-0.2631373632652072]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.2596528438658431,-1.2501074483129622,0.71338606911949],"aabb_xy":[[0.209652843505277,-1.300087435522565],[0.3096528442264091,-1.200127461103359]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[0.7040644947755259,1.3225749470983272,0.71338606911949],"aabb_xy":[[0.6864316591819982,1.304952001082704],[0.7216973303690534,1.34019789311395]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_28","position":[0.71399849384374,-1.277170304603055,0.71338606911949],"aabb_xy":[[0.7048386148998633,-1.283701522646592],[0.7231583727876165,-1.2706390865595178]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_29","position":[-0.17666359567349788,-0.060668653164765995,0.71338606911949],"aabb_xy":[[-0.2566635967466182,-0.07044669950215043],[-0.09666359460037757,-0.050890606827381564]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_30","position":[-0.04688499087537823,-1.8107532536898656,0.71338606911949],"aabb_xy":[[-0.10688499173619102,-1.862179683696352],[0.013115009985434576,-1.7593268236833792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858898079677662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4308.png","name":"4308"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4308.png","name":"4308"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6107.png","name":"6107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3112.png","name":"3112"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1856.png","name":"1856"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":765.9842139105631,"rotation_z_degrees":61.35524913828459,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004859674450274442,0.010614477977211614,-0.014361310056149344]},{"name":"camera_2","offset_m":[0.011474660110196013,-0.0016530380440222536,0.014861925239375486]},{"name":"camera_3","offset_m":[-0.011118684099481078,0.016393163687185058,0.014213625188403318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012253002203154928,-0.0005989486188960576,-0.001657230183399251],"end_effector_yaw_offset_degrees":0.6513928855878046},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00019532871012177024,0.00011104123323067271,0.00011105684008805988],"end_effector_yaw_offset_degrees":-0.7772101972673031},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012092727075263435,-0.0006022035220000039,-0.0016171261426317725],"end_effector_yaw_offset_degrees":-0.4634931156014708}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004896949893625343,0.0015016083133800638],"position_m":[0.24720305010637464,-0.09299839168661994,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032465302363143,-0.004097397679589864],"position_m":[0.35784653023631435,0.06670260232041014,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003463239524860014,-0.00224369006817114],"position_m":[0.31746323952486,0.24585630993182886,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021211903905536044,0.00033916751516817074],"position_m":[0.24902119039055362,-0.3783608324848318,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"efb98ac46ac8cee183d09d7940c7233acd24f9cfd312ee8d8508f819ec083d47","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4308/tex_ceiling_textures_1297/tex_floor_textures_1856/tex_table_textures_6107/tex_wall_textures_3112","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4076069667753605310,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4076069667753605310,"visual_seed":4076069667753605310,"scene_id":"lab_003","finished_at":"2026-09-02T05:24:43"}
+{"episode_id":"ep_000047","started_at":"2026-09-02T05:24:47","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.23016373623771202,-1.3962010896705443,0.71338606911949],"aabb_xy":[[0.19516373634169318,-1.4045753251824844],[0.2651637361337309,-1.3878268541586043]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.4300748438466051,0.6669505427778204,0.71338606911949],"aabb_xy":[[0.42616097065118264,0.6582015273712636],[0.4339887170420277,0.6756995581843772]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.04063098494533157,1.6561773267489488,0.71338606911949],"aabb_xy":[[-0.023369015432202052,1.6064320598981363],[0.10463098532286519,1.7059225935997608]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.31582655129280185,0.8284387180631985,0.71338606911949],"aabb_xy":[[-0.36582582646123807,0.7784387167872514],[-0.26582727612436574,0.8784387193391457]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[0.17048853226618987,-1.0247831554583553,0.71338606911949],"aabb_xy":[[0.10648853309641997,-1.0715498425773176],[0.23448853143595985,-0.9780164683393927]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.3324919938683906,1.1823367871769657,0.71338606911949],"aabb_xy":[[-0.36999199453296927,1.166649729176743],[-0.29499199320381186,1.1980238451771874]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.3784593078358066,-0.9201979219116339,0.71338606911949],"aabb_xy":[[-0.4434593104736001,-0.9716775206110809],[-0.3134593051980131,-0.868718323212187]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.5354059290927919,-2.2600924010903913,0.71338606911949],"aabb_xy":[[-0.5853990412019839,-2.3100924017645874],[-0.48541281698360017,-2.210092400416196]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.544173288719864,-2.312113128889785,0.71338606911949],"aabb_xy":[[0.4941890530116867,-2.3621131277032807],[0.5941575244280412,-2.2621131300762896]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.40197697842169305,-1.8065961656515734,0.71338606911949],"aabb_xy":[[-0.4196098140152206,-1.8242191116671964],[-0.3843441428281654,-1.7889732196359505]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.4558270591476521,1.625612755321725,0.71338606911949],"aabb_xy":[[-0.4604621742998854,1.621745420244576],[-0.4511919439954187,1.6294800903988735]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.2651823252981951,-1.9090992875825612,0.71338606911949],"aabb_xy":[[0.25393726972757724,-1.9203410853066565],[0.2764273808688129,-1.897857489858466]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.23139903040820986,-0.7803754181851839,0.71338606911949],"aabb_xy":[[0.20639903047569194,-0.7872580864061072],[0.25639903034072775,-0.7734927499642605]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.2771547717612589,-1.6688496073296142,0.71338606911949],"aabb_xy":[[-0.2843985378075042,-1.7488496055332163],[-0.26991100571501353,-1.5888496091260116]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.25506096468971917,-2.3013546011495896,0.71338606911949],"aabb_xy":[[0.2317791224915878,-2.3863546024468176],[0.27834280688785046,-2.2163545998523615]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.1664465960524344,-2.1913802865314858,0.71338606911949],"aabb_xy":[[-0.19641415296226006,-2.2213802868293717],[-0.13647903914260873,-2.1613802862336]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.07251457221488122,1.2968092885795746,0.71338606911949],"aabb_xy":[[-0.1224919890801348,1.246809287090326],[-0.022537155349627632,1.346809290068823]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.11242879297174435,-2.4404622711829087,0.71338606911949],"aabb_xy":[[-0.14489049385367178,-2.4705951032978106],[-0.07996709208981688,-2.410329439068005]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.6229845677460428,-1.6314889806242312,0.71338606911949],"aabb_xy":[[0.5729845667955098,-1.6630381276277526],[0.6729845686965754,-1.5999398336207098]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[-0.469495334734614,-2.003056945313749,0.71338606911949],"aabb_xy":[[-0.5059911553618928,-2.0395408877405066],[-0.4329995141073352,-1.9665730028869914]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.08062012225122217,-1.3476648255220385,0.71338606911949],"aabb_xy":[[-0.1446201229546915,-1.3936832079949597],[-0.01662012154775282,-1.3016464430491177]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.3331199355445955,0.5387205891178151,0.71338606911949],"aabb_xy":[[-0.3971199388343036,0.4953856701138974],[-0.26911993225488734,0.5820555081217326]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.677129125435981,1.2477858811457638,0.71338606911949],"aabb_xy":[[-0.692231426896999,1.2326843595147017],[-0.6620268239749628,1.2628874027768255]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[-0.42731836770389736,-1.453340264845424,0.71338606911949],"aabb_xy":[[-0.436950003924327,-1.4629775776251328],[-0.41768673148346774,-1.443702952065715]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.6149410447879335,-1.362055392169729,0.71338606911949],"aabb_xy":[[-0.6394546688849394,-1.3863199854717652],[-0.5904274206909277,-1.3377907988676923]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[0.5247364330949635,-0.06291980658254515,0.71338606911949],"aabb_xy":[[0.4747631390917031,-0.11291980713709247],[0.574709727098224,-0.01291980602799779]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[-0.20932240890711767,1.1226705047563796,0.71338606911949],"aabb_xy":[[-0.23454324576695731,1.0974467539034922],[-0.18410157204727798,1.1478942556092657]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.13475973705809996,-0.7600421280772969,0.71338606911949],"aabb_xy":[[0.12398676313673218,-0.7950421262963359],[0.14553271097946774,-0.7250421298582579]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_28","position":[0.3677984047421785,-1.1976131982386333,0.71338606911949],"aabb_xy":[[0.3595838596264945,-1.2062897885362744],[0.37601294985786243,-1.1889366079409918]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[0.2117002249847012,1.8086072019365758,0.71338606911949],"aabb_xy":[[0.18920022447266058,1.7861153435711774],[0.23420022549674177,1.8310990603019741]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_30","position":[-0.04040723614430697,1.144604548354521,0.71338606911949],"aabb_xy":[[-0.10440723755229764,1.0928155968305961],[0.02359276526368369,1.1963934998784456]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_31","position":[-0.3187136989159596,-2.530642092657414,0.71338606911949],"aabb_xy":[[-0.35621370010075226,-2.535060315353474],[-0.28121369773116667,-2.526223869961353]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_32","position":[0.34259022809210404,-1.5876877444989757,0.71338606911949],"aabb_xy":[[0.2924927641110305,-1.6516877450087875],[0.3926876920731777,-1.5236877439891638]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_33","position":[0.044291818054938314,-2.1886166317968865,0.71338606911949],"aabb_xy":[[0.006791817883066376,-2.2213173671797937],[0.08179181822681025,-2.1559158964139793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872742749616744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6491.png","name":"6491"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6491.png","name":"6491"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2672.png","name":"2672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5360.png","name":"5360"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7915.png","name":"7915"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1717.png","name":"1717"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":627.6404392189121,"rotation_z_degrees":286.06289024083407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003707741936916392,-0.002359312347410568,0.0003553615944268569]},{"name":"camera_2","offset_m":[0.009142798481973094,0.00993588082429684,-0.0036905272473471765]},{"name":"camera_3","offset_m":[0.011624701496896237,-0.0009115880810321025,-0.002794445770240593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000316139635724627,0.0006965628292998917,0.00099471845933283],"end_effector_yaw_offset_degrees":0.2964088246069472},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[9.196384127979759e-05,0.0002648805416395556,0.0007544854114518891],"end_effector_yaw_offset_degrees":0.5127048410256005},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016511926899764019,0.001101051725479606,-0.0008577235199463185],"end_effector_yaw_offset_degrees":-0.6480839371044638}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-5.108821637569809e-06,0.0031833519241362225],"position_m":[0.2520948911783624,-0.09131664807586377,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003943366463818876,-0.0025048071627449178],"position_m":[0.3549943366463819,0.06829519283725509,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004905229170880218,-0.002032864839208981],"position_m":[0.3189052291708802,0.246067135160791,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012166264611381296,-0.003519985681271605],"position_m":[0.24811662646113813,-0.3822199856812716,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e369849af75ea89c662775d74f8e0fdf1292c7dd997d2e8a6a68c75336b53005","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6491/tex_ceiling_textures_1717/tex_floor_textures_7915/tex_table_textures_2672/tex_wall_textures_5360","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7676810358725451625,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7676810358725451625,"visual_seed":7676810358725451625,"scene_id":"lab_003","finished_at":"2026-09-02T05:27:25"}
+{"episode_id":"ep_000048","started_at":"2026-09-02T05:27:28","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.14397266474711168,-2.4833377010090802,0.71338606911949],"aabb_xy":[[-0.1917788323608803,-2.5483377037161388],[-0.09616649713334302,-2.418337698302021]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.3551057892381111,-1.1363760087225567,0.71338606911949],"aabb_xy":[[0.32010578934209216,-1.1447502442344968],[0.3901057891341299,-1.1280017732106167]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.10579744573738348,1.1110645124930105,0.71338606911949],"aabb_xy":[[-0.14798185989821422,1.0470645122157995],[-0.06361303157655275,1.175064512770222]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.5183534893909438,-1.29509877551534,0.71338606911949],"aabb_xy":[[-0.6083534858918155,-1.3410104179337983],[-0.428353492890072,-1.2491871330968818]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.49854452298587865,-1.4378878828222614,0.71338606911949],"aabb_xy":[[-0.5045815359865433,-1.4439145838912095],[-0.492507509985214,-1.4318611817533133]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.47384076306687684,-0.8694381281336134,0.71338606911949],"aabb_xy":[[0.46584677448917344,-0.8774382082287037],[0.48183475164458023,-0.861438048038523]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.4398935033740674,-1.8541547646878231,0.71338606911949],"aabb_xy":[[-0.4500465189282167,-1.8902243062605633],[-0.4297404878199179,-1.8180852231150826]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.08162319262200968,-1.7429126843936502,0.71338606911949],"aabb_xy":[[-0.16162319289561666,-1.815862232219367],[-0.0016231923484027048,-1.6699631365679335]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.2731761155177532,-1.9274050741605713,0.71338606911949],"aabb_xy":[[-0.31002666345474084,-1.964905074983605],[-0.23632556758076562,-1.8899050733375375]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[0.434542083800014,-0.3530238623735542,0.71338606911949],"aabb_xy":[[0.37941687817042324,-0.41302386381484135],[0.4896672894296048,-0.29302386093226707]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.5154720057033213,0.4121572260325821,0.71338606911949],"aabb_xy":[[-0.5189126819433786,0.4082957930582177],[-0.5120313294632642,0.4160186590069467]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.25190114176298906,-1.3339053802558332,0.71338606911949],"aabb_xy":[[0.18690114172868627,-1.3806060569361605],[0.31690114179729173,-1.2872047035755059]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.4624361432948576,0.5767157377156917,0.71338606911949],"aabb_xy":[[-0.48022965022977404,0.558915992119894],[-0.44464263635994117,0.5945154833114893]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.5327939672429407,-1.9804034572976974,0.71338606911949],"aabb_xy":[[-0.596793968920938,-2.0289208487770116],[-0.46879396556494324,-1.9318860658183834]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.5582292757365146,0.34262960485009186,0.71338606911949],"aabb_xy":[[0.5042136794546146,0.27862960195783465],[0.6122448720184146,0.40662960774234896]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.4270490029996508,-0.3228015890693352,0.71338606911949],"aabb_xy":[[-0.44956269482310796,-0.39280158967034273],[-0.40453531117619357,-0.2528015884683277]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.6082949506995232,-2.2147134090111864,0.71338606911949],"aabb_xy":[[0.543294949742396,-2.266661620944892],[0.6732949516566504,-2.162765197077481]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.03322934650948128,1.4658084958390014,0.71338606911949],"aabb_xy":[[-0.03177065459646201,1.4408431227708731],[0.09822934761542457,1.4907738689071297]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.5084436985932771,-1.118248221416576,0.71338606911949],"aabb_xy":[[-0.5512104054726972,-1.1822482248383785],[-0.4656769917138568,-1.0542482179947736]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.028630929875728794,-1.1205635582581468,0.71338606911949],"aabb_xy":[[-0.021369068770192397,-1.1704831019176092],[0.07863092852164999,-1.0706440145986844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873052782043529,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2378.png","name":"2378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2378.png","name":"2378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7743.png","name":"7743"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5582.png","name":"5582"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5136.png","name":"5136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9831.png","name":"9831"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":528.0174040494371,"rotation_z_degrees":335.7461478970369,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010926023639586445,0.016958089234854635,-0.006910737749918731]},{"name":"camera_2","offset_m":[0.006706566221270315,-0.002062390109664504,0.004635468353962568]},{"name":"camera_3","offset_m":[-0.014248964335591207,0.011677800607906585,0.0013724973399468973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003972640479392672,-0.0003637251730222873,-0.00030077157446432466],"end_effector_yaw_offset_degrees":-0.8093690619247402},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012253869091697176,-0.0008457251777458752,0.00036182011318752413],"end_effector_yaw_offset_degrees":0.24734497598821958},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000313775536989103,-0.0017866946062297141,0.0010901520202166452],"end_effector_yaw_offset_degrees":-0.46278593221212283}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015857593983121397,-0.0015095561258660485],"position_m":[0.25051424060168787,-0.09600955612586605,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026331519434783226,0.00034761359805133077],"position_m":[0.3572331519434783,0.07114761359805133,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002782937917474689,-0.0010020718015292442],"position_m":[0.3167829379174747,0.24709792819847073,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00485914594989307,0.0019235749165257459],"position_m":[0.25175914594989307,-0.37677642508347425,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f53b639c6b71c2a1375c8f3737b2231ebca67d48761d329c2e1b21973f962387","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2378/tex_ceiling_textures_9831/tex_floor_textures_5136/tex_table_textures_7743/tex_wall_textures_5582","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8023969850792923752,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8023969850792923752,"visual_seed":8023969850792923752,"scene_id":"lab_003","finished_at":"2026-09-02T05:30:27"}
+{"episode_id":"ep_000049","started_at":"2026-09-02T05:30:31","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.045464797285030056,-1.7380705246750963,0.71338606911949],"aabb_xy":[[-0.024535204846399483,-1.760832490300792],[0.1154647994164596,-1.7153085590494006]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.613364893276504,0.255756337772298,0.71338606911949],"aabb_xy":[[-0.677364895326236,0.21566185468299004],[-0.549364891226772,0.29585082086160597]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.5405715381217087,-0.08486951131329601,0.71338606911949],"aabb_xy":[[0.529665762034146,-0.16486950771212516],[0.5514773142092714,-0.004869514914466869]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.09551247429383802,-2.3971610931818392,0.71338606911949],"aabb_xy":[[-0.09921573562297686,-2.4008631114905565],[-0.09180921296469913,-2.393459074873121]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.5719685312808263,-0.6762708994167601,0.71338606911949],"aabb_xy":[[0.5494721098469622,-0.6987708992235075],[0.5944649527146904,-0.6537708996100127]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.09643385621058642,-1.657121695276651,0.71338606911949],"aabb_xy":[[-0.11771186435405866,-1.7221216976027238],[-0.07515584806711416,-1.5921216929505777]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.1733671096611391,0.2732765273776696,0.71338606911949],"aabb_xy":[[-0.2533671082484585,0.19396092543950869],[-0.09336711107381966,0.35259212931583045]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.6785366851911534,1.6915937999189956,0.71338606911949],"aabb_xy":[[0.653536685639415,1.6814513160538611],[0.703536684742892,1.7017362837841306]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.5604350299872616,0.6173569914085313,0.71338606911949],"aabb_xy":[[0.5415506462187514,0.5984710666281785],[0.5793194137557718,0.6362429161888841]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.02224895230709678,-1.9358813115554774,0.71338606911949],"aabb_xy":[[-0.08624895552573464,-1.9826044234544857],[0.04175105091154108,-1.889158199656469]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.07809035844112677,1.092823820107026,0.71338606911949],"aabb_xy":[[-0.15809035560070206,1.081276219149209],[0.001909638718448528,1.104371421064843]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.5520482395120552,1.3439524186071816,0.71338606911949],"aabb_xy":[[-0.5695481729460384,1.3264524186869469],[-0.5345483060780717,1.361452418527416]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.09724616791552543,1.1860531660158387,0.71338606911949],"aabb_xy":[[-0.1872461676386996,1.1629798134806588],[-0.007246168192351256,1.2091265185510185]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.5743806769771178,1.6249525496416477,0.71338606911949],"aabb_xy":[[-0.6244781409581915,1.5609525491318361],[-0.5242832129960443,1.6889525501514597]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.264674455087574,-2.0333500939420763,0.71338606911949],"aabb_xy":[[-0.3146586907957512,-2.083350092755572],[-0.21469021937939675,-1.9833500951285807]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.5158824909669049,1.1861800570071734,0.71338606911949],"aabb_xy":[[-0.5808824919674054,1.1353936918524985],[-0.45088248996640434,1.2369664221618484]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.020597058408929225,1.5317975975789335,0.71338606911949],"aabb_xy":[[-0.0206517526209855,1.4767975980667158],[0.06184586943884396,1.5867975970911508]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.6010799633143575,-0.9778018151599939,0.71338606911949],"aabb_xy":[[0.563748686789115,-1.0124548699548461],[0.6384112398396002,-0.9431487603651416]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.4840914835862997,0.4942443363005098,0.71338606911949],"aabb_xy":[[0.43409148322573365,0.4442643490909068],[0.5340914839468658,0.5442243235101126]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.3591535217968027,0.2667911409991679,0.71338606911949],"aabb_xy":[[-0.4141535214185486,0.21180744821169523],[-0.3041535221750569,0.3217748337866407]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[0.599029372860767,0.08831754869004493,0.71338606911949],"aabb_xy":[[0.59132618218669,0.08060817799130691],[0.606732563534844,0.09602691938878292]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.04036720062259325,-2.2647096583036004,0.71338606911949],"aabb_xy":[[-0.10436720100012686,-2.314454925154412],[0.02363279975494037,-2.2149643914527877]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[-0.4032660814897488,-1.1123465329649318,0.71338606911949],"aabb_xy":[[-0.42089891708327637,-1.1299694789805548],[-0.3856332458962212,-1.0947235869493088]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.6262024831422157,-1.8455740810258632,0.71338606911949],"aabb_xy":[[0.6212464629573347,-1.868074081227985],[0.631158503327097,-1.8230740808237418]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[0.3982732108863092,0.30298664154577715,0.71338606911949],"aabb_xy":[[0.3746880874224144,0.23798663930034536],[0.4218583343502041,0.36798664379120893]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[0.5929752797903769,1.3173282701741176,0.71338606911949],"aabb_xy":[[0.5848475915970637,1.3084146617634098],[0.6011029679836901,1.3262418785848253]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[0.096623206882125,-2.3682169830024127,0.71338606911949],"aabb_xy":[[0.016623203618111856,-2.3817770153113256],[0.17662321014613813,-2.354656950693499]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.5199562398122114,-1.4966227613203,0.71338606911949],"aabb_xy":[[-0.6096433161203269,-1.5866227615747506],[-0.43026916350409594,-1.4066227610658495]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[0.331757163134774,1.4191547905622168,0.71338606911949],"aabb_xy":[[0.31484643069843216,1.4056825849696022],[0.3486678955711157,1.4326269961548315]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844087003881304,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1205.png","name":"1205"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1205.png","name":"1205"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6480.png","name":"6480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2516.png","name":"2516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9958.png","name":"9958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4764.png","name":"4764"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":757.7090966421198,"rotation_z_degrees":352.9920481540381,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005090553936603123,-0.004162370931708258,0.009225055086394644]},{"name":"camera_2","offset_m":[0.012973993487269037,-0.008124436825348273,-0.003394293678730082]},{"name":"camera_3","offset_m":[-0.015316193706831434,-0.010693667599766529,-0.011008645635442096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00074573512651133,0.0010230029512753114,0.001645610091060636],"end_effector_yaw_offset_degrees":0.30353996451018594},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001603636379672679,0.0008626137705589586,-0.0018723164927658283],"end_effector_yaw_offset_degrees":-0.9344033519915378},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016106473123454145,0.0011693913683339355,-0.00020050818776189247],"end_effector_yaw_offset_degrees":-0.5354914148205154}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00011151090247159094,0.002717030803090102],"position_m":[0.25221151090247157,-0.0917829691969099,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012913755631771494,0.0009286479062308893],"position_m":[0.35330862443682287,0.07172864790623089,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001187865811414216,-0.004584745967562203],"position_m":[0.3151878658114142,0.2435152540324378,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00026661274749487096,0.0002216343237571904],"position_m":[0.24716661274749488,-0.37847836567624277,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c6cf5653c302762a4e0af88a404407d96ef96448178cec270e5a79c64cedcb26","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1205/tex_ceiling_textures_4764/tex_floor_textures_9958/tex_table_textures_6480/tex_wall_textures_2516","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2853643677831132610,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2853643677831132610,"visual_seed":2853643677831132610,"scene_id":"lab_003","finished_at":"2026-09-02T05:33:08"}
+{"episode_id":"ep_000050","started_at":"2026-09-02T05:33:11","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.41577666140871195,0.16670887098484766,0.71338606911949],"aabb_xy":[[0.4097396484080473,0.16068216991589948],[0.4218136744093767,0.1727355720537959]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.4599935437142604,-0.8272020849115838,0.71338606911949],"aabb_xy":[[0.3959935414938533,-0.8715751690368719],[0.5239935459346674,-0.7828290007862954]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.35201014789114254,0.2901844959093123,0.71338606911949],"aabb_xy":[[-0.37492586077619244,0.2672801987728888],[-0.32909443500609264,0.3130887930457358]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.4569823894310603,1.6433309272864984,0.71338606911949],"aabb_xy":[[0.39298239214541164,1.6018242083336547],[0.5209823867167089,1.6848376462393426]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.10601869648558271,-1.6430413268128214,0.71338606911949],"aabb_xy":[[-0.11097471667046394,-1.6655413270149435],[-0.10106267630070154,-1.6205413266107003]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.42810565958228786,-0.03212837509009914,0.71338606911949],"aabb_xy":[[0.41465913294824447,-0.04559822674319036],[0.44155218621633113,-0.018658523437007912]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[-0.21140748866019887,-0.8352555220484652,0.71338606911949],"aabb_xy":[[-0.2764074896173261,-0.8872037339821708],[-0.14640748770307166,-0.7833073101147596]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.7071125285992998,1.0734614869120533,0.71338606911949],"aabb_xy":[[0.697356539090126,1.0636989528528187],[0.7168685181084737,1.0832240209712876]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.3635834944234252,1.8103829672663783,0.71338606911949],"aabb_xy":[[-0.3860834944335735,1.796286747626775],[-0.3410834944132769,1.8244791869059815]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.41597638077481947,-0.993093461536017,0.71338606911949],"aabb_xy":[[-0.4959763787556045,-1.000695002497869],[-0.3359763827940344,-0.9854919205741651]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.5667591473375504,-1.302279353558977,0.71338606911949],"aabb_xy":[[0.5619155525763204,-1.3071310060379613],[0.5716027420987804,-1.297427701079993]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.6860586535607947,-1.698197466735356,0.71338606911949],"aabb_xy":[[0.6683830229721963,-1.7158776830147586],[0.703734284149393,-1.6805172504559531]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[0.08414351603585801,1.241678687167778,0.71338606911949],"aabb_xy":[[0.020143515332388662,1.195660304694857],[0.14814351673932735,1.287697069640699]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.6986547403495598,-0.803170041452588,0.71338606911949],"aabb_xy":[[0.6906284697189338,-0.8119215364299406],[0.7066810109801858,-0.7944185464752354]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[-0.21188595826908296,-0.31283209401997913,0.71338606911949],"aabb_xy":[[-0.21678525057564646,-0.34050901332254785],[-0.20698666596251947,-0.2851551747174103]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.1960843245724957,0.7521831154846055,0.71338606911949],"aabb_xy":[[0.1626441493764761,0.7187394896536752],[0.2295244997685153,0.7856267413155353]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.43052074920478733,1.7834675438686314,0.71338606911949],"aabb_xy":[[0.4263848928720871,1.7459675444242748],[0.4346566055374875,1.8209675433129888]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.62964556260463,-1.6196373179572565,0.71338606911949],"aabb_xy":[[0.6114397389433824,-1.6306627185392484],[0.6478513862658778,-1.608611917375265]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.32946046757356134,0.6275043175755952,0.71338606911949],"aabb_xy":[[-0.3934604668677295,0.5635181772067409],[-0.26546046827939307,0.6914904579444493]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.09767917430164108,-0.26530776300763526,0.71338606911949],"aabb_xy":[[-0.10961190866346915,-0.2776899158154946],[-0.08574643993981301,-0.2529256101997759]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.6163905256643119,-1.8893031860495872,0.71338606911949],"aabb_xy":[[0.5523948282692152,-1.953303184350296],[0.6803862230594083,-1.8253031877488786]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.5491047224512018,0.7789144217098576,0.71338606911949],"aabb_xy":[[-0.6391047210456717,0.7626638353964367],[-0.45910472385673184,0.7951650080232787]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.28397362050418756,-1.1562453785539482,0.71338606911949],"aabb_xy":[[-0.30755874396808236,-1.2212453807993802],[-0.26038849704029265,-1.0912453763085166]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.6272031428029141,-2.5466613766221697,0.71338606911949],"aabb_xy":[[0.6197906872615256,-2.5525125870437977],[0.6346155983443026,-2.540810166200542]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_24","position":[-0.6296881520653571,0.20689087519256066,0.71338606911949],"aabb_xy":[[-0.6467902300237253,0.1897840696612909],[-0.612586074106989,0.22399768072383042]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.28861753438836957,-1.5379000103897533,0.71338606911949],"aabb_xy":[[-0.35361753442267235,-1.5846006870700804],[-0.2236175343540669,-1.4911993337094258]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[0.17872918814096939,1.3906132810762433,0.71338606911949],"aabb_xy":[[0.15623005241474242,1.3681132802979803],[0.20122832386719636,1.4131132818545062]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.5786520237369827,-2.263808939669827,0.71338606911949],"aabb_xy":[[-0.6038728605968222,-2.289032690522713],[-0.5534311868771429,-2.23858518881694]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[-0.40611088772845716,-1.7680218764276618,0.71338606911949],"aabb_xy":[[-0.4417400436284169,-1.8036545431845148],[-0.3704817318284974,-1.732389209670809]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[0.0252553261200954,1.49482464143875,0.71338606911949],"aabb_xy":[[-0.06474467329827549,1.46144914459456],[0.11525532553846629,1.5282001382829395]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_30","position":[-0.4779167713918362,1.4529157792436824,0.71338606911949],"aabb_xy":[[-0.5629167700839108,1.4209299158488038],[-0.39291677269976155,1.4849016426385615]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[-0.5849961196323815,-0.4861463687609717,0.71338606911949],"aabb_xy":[[-0.6350935836134551,-0.5501463692707835],[-0.5348986556513079,-0.42214636825115986]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_32","position":[-0.30346262979412997,-0.1385626785588645,0.71338606911949],"aabb_xy":[[-0.34096263097892265,-0.14298090125492502],[-0.26596262860933706,-0.13414445586280394]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6782321839035836,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7255.png","name":"7255"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7255.png","name":"7255"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3885.png","name":"3885"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8172.png","name":"8172"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2055.png","name":"2055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4443.png","name":"4443"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":503.855934668953,"rotation_z_degrees":127.61480728401973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004580108803555114,0.013126190563631405,-0.008063431946475496]},{"name":"camera_2","offset_m":[-0.014055201582982369,-0.004435354725286422,0.013696773992008453]},{"name":"camera_3","offset_m":[-0.015034350804726145,-0.005247369675102505,-0.007988760042298164]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001176268945213208,-0.0012110034882538798,0.00017792851701322124],"end_effector_yaw_offset_degrees":0.2308164564790136},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017957952706578206,-0.0002753569617229203,0.000899520670302341],"end_effector_yaw_offset_degrees":0.5628559522174961},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014942192691068082,0.0018525124624570056,0.0009427879876019651],"end_effector_yaw_offset_degrees":-0.05584914550699693}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015754741653271555,-0.0014057734182029457],"position_m":[0.25052452583467283,-0.09590577341820294,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004351663715122069,-0.0009775611293489708],"position_m":[0.3589516637151221,0.06982243887065104,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019340243607412636,0.004985273874462762],"position_m":[0.31593402436074125,0.2530852738744627,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004543485145130315,0.004144051895264236],"position_m":[0.2423565148548697,-0.37455594810473575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac8e1b6730e7c72340dbcf86b0bbefeb50bf2a63a39b6b1ca08ed24bdd7929b8","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7255/tex_ceiling_textures_4443/tex_floor_textures_2055/tex_table_textures_3885/tex_wall_textures_8172","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7664233266708328796,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7664233266708328796,"visual_seed":7664233266708328796,"scene_id":"lab_003","finished_at":"2026-09-02T05:35:53"}
+{"episode_id":"ep_000051","started_at":"2026-09-02T05:35:56","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.48245833840245256,1.4365071986043492,0.71338606911949],"aabb_xy":[[0.4672861691208193,1.421338341676146],[0.49763050768408595,1.4516760555325527]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.12267729457604537,0.10788828477320589,0.71338606911949],"aabb_xy":[[-0.2026772956491657,0.09811023843582145],[-0.042677293502925054,0.11766633111059033]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.5760675261708181,1.0170651962037343,0.71338606911949],"aabb_xy":[[0.5110675251703175,0.9662788310490593],[0.6410675271713185,1.0678515613584092]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.6023125980482777,-0.9023133992070793,0.71338606911949],"aabb_xy":[[0.5848125987701909,-0.9196514992734253],[0.6198125973263646,-0.8849752991407334]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[0.39967447778410015,-1.8318817803256566,0.71338606911949],"aabb_xy":[[0.39156082311072304,-1.8399875967796855],[0.40778813245747725,-1.8237759638716273]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.6388985799900553,-2.0276521304588933,0.71338606911949],"aabb_xy":[[0.6339992876834917,-2.055329049761462],[0.6437978722966187,-1.9999752111563245]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.006263517159919685,-1.373235614459306,0.71338606911949],"aabb_xy":[[-0.06626351741132086,-1.4275169394957705],[0.05373648309148149,-1.3189542894228412]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.1053010006410472,-2.23313166627948,0.71338606911949],"aabb_xy":[[0.08618869328306833,-2.252266445156722],[0.12441330799902606,-2.2139968874022378]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[-0.27407341200316127,-0.2689214684877008,0.71338606911949],"aabb_xy":[[-0.31157341042656156,-0.28208568245553145],[-0.23657341357976086,-0.2557572545198702]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.08014549426542861,-2.118437564827756,0.71338606911949],"aabb_xy":[[-0.144145491567775,-2.162803991795612],[-0.01614549696308222,-2.0740711378598986]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.5694664675767769,1.553778321604987,0.71338606911949],"aabb_xy":[[0.5194664681365811,1.5038103971206704],[0.6194664670169724,1.603746246089303]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.5183054924078359,-0.31380348687061854,0.71338606911949],"aabb_xy":[[-0.5408054929198763,-0.33629534523601684],[-0.49580549189579515,-0.29131162850522013]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.05617773694334616,-1.5739339198626874,0.71338606911949],"aabb_xy":[[0.0348997287998739,-1.6389339221887602],[0.0774557450868184,-1.508933917536614]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.3670531776100321,-1.4189171537057477,0.71338606911949],"aabb_xy":[[0.35116868434470694,-1.4332700940045717],[0.38293767087535724,-1.4045642134069236]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.5983278144070283,-1.186517807001864,0.71338606911949],"aabb_xy":[[0.5333278165253805,-1.237641470708405],[0.6633278122886761,-1.1353941432953232]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.2776188081394183,-0.6861200884109648,0.71338606911949],"aabb_xy":[[0.21361880884525014,-0.7501062287798189],[0.3416188074335866,-0.6221339480421105]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.38660407644572503,-1.0771714318835,0.71338606911949],"aabb_xy":[[-0.3953020387364404,-1.0892964061909747],[-0.3779061141550098,-1.0650464575760252]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[-0.2920235416013755,-2.5295364323885985,0.71338606911949],"aabb_xy":[[-0.32702353987149535,-2.5366105600835867],[-0.25702354333125554,-2.5224623046936103]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.0026364935827384306,-1.942755662786912,0.71338606911949],"aabb_xy":[[-0.019547226019080207,-1.9562278683795264],[0.014274238853603348,-1.9292834571942972]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.5015173040477876,-2.3232670731832497,0.71338606911949],"aabb_xy":[[-0.5715173056500671,-2.3366998663849077],[-0.4315173024455081,-2.3098342799815925]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.3364674903473819,-1.5600323627274164,0.71338606911949],"aabb_xy":[[0.29516294728364584,-1.6240323622955333],[0.3777720334111178,-1.496032363159299]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.5173474093845336,0.5870305741002548,0.71338606911949],"aabb_xy":[[-0.5671641888493684,0.5370305756159515],[-0.46753062991969885,0.6370305725845582]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.6308151599627159,-1.8706108534337722,0.71338606911949],"aabb_xy":[[0.6137130820043478,-1.887717658965042],[0.6479172379210841,-1.8535040479025024]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.5799649624970257,1.726540942889423,0.71338606911949],"aabb_xy":[[-0.6209829058833967,1.6765409422584658],[-0.5389470191106549,1.7765409435203805]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.03905680705445169,1.678297869963194,0.71338606911949],"aabb_xy":[[0.008572556927421537,1.6282978701816984],[0.06954105718148185,1.7282978697446902]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.037843384548228,-1.745787579389761,0.71338606911949],"aabb_xy":[[-0.11784338781224113,-1.7593476116986744],[0.04215661871578513,-1.7322275470808477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879582634779704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8203.png","name":"8203"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8203.png","name":"8203"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5427.png","name":"5427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8424.png","name":"8424"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8536.png","name":"8536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5431.png","name":"5431"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":747.1315998749873,"rotation_z_degrees":157.22608993792852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01389471083450455,-0.017518824620732457,-0.010911622606494049]},{"name":"camera_2","offset_m":[-0.011801126112416762,0.00023008978873306773,0.003688455921630921]},{"name":"camera_3","offset_m":[0.0060085996592123304,-0.01833871625155513,0.018932219726378183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015323240373565086,-0.0015221670325780861,-0.000977486073756635],"end_effector_yaw_offset_degrees":0.20234984855100246},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005343713037796859,0.0005548396369206145,0.0006144177372931418],"end_effector_yaw_offset_degrees":0.309627770567511},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017631256587020633,0.0004515683183805544,0.0016369722610059035],"end_effector_yaw_offset_degrees":-0.04030211456192356}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.000605117216008603,-0.003968193666843785],"position_m":[0.2514948827839914,-0.09846819366684378,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00036761045471173613,0.0022244122159278375],"position_m":[0.35496761045471176,0.07302441221592784,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0003080917594061386,0.00265850337808894],"position_m":[0.31369190824059384,0.2507585033780889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013019635937249873,-0.004621340796138677],"position_m":[0.24820196359372498,-0.38332134079613867,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"594e66d0bca7a815b39406ec782f249fb9c9cf5a8a6830e7f33ce7f59141f59d","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8203/tex_ceiling_textures_5431/tex_floor_textures_8536/tex_table_textures_5427/tex_wall_textures_8424","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6505650360621001677,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6505650360621001677,"visual_seed":6505650360621001677,"scene_id":"lab_003","finished_at":"2026-09-02T05:38:52"}
+{"episode_id":"ep_000052","started_at":"2026-09-02T05:38:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.3400705472852634,1.6165143326876632,0.71338606911949],"aabb_xy":[[0.3319428590919502,1.6076007242769552],[0.34819823547857665,1.6254279410983707]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.5137891283156475,-1.9006654959091918,0.71338606911949],"aabb_xy":[[0.47628912765106873,-1.9163525539094135],[0.5512891289802261,-1.8849784379089691]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.25233560992151016,1.1649798370843487,0.71338606911949],"aabb_xy":[[0.22368627756109388,1.1363342778072727],[0.28098494228192633,1.1936253963614243]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.36585627618633854,0.04389009022381751,0.71338606911949],"aabb_xy":[[-0.3723579126943432,0.03412226819750774],[-0.359354639678334,0.05365791225012728]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.2713587828772325,-0.5037976309651322,0.71338606911949],"aabb_xy":[[0.2625567275682597,-0.5116089571200612],[0.28016083818620513,-0.49598630481020306]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.6199025624378197,-0.8504325794279655,0.71338606911949],"aabb_xy":[[-0.6839025644875517,-0.8905270625172734],[-0.5559025603880877,-0.8103380963386575]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[0.3170177424383145,1.2648157395496278,0.71338606911949],"aabb_xy":[[0.28702607970444416,1.234815740212827],[0.3470094051721848,1.294815738886428]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[-0.0554306703182903,-1.3218764633926539,0.71338606911949],"aabb_xy":[[-0.07532171019863056,-1.3345322746773507],[-0.03553963043795006,-1.309220652107957]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.158666734059276,1.128768160360452,0.71338606911949],"aabb_xy":[[-0.24866673265374595,1.112517574047031],[-0.06866673546480606,1.145018746673873]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.15367827013180968,-1.087517712542768,0.71338606911949],"aabb_xy":[[-0.17867826968354814,-1.0976601964079027],[-0.12867827058007117,-1.0773752286776332]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.22699472564145495,1.3399347008335085,0.71338606911949],"aabb_xy":[[0.2168417100873055,1.303865159260768],[0.23714774119560425,1.3760042424062486]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.13378504867960073,0.1522620623953359,0.71338606911949],"aabb_xy":[[-0.13821567803444093,0.1468136906606533],[-0.12935441932476058,0.1577104341300185]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.1887320868476393,-0.6024966867485677,0.71338606911949],"aabb_xy":[[-0.25273208825563,-0.6542856382724923],[-0.12473208543964866,-0.5507077352246429]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.6696138073862634,0.9714799046889566,0.71338606911949],"aabb_xy":[[0.6519381767976651,0.9537996884095539],[0.6872894379748617,0.9891601209683594]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.44613051053160935,-1.7680548405096461,0.71338606911949],"aabb_xy":[[-0.46399961828606484,-1.781887748486857],[-0.42826140277715385,-1.7542219325324349]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.09192591523386451,1.5678281435759156,0.71338606911949],"aabb_xy":[[-0.10134338980372726,1.5584119664381963],[-0.08250844066400176,1.5772443207136344]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.5343086160709034,-2.217387432310054,0.71338606911949],"aabb_xy":[[0.4543086149977831,-2.2271654786474384],[0.6143086171440237,-2.2076093859726695]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.1974027506292937,-0.6348604221464493,0.71338606911949],"aabb_xy":[[0.18134082317077602,-0.719860423959041],[0.2134646780878113,-0.5498604203338574]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.0363856928598012,1.713816189453064,0.71338606911949],"aabb_xy":[[-0.0286143050218466,1.6626925257465233],[0.10138569074144901,1.764939853159605]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.4649984001906706,1.346096993880883,0.71338606911949],"aabb_xy":[[-0.49999840154215236,1.325737257924062],[-0.4299983988391889,1.3664567298377037]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.32803057619415954,-1.9714301205725513,0.71338606911949],"aabb_xy":[[0.2905305760885666,-1.9782522824255322],[0.3655305762997525,-1.96460795871957]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.48229960924966253,0.2021363906554643,0.71338606911949],"aabb_xy":[[0.46885308261561914,0.18866653900237304],[0.4957461358837058,0.2156062423085555]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.5987215670529302,-1.5502065586720803,0.71338606911949],"aabb_xy":[[0.5347215697672816,-1.5917132776249243],[0.6627215643385789,-1.5086998397192364]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[0.5259854862564219,0.3405893669689415,0.71338606911949],"aabb_xy":[[0.46598548640985515,0.28377074477590275],[0.5859854861029887,0.3974079891619801]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.6043758764598238,-2.33477966608143,0.71338606911949],"aabb_xy":[[-0.6083363602295582,-2.3424475306669508],[-0.6004153926900895,-2.3271118014959096]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844688877072959,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2359.png","name":"2359"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2359.png","name":"2359"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7456.png","name":"7456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2038.png","name":"2038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8742.png","name":"8742"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":515.9845121675165,"rotation_z_degrees":209.25435382603143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011521811699917537,-0.013073528594883147,0.0038069483096274705]},{"name":"camera_2","offset_m":[0.0047892788840822355,0.01661494584592303,0.004657562927362583]},{"name":"camera_3","offset_m":[-0.003514681471361261,0.014884282773804543,-0.016322533593547954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010112383418854978,0.00045691244761050364,-0.0015264367044339564],"end_effector_yaw_offset_degrees":0.23675714454552788},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005616696028541983,0.001777433418241092,-0.000574214482664408],"end_effector_yaw_offset_degrees":0.5177407306035129},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[8.766050946805003e-05,-0.0008272221170464453,-0.0017303123255347761],"end_effector_yaw_offset_degrees":0.9156075101200403}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004114842001349199,0.0009397873179265923],"position_m":[0.24798515799865078,-0.0935602126820734,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039189582682023424,0.004433762074720351],"position_m":[0.3506810417317977,0.07523376207472035,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035663332573130932,0.0029159816504634667],"position_m":[0.3104336667426869,0.25101598165046346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012292230396282688,-0.00213058198265221],"position_m":[0.24567077696037173,-0.3808305819826522,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b5fd7ec6f29dbb6ede0585f443354365bf1128f31b91a5c373d1c01e095288d1","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2359/tex_ceiling_textures_8742/tex_floor_textures_2038/tex_table_textures_4938/tex_wall_textures_7456","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2804241473403590347,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2804241473403590347,"visual_seed":2804241473403590347,"scene_id":"lab_003","finished_at":"2026-09-02T05:41:34"}
+{"episode_id":"ep_000053","started_at":"2026-09-02T05:41:39","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.44328411632064113,-2.388455034222598,0.71338606911949],"aabb_xy":[[-0.5232841195784841,-2.468451542014582],[-0.3632841130627982,-2.308458526430614]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.5341111776691028,-0.670216342154671,0.71338606911949],"aabb_xy":[[0.5259975229957257,-0.6783221586087],[0.5422248323424799,-0.6621105257006419]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.5753487551504,-1.2583985940018536,0.71338606911949],"aabb_xy":[[0.5378487548582251,-1.2624400694024571],[0.6128487554425748,-1.25435711860125]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.6518993053998254,0.419263822735632,0.71338606911949],"aabb_xy":[[0.5918993055532585,0.36244520054259327],[0.7118993052463921,0.47608244492867063]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.21418431037598146,-0.28369087742315635,0.71338606911949],"aabb_xy":[[-0.22159676591736993,-0.2895420878447843],[-0.20677185483459298,-0.2778396670015284]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.5666323105537338,-0.50474805151417,0.71338606911949],"aabb_xy":[[-0.6010947885668214,-0.5114117286970927],[-0.5321698325406459,-0.4980843743312471]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.2170313020377591,1.6583533994412636,0.71338606911949],"aabb_xy":[[-0.26700436757027457,1.608353399628731],[-0.16705823650524365,1.7083533992537967]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.6855554342812586,0.16332858598855937,0.71338606911949],"aabb_xy":[[-0.6896912906139587,0.1258285865442024],[-0.6814195779485583,0.2008285854329164]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.6296865852276994,-0.8526574927792188,0.71338606911949],"aabb_xy":[[0.6232727715845143,-0.859067313026887],[0.6361003988708842,-0.8462476725315503]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.48751071308819144,-0.6297834752959746,0.71338606911949],"aabb_xy":[[-0.5353168807019602,-0.6947834780030335],[-0.4397045454744228,-0.5647834725889156]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.33579373638105764,0.17145960073228883,0.71338606911949],"aabb_xy":[[-0.3898093326629576,0.10745959784003165],[-0.2817781400991576,0.23545960362454596]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.02102084970305851,0.7422580126465044,0.71338606911949],"aabb_xy":[[-0.08102084995445968,0.6879766876100396],[0.03897915054834267,0.7965393376829689]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.6571573826869757,0.6028934705293962,0.71338606911949],"aabb_xy":[[0.6404802466938802,0.586193546555466],[0.6738345186800712,0.6195933945033265]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.6191592810798734,0.7330541041098999,0.71338606911949],"aabb_xy":[[0.5696788598659147,0.669054106197048],[0.6686397022938323,0.7970541020227516]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.2589187793112976,-1.0666314033016409,0.71338606911949],"aabb_xy":[[0.1939187766735041,-1.118111002001088],[0.3239187819490911,-1.0151518046021941]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.10650077249053869,-0.9494702358653229,0.71338606911949],"aabb_xy":[[-0.12901446431399588,-1.0194702364663302],[-0.08398708066708149,-0.8794702352643152]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.35754260895094125,0.9974166742119452,0.71338606911949],"aabb_xy":[[0.33504260843890066,0.9749248158465467],[0.38004260946298185,1.0199085325773434]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.37228111842896916,-0.9107743962815618,0.71338606911949],"aabb_xy":[[0.30728111742846864,-0.9615607614362366],[0.4372811194294697,-0.8599880311268867]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.4874291455613126,-0.8463029276360592,0.71338606911949],"aabb_xy":[[-0.5514291488510207,-0.8896378466399768],[-0.42342914227160444,-0.8029680086321416]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[-0.3571032450968792,-0.4632273156516664,0.71338606911949],"aabb_xy":[[-0.37460324534192857,-0.48072710349123327],[-0.3396032448518298,-0.44572752781209957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890614514841558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1014.png","name":"1014"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1014.png","name":"1014"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6614.png","name":"6614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7880.png","name":"7880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2958.png","name":"2958"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":694.0226176763302,"rotation_z_degrees":54.967724740755436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030160693991748526,-0.0077443189554321015,-0.002726515339699965]},{"name":"camera_2","offset_m":[-0.014970325290718952,-0.015176369349523818,-0.01872472880258787]},{"name":"camera_3","offset_m":[-0.014186201365427479,0.013882786393625394,-0.007506550163999735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009243895870201979,-0.0019484481626704225,-0.00169483893213055],"end_effector_yaw_offset_degrees":-0.42772100815549163},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010309309172021998,0.00017294613054352585,0.0011224065114207702],"end_effector_yaw_offset_degrees":0.9978269628186485},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019042936872017777,0.0013577840197855017,-0.0008152710740797517],"end_effector_yaw_offset_degrees":-0.46886248514168294}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003227766154664231,0.003008524944792929],"position_m":[0.24887223384533577,-0.09149147505520708,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003015224144184598,0.0020528259604559174],"position_m":[0.3576152241441846,0.07285282596045592,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0031563146350247805,0.002376786903925973],"position_m":[0.3171563146350248,0.25047678690392594,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031061415349068486,-0.0039091810735067565],"position_m":[0.25000614153490686,-0.3826091810735067,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"902e33518d7ecc47afd2f5792c68e98cfb451b8253386b237061b39c58caa8d9","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1014/tex_ceiling_textures_2958/tex_floor_textures_7880/tex_table_textures_3026/tex_wall_textures_6614","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6614817067660534093,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6614817067660534093,"visual_seed":6614817067660534093,"scene_id":"lab_003","finished_at":"2026-09-02T05:44:34"}
+{"episode_id":"ep_000054","started_at":"2026-09-02T05:44:38","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.15165242158533299,-0.1968253679463432,0.71338606911949],"aabb_xy":[[-0.16411977969506863,-0.2092906925796667],[-0.13918506347559734,-0.1843600433130197]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.5140674087650525,-0.9174816585380745,0.71338606911949],"aabb_xy":[[0.47906740963509686,-0.9232268796137385],[0.5490674078950082,-0.9117364374624103]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.4669824483021904,1.3064590894068755,0.71338606911949],"aabb_xy":[[-0.478750635096848,1.221459089501654],[-0.45521426150753297,1.391459089312097]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.2842586940652665,1.589959764859929,0.71338606911949],"aabb_xy":[[0.19425869464689555,1.5565842680157393],[0.37425869348363733,1.6233352617041188]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.6547558648321055,-0.059322245645939464,0.71338606911949],"aabb_xy":[[0.6197558648556096,-0.06878686169355608],[0.6897558648086013,-0.04985762959832285]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.5979652752989002,1.0991035927896355,0.71338606911949],"aabb_xy":[[0.5339652767123277,1.0520966293901268],[0.6619652738854727,1.1461105561891443]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.04698748654303808,-1.9000954670992982,0.71338606911949],"aabb_xy":[[-0.10211269217262885,-1.9600954685405851],[0.008137719086552695,-1.8400954656580109]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.486805977017407,-1.2465845997422922,0.71338606911949],"aabb_xy":[[-0.5118059761830401,-1.2535368454476485],[-0.4618059778517739,-1.2396323540369354]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.08033902029496653,-0.6112130495810526,0.71338606911949],"aabb_xy":[[-0.1303390213141018,-0.6476792653188805],[-0.030339019275831262,-0.5747468338432247]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.15916528539293817,-2.47697587520502,0.71338606911949],"aabb_xy":[[0.10417303475742726,-2.531975876948333],[0.21415753602844917,-2.4219758734617076]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.6102209944479794,1.268454980578853,0.71338606911949],"aabb_xy":[[-0.6902209918515727,1.18846240938067],[-0.5302209970443859,1.3484475517770356]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.4510582386063673,-1.6318103103098827,0.71338606911949],"aabb_xy":[[0.41605823941354897,-1.6427773563075454],[0.4860582377991855,-1.62084326431222]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.15947423149554396,0.6904897932832816,0.71338606911949],"aabb_xy":[[-0.2494742279964157,0.6445781508648233],[-0.06947423499467219,0.7364014357017398]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.5171482418266484,-1.306942599815729,0.71338606911949],"aabb_xy":[[0.4996482426922813,-1.3168222268533165],[0.5346482409610156,-1.2970629727781409]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.13291624438376137,0.8836040619632248,0.71338606911949],"aabb_xy":[[0.11581416642539322,0.866497256431955],[0.15001832234212953,0.9007108674944945]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.3486339996679782,1.41707443534635,0.71338606911949],"aabb_xy":[[-0.36208052630202153,1.4036045836932587],[-0.33518747303393487,1.4305442869994414]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.29425856056499755,1.463982823941111,0.71338606911949],"aabb_xy":[[0.28614490589162045,1.455877007487082],[0.30237221523837465,1.47208864039514]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.10295353123391338,-0.9293785428039572,0.71338606911949],"aabb_xy":[[0.05295353087334732,-0.9793585300135599],[0.15295353159447944,-0.879398555594354]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.639224622409357,-1.8230758241586957,0.71338606911949],"aabb_xy":[[0.6179466142658846,-1.8880758264847683],[0.6605026305528291,-1.7580758218326222]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.19450201487284124,1.6569799408509946,0.71338606911949],"aabb_xy":[[-0.23200201553741992,1.6412928828507722],[-0.1570020142082625,1.6726669988512166]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.3176910946180304,-0.9670638026874803,0.71338606911949],"aabb_xy":[[-0.36045780149745055,-1.0310638061092827],[-0.27492438773861017,-0.9030637992656778]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.3442429619906427,0.7840860671004242,0.71338606911949],"aabb_xy":[[-0.3942429633515299,0.7341081625250084],[-0.29424296062975547,0.8340639716758397]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.34451904219845475,-0.9883348582794778,0.71338606911949],"aabb_xy":[[0.302334628037624,-1.052334858556689],[0.3867034563592855,-0.9243348580022666]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.4347459349854326,-2.0873206912972826,0.71338606911949],"aabb_xy":[[-0.4681861101814521,-2.120764317128212],[-0.4013057597894129,-2.0538770654663514]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.34679594986549306,0.18356624388566978,0.71338606911949],"aabb_xy":[[-0.42679595312950613,0.17000621157675644],[-0.26679594660147987,0.19712627619458312]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.43962618786117846,-0.0647812255899729,0.71338606911949],"aabb_xy":[[0.4351955585063383,-0.0702295973246555],[0.44405681721601864,-0.0593328538552903]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[-0.04288956194146487,-1.395878353767876,0.71338606911949],"aabb_xy":[[-0.10688956385380721,-1.4517895030258867],[0.02111043997087747,-1.3399672045098658]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[-0.2724088641866112,0.4294878047796864,0.71338606911949],"aabb_xy":[[-0.3134268075729821,0.3794878041487291],[-0.23139092080024032,0.4794878054106438]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_28","position":[-0.6567536276951651,-2.247895004466246,0.71338606911949],"aabb_xy":[[-0.6647798983257912,-2.2566464994435984],[-0.6487273570645392,-2.239143509488893]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_29","position":[0.42547918185680644,-0.34934574528294027,0.71338606911949],"aabb_xy":[[0.3754791801953117,-0.39934418753864287],[0.4754791835183012,-0.29934730302723744]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[-0.5060340709356469,-1.6903147963890195,0.71338606911949],"aabb_xy":[[-0.5260924825488873,-1.7103798832981771],[-0.4859756593224067,-1.6702497094798623]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_31","position":[-0.31589376638315486,-2.239560379548683,0.71338606911949],"aabb_xy":[[-0.3808937673402821,-2.2915085914823887],[-0.25089376542602765,-2.1876121676149776]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_32","position":[-0.49981492518369974,0.9613839757384568,0.71338606911949],"aabb_xy":[[-0.5496976220613959,0.9113839764921821],[-0.44993222830600355,1.0113839749847315]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_33","position":[0.3890978207634024,0.5367491678548788,0.71338606911949],"aabb_xy":[[0.32750706153940956,0.47274916974583203],[0.4506885799873952,0.6007491659639258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835222094880901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2269.png","name":"2269"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2269.png","name":"2269"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4391.png","name":"4391"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4534.png","name":"4534"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2909.png","name":"2909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3835.png","name":"3835"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":637.3964984712408,"rotation_z_degrees":242.40982932006477,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012650290229325959,-0.001506232489962206,-0.015387050171755892]},{"name":"camera_2","offset_m":[-0.011576989731635795,-0.011450166037932315,-0.017394005305123778]},{"name":"camera_3","offset_m":[0.019627092113555452,0.011414324707338015,0.01924032189884949]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005836074614328337,-0.0010130401235900867,0.001096722140567074],"end_effector_yaw_offset_degrees":0.7582577353632955},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001231624184426099,0.0013318555086807848,-0.00018576922204416443],"end_effector_yaw_offset_degrees":0.10022134396833393},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00022502843960443288,-0.0016138981614005905,0.0014533439554902422],"end_effector_yaw_offset_degrees":0.0009771699514182774}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-2.8983494459709075e-05,-0.0035935707024044375],"position_m":[0.25207101650554026,-0.09809357070240443,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003606733491804852,-0.0017230655657259997],"position_m":[0.3582067334918049,0.069076934434274,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003558453393185672,0.00232665381272946],"position_m":[0.31044154660681433,0.25042665381272944,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003937409323650184,-0.004457925806236007],"position_m":[0.24296259067634982,-0.383157925806236,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eadc2a8c639826863ee044ce0fe0c4e23d4ee5d877e4d3d316e7c082da3a3952","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2269/tex_ceiling_textures_3835/tex_floor_textures_2909/tex_table_textures_4391/tex_wall_textures_4534","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8507885656697694094,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8507885656697694094,"visual_seed":8507885656697694094,"scene_id":"lab_003","finished_at":"2026-09-02T05:47:25"}
+{"episode_id":"ep_000055","started_at":"2026-09-02T05:47:28","dimensions":{"distractor":{"count":30,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[-0.40447896380753523,-0.11702406521483066,0.71338606911949],"aabb_xy":[[-0.48820118930761763,-0.2070240687495266],[-0.3207567383074527,-0.0270240616801347]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.02903259040082451,-1.5268569647873413,0.71338606911949],"aabb_xy":[[-0.06494609482581419,-1.5627704730040957],[0.006880914024165175,-1.4909434565705866]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.48646338401415945,0.41386699072167765,0.71338606911949],"aabb_xy":[[0.4314711333786485,0.3588669889783649],[0.5414556346496704,0.4688669924649905]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.17736576359594158,1.2234958433102365,0.71338606911949],"aabb_xy":[[-0.2623657620133648,1.1386215478479518],[-0.09236576517851838,1.3083701387725217]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.5256766803566209,0.7860667079989359,0.71338606911949],"aabb_xy":[[-0.533670170151903,0.7780685760584605],[-0.5176831905613389,0.7940648399394117]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.5349516423187954,-0.6948197589478566,0.71338606911949],"aabb_xy":[[0.4709516404064531,-0.7507309082058672],[0.5989516442311378,-0.6389086096898463]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.127915356292561,0.5238167329736321,0.71338606911949],"aabb_xy":[[-0.13669658343979724,0.515036985685102],[-0.11913412914532479,0.5325964802621623]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.6041295520958195,-1.9160814139941287,0.71338606911949],"aabb_xy":[[-0.6090855722807008,-1.9385814141962505],[-0.5991735319109385,-1.8935814137920073]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.2699954879904417,1.3714666544491187,0.71338606911949],"aabb_xy":[[0.2586337533371555,1.3600981880428304],[0.2813572226437278,1.3828351208554066]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.6720064082566146,-1.387645761298459,0.71338606911949],"aabb_xy":[[0.6543307776680162,-1.4053259775778617],[0.6896820388452128,-1.3699655450190562]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.5846503981477899,-0.3532505763851641,0.71338606911949],"aabb_xy":[[-0.6486503973175598,-0.40001726350412653],[-0.5206503989780199,-0.30648388926620157]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.4670847563149747,-1.1969275297421273,0.71338606911949],"aabb_xy":[[0.40945428742770373,-1.2569275286688377],[0.5247152252022454,-1.1369275308154165]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.09446068674558883,1.671783326329606,0.71338606911949],"aabb_xy":[[0.04446068809966762,1.6218637826701434],[0.14446068539151002,1.7217028699890682]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.47657927763309205,-1.9620222112706687,0.71338606911949],"aabb_xy":[[-0.4842035457232704,-1.9696554348072124],[-0.4689550095429139,-1.954388987734125]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.1254363354014698,-1.5718237463249363,0.71338606911949],"aabb_xy":[[0.061436332111761714,-1.6151586653288539],[0.18943633869117793,-1.5284888273210187]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.5325468130055693,-0.8826308450988194,0.71338606911949],"aabb_xy":[[0.4952155364803267,-0.9172838998936717],[0.5698780895308119,-0.8479777903039671]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[0.17854244903855632,-1.7780936239131753,0.71338606911949],"aabb_xy":[[0.16729739346793848,-1.7893354216372703],[0.18978750460917415,-1.7668518261890798]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.39941178685055456,-1.7786913125504147,0.71338606911949],"aabb_xy":[[-0.4634117891933561,-1.823632163794547],[-0.335411784507753,-1.733750461306282]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.5792342768406382,0.7504700419651193,0.71338606911949],"aabb_xy":[[0.5297538556266793,0.6864700440522675],[0.6287146980545969,0.8144700398779712]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[0.6261277340071894,0.01274086402763075,0.71338606911949],"aabb_xy":[[0.556127731370603,-0.007364000968234752],[0.6961277366437757,0.03284572902349625]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.7070743521346217,1.339421869774306,0.71338606911949],"aabb_xy":[[0.7017367764686172,1.314421868845166],[0.7124119278006263,1.3644218707034457]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.4873199176284799,-2.1614603689469742,0.71338606911949],"aabb_xy":[[0.4233199169250107,-2.2074787514198957],[0.5513199183319494,-2.1154419864740537]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[-0.48712994181431735,1.1756273719772725,0.71338606911949],"aabb_xy":[[-0.5511256392094139,1.1116273736765636],[-0.4231342444192207,1.239627370277981]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.28267951354364407,-1.3182724272956126,0.71338606911949],"aabb_xy":[[0.2540301811832278,-1.3469179865726884],[0.31132884590406024,-1.2896268680185368]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.0744565942678469,-2.380809312074854,0.71338606911949],"aabb_xy":[[-0.015543402467763312,-2.4339927753921486],[0.1644565910034571,-2.3276258487575596]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[-0.6391525919654563,-0.6672456873275661,0.71338606911949],"aabb_xy":[[-0.645189604966121,-0.6732723883965144],[-0.6331155789647915,-0.661218986258618]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.6110790154477154,-1.1320811934184123,0.71338606911949],"aabb_xy":[[-0.6289481232021709,-1.1459141013956233],[-0.5932099076932599,-1.1182482854412013]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.5564711128088211,0.3350633357166166,0.71338606911949],"aabb_xy":[[-0.6214711109647402,0.3087670911667044],[-0.49147111465290205,0.3613595802665288]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.12721950119656356,-2.499350241988486,0.71338606911949],"aabb_xy":[[0.037219501473389364,-2.5224235945236657],[0.2172195009197377,-2.476276889453306]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.10809649537516552,-1.3468665015810732,0.71338606911949],"aabb_xy":[[-0.12365226478543082,-1.3624169348254804],[-0.09254072596490028,-1.331316068336666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870563017403704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4857.png","name":"4857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4857.png","name":"4857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/31.png","name":"31"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/13.png","name":"13"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4111.png","name":"4111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1606.png","name":"1606"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.1687905683982,"rotation_z_degrees":191.65308764427823,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005787584624201477,-0.014815958148881429,-0.001997638861203011]},{"name":"camera_2","offset_m":[-0.003068499535365237,0.0199919407257293,-0.016543617122263484]},{"name":"camera_3","offset_m":[-0.009933057379610824,-0.004598574131918861,-0.0011454066531751267]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001749853936996712,-0.000630881338169417,0.00015805556677340408],"end_effector_yaw_offset_degrees":-0.49611160511091734},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009126649222313517,0.0017429519297708735,0.0014648390514899034],"end_effector_yaw_offset_degrees":0.44741002879012903},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00018686199538243162,0.0018256538386539206,-0.0006754669599979444],"end_effector_yaw_offset_degrees":0.4824042249355114}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002831053063627381,0.00012074474231285603],"position_m":[0.2492689469363726,-0.09437925525768714,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002482433191931982,-0.002828372071309231],"position_m":[0.35211756680806805,0.06797162792869077,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000757970276029871,0.0037604358115973313],"position_m":[0.31475797027602986,0.25186043581159734,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004037260937796377,0.001125529644894022],"position_m":[0.2509372609377964,-0.37757447035510594,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"24156ebf1f54f1959f3b2e4c461be6381f4a977b1b9076bd378cf01f90559a0f","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4857/tex_ceiling_textures_1606/tex_floor_textures_4111/tex_table_textures_31/tex_wall_textures_13","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":5554061049717525094,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":5554061049717525094,"visual_seed":5554061049717525094,"scene_id":"lab_003","finished_at":"2026-09-02T05:50:09"}
+{"episode_id":"ep_000056","started_at":"2026-09-02T05:50:13","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.44704419363035597,-1.6014513890176514,0.71338606911949],"aabb_xy":[[0.4351721106188549,-1.6864513887113017],[0.45891627664185713,-1.516451389324001]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.30713068433182067,-2.2587558601976276,0.71338606911949],"aabb_xy":[[0.2521306847100748,-2.3137395529851004],[0.3621306839535665,-2.203772167410155]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.5160535642981186,-2.219363270375646,0.71338606911949],"aabb_xy":[[-0.5800535675167564,-2.266086382274654],[-0.4520535610794807,-2.1726401584766375]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.42367993456914405,-0.9063144293594851,0.71338606911949],"aabb_xy":[[-0.4482261501918948,-0.9365633259085222],[-0.3991337189463934,-0.8760655328104481]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.11546677708924646,1.3436483519957454,0.71338606911949],"aabb_xy":[[-0.15296677566486724,1.3309120563321872],[-0.07796677851362564,1.356384647659303]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.1377751326720249,1.6727442655746265,0.71338606911949],"aabb_xy":[[0.12034441759301838,1.6554721509107755],[0.15520584775103138,1.6900163802384771]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.27919491118982576,-0.6848199700621718,0.71338606911949],"aabb_xy":[[-0.34919491299857125,-0.7061737388263591],[-0.20919490938108037,-0.6634662012979844]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[0.6351684826536153,-0.2088687613275213,0.71338606911949],"aabb_xy":[[0.5873623150398466,-0.27386876403458027],[0.6829746502673839,-0.14386875862046233]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.5258567928836443,-1.720867354245848,0.71338606911949],"aabb_xy":[[-0.5633567933810025,-1.7248360377939667],[-0.48835679238628604,-1.7168986706977296]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.3150333590948133,0.6813935848676871,0.71338606911949],"aabb_xy":[[-0.34003335826044634,0.6744413391623305],[-0.2900333599291801,0.6883458305730437]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.5945087094891822,-0.8000181996841409,0.71338606911949],"aabb_xy":[[-0.644508709065517,-0.8499987786362468],[-0.5445087099128476,-0.750037620732035]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.2650597537153221,-1.9533736319800292,0.71338606911949],"aabb_xy":[[0.21508233685006847,-2.0033736334692773],[0.3150371705805756,-1.9033736304907805]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.3246897458103152,0.27724142917430417,0.71338606911949],"aabb_xy":[[-0.3355302240368301,0.26005514788365536],[-0.3138492675838003,0.294427710464953]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.3848921109849678,-0.5409627530289325,0.71338606911949],"aabb_xy":[[-0.40739211050867513,-0.5634587004795533],[-0.3623921114612603,-0.5184668055783117]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.390948071810085,-0.8092073291075446,0.71338606911949],"aabb_xy":[[-0.40219312738070284,-0.8204491268316398],[-0.3797030162394672,-0.7979655313834493]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.32536328637158785,1.0871862183065484,0.71338606911949],"aabb_xy":[[-0.3853632880145097,1.0351860690146042],[-0.265363284728666,1.1391863675984926]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[0.5256222746923178,0.2381096112682961,0.71338606911949],"aabb_xy":[[0.4456284511137597,0.15810960867545454],[0.6056160982708761,0.3181096138611377]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.30807210872709134,-1.9505303151289533,0.71338606911949],"aabb_xy":[[-0.3730721072841642,-1.9802828485428359],[-0.2430721101700185,-1.9207777817150706]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.3386064274994234,0.9200498860360913,0.71338606911949],"aabb_xy":[[0.30414394948633555,0.9133862088531685],[0.3730689055125111,0.9267135632190141]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.6467842907826334,-1.5366595938685566,0.71338606911949],"aabb_xy":[[-0.6642842900607203,-1.5539976939349025],[-0.6292842915045466,-1.5193214938022106]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.06905553962985811,-1.8392712104022562,0.71338606911949],"aabb_xy":[[-0.08684904656477455,-1.8570709559980538],[-0.05126203269494167,-1.8214714648064585]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.5325124489752229,-1.067975531792545,0.71338606911949],"aabb_xy":[[0.4525124457173799,-1.147972039584529],[0.6125124522330658,-0.987979024000561]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[0.5044453607725454,0.40905048226698426,0.71338606911949],"aabb_xy":[[0.4694453607960495,0.3995858662193676],[0.5394453607490411,0.4185150983146008]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.16689356729713245,-1.3200835059262734,0.71338606911949],"aabb_xy":[[-0.1756747944443687,-1.328863253214804],[-0.15811234014989625,-1.3113037586377438]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.18165991467952436,0.44784296079772545,0.71338606911949],"aabb_xy":[[-0.24565991796923248,0.40450804179380784],[-0.11765991138981625,0.49117787980164307]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.6489286506467125,-1.6567815476463545,0.71338606911949],"aabb_xy":[[0.6154884754506927,-1.6902251734772842],[0.682368825842732,-1.623337921815424]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[0.2210452665912498,1.1073225544792074,0.71338606911949],"aabb_xy":[[0.14104526918765636,1.0273299832810243],[0.3010452639948432,1.18731512567739]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.1531971218408792,-1.144788349854096,0.71338606911949],"aabb_xy":[[0.11756796594091945,-1.1804210166109492],[0.18882627774083893,-1.1091556830972433]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[0.22895017068324752,1.6202622049966107,0.71338606911949],"aabb_xy":[[0.21145023724926415,1.6027622050763761],[0.2464501041172309,1.6377622049168452]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[-0.0334102271999962,1.0920706429065983,0.71338606911949],"aabb_xy":[[-0.093410228060809,1.0406442129001117],[0.026589773660816603,1.1434970729130844]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_30","position":[0.238978929463312,-0.8447273568622067,0.71338606911949],"aabb_xy":[[0.17397893158166422,-0.8958510205687477],[0.3039789273449598,-0.7936036931556659]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_31","position":[-0.13611903672863834,-2.508488118091002,0.71338606911949],"aabb_xy":[[-0.18610198691611768,-2.558488117733562],[-0.08613608654115902,-2.4584881184484413]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_32","position":[0.6986314734146042,-0.0742114257556441,0.71338606911949],"aabb_xy":[[0.6854005278799228,-0.0874388447776435],[0.7118624189492854,-0.060984006733644666]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_33","position":[0.27530529056452835,1.8124450045461038,0.71338606911949],"aabb_xy":[[0.23780529045893536,1.8056228426931225],[0.31280529067012125,1.8192671663990847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6830301374947811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5048.png","name":"5048"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5048.png","name":"5048"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3383.png","name":"3383"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9709.png","name":"9709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5437.png","name":"5437"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/52.png","name":"52"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":752.351633441843,"rotation_z_degrees":158.5503448409752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005691357883869371,-0.0010884803427322516,0.0029297900400020345]},{"name":"camera_2","offset_m":[0.002142137258349712,0.015593598635500899,-0.0032660194926079425]},{"name":"camera_3","offset_m":[-0.018645935034083908,-0.004615974731501278,-0.003265650421203411]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001753253064664484,0.0018457785466812018,0.0009896796971044335],"end_effector_yaw_offset_degrees":0.4226810149150144},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00022475166016957724,0.001607813412660104,0.0017300277960056367],"end_effector_yaw_offset_degrees":-0.14482849891151206},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004073434063246366,-0.001221241669714938,-0.0009495824773632373],"end_effector_yaw_offset_degrees":-0.08865297792534044}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002019102008825281,-0.0017012126656715822],"position_m":[0.2500808979911747,-0.09620121266567158,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035581306505156176,-0.0013755718144231833],"position_m":[0.3510418693494844,0.06942442818557681,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002668665356746483,-0.002615490680427307],"position_m":[0.3166686653567465,0.2454845093195727,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009042809634205451,0.0036890882275874325],"position_m":[0.24780428096342055,-0.3750109117724125,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"91f1ea509ff916993e3290ea94b8df6cdf00f053ba6f4788150509d0dc9c70cd","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5048/tex_ceiling_textures_52/tex_floor_textures_5437/tex_table_textures_3383/tex_wall_textures_9709","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2039388245300545567,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2039388245300545567,"visual_seed":2039388245300545567,"scene_id":"lab_003","finished_at":"2026-09-02T05:52:53"}
+{"episode_id":"ep_000057","started_at":"2026-09-02T05:52:56","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.5113420481317867,0.436121147461634,0.71338606911949],"aabb_xy":[[0.43134205072819326,0.3561285762634511],[0.5913420455353801,0.5161137186598167]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.622430525651201,0.047120794564493806,0.71338606911949],"aabb_xy":[[0.5584305237388587,-0.008790354693516626],[0.6864305275635434,0.10303194382250425]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.5637075458359673,1.2433405724598616,0.71338606911949],"aabb_xy":[[-0.5671482220760246,1.2394791394854972],[-0.5602668695959102,1.247202005434226]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.3097174674341284,-2.230903532926182,0.71338606911949],"aabb_xy":[[-0.3575236350478971,-2.295903535633241],[-0.26191129982035977,-2.165903530219123]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.22785686560823815,-1.1483599622210716,0.71338606911949],"aabb_xy":[[0.21230109619797294,-1.163910395465479],[0.24341263501850346,-1.1328095289766646]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.5112943905073972,1.5375475403769223,0.71338606911949],"aabb_xy":[[-0.5653099867892971,1.4735475374846652],[-0.4572787942254971,1.6015475432691795]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.049567755524137835,-2.2266161949675602,0.71338606911949],"aabb_xy":[[-0.11356775881384594,-2.2699511139714774],[0.014432247765570281,-2.183281275963642]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.5553863368166079,-2.3845066193168343,0.71338606911949],"aabb_xy":[[0.5362740294586291,-2.403641398194076],[0.5744986441745868,-2.365371840439592]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.4136836491413072,-0.37504182600511227,0.71338606911949],"aabb_xy":[[0.40277787305374446,-0.4550418224039413],[0.4245894252288699,-0.295041829606283]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.5442979783279756,-0.383405412753397,0.71338606911949],"aabb_xy":[[0.5217988426017486,-0.40590541353166004],[0.5667971140542025,-0.3609054119751341]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.38569874873415555,-1.0207521265902844,0.71338606911949],"aabb_xy":[[-0.39201084827049404,-1.026519065843503],[-0.37938664919781717,-1.0149851873370652]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.4133784801233903,-0.8085217351010747,0.71338606911949],"aabb_xy":[[-0.4352682277123311,-0.8985217323903237],[-0.3914887325344495,-0.7185217378118255]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.13669619306962688,1.7387021972741548,0.71338606911949],"aabb_xy":[[-0.21669619172651292,1.7241973383498919],[-0.0566961944127409,1.7532070561984177]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.026561459360309847,1.0063468831916018,0.71338606911949],"aabb_xy":[[-0.043663537318678,0.9892400776603321],[-0.009459381401941691,1.0234536887228716]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.44101202108469967,-2.463407248757372,0.71338606911949],"aabb_xy":[[-0.44970998337541496,-2.475532223064847],[-0.4323140587939844,-2.4512822744498974]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.36433997505864585,-2.4911601374852004,0.71338606911949],"aabb_xy":[[-0.368770604413486,-2.4966085092198833],[-0.35990934570380567,-2.4857117657505183]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.4443111919008259,0.4509662675443691,0.71338606911949],"aabb_xy":[[-0.5043111917473927,0.3941476453513304],[-0.3843111920542591,0.5077848897374078]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.5943967489265956,-1.2973261895879595,0.71338606911949],"aabb_xy":[[0.5743383373133553,-1.3173912764971172],[0.6144551605398358,-1.2772611026788023]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.6553523890533939,-1.697051184602893,0.71338606911949],"aabb_xy":[[0.6218732217923529,-1.730530297974],[0.6888315563144348,-1.663572071231786]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.5519510084375023,1.4617210761573856,0.71338606911949],"aabb_xy":[[0.5454493719294978,1.4519532541310758],[0.5584526449455071,1.4714888981836953]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.5191126005166364,-0.7776624867370849,0.71338606911949],"aabb_xy":[[0.4691125994975013,-0.814128702474913],[0.5691126015357718,-0.741196270999257]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.3676080669572812,0.9442074080624843,0.71338606911949],"aabb_xy":[[0.3563630113866633,0.9329656103383889],[0.378853122527899,0.9554492057865794]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.10520044631363556,1.536850364229434,0.71338606911949],"aabb_xy":[[0.08740693937871911,1.5190506186336366],[0.12299395324855199,1.5546501098252319]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[0.4908113298018584,0.2870344559156832,0.71338606911949],"aabb_xy":[[0.46629770570485246,0.2627698626136467],[0.5153249538988642,0.3112990492177196]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[0.01582291357538812,1.1605248989969215,0.71338606911949],"aabb_xy":[[-0.03415038042787233,1.110524898442374],[0.06579620757864857,1.2105248995514686]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[0.48188276187287005,1.5444961463927664,0.71338606911949],"aabb_xy":[[0.3968827631807954,1.5125102829978876],[0.5668827605649447,1.5764820097876453]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[0.32354467779760077,1.2691583011067302,0.71338606911949],"aabb_xy":[[0.2595446770941315,1.2231399186338094],[0.3875446785010702,1.3151766835796515]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.24530048871763838,1.6572765744210645,0.71338606911949],"aabb_xy":[[-0.2651915285979787,1.644620763136368],[-0.2254094488372982,1.6699323857057617]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[0.3369100460243959,-2.3565716178881755,0.71338606911949],"aabb_xy":[[0.25691004386163335,-2.4365268015143187],[0.4169100481871583,-2.2766164342620314]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[-0.6131552431167643,-1.3457319575625757,0.71338606911949],"aabb_xy":[[-0.6629720225815992,-1.395731956046879],[-0.5633384636519296,-1.2957319590782723]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_30","position":[0.1214384205001312,-2.502964886395741,0.71338606911949],"aabb_xy":[[0.06143841963931839,-2.5543913164022274],[0.18143842136094399,-2.451538456389254]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_31","position":[-0.26973653705951045,0.6685449654262814,0.71338606911949],"aabb_xy":[[-0.3337365392799174,0.6241718813009931],[-0.20573653483910337,0.7129180495515697]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683092201793816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8413.png","name":"8413"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/398.png","name":"398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9026.png","name":"9026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8197.png","name":"8197"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":514.9113625975576,"rotation_z_degrees":215.96827522204694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014323019509779251,0.00536484127751586,-0.016870342644748116]},{"name":"camera_2","offset_m":[-0.0032987038516939307,0.011807411708385545,0.015988991843997036]},{"name":"camera_3","offset_m":[-0.002401894403959822,-0.001474642674139385,0.006031817258122983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009348091915857971,0.001336379351556029,0.0016867618837942402],"end_effector_yaw_offset_degrees":-0.2735017942246527},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019358172531316426,0.00014750093728423293,0.001966179128108375],"end_effector_yaw_offset_degrees":0.8279173138433267},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013568790581072465,7.803497988754377e-05,0.0014393279543893404],"end_effector_yaw_offset_degrees":0.4126731253546878}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-2.1109105297025497e-05,-0.0008807924305888589],"position_m":[0.252078890894703,-0.09538079243058886,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003159481414540747,0.004187666807041731],"position_m":[0.3577594814145408,0.07498766680704173,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0038553334513229927,0.003374112427007434],"position_m":[0.317855333451323,0.2514741124270074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.977308994234789e-05,0.0023546265929568957],"position_m":[0.24699977308994236,-0.3763453734070431,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0505db26484141829c448eea144889902d956b20c0b8364e4331b6c0a659ba41","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7844/tex_ceiling_textures_8197/tex_floor_textures_9026/tex_table_textures_8413/tex_wall_textures_398","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1257348462156039594,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1257348462156039594,"visual_seed":1257348462156039594,"scene_id":"lab_003","finished_at":"2026-09-02T05:55:39"}
+{"episode_id":"ep_000058","started_at":"2026-09-02T05:55:42","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.02529139604644437,1.6084106253623767,0.71338606911949],"aabb_xy":[[-0.06659593911018036,1.5444106257942594],[0.01601314701729162,1.6724106249304935]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.44527010879619233,-0.6872440990218764,0.71338606911949],"aabb_xy":[[-0.4533977969895056,-0.6961577074325842],[-0.43714242060287917,-0.6783304906111689]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[0.648972026983375,-1.145184992217969,0.71338606911949],"aabb_xy":[[0.593998304947042,-1.2001849917822023],[0.7039457490197077,-1.090184992653736]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.4127730635160979,0.9435257424822776,0.71338606911949],"aabb_xy":[[-0.47677306062820357,0.894493372687867],[-0.3487730664039922,0.9925581122766882]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.24128117360780754,-2.1622054464780573,0.71338606911949],"aabb_xy":[[0.21628117367528962,-2.1690881146989804],[0.26628117354032543,-2.1553227782571343]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.6510659046142753,-2.314688506692115,0.71338606911949],"aabb_xy":[[0.6466352752594352,-2.3201368784267973],[0.6554965339691156,-2.3092401349574323]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.050786448226578185,-2.4178168265734117,0.71338606911949],"aabb_xy":[[-0.11078644986950004,-2.469816975865356],[0.009213553416343667,-2.3658166772814675]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.575429459232676,-1.0690086301936759,0.71338606911949],"aabb_xy":[[-0.635429459484077,-1.1232899552301403],[-0.5154294589812747,-1.014727305157211]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.5958451051681558,-1.5486595641332728,0.71338606911949],"aabb_xy":[[-0.6458382172773478,-1.5986595648074686],[-0.545851993058964,-1.4986595634590771]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.577632664764258,0.9372033482919622,0.71338606911949],"aabb_xy":[[-0.6277301287453316,0.8732033477821504],[-0.5275352007831844,1.001203348801774]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.5110501419159645,1.397346239508812,0.71338606911949],"aabb_xy":[[0.473550141123969,1.3909783985506219],[0.5485501427079599,1.4037140804670023]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.30811109248243546,0.7740828265263149,0.71338606911949],"aabb_xy":[[-0.3881110946451979,0.6941276429001713],[-0.22811109031967292,0.8540380101524585]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[0.20236004109555872,1.1559998760722383,0.71338606911949],"aabb_xy":[[0.14472957220828786,1.0959998771455275],[0.2599905099828296,1.2159998749989487]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.699315814900723,1.038228450511319,0.71338606911949],"aabb_xy":[[0.6804314311322128,1.019342525730966],[0.7182001986692332,1.0571143752916716]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.3585477802653114,-0.7485048737930147,0.71338606911949],"aabb_xy":[[0.3045321839834114,-0.8125048766852717],[0.4125633765472114,-0.6845048709007574]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.08473430273468618,0.12229995346336509,0.71338606911949],"aabb_xy":[[-0.14473430324253908,0.06545321977744377],[-0.024734302226833257,0.17914668714928636]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.5308079736495571,-0.08463420757730011,0.71338606911949],"aabb_xy":[[-0.5718259170359279,-0.13463420820825744],[-0.4897900302631861,-0.03463420694634278]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[0.5703083335247945,-1.810550497096302,0.71338606911949],"aabb_xy":[[0.5368291662637537,-1.8440296104674094],[0.6037875007858355,-1.7770713837251955]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.6426363180452328,-2.1831406364374333,0.71338606911949],"aabb_xy":[[0.5786363207428864,-2.2275070634052896],[0.7066363153475792,-2.138774209469576]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.4373713906129937,0.8341273578282817,0.71338606911949],"aabb_xy":[[0.37737139076642684,0.777308735635243],[0.4973713904595604,0.8909459800213204]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.035961562946657866,1.1986904001961771,0.71338606911949],"aabb_xy":[[-0.11596156153397728,1.119374798258016],[0.04403843564066156,1.2780060021343378]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.5597383176455812,-1.5081522227283564,0.71338606911949],"aabb_xy":[[0.4897383150089948,-1.5282570877242219],[0.6297383202821675,-1.4880473577324909]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.4003048254808046,-1.2049996638761276,0.71338606911949],"aabb_xy":[[0.3617591326556035,-1.243545434932316],[0.4388505183060056,-1.1664538928199386]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[0.5153991287563313,-0.07174162650184401,0.71338606911949],"aabb_xy":[[0.49628682139835245,-0.09087640537908603],[0.5345114361143102,-0.05260684762460199]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887682388471663,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1659.png","name":"1659"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1659.png","name":"1659"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3471.png","name":"3471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1796.png","name":"1796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3640.png","name":"3640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9488.png","name":"9488"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":526.125522921799,"rotation_z_degrees":39.03515618134706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0067351232469491686,-0.018672656721923704,4.912708430491325e-05]},{"name":"camera_2","offset_m":[-0.0008820260013340381,-0.0015645649269988259,0.012473480153612718]},{"name":"camera_3","offset_m":[-0.008675687340774282,0.007167920489416741,-0.012838538113160408]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001067301375146826,-0.0010826195657929088,0.00017260253586232283],"end_effector_yaw_offset_degrees":0.9180825813918563},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008138326037590354,-9.2038016233062e-05,-0.0016884297267771315],"end_effector_yaw_offset_degrees":-0.6348446188496206},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006822270203851667,-0.0007388008947017237,0.0017282138155641567],"end_effector_yaw_offset_degrees":-0.7251796488073123}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036074733652487322,-0.000937223200288162],"position_m":[0.24849252663475127,-0.09543722320028816,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001127303691126793,0.004938514470854599],"position_m":[0.35347269630887324,0.0757385144708546,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003550281303917802,-0.0012851987270435872],"position_m":[0.3175502813039178,0.2468148012729564,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026837505038909597,-0.0040136371831235845],"position_m":[0.24958375050389098,-0.38271363718312357,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7fb5ea82cf7cfc7d2a2f65187faf4aa839013bc04a2fc9d12170fe7b949ac3ed","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1659/tex_ceiling_textures_9488/tex_floor_textures_3640/tex_table_textures_3471/tex_wall_textures_1796","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7467750354733005994,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7467750354733005994,"visual_seed":7467750354733005994,"scene_id":"lab_003","finished_at":"2026-09-02T05:58:22"}
+{"episode_id":"ep_000059","started_at":"2026-09-02T05:58:25","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.1720408557335369,1.8210813858000559,0.71338606911949],"aabb_xy":[[0.13454085578977046,1.8127882957652193],[0.20954085567730327,1.8293744758348924]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.47183654950589893,1.709820721131115,0.71338606911949],"aabb_xy":[[0.46362200439021484,1.7011441308334732],[0.4800510946215828,1.7184973114287558]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.5431447727478753,-2.378139957060321,0.71338606911949],"aabb_xy":[[0.48314477215185914,-2.432952429605545],[0.6031447733438915,-2.323327484515098]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.6161803085346428,1.0089033745418723,0.71338606911949],"aabb_xy":[[-0.6530308564716305,0.9714033737188386],[-0.5793297605976553,1.046403375364906]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.2576566704605806,-2.4379998762826016,0.71338606911949],"aabb_xy":[[0.24007836827163376,-2.455574365856706],[0.27523497264952745,-2.420425386708496]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.010056203104192973,1.1560098831737284,0.71338606911949],"aabb_xy":[[-0.012859509780856931,1.1331055860373052],[0.03297191598924288,1.1789141803101522]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.5849366670105391,1.1371569287177121,0.71338606911949],"aabb_xy":[[0.5351198875457043,1.0871569302334088],[0.6347534464753738,1.1871569272020155]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.19692217391169498,1.0268938784624075,0.71338606911949],"aabb_xy":[[-0.22075839155230007,0.9368938776539211],[-0.1730859562710899,1.116893879270894]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.5170470700290801,-1.9520673281566263,0.71338606911949],"aabb_xy":[[0.5096346144876917,-1.9579185385782543],[0.5244595255704686,-1.9462161177349984]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.4811239177628309,-0.5014794310209925,0.71338606911949],"aabb_xy":[[-0.5611239180364378,-0.5744289788467092],[-0.40112391748922394,-0.4285298831952758]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.067682270932789,-0.7923959998478536,0.71338606911949],"aabb_xy":[[0.045185849498924915,-0.814895999654601],[0.09017869236665312,-0.7698960000411061]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.532777505031422,1.4184771425081846,0.71338606911949],"aabb_xy":[[-0.5877707163685587,1.363477142169391],[-0.4777842936942852,1.4734771428469782]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.42385851102333605,0.5853019590265052,0.71338606911949],"aabb_xy":[[-0.4279744611354087,0.5811864039936596],[-0.4197425609112634,0.5894175140593507]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.36460704727179016,1.7323798549511422,0.71338606911949],"aabb_xy":[[-0.4286070465659583,1.668393714582288],[-0.3006070479776219,1.7963659953199964]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.08394223841290949,1.5000639430447422,0.71338606911949],"aabb_xy":[[0.04644223722811667,1.4956457203486817],[0.12144223959770226,1.5044821657408027]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.2502567065925344,-1.5204904354827224,0.71338606911949],"aabb_xy":[[0.17026288301397619,-1.6004904380755638],[0.3302505301710926,-1.4404904328898807]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[0.35692074580454203,0.9806071204448545,0.71338606911949],"aabb_xy":[[0.27692074254052884,0.9670470881359412],[0.4369207490685551,0.9941671527537679]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.28862008446092935,-0.7599237822718763,0.71338606911949],"aabb_xy":[[0.28135883689052194,-0.7727107925353857],[0.29588133203133676,-0.7471367720083667]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.27467305640523004,-0.1839125656660765,0.71338606911949],"aabb_xy":[[-0.3081132316012496,-0.21735619149700652],[-0.2412328812092104,-0.15046893983514636]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.24328142684769305,-0.8567187492223622,0.71338606911949],"aabb_xy":[[0.20578142842429267,-0.8698829631901926],[0.2807814252710934,-0.8435545352545314]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.6212811762912047,0.6418728171663131,0.71338606911949],"aabb_xy":[[-0.6388278712073238,0.6043728156020617],[-0.6037344813750859,0.6793728187305642]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.06075915792721476,-1.7387820031714867,0.71338606911949],"aabb_xy":[[0.030274907800184596,-1.7887820029529826],[0.09124340805424491,-1.6887820033899907]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.34261038007457395,-1.670454628085595,0.71338606911949],"aabb_xy":[[-0.35928751606766945,-1.6871545520595252],[-0.32593324408147845,-1.6537547041116647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826901079964137,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/443.png","name":"443"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/443.png","name":"443"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3002.png","name":"3002"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9284.png","name":"9284"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4727.png","name":"4727"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/42.png","name":"42"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":769.2653160658044,"rotation_z_degrees":303.7034625547416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01104892218580917,-0.0019064602087004098,-0.0010518881394850285]},{"name":"camera_2","offset_m":[0.004184094423941836,-0.002963643072596476,0.00028206440246912254]},{"name":"camera_3","offset_m":[-0.01859177568824615,-0.01588335028081503,-0.004170859793342373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008092382339264744,-0.00017109097369275624,0.001295128692761413],"end_effector_yaw_offset_degrees":0.8231273737691434},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00037253141435606547,0.0011462475146964421,-0.0005623832532694114],"end_effector_yaw_offset_degrees":-0.19316723387667367},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016649021535314365,0.001181160496492179,0.0006627818882783817],"end_effector_yaw_offset_degrees":-0.4309510436609765}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00471478215309008,-0.004196945662662361],"position_m":[0.24738521784690992,-0.09869694566266236,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006880211737614597,-0.004799312452438621],"position_m":[0.3539119788262386,0.06600068754756139,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0046097385014848774,0.0005472491893072518],"position_m":[0.3186097385014849,0.24864724918930725,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010669109353641905,0.004556838689077836],"position_m":[0.2479669109353642,-0.3741431613109221,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"17bcae93e295f1530bb5f49469fbb8bd40816a7ebc40fef74ead2a1f3d3664ed","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_443/tex_ceiling_textures_42/tex_floor_textures_4727/tex_table_textures_3002/tex_wall_textures_9284","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1357716094400249070,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1357716094400249070,"visual_seed":1357716094400249070,"scene_id":"lab_003","finished_at":"2026-09-02T06:01:04"}
+{"episode_id":"ep_000060","started_at":"2026-09-02T06:01:07","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.3293935115955669,-1.8874447896489595,0.71338606911949],"aabb_xy":[[-0.36689351017118765,-1.9001810853125176],[-0.29189351301994604,-1.8747084939854017]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.5525424550383216,-1.843962986033477,0.71338606911949],"aabb_xy":[[0.5452601386616578,-1.9339629896429855],[0.5598247714149851,-1.7539629824239675]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.6130736345543158,-0.33494135212578957,0.71338606911949],"aabb_xy":[[-0.6171517924613658,-0.3390223323740529],[-0.6089954766472662,-0.33086037187752626]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.19573833421839382,-2.0908530464572808,0.71338606911949],"aabb_xy":[[-0.2757383374762368,-2.1708495542492647],[-0.11573833096055083,-2.010856538665297]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.3452690199250122,-0.684556734527626,0.71338606911949],"aabb_xy":[[-0.40926902314365005,-0.7312798464266344],[-0.28126901670637433,-0.6378336226286176]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.21741797332934448,1.2043945672492948,0.71338606911949],"aabb_xy":[[-0.25119353252003745,1.19035607203613],[-0.1836424141386515,1.2184330624624597]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.11634505120384209,-1.2681973511774354,0.71338606911949],"aabb_xy":[[0.1055045729773272,-1.2853836324680838],[0.127185529430357,-1.2510110698867865]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.04639626727160773,1.1731631368453854,0.71338606911949],"aabb_xy":[[-0.11039626369892963,1.125993513023289],[0.017603729155714176,1.2203327606674819]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.4138215790798594,1.501106209282249,0.71338606911949],"aabb_xy":[[-0.46370427595755564,1.4511062100359742],[-0.3639388822021632,1.5511062085285239]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.5334830186337824,-1.009953805873207,0.71338606911949],"aabb_xy":[[0.4836662391689477,-1.05995380435751],[0.5832997980986172,-0.9599538073889033]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.3974305082187648,1.798636217257942,0.71338606911949],"aabb_xy":[[0.3799305079737154,1.781136429418375],[0.4149305084638142,1.8161360050975086]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.3773554249259557,-0.10409592429852443,0.71338606911949],"aabb_xy":[[-0.39436552221600635,-0.12023041279679834],[-0.36034532763590504,-0.0879614358002505]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.5560814690519257,-2.440106513556975,0.71338606911949],"aabb_xy":[[-0.6038876366656943,-2.505106516264034],[-0.508275301438157,-2.375106510849916]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.05638266740481879,0.9174879376674925,0.71338606911949],"aabb_xy":[[-0.09388266751041173,0.9106657758145112],[-0.018882667299225827,0.9243100995204735]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.45073911868034733,-0.5410030910899035,0.71338606911949],"aabb_xy":[[-0.46230809942728385,-0.5660030912068352],[-0.4391701379334107,-0.5160030909729718]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.15932556939457398,-1.2603627569341465,0.71338606911949],"aabb_xy":[[-0.166365879328111,-1.3403627563338179],[-0.15228525946103702,-1.180362757534475]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.3061686059918669,0.5021725719016392,0.71338606911949],"aabb_xy":[[0.28906652803349875,0.48506576637036947],[0.32327068395023506,0.519279377432909]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[0.002841329319780206,-1.7259087257406744,0.71338606911949],"aabb_xy":[[-0.04232998852838877,-1.789908722885213],[0.04801264716794919,-1.6619087285961363]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.36856075206639216,0.6627948520847791,0.71338606911949],"aabb_xy":[[-0.458560751484763,0.6294193552405893],[-0.2785607526480212,0.6961703489289688]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.5424871601638912,-1.3746011014163881,0.71338606911949],"aabb_xy":[[-0.5874871616301202,-1.419600958277869],[-0.49748715869766247,-1.3296012445549077]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.05722198188900829,-0.9306628064297402,0.71338606911949],"aabb_xy":[[-0.061182465658742656,-0.9383306710152609],[-0.05326149811927391,-0.9229949418442197]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.6504366578561258,-1.007144357786999,0.71338606911949],"aabb_xy":[[0.6282641308794751,-1.029320024943122],[0.6726091848327768,-0.9849686906308758]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.09050528637729471,0.7815177280173309,0.71338606911949],"aabb_xy":[[-0.12482156355191264,0.731517728044153],[-0.05618900920267676,0.8315177279905085]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.2612743166307431,-0.9227471900911111,0.71338606911949],"aabb_xy":[[0.2524930894835069,-0.9315269373796413],[0.27005554377797936,-0.913967442802581]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.23218052641071318,-0.14894562084433938,0.71338606911949],"aabb_xy":[[-0.2861961226926132,-0.21294562373659653],[-0.17816493012881318,-0.08494561795208222]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.23049618589459486,1.4622100587340419,0.71338606911949],"aabb_xy":[[0.21802882778485927,1.4497447341007186],[0.24296354400433057,1.4746753833673656]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.3314173761281227,0.7908417151634035,0.71338606911949],"aabb_xy":[[0.3069037520311169,0.7665771218613672],[0.35593100022512864,0.8151063084654401]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.3007843299808006,-2.3691389693755633,0.71338606911949],"aabb_xy":[[-0.38078433324481376,-2.3826990016844767],[-0.2207843267167875,-2.35557893706665]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[-0.6655797490336477,0.2986043321600831,0.71338606911949],"aabb_xy":[[-0.673503029272396,0.27610433192207967],[-0.6576564687948994,0.3211043323980864]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[0.19845008097674044,0.7140828364917824,0.71338606911949],"aabb_xy":[[0.18521913544205912,0.7008554174697829],[0.2116810265114217,0.7273102555137817]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_30","position":[0.1271695132368983,-1.5176366062342552,0.71338606911949],"aabb_xy":[[0.07217630189976156,-1.5726366065730488],[0.18216272457403507,-1.4626366058954614]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[0.31591481171992464,-2.1626992503889486,0.71338606911949],"aabb_xy":[[0.251914809377123,-2.207640101633081],[0.37991481406272615,-2.117758399144816]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_32","position":[-0.4423287709891882,-1.7237947741136161,0.71338606911949],"aabb_xy":[[-0.464218518578129,-1.8137947714028653],[-0.4204390234002474,-1.633794776824367]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_33","position":[0.23075428108092788,-1.831712975081445,0.71338606911949],"aabb_xy":[[0.197275113819887,-1.8651920884525524],[0.2642334483419689,-1.7982338617103384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6852124890542238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1074.png","name":"1074"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1074.png","name":"1074"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6847.png","name":"6847"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2576.png","name":"2576"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8867.png","name":"8867"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7960.png","name":"7960"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":569.5175847796875,"rotation_z_degrees":61.21534854557687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012714347613250142,-0.012650066583733004,0.002138384417988623]},{"name":"camera_2","offset_m":[-0.0030745974974168318,-0.00885845560183061,0.009014143055735894]},{"name":"camera_3","offset_m":[0.0021086846111454567,-0.005973024633754461,-0.002884163481125017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007884198981931005,-0.0012153307125904464,-0.0019510367124476772],"end_effector_yaw_offset_degrees":-0.9568968436844529},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007600851970695434,0.0019783193512383744,-0.0010430654711884228],"end_effector_yaw_offset_degrees":-0.09020217557375632},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011405155592492866,-0.0011767844141820035,-0.0011827031758092534],"end_effector_yaw_offset_degrees":0.3073582861583115}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002219584045361289,-0.0021791723586669577],"position_m":[0.2498804159546387,-0.09667917235866696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003958999096771528,-0.0011097118300208986],"position_m":[0.3506410009032285,0.0696902881699791,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004688399885855743,0.00041255075103355156],"position_m":[0.30931160011414427,0.24851255075103354,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004179638064899742,0.00470954508486873],"position_m":[0.25107963806489975,-0.3739904549151313,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1c2a2e8199ffc42f45734de9e7a0ceca9a0303aaede4042bfa5ed55c1722baf4","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1074/tex_ceiling_textures_7960/tex_floor_textures_8867/tex_table_textures_6847/tex_wall_textures_2576","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7614894220028946589,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7614894220028946589,"visual_seed":7614894220028946589,"scene_id":"lab_003","finished_at":"2026-09-02T06:03:48"}
+{"episode_id":"ep_000061","started_at":"2026-09-02T06:03:51","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.1543186016292294,-0.9064146948987066,0.71338606911949],"aabb_xy":[[-0.2243186034379748,-0.9277684636628939],[-0.08431859982048392,-0.8850609261345191]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.4118030946511186,0.9705675354698982,0.71338606911949],"aabb_xy":[[-0.4278650221096362,0.8855675336573063],[-0.3957411671926009,1.05556753728249]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.19810872757005837,-2.175362312929366,0.71338606911949],"aabb_xy":[[-0.23240563858779897,-2.209659199139307],[-0.16381181655231772,-2.1410654267194245]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.13725894001125627,-1.3526988131878577,0.71338606911949],"aabb_xy":[[0.07325894142468378,-1.3997057765873664],[0.2012589385978287,-1.305691849788349]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.31886424590062684,-0.4086363851698489,0.71338606911949],"aabb_xy":[[-0.38886424853721313,-0.4287412501657144],[-0.24886424326404044,-0.3885315201739834]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.1289959037388354,0.26985993600397906,0.71338606911949],"aabb_xy":[[-0.17897332060408896,0.21985993451473043],[-0.0790184868735818,0.3198599374932275]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.4699098183715038,1.7296017404210269,0.71338606911949],"aabb_xy":[[0.4122793494842329,1.6696017414943158],[0.5275402872587747,1.789601739347737]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.43439551271962684,-0.6763264068176098,0.71338606911949],"aabb_xy":[[0.3844006797916853,-0.7263264057128535],[0.4843903456475685,-0.6263264079223664]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.10696727667938433,1.7751267639889066,0.71338606911949],"aabb_xy":[[0.07250479866629654,1.7684630868059839],[0.1414297546924721,1.7817904411718293]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.265737698266186,1.2968419745626028,0.71338606911949],"aabb_xy":[[0.20173770183886408,1.2496723507405063],[0.3297376946935079,1.3440115983846992]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.3854990271392423,-1.8358957963091702,0.71338606911949],"aabb_xy":[[-0.44949902854723295,-1.8876847478330947],[-0.3214990257312516,-1.7841068447852453]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.3824380820329766,1.6611147530233397,0.71338606911949],"aabb_xy":[[-0.3970814875870095,1.6464560333665552],[-0.36779467647894354,1.6757734726801237]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.030245892958100096,-1.2524449296861544,0.71338606911949],"aabb_xy":[[-0.03728734390884769,-1.2594716814239486],[-0.0232044420073525,-1.2454181779483597]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.31908322243125575,-1.1983719696630886,0.71338606911949],"aabb_xy":[[-0.36905651643451615,-1.2483719702176357],[-0.26910992842799525,-1.148371969108541]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.08664470116927014,-0.714230156892198,0.71338606911949],"aabb_xy":[[-0.10174700263028821,-0.7293316785232596],[-0.07154239970825202,-0.699128635261136]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.003729333703059612,0.7110176006743512,0.71338606911949],"aabb_xy":[[-0.09372933020393136,0.6651059582558928],[0.08627066279781213,0.7569292430928093]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.023694585535143475,-1.0773414429777064,0.71338606911949],"aabb_xy":[[-0.06119458588337123,-1.0891328385587897],[0.013805414813084286,-1.0655500473966226]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.6479978966693605,0.7750463312140488,0.71338606911949],"aabb_xy":[[-0.6742867209898011,0.7487748975593975],[-0.6217090723489198,0.8013177648687]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.42567383589550484,-0.6540104228878736,0.71338606911949],"aabb_xy":[[-0.48967383506527484,-0.7007771100068361],[-0.36167383672573494,-0.6072437357689111]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.31492413236794636,-2.1899554431082286,0.71338606911949],"aabb_xy":[[0.2993683629576811,-2.205505876352636],[0.3304799017782116,-2.1744050098638215]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.6270759616550217,1.3545327882458613,0.71338606911949],"aabb_xy":[[0.5920759624622033,1.3435657422481984],[0.6620759608478398,1.3654998342435234]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.5679325349017854,0.3114182266498582,0.71338606911949],"aabb_xy":[[-0.6329325330577044,0.285121982099946],[-0.5029325367458662,0.3377144711997704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862193914149247,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9674.png","name":"9674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9674.png","name":"9674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1322.png","name":"1322"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5190.png","name":"5190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5066.png","name":"5066"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":773.8235066046291,"rotation_z_degrees":352.66582391809123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008691803718819165,-0.010674216062547086,-0.019602018069533194]},{"name":"camera_2","offset_m":[-0.01615070897260729,-0.016741548331941015,0.017953539349725798]},{"name":"camera_3","offset_m":[0.013888570204152528,0.007674873167060642,-0.01610569452559566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013808944749524677,-0.0003476903918277637,-0.0003633417962656145],"end_effector_yaw_offset_degrees":-0.9314890689330269},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004983149611613607,0.00078606974595753,0.00027948998371143475],"end_effector_yaw_offset_degrees":0.6874183294286065},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.000716122780115438,0.0018280626577750311,-0.001408593957245467],"end_effector_yaw_offset_degrees":-0.4894016686980538}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0023017737147495373,-0.002917620033127608],"position_m":[0.25440177371474954,-0.09741762003312761,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032487012169702166,-0.004144470514407586],"position_m":[0.35784870121697027,0.06665552948559242,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0001286952427667267,-0.0013381349495735517],"position_m":[0.3138713047572333,0.24676186505042644,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029605628894336803,0.0010122134875566926],"position_m":[0.2498605628894337,-0.3776877865124433,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e12dc4523ad3f06a23d1f060facbbabec8a498abf26515753659bf28af7486ef","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9674/tex_ceiling_textures_5066/tex_floor_textures_5190/tex_table_textures_4192/tex_wall_textures_1322","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":943807910545162785,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":943807910545162785,"visual_seed":943807910545162785,"scene_id":"lab_003","finished_at":"2026-09-02T06:06:30"}
+{"episode_id":"ep_000062","started_at":"2026-09-02T06:06:33","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.31625568789540126,-0.9633045853285029,0.71338606911949],"aabb_xy":[[0.2862881309855756,-0.9933045856263886],[0.3462232448052269,-0.9333045850306171]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.32532742438769,0.5740995459503808,0.71338606911949],"aabb_xy":[[0.31791496884630155,0.5682483355287529],[0.3327398799290785,0.5799507563720088]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.07714233553013772,1.1437863442861014,0.71338606911949],"aabb_xy":[[-0.09931486250678852,1.121610677129978],[-0.05496980855348685,1.1659620114422242]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.16749742775463228,-2.457569131029302,0.71338606911949],"aabb_xy":[[0.15562534474313117,-2.5425691307229523],[0.1793695107661334,-2.3725691313356516]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.5411233718146193,-0.5890493903588587,0.71338606911949],"aabb_xy":[[-0.5470899107553551,-0.5950105350182228],[-0.5351568328738836,-0.5830882456994947]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.056105934462410856,-0.898151650721051,0.71338606911949],"aabb_xy":[[0.024959015618827733,-0.9681516494078581],[0.08725285330599397,-0.8281516520342438]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.6059008053563473,0.24617570732211158,0.71338606911949],"aabb_xy":[[0.5709008053798514,0.23671109127449502],[0.6409008053328431,0.25564032336972825]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.4641587773654035,0.052065192174092445,0.71338606911949],"aabb_xy":[[-0.5140414742430996,0.0020651929278176916],[-0.41427608048770737,0.1020651914203672]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.6400173114411962,1.2044395166947703,0.71338606911949],"aabb_xy":[[0.6050173100897145,1.1840797807379493],[0.675017312792678,1.224799252651591]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.14606104189525004,-2.134898088430054,0.71338606911949],"aabb_xy":[[-0.20007663817715002,-2.1988980913223113],[-0.09204544561335001,-2.070898085537797]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.2712596930715536,0.8656211877826281,0.71338606911949],"aabb_xy":[[0.23534618864656393,0.8297076795658734],[0.3071731974965433,0.9015346959993827]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.5056528336320494,1.3319124953058208,0.71338606911949],"aabb_xy":[[0.4603742187509001,1.267912495957637],[0.5509314485131986,1.3959124946540045]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.2287617062409631,1.3987141227278186,0.71338606911949],"aabb_xy":[[-0.2512617060548655,1.3942395063573378],[-0.2062617064270607,1.4031887390982993]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.319336513431503,-2.0843657798181154,0.71338606911949],"aabb_xy":[[-0.3497346245306466,-2.1147726818197845],[-0.2889384023323594,-2.0539588778164455]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.5867540852409493,-0.43122102439343113,0.71338606911949],"aabb_xy":[[-0.6044297158295476,-0.4489012406728338],[-0.569078454652351,-0.4135408081140283]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.5515845555506831,0.9751757424268548,0.71338606911949],"aabb_xy":[[0.48158455291409663,0.9550708774309893],[0.6215845581872693,0.9952806074227203]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.646429145469952,-1.9696738789230044,0.71338606911949],"aabb_xy":[[-0.6513284377765155,-1.9973507982255732],[-0.6415298531633885,-1.9419969596204356]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.09760330217196922,-1.334759615521415,0.71338606911949],"aabb_xy":[[0.08497651488477287,-1.3443056892229879],[0.11023008945916557,-1.325213541819842]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.05625536730287395,1.4657558008603337,0.71338606911949],"aabb_xy":[[0.006255365641379184,1.4157573586046308],[0.1062553689643687,1.5157542431160362]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.5730125724008985,1.5936760894845894,0.71338606911949],"aabb_xy":[[0.526927481146167,1.5296760922320343],[0.61909766365563,1.6576760867371445]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.2929904007116395,-2.5445252400678506,0.71338606911949],"aabb_xy":[[0.2849964121339361,-2.5525253201629403],[0.3009843892893429,-2.53652515997276]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.17606332694114113,1.658507412587857,0.71338606911949],"aabb_xy":[[0.1392686938162348,1.6216015374912747],[0.21285796006604735,1.6954132876844392]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.5614629700841547,-1.619737623232551,0.71338606911949],"aabb_xy":[[0.5064892480478218,-1.6747376227967843],[0.6164366921204876,-1.564737623668318]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.6348996151445677,-0.30427290737628354,0.71338606911949],"aabb_xy":[[-0.6462613497978538,-0.31564137378257157],[-0.6235378804912814,-0.2929044409699954]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.06932336822212914,-0.9311686988348706,0.71338606911949],"aabb_xy":[[-0.093836992319135,-0.955433292136907],[-0.044809744125123285,-0.9069041055328341]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.6164691695263875,-1.1429814722759917,0.71338606911949],"aabb_xy":[[0.5964107579131472,-1.1630465591851495],[0.6365275811396278,-1.1229163853668342]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.43450034701430706,0.4330377196324422,0.71338606911949],"aabb_xy":[[-0.5145003491770694,0.35308253600629863],[-0.35450034485154447,0.5129929032585858]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6868372636844738,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2982.png","name":"2982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3835.png","name":"3835"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3668.png","name":"3668"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":685.4528164822026,"rotation_z_degrees":252.0549223355494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00334230339015288,-0.01984931613417637,0.008679145031360656]},{"name":"camera_2","offset_m":[0.01494417743398518,0.0158357666048077,0.005377811223221073]},{"name":"camera_3","offset_m":[-0.0015203222862074858,-0.017634685691433803,2.0537337094950203e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005485205446860552,-0.0014758823932531787,-0.000961508145351797],"end_effector_yaw_offset_degrees":-0.010885723446705686},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003988686407059095,0.0008356162940548546,-0.000474140471818712],"end_effector_yaw_offset_degrees":-0.4753815723756718},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006792623934015714,0.0003505785704129437,-0.000267348333926944],"end_effector_yaw_offset_degrees":0.34160457138544187}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00256784998276952,-0.0036520644013799675],"position_m":[0.25466784998276953,-0.09815206440137997,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003355598575436442,9.313816798668401e-05],"position_m":[0.35795559857543646,0.07089313816798669,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001186489194623064,-0.0016622706274241773],"position_m":[0.31518648919462305,0.2464377293725758,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000757101582886238,-0.003420857116927544],"position_m":[0.24765710158288626,-0.3821208571169275,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"feb7eacd6da1c194a0441c05ac27b72a211a9d74fea82ec65c4fdd1dc05cc8ed","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9304/tex_ceiling_textures_3668/tex_floor_textures_8647/tex_table_textures_2982/tex_wall_textures_3835","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4447829694622389395,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4447829694622389395,"visual_seed":4447829694622389395,"scene_id":"lab_003","finished_at":"2026-09-02T06:09:19"}
+{"episode_id":"ep_000063","started_at":"2026-09-02T06:09:21","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.4722829359455558,-0.4042251389512437,0.71338606911949],"aabb_xy":[[0.3822829392099456,-0.45740860226853813],[0.562282932681166,-0.3510416756339491]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.0024524141000678013,1.2338114974610095,0.71338606911949],"aabb_xy":[[-0.003859685436270632,1.2280445582077906],[0.008764513636406235,1.2395784367142284]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.09698880825353351,0.5857939800451502,0.71338606911949],"aabb_xy":[[-0.11399890554358416,0.5696594915468762],[-0.07997871096348286,0.6019284685434241]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.5783012270969494,-0.10805349697731792,0.71338606911949],"aabb_xy":[[0.5696032648062341,-0.12017847128479266],[0.5869991893876647,-0.09592852266984321]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.014812581157793825,-2.072377623253358,0.71338606911949],"aabb_xy":[[-0.03127251009693765,-2.136377620505913],[0.0608976724125253,-2.0083776260008026]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.10233148502678369,-0.6326393900452245,0.71338606911949],"aabb_xy":[[-0.10961380140344733,-0.7226393936547334],[-0.09504916865012002,-0.5426393864357154]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.026223543160966867,0.14631790229959885,0.71338606911949],"aabb_xy":[[-0.05122354309348476,0.13943523407867553],[-0.001223543228448979,0.15320057052052216]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.34915529736887546,-1.1795176437235728,0.71338606911949],"aabb_xy":[[-0.40915529721544225,-1.236336265916611],[-0.2891552975223087,-1.1226990215305337]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.24647016376882713,1.0392855895999578,0.71338606911949],"aabb_xy":[[0.23766810845985442,1.0314742634450285],[0.25527221907779984,1.0470969157548866]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.5596922381816181,-2.487177675812058,0.71338606911949],"aabb_xy":[[0.489692234790056,-2.5224934495154887],[0.6296922415731799,-2.451861902108627]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.44416546207716673,-2.1361374617291267,0.71338606911949],"aabb_xy":[[-0.45541051764778456,-2.1473792594532215],[-0.4329204065065489,-2.124895664005031]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.5846446088536447,-0.7944177180801935,0.71338606911949],"aabb_xy":[[-0.6084808264942498,-0.88441771888868],[-0.5608083912130397,-0.704417717271707]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.6353113000123796,1.5200161639595797,0.71338606911949],"aabb_xy":[[0.571311301425807,1.473009200560071],[0.6993112985989519,1.5670231273590884]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[-0.14506540351690522,-2.0342954074636554,0.71338606911949],"aabb_xy":[[-0.1796564863709504,-2.0992954077486865],[-0.11047432066285999,-1.9692954071786246]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.4864193669358541,-1.8916917520450505,0.71338606911949],"aabb_xy":[[0.39641936721267984,-1.91476510458023],[0.5764193666590282,-1.8686183995098704]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.35342859276628935,1.7425509589438692,0.71338606911949],"aabb_xy":[[-0.3845755116098724,1.672550960257062],[-0.3222816739227062,1.8125509576306764]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.15773186161898523,1.7748555553268752,0.71338606911949],"aabb_xy":[[-0.16814342029946894,1.7695098219909766],[-0.1473203029385015,1.7802012886627734]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.3104834151192677,-1.202970492559815,0.71338606911949],"aabb_xy":[[0.3011897968821171,-1.2404704910479487],[0.31977703335641827,-1.165470494071681]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.03198175184461349,-1.024144686662304,0.71338606911949],"aabb_xy":[[-0.03301824603703431,-1.075268350368845],[0.09698174972626131,-0.9730210229557632]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.16603148164598303,-0.9669869910595137,0.71338606911949],"aabb_xy":[[-0.2210269594666424,-1.0219869924934204],[-0.11103600382532361,-0.9119869896256065]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.36147181104813286,0.7687114444582992,0.71338606911949],"aabb_xy":[[-0.3720392907062319,0.7581664143452906],[-0.35090433139003385,0.7792564745713078]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.4949227326898886,1.7538699639065656,0.71338606911949],"aabb_xy":[[-0.5525532015771594,1.6938699649798548],[-0.43729226380261765,1.813869962833276]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.4811096796202649,-2.252402711803309,0.71338606911949],"aabb_xy":[[-0.545109676015838,-2.316366000222043],[-0.41710968322469183,-2.188439423384576]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[0.1635889974488648,1.097879948620303,0.71338606911949],"aabb_xy":[[0.14141647047221395,1.0757042814641797],[0.18576152442551563,1.1200556157764259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6802486008865486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/634.png","name":"634"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/634.png","name":"634"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4536.png","name":"4536"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9563.png","name":"9563"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4660.png","name":"4660"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1831.png","name":"1831"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":804.9837659868338,"rotation_z_degrees":79.77372375408245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004775537670683895,-0.010801795130065375,0.016907349535275996]},{"name":"camera_2","offset_m":[0.019510632483528047,0.010772992780276547,-0.015501614013179857]},{"name":"camera_3","offset_m":[0.019404518767568327,0.004220351003690143,0.01091625389929313]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001999791924343489,0.0013251800632387328,0.0004455709814921685],"end_effector_yaw_offset_degrees":0.47937579059647906},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016992158602225868,-0.0019056115870905385,-0.0008620065404081757],"end_effector_yaw_offset_degrees":0.5602057460487735},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001959194634181978,-0.0019325453553921612,0.0007973642587008169],"end_effector_yaw_offset_degrees":-0.6900976176554514}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0008358381543787019,0.003427491585491397],"position_m":[0.2529358381543787,-0.0910725084145086,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026239380818087786,0.0031343164447099033],"position_m":[0.3572239380818088,0.07393431644470991,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018501007285017324,-0.004491070710239194],"position_m":[0.3158501007285017,0.2436089292897608,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004914798704690796,-4.9409935902933536e-05],"position_m":[0.2419852012953092,-0.3787494099359029,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"111892c0600449330221d73b3423b7d7795774bc025bcace22ed9fa800eec35b","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_634/tex_ceiling_textures_1831/tex_floor_textures_4660/tex_table_textures_4536/tex_wall_textures_9563","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4319691114594458828,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4319691114594458828,"visual_seed":4319691114594458828,"scene_id":"lab_003","finished_at":"2026-09-02T06:12:04"}
+{"episode_id":"ep_000064","started_at":"2026-09-02T06:12:07","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.31822341850605396,0.644856719213637,0.71338606911949],"aabb_xy":[[0.2542234170980633,0.5930677676897121],[0.3822234199140446,0.6966456707375616]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.17365062144497734,1.430426941585171,0.71338606911949],"aabb_xy":[[-0.18093293782164094,1.3404269379756617],[-0.16636830506831363,1.5204269451946797]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[0.2999435120686813,-1.2014900173640723,0.71338606911949],"aabb_xy":[[0.2949874918838002,-1.2239900175661942],[0.30489953225356253,-1.178990017161951]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.43797851615538824,0.5148762654450123,0.71338606911949],"aabb_xy":[[-0.5019785184981898,0.46993541420087975],[-0.3739785138125867,0.5598171166891447]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.04950713588742017,-1.889785383407462,0.71338606911949],"aabb_xy":[[0.027008000161193195,-1.912285384185725],[0.07200627161364714,-1.867285382629199]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.0856084849287867,-0.1251343653084045,0.71338606911949],"aabb_xy":[[-0.1231084848725531,-0.13342745534324105],[-0.048108484985020294,-0.11684127527356789]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.5186698238613245,-0.4161357410065363,0.71338606911949],"aabb_xy":[[0.453669822860824,-0.46692210616121116],[0.5836698248618251,-0.3653493758518613]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.2044822250443104,-0.675794139203328,0.71338606911949],"aabb_xy":[[-0.24302791786951145,-0.7143399102595166],[-0.16593653221910937,-0.6372483681471394]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.28644032504931216,0.8489890376751292,0.71338606911949],"aabb_xy":[[-0.34644032591012486,0.7975626076686426],[-0.22644032418849927,0.9004154676816154]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.1097562004846081,-2.488383926884137,0.71338606911949],"aabb_xy":[[0.06845165742087209,-2.552383926452254],[0.15106074354834406,-2.4243839273160197]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.27867701561722286,0.17627873107508618,0.71338606911949],"aabb_xy":[[-0.2880240231995181,0.16197510885744218],[-0.2693300080349276,0.19058235329273024]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.679803747887749,-2.2499299691421557,0.71338606911949],"aabb_xy":[[-0.6895597373969228,-2.25969250320139],[-0.670047758378575,-2.2401674350829213]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.567586640852619,-0.06137458437065213,0.71338606911949],"aabb_xy":[[-0.6175866422135061,-0.11135248894606774],[-0.5175866394917317,-0.011396679795236507]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.1074223613761941,-1.6983197717940417,0.71338606911949],"aabb_xy":[[0.0715088569512044,-1.734233280010796],[0.1433358658011838,-1.662406263577287]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.25300060788643686,-0.48803957999774283,0.71338606911949],"aabb_xy":[[-0.343000604622047,-0.5412230433150372],[-0.1630006111508266,-0.4348561166804482]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.14631380880579037,-2.246697934383096,0.71338606911949],"aabb_xy":[[-0.16394664439931791,-2.2643208803987185],[-0.12868097321226277,-2.2290749883674725]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.2244866142672841,-1.1387179674272154,0.71338606911949],"aabb_xy":[[-0.31448661660130317,-1.216200322012328],[-0.13448661193326505,-1.0612356128421028]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.046991462153727626,-0.8194204521996566,0.71338606911949],"aabb_xy":[[-0.06704987376696792,-0.8394855391088142],[-0.026933050540487335,-0.7993553652904991]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.021271804003594186,1.7482478432824347,0.71338606911949],"aabb_xy":[[-0.03372044663191676,1.693247841539122],[0.07626405463910514,1.8032478450257474]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.4789724142729116,-0.4899332333884687,0.71338606911949],"aabb_xy":[[-0.5289674252323637,-0.5399332324240604],[-0.4289774033134596,-0.43993323435287707]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.6000336736788128,-0.23877184472445823,0.71338606911949],"aabb_xy":[[0.5811492899103025,-0.257657769504811],[0.6189180574473229,-0.21988591994410547]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[0.4430690963599839,1.340208387225676,0.71338606911949],"aabb_xy":[[0.4304423090727875,1.330662313524103],[0.4556958836471802,1.3497544609272487]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.3038712340130546,-2.24702861367442,0.71338606911949],"aabb_xy":[[0.23987123542648214,-2.2940355770739287],[0.36787123259962706,-2.2000216502749113]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.31292145428168405,1.188738673305572,0.71338606911949],"aabb_xy":[[0.2529214540302829,1.1344573482691074],[0.37292145453308523,1.2430199983420367]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.33794266385291366,0.7141724749764538,0.71338606911949],"aabb_xy":[[-0.353114833134547,0.6990036180482504],[-0.3227704945712803,0.7293413319046571]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.059954040376856255,0.8221909037720083,0.71338606911949],"aabb_xy":[[-0.020045956637391726,0.802056352098597],[0.13995403739110424,0.8423254554454196]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.014002436541834862,-1.3283152814998491,0.71338606911949],"aabb_xy":[[-0.00958268692205999,-1.3933152837452811],[0.037587560005729714,-1.2633152792544176]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[0.03446027062456003,1.2988913761329868,0.71338606911949],"aabb_xy":[[0.023619792398045125,1.281705094842338],[0.045300748851074935,1.3160776574236355]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[-0.29488125545284216,1.8073134260989714,0.71338606911949],"aabb_xy":[[-0.32988125534886104,1.7989391905870311],[-0.2598812555568233,1.8156876616109112]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[-0.33100901856196663,1.5289121551165077,0.71338606911949],"aabb_xy":[[-0.41100284214052485,1.4489121525236661],[-0.2510151949834084,1.6089121577093493]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_30","position":[-0.22167896572842982,-2.3672838073847036,0.71338606911949],"aabb_xy":[[-0.3116789654516039,-2.390357159919883],[-0.13167896600525558,-2.3442104548495233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855619953672346,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1487.png","name":"1487"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1487.png","name":"1487"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3370.png","name":"3370"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1566.png","name":"1566"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2459.png","name":"2459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":721.5962532434244,"rotation_z_degrees":56.80669505019141,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010111377112673235,0.004500544322188063,-0.014656259453990638]},{"name":"camera_2","offset_m":[0.006568696479579854,-0.014448415044802543,-0.0037303718016470262]},{"name":"camera_3","offset_m":[0.019452658562395943,0.0023660867678121887,-6.992926059604457e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019588980050525167,-0.001631778548381579,0.0019987196962548527],"end_effector_yaw_offset_degrees":0.7125140774744017},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015948617658721443,-0.0003226497410700375,0.0006156902194830232],"end_effector_yaw_offset_degrees":-0.8962138326879072},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007521868752454917,0.0005815001838111985,-9.930017389637048e-06],"end_effector_yaw_offset_degrees":0.338728095117796}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00415517180121625,0.0007920420078232704],"position_m":[0.24794482819878375,-0.09370795799217672,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000643632379699736,0.0042714423118402735],"position_m":[0.35524363237969975,0.07507144231184028,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002186933075052424,-0.0010920410286833536],"position_m":[0.3118130669249476,0.24700795897131664,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004357353199379681,-0.0029101580942716664],"position_m":[0.24646426468006205,-0.3816101580942716,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bfa3ddf41f8852134c8acf7959b59c20a2e42fbc4a583c3e06cad0d5547d50b2","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1487/tex_ceiling_textures_5271/tex_floor_textures_2459/tex_table_textures_3370/tex_wall_textures_1566","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":9133310017080025061,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":9133310017080025061,"visual_seed":9133310017080025061,"scene_id":"lab_003","finished_at":"2026-09-02T06:14:51"}
+{"episode_id":"ep_000065","started_at":"2026-09-02T06:14:54","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.5078374060388302,0.9838364560046697,0.71338606911949],"aabb_xy":[[0.4998434174611267,0.9758363759095792],[0.5158313946165335,0.9918365360997599]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.5289428945878549,-0.5767704653312218,0.71338606911949],"aabb_xy":[[0.5180912883389793,-0.5876297560588728],[0.5397945008367305,-0.5659111746035708]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.5575485497911938,0.3090887704898586,0.71338606911949],"aabb_xy":[[0.5330349256941881,0.2848241771878222],[0.5820621738881998,0.3333533637918951]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.538582385983815,-1.2432982379136521,0.71338606911949],"aabb_xy":[[-0.5427182423165153,-1.2807982373580091],[-0.5344465296511149,-1.2057982384692951]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.20211125276525,-0.9412768128256075,0.71338606911949],"aabb_xy":[[-0.29211125135971994,-0.9575273991390285],[-0.11211125417078005,-0.9250262265121865]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.5382866872655852,0.8852645334891114,0.71338606911949],"aabb_xy":[[-0.5557866206995685,0.8677645335688766],[-0.5207867538316018,0.9027645334093457]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.28164520646329694,-2.2261280679441735,0.71338606911949],"aabb_xy":[[-0.2924181803846647,-2.2611280661632125],[-0.27087223254192916,-2.1911280697251345]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.346862045736839,-2.206073664855025,0.71338606911949],"aabb_xy":[[0.34290156196710464,-2.213741529440546],[0.35082252950657333,-2.1984058002695046]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.3586999568979359,1.1232341387052673,0.71338606911949],"aabb_xy":[[0.34998598784800133,1.100734138046079],[0.3674139259478703,1.1457341393644553]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.05370776919951992,0.7537510151009181,0.71338606911949],"aabb_xy":[[-0.03629222730135184,0.7078393726824599],[0.14370776570039165,0.7996626575193764]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.22624959931183475,-0.3369473908171674,0.71338606911949],"aabb_xy":[[-0.27573002052579354,-0.4009473887300192],[-0.17676917809787596,-0.2729473929043156]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.04089805083493436,-0.8246322005299895,0.71338606911949],"aabb_xy":[[-0.009101949525631701,-0.8746121877395923],[0.09089805119550042,-0.7746522133203864]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[-0.07228575912148016,-0.4008766484924098,0.71338606911949],"aabb_xy":[[-0.09728575828711326,-0.40782889419776636],[-0.04728575995584704,-0.3939244027870532]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.047732196983501396,1.2564100358921402,0.71338606911949],"aabb_xy":[[-0.10773219683006818,1.1995914136991015],[0.012267802863065391,1.3132286580851789]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.1757923751772652,0.14552206903286136,0.71338606911949],"aabb_xy":[[-0.26547945148538066,0.055522068778410816],[-0.08610529886914975,0.2355220692873119]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.2864574173146329,-0.933861936244119,0.71338606911949],"aabb_xy":[[0.23148369527830004,-0.9888619358083521],[0.3414311393509658,-0.8788619366798858]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.5753696158563872,-2.1251634666751658,0.71338606911949],"aabb_xy":[[-0.6253646268158394,-2.1751634657107575],[-0.5253746048969353,-2.075163467639574]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.045259487954040556,-1.9859378026044978,0.71338606911949],"aabb_xy":[[-0.10925948654061302,-2.032944766004006],[0.018740510632531904,-1.9389308392049887]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.26957312895865315,-1.4521421632553997,0.71338606911949],"aabb_xy":[[-0.3194558258363494,-1.5021421625016746],[-0.219690432080957,-1.402142164009125]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.6871201401060254,1.3168970338219976,0.71338606911949],"aabb_xy":[[0.6810255122179071,1.3083276392703291],[0.6932147679941437,1.3254664283736666]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[0.5599721703359555,0.04208387978230643,0.71338606911949],"aabb_xy":[[0.5294879202089253,-0.007916119999189501],[0.5904564204629856,0.09208387956380237]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.19283347610005985,-1.3488844713201633,0.71338606911949],"aabb_xy":[[0.1752867811839409,-1.3863844728844146],[0.21038017101617876,-1.311384469755912]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.15928042548794374,-2.158752575531933,0.71338606911949],"aabb_xy":[[0.09428042448744323,-2.2095389406866084],[0.22428042648844426,-2.1079662103772585]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.15710581686948166,-2.069720802877049,0.71338606911949],"aabb_xy":[[-0.16434958291572696,-2.1497208010806514],[-0.1498620508232363,-1.9897208046734467]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[-0.2852349885378266,-1.0827378554495388,0.71338606911949],"aabb_xy":[[-0.349234989241296,-1.1287562379224598],[-0.2212349878343573,-1.0367194729766178]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[0.4996985722967602,1.730268985554519,0.71338606911949],"aabb_xy":[[0.4096985699627412,1.6527866309694066],[0.5896985746307792,1.807751340139632]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812291987980054,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9290.png","name":"9290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6513.png","name":"6513"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2950.png","name":"2950"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4611.png","name":"4611"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":668.8591982379644,"rotation_z_degrees":34.462790675960655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002623686968337858,0.01506317734713265,0.01429864356765059]},{"name":"camera_2","offset_m":[-0.016033741415482312,0.009668318814973258,0.004716850367001087]},{"name":"camera_3","offset_m":[-0.011112407061980734,-0.011395585412260748,-0.006772513511441121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010759037380142407,-0.0008824016546017646,0.00032117242038093123],"end_effector_yaw_offset_degrees":0.8078101332139827},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019270977814205823,-0.001262842981639976,0.0008383604644336294],"end_effector_yaw_offset_degrees":-0.017058978818120574},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0002551507214769587,8.871600288721648e-05,0.0017316364442481794],"end_effector_yaw_offset_degrees":0.8229280488834501}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0007296948445574278,-0.0011412379373006275],"position_m":[0.25137030515544256,-0.09564123793730063,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008949948042703696,0.0025522097116291017],"position_m":[0.3554949948042704,0.0733522097116291,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002408501019110957,0.0022366415824850872],"position_m":[0.31640850101911094,0.2503366415824851,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004459138779742803,-0.0011302414497129064],"position_m":[0.2424408612202572,-0.3798302414497129,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"013211e1f4b5ba8109c03bc322a9a19d53d4951e53ed1638c34925a5f758cad3","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9290/tex_ceiling_textures_4611/tex_floor_textures_2950/tex_table_textures_6513/tex_wall_textures_9758","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1328250475236073505,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1328250475236073505,"visual_seed":1328250475236073505,"scene_id":"lab_003","finished_at":"2026-09-02T06:17:35"}
+{"episode_id":"ep_000066","started_at":"2026-09-02T06:17:39","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.35381533200018533,-1.578934537830833,0.71338606911949],"aabb_xy":[[0.2938153311393724,-1.6303609678373192],[0.41381533286099803,-1.5275081078243464]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.5317771771716204,0.21680063092494128,0.71338606911949],"aabb_xy":[[-0.5354804385007592,0.2130986126162234],[-0.5280739158424814,0.22050264923365911]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.06158717580688111,0.7202707504989729,0.71338606911949],"aabb_xy":[[-0.008412826324548435,0.697508784873277],[0.13158717793831065,0.7430327161246684]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.4988901402230863,-1.7266237854029134,0.71338606911949],"aabb_xy":[[0.4348901437957644,-1.7737934092250096],[0.5628901366504082,-1.6794541615808167]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.6393126824125972,1.735602408660736,0.71338606911949],"aabb_xy":[[0.6143126832469641,1.7286501629553797],[0.6643126815782303,1.7425546543660928]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.046774866467451326,-1.6025967486389157,0.71338606911949],"aabb_xy":[[-0.05685657354602479,-1.68259674653103],[-0.036693159388877836,-1.5225967507468008]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.3049818754364424,-0.4926231183267662,0.71338606911949],"aabb_xy":[[0.28740357324749555,-0.5101976079008711],[0.32256017762538924,-0.4750486287526613]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.5947843100120935,1.3523779405452854,0.71338606911949],"aabb_xy":[[0.5846312944579439,1.316308398972545],[0.6049373255662427,1.3884474821180257]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.43420904157322016,1.6610694779778625,0.71338606911949],"aabb_xy":[[-0.4429230106231546,1.6385694773186739],[-0.4254950725232856,1.6835694786370503]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.45245922750110923,-2.113278246047898,0.71338606911949],"aabb_xy":[[0.4023617635200356,-2.1772782465577096],[0.5025566914821828,-2.049278245538086]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.071663508804655,-2.394293887661822,0.71338606911949],"aabb_xy":[[-0.08481475477594437,-2.4192938874185086],[-0.05851226283336565,-2.3692938879051355]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.10656247096813243,-0.45678570096587734,0.71338606911949],"aabb_xy":[[-0.11733544488950022,-0.4917856991849163],[-0.09578949704676466,-0.42178570274683835]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.35595472784218063,-2.2842426690584507,0.71338606911949],"aabb_xy":[[0.2759547267690603,-2.294020715395835],[0.43595472891530096,-2.2744646227210663]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.2463480345777052,0.5903805479491173,0.71338606911949],"aabb_xy":[[-0.2726368588981458,0.564109114294466],[-0.22005921025726452,0.6166519816037684]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.29346733527811253,0.7666242060534771,0.71338606911949],"aabb_xy":[[0.276790199285017,0.7499242820795468],[0.31014447127120803,0.7833241300274073]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.6197791152671619,-0.9841971469755306,0.71338606911949],"aabb_xy":[[0.5557791188715888,-1.048160435394264],[0.683779111662735,-0.920233858556797]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.5025562110231037,1.1008556723978304,0.71338606911949],"aabb_xy":[[0.42255620959297646,1.0213385173852207],[0.5825562124532309,1.1803728274104397]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.28515481403431187,-1.2497729748373771,0.71338606911949],"aabb_xy":[[0.22015481292836858,-1.2747383479055054],[0.35015481514025515,-1.2248076017692489]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.40962873024764823,-2.465844623285351,0.71338606911949],"aabb_xy":[[0.32590650474756583,-2.555844626820047],[0.49335095574773075,-2.375844619750655]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.3440841317376313,-0.8774533374034508,0.71338606911949],"aabb_xy":[[0.280084131463653,-0.9275194376007387],[0.4080841320116095,-0.8273872372061628]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.6064576767611063,0.6071580424018692,0.71338606911949],"aabb_xy":[[0.6004206637604416,0.601131341332921],[0.612494689761771,0.6131847434708174]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.5434157255252163,-0.38461599074385555,0.71338606911949],"aabb_xy":[[0.5259157252801668,-0.40211577858342235],[0.5609157257702656,-0.36711620290428865]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.49202391962138525,0.5845800655722613,0.71338606911949],"aabb_xy":[[-0.4985255561293899,0.5748122435459516],[-0.4855222831133807,0.5943478875985712]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.3910468120064807,-0.6540687809429628,0.71338606911949],"aabb_xy":[[0.3822655848592446,-0.6628485282314931],[0.39982803915371706,-0.6452890336544328]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879549050219973,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1748.png","name":"1748"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8480.png","name":"8480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8384.png","name":"8384"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7011.png","name":"7011"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":502.2109559582472,"rotation_z_degrees":108.27330425166703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013244781629363604,-0.010998624258466112,0.0007452580733358777]},{"name":"camera_2","offset_m":[0.0011004792766711805,0.016009696026779718,-0.01854148050568671]},{"name":"camera_3","offset_m":[-0.018094428297324598,0.007694179750205438,-0.007780849107734338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001070302721633166,0.001217368523663262,0.001708407999593858],"end_effector_yaw_offset_degrees":-0.17438136078849986},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010435225477441164,-0.0005152736678004487,-0.0010548285468347852],"end_effector_yaw_offset_degrees":-0.2662557409618085},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00035258488659457746,-0.0005496699179398728,-0.0015300449164327766],"end_effector_yaw_offset_degrees":-0.1663997936200481}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00476592746726161,0.0024121184642770252],"position_m":[0.2568659274672616,-0.09208788153572298,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008377923455542245,-8.3471617864774e-05],"position_m":[0.3554377923455542,0.07071652838213523,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003962048658151004,-0.0009100043671467885],"position_m":[0.31003795134184897,0.2471899956328532,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022382923778482043,-0.003216205751802921],"position_m":[0.2491382923778482,-0.3819162057518029,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"857ada4cd781cf0c4195ea272de5ef18752dbd4accab0c86d5845480b3f6643f","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8136/tex_ceiling_textures_7011/tex_floor_textures_8384/tex_table_textures_1748/tex_wall_textures_8480","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1561899956988051989,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1561899956988051989,"visual_seed":1561899956988051989,"scene_id":"lab_003","finished_at":"2026-09-02T06:20:18"}
+{"episode_id":"ep_000067","started_at":"2026-09-02T06:20:21","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.4881672419968772,-1.6185308629607202,0.71338606911949],"aabb_xy":[[0.39816724227370304,-1.6416042154959],[0.5781672417200514,-1.5954575104255404]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.30062717619095086,-2.336414241697316,0.71338606911949],"aabb_xy":[[-0.32390901838908215,-2.421414242994544],[-0.27734533399281946,-2.251414240400088]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.40743705644636496,-2.3595313765194375,0.71338606911949],"aabb_xy":[[0.38526452946971407,-2.38170704367556],[0.42960958342301575,-2.337355709363314]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.6077280952412119,1.4549055709104395,0.71338606911949],"aabb_xy":[[-0.6315643128818169,1.364905570101953],[-0.5838918776006068,1.5449055717189262]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.296926555586817,1.2566467277750375,0.71338606911949],"aabb_xy":[[-0.33442655677160976,1.2522285050789768],[-0.25942655440202417,1.2610649504710978]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.32915463958926416,0.2185712582037871,0.71338606911949],"aabb_xy":[[-0.3931546398497349,0.17356245885085908],[-0.2651546393287933,0.2635800575567151]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.15457902482687047,0.7905710958120364,0.71338606911949],"aabb_xy":[[0.14482303531769658,0.7808085617528019],[0.16433501433604436,0.8003336298712708]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.20640851844740865,1.063876308789676,0.71338606911949],"aabb_xy":[[-0.2515798362955777,0.9998763116451377],[-0.1612372005992397,1.1278763059342145]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.34183384154866814,-1.4674670625992665,0.71338606911949],"aabb_xy":[[0.3047997321206084,-1.5018442699329757],[0.3788679509767279,-1.4330898552655569]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.3594149703146224,1.7559964752197854,0.71338606911949],"aabb_xy":[[-0.37651704827299054,1.7388896696885154],[-0.34231289235625423,1.773103280751055]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.5373704343611148,-0.8188236371055093,0.71338606911949],"aabb_xy":[[-0.5923441563974476,-0.8738236366697425],[-0.4823967123247819,-0.7638236375412761]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.5117182786594141,-1.874261507833913,0.71338606911949],"aabb_xy":[[0.4938491709049586,-1.888094415811124],[0.5295873864138696,-1.8604285998567023]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[-0.18188173484873715,-1.911295001558921,0.71338606911949],"aabb_xy":[[-0.1883833713567418,-1.9210628235852307],[-0.17538009834073254,-1.9015271795326112]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.4985101689984661,0.024512105060537248,0.71338606911949],"aabb_xy":[[0.4876585627495905,0.013652814332886232],[0.5093617752473417,0.035371395788188265]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.3927273649595959,-0.8743328694642332,0.71338606911949],"aabb_xy":[[0.35539608843435333,-0.9089859242590855],[0.4300586414848385,-0.839679814669381]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.4368430310068696,1.165871031207511,0.71338606911949],"aabb_xy":[[0.372843033721221,1.124364312254667],[0.5008430282925183,1.2073777501603549]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[-0.4042143908751283,0.880272667302322,0.71338606911949],"aabb_xy":[[-0.45421439189426355,0.8438064515644943],[-0.35421438985599296,0.9167388830401502]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.24331976931069693,-0.3590519596584065,0.71338606911949],"aabb_xy":[[-0.27446668815428005,-0.42905195834521365],[-0.21217285046711382,-0.2890519609715993]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.36937187431693275,-2.1094241212233382,0.71338606911949],"aabb_xy":[[0.3350555971423148,-2.159424121196516],[0.4036881514915507,-2.0594241212501605]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.002778529145700759,-1.5449649505102399,0.71338606911949],"aabb_xy":[[-0.030997030044992213,-1.559003445723405],[0.03655408833639373,-1.5309264552970747]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.48861709254879687,-0.3575573250702422,0.71338606911949],"aabb_xy":[[-0.5536170936547402,-0.3825226981383705],[-0.4236170914428536,-0.3325919520021139]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.41401983903561396,-2.0873462924667368,0.71338606911949],"aabb_xy":[[-0.47901983906991674,-2.134046969147064],[-0.3490198390013113,-2.0406456157864095]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.08421082680711967,-2.4090172357606403,0.71338606911949],"aabb_xy":[[-0.1217108275991151,-2.4153850767188305],[-0.046710826015124204,-2.40264939480245]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[0.5279542872694512,-1.085385306476737,0.71338606911949],"aabb_xy":[[0.5104542881350839,-1.0952649335143245],[0.5454542864038182,-1.0755056794391489]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[0.4956322727705391,-1.2758740761601042,0.71338606911949],"aabb_xy":[[0.4830295736334627,-1.2884694723849697],[0.5082349719076156,-1.2632786799352387]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.3403857515263392,-1.5130125053684835,0.71338606911949],"aabb_xy":[[-0.4203857484893784,-1.5900881470122568],[-0.26038575456330004,-1.4359368637247099]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.5818938470051178,0.701501229770181,0.71338606911949],"aabb_xy":[[-0.5943612051148535,0.6890359051368575],[-0.5694264888953822,0.7139665544035045]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_27","position":[0.5094154832040665,-1.3967231436161252,0.71338606911949],"aabb_xy":[[0.48813747506059413,-1.4617231459421978],[0.5306934913475386,-1.3317231412900516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873445849170228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6587.png","name":"6587"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6587.png","name":"6587"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/838.png","name":"838"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/887.png","name":"887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7362.png","name":"7362"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1259.png","name":"1259"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":640.5780662554373,"rotation_z_degrees":171.5212646760397,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016619306914281914,0.012279120509248436,0.014028445793082777]},{"name":"camera_2","offset_m":[0.0007917725537974728,0.005859250410414855,0.0018236742822011244]},{"name":"camera_3","offset_m":[0.006330888644581076,0.006864653074517956,0.013616184142163198]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008847715155297455,0.0019346216990847494,0.0013128582902264107],"end_effector_yaw_offset_degrees":-0.12981753248913797},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008400328421033932,-0.0016775341256606885,0.00042030189924598116],"end_effector_yaw_offset_degrees":0.23122632160054013},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011101554349551954,0.0013508478934362417,0.001279648366219912],"end_effector_yaw_offset_degrees":-0.07605070125930502}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00416300349093499,-0.0038951603457320983],"position_m":[0.247936996509065,-0.0983951603457321,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003911627467286921,-0.004080805733256896],"position_m":[0.35851162746728693,0.06671919426674311,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004598186182296071,0.0009700063738012684],"position_m":[0.3144598186182296,0.24907000637380125,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004652470513389834,0.0015368223863020114],"position_m":[0.25155247051338986,-0.377163177613698,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5596adb543b026d74b2cc14142dd377ede374994951902c972aa31daaaf095a7","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6587/tex_ceiling_textures_1259/tex_floor_textures_7362/tex_table_textures_838/tex_wall_textures_887","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6190097134867393121,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6190097134867393121,"visual_seed":6190097134867393121,"scene_id":"lab_003","finished_at":"2026-09-02T06:23:01"}
+{"episode_id":"ep_000068","started_at":"2026-09-02T06:23:05","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.18405884363018443,1.4603078745530254,0.71338606911949],"aabb_xy":[[-0.23405884491402437,1.410329020162403],[-0.13405884234634444,1.5102867289436472]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.3553708658315724,0.4221889328109407,0.71338606911949],"aabb_xy":[[0.3100922509504231,0.35818893346275704],[0.4006494807127216,0.4861889321591244]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.5536167669900032,-1.0008410861739518,0.71338606911949],"aabb_xy":[[-0.6136167678508158,-1.0522675161804378],[-0.4936167661291902,-0.9494146561674651]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.5632279442865606,-0.43690744248832347,0.71338606911949],"aabb_xy":[[0.5257279436219818,-0.45259450048854566],[0.6007279449511392,-0.4212203844881013]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.5577738037705484,0.7895063948692029,0.71338606911949],"aabb_xy":[[0.487773801961803,0.7681526261050157],[0.6277738055792939,0.8108601636333904]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.09471047649837327,-0.8935385829565703,0.71338606911949],"aabb_xy":[[0.044715643570431673,-0.9435385818518137],[0.14470530942631488,-0.8435385840613266]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.4384239778848286,-0.5183304433612217,0.71338606911949],"aabb_xy":[[-0.47521861100973484,-0.555236318457804],[-0.4016293447599223,-0.4814245682646394]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.2865562042578664,0.16779073851349224,0.71338606911949],"aabb_xy":[[-0.2942593949319434,0.16008136781475424],[-0.27885301358378933,0.17550010921223025]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.37785729237496074,0.6198019540963702,0.71338606911949],"aabb_xy":[[-0.4418572896773072,0.5754355271285134],[-0.3138572950726144,0.6641683810642269]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.30460510697007753,0.759968118665006,0.71338606911949],"aabb_xy":[[-0.31423674319050715,0.7503308058852972],[-0.2949734707496479,0.769605431444715]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.547070001285531,-2.2062576449745643,0.71338606911949],"aabb_xy":[[-0.5661823086435099,-2.2253924238518064],[-0.5279576939275522,-2.1871228660973223]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.2555711985038381,-0.9448126332842337,0.71338606911949],"aabb_xy":[[-0.300571199970067,-0.9898124901457146],[-0.2105711970376093,-0.8998127764227533]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.6537059282158375,1.1670142804670172,0.71338606911949],"aabb_xy":[[0.598710450395178,1.11201427903311],[0.7087014060364968,1.2220142819009239]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.2665006798193099,-1.2273735496603984,0.71338606911949],"aabb_xy":[[0.26104273418228985,-1.3073735529680575],[0.27195862545633,-1.1473735463527392]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.43494700918808027,-0.9336752574626379,0.71338606911949],"aabb_xy":[[0.35495318560952216,-1.0136752600554795],[0.5149408327666386,-0.8536752548697965]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.13451141655070664,-2.2213890203808617,0.71338606911949],"aabb_xy":[[-0.1439288911205694,-2.230805197518581],[-0.1250939419808439,-2.211972843243143]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[-0.5881856017940096,-1.56567471056339,0.71338606911949],"aabb_xy":[[-0.625685602586005,-1.57204255152158],[-0.5506856010020141,-1.5593068696051995]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[-0.4801719073416051,-1.3909862435412517,0.71338606911949],"aabb_xy":[[-0.5501719089438846,-1.4044190367429092],[-0.41017190573932566,-1.377553450339594]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.5534711012016165,0.23885100741314158,0.71338606911949],"aabb_xy":[[-0.5660978884888128,0.2293049337115687],[-0.5408443139144201,0.2483970811147145]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.08395232709016842,-2.4640744363965044,0.71338606911949],"aabb_xy":[[0.07861475142416387,-2.489074437325644],[0.089289902756173,-2.4390744354673646]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[0.6509421379585194,-1.9205726203817814,0.71338606911949],"aabb_xy":[[0.6453604663243906,-1.9330726201995567],[0.6565238095926482,-1.9080726205640057]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.19907395664859068,-0.6842997570203222,0.71338606911949],"aabb_xy":[[-0.23657395714594895,-0.6882684405684405],[-0.16157395615123246,-0.6803310734722037]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.14121593808238952,-2.3145979298833277,0.71338606911949],"aabb_xy":[[0.07621594020074172,-2.3657215935898686],[0.20621593596403734,-2.263474266176787]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[0.30595220848285876,0.8736667266595335,0.71338606911949],"aabb_xy":[[0.24595220863629197,0.8168481044664948],[0.36595220832942554,0.9304853488525722]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.5330238389693167,0.12227362131705366,0.71338606911949],"aabb_xy":[[0.4690238396751485,0.05828748094819945],[0.5970238382634849,0.18625976168590785]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[0.04516574883071722,0.7285741923819873,0.71338606911949],"aabb_xy":[[0.01887692451027655,0.7023027587273359],[0.07145457315115786,0.7548456260366384]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.4849937573049139,1.6215670244535088,0.71338606911949],"aabb_xy":[[0.42099375525518185,1.5814725413642008],[0.5489937593546459,1.6616615075428167]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[0.5444835251019695,-0.2484326149877334,0.71338606911949],"aabb_xy":[[0.46448352184412656,-0.32842912277971736],[0.6244835283598125,-0.16843610719574942]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[-0.06697650275872646,0.8338091842296271,0.71338606911949],"aabb_xy":[[-0.07067976408786532,0.8301071659209093],[-0.06327324142958758,0.837511202538345]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.2942358905910565,1.4558931898695282,0.71338606911949],"aabb_xy":[[0.24710651158922076,1.3918931888251262],[0.3413652695928921,1.5198931909139302]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.0839932022750366,-1.8656566234954224,0.71338606911949],"aabb_xy":[[-0.1339932009209578,-1.9155761671548848],[-0.0339932036291154,-1.81573707983596]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[-0.4511199433922163,0.5217614504746173,0.71338606911949],"aabb_xy":[[-0.4635873015019519,0.5092961258412939],[-0.4386525852824806,0.5342267751079409]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6798766620648523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1418.png","name":"1418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1418.png","name":"1418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4813.png","name":"4813"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3747.png","name":"3747"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1784.png","name":"1784"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":507.9238790621507,"rotation_z_degrees":177.95202239093493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008902476758012883,-0.004177021105951192,-0.004215123006043972]},{"name":"camera_2","offset_m":[-0.01930056068680172,-0.003893421928882767,-0.010445358761542053]},{"name":"camera_3","offset_m":[0.015017935736210724,-0.010093655640439451,-0.01239233148426325]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005131134358297759,-0.0007164730427309878,0.00019998317550189984],"end_effector_yaw_offset_degrees":-0.9102858732481984},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00024341599731874026,-0.0018890647517343126,-0.0008994107476066895],"end_effector_yaw_offset_degrees":0.12256614390051501},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0002737547548675831,0.0009371598979580507,0.0009839450361834464],"end_effector_yaw_offset_degrees":0.021498729815235817}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003329559671572971,0.0005119533659395633],"position_m":[0.25542955967157294,-0.09398804663406043,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004016625211370278,-0.00045471183205062805],"position_m":[0.3505833747886298,0.07034528816794937,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0049228242725505335,-0.0024437200954176806],"position_m":[0.30907717572744947,0.2456562799045823,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020465526505414446,0.00494114678798538],"position_m":[0.24485344734945858,-0.3737588532120146,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7b728d73b31203770f6e84dfd0af7fdcaca4b95ed2bd796a8781c2e111b8617f","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1418/tex_ceiling_textures_5981/tex_floor_textures_1784/tex_table_textures_4813/tex_wall_textures_3747","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8631270233657235470,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8631270233657235470,"visual_seed":8631270233657235470,"scene_id":"lab_003","finished_at":"2026-09-02T06:25:49"}
+{"episode_id":"ep_000069","started_at":"2026-09-02T06:25:52","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.4223584988698057,-1.955007216708259,0.71338606911949],"aabb_xy":[[0.4010804907263334,-2.0200072190343317],[0.4436365070132779,-1.8900072143821856]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.04527640782175413,0.29232101991180137,0.71338606911949],"aabb_xy":[[-0.049707037176594304,0.28687264817711877],[-0.04084577846691395,0.29776939164648397]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.08319654421613709,1.4585963543222582,0.71338606911949],"aabb_xy":[[0.019196547820564014,1.3946330659035246],[0.14719654061171017,1.5225596427409918]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.6028133371432292,1.5209050731866536,0.71338606911949],"aabb_xy":[[-0.6108496718445139,1.5128669538822368],[-0.5947770024419442,1.5289431924910704]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.5265845074806559,0.09015798848427092,0.71338606911949],"aabb_xy":[[0.46258450513785426,0.04521713724013841],[0.5905845098234573,0.13509883972840336]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.1007836996855439,-2.0756955582358714,0.71338606911949],"aabb_xy":[[-0.10870697992429224,-2.0981955584738747],[-0.09286041944679557,-2.053195557997868]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.5828200336202582,1.7636636773752365,0.71338606911949],"aabb_xy":[[0.5278463115839254,1.7086636778110034],[0.6377937556565911,1.8186636769394697]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.301614266784104,0.4035735103360172,0.71338606911949],"aabb_xy":[[-0.3516142662242996,0.3536055858517008],[-0.25161426734390835,0.45354143482033343]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.5310671302616753,-1.8378715762704165,0.71338606911949],"aabb_xy":[[-0.5471290577201928,-1.9228715780830081],[-0.5150052028031575,-1.7528715744578245]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.07557782513615863,-1.4734485022010289,0.71338606911949],"aabb_xy":[[0.0604056558545253,-1.4886173591292322],[0.09074999441779198,-1.4582796452728255]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.3235250732333779,1.4326682203082268,0.71338606911949],"aabb_xy":[[-0.35798742063151967,1.3981743379104037],[-0.28906272583523607,1.467162102706049]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.39243215656376784,1.4166742532641874,0.71338606911949],"aabb_xy":[[0.38847167279403344,1.4090063886786668],[0.39639264033350213,1.424342117849708]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.4721267795224844,-0.7054627270442633,0.71338606911949],"aabb_xy":[[-0.5521267805956048,-0.7152407733816477],[-0.39212677844936417,-0.6956846807068788]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.1510037694081816,-1.561906339880893,0.71338606911949],"aabb_xy":[[0.13350376914884501,-1.5759978820696658],[0.16850376966751826,-1.5478147976921206]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[-0.5053151222197336,-0.32419050080894474,0.71338606911949],"aabb_xy":[[-0.5403151221962295,-0.33365511685656135],[-0.4703151222432378,-0.3147258847613281]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.4601990344434084,1.1794453079040044,0.71338606911949],"aabb_xy":[[0.39619903416943014,1.1293792077067162],[0.5241990347173866,1.2295114081012921]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.20116533762010552,0.20646768238903856,0.71338606911949],"aabb_xy":[[-0.23866533796833325,0.19467628680795498],[-0.16366533727187774,0.2182590779701221]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.4597054971101988,-2.564633664881015,0.71338606911949],"aabb_xy":[[0.45558954699812604,-2.56874921991386],[0.46382144722227137,-2.560518109848169]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[-0.09455195634815283,-0.8441576598180605,0.71338606911949],"aabb_xy":[[-0.13673637050898357,-0.9081576600952717],[-0.052367542187322105,-0.7801576595408493]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.6917976194553206,1.2183764965862434,0.71338606911949],"aabb_xy":[[0.6741219888667223,1.2006962803068402],[0.7094732500439189,1.2360567128656457]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.6097980455439184,-2.32986805919692,0.71338606911949],"aabb_xy":[[-0.6139339018766186,-2.3673680586412775],[-0.6056621892112182,-2.2923680597525635]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.415429197290061,-2.0987367671702435,0.71338606911949],"aabb_xy":[[0.40219825175537965,-2.111964186192243],[0.42866014282474224,-2.085509348148244]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.031299342910840244,-1.8097731734559526,0.71338606911949],"aabb_xy":[[-0.0952993443188309,-1.8615621249798773],[0.03270065849715042,-1.7579842219320279]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.10840291448359196,-1.4742118412537577,0.71338606911949],"aabb_xy":[[-0.1984029109844637,-1.520123483672216],[-0.018402917982720198,-1.4283001988352995]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.47887403335832124,-0.38868047363627456,0.71338606911949],"aabb_xy":[[0.39887403477100186,-0.46799607557443546],[0.5588740319456407,-0.30936487169811366]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.347001553671169,-2.4618251207572457,0.71338606911949],"aabb_xy":[[-0.35715456922531835,-2.497894662329985],[-0.3368485381170196,-2.4257555791845045]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[-0.18269571000468532,0.976269391860237,0.71338606911949],"aabb_xy":[[-0.22019571079668074,0.9699015509020468],[-0.14519570921268984,0.982637232818427]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.47510726114607715,-1.6057792182562864,0.71338606911949],"aabb_xy":[[-0.5647943374541926,-1.695779218510737],[-0.38542018483796175,-1.515779218001836]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[-0.3096861067237741,0.66268582816235,0.71338606911949],"aabb_xy":[[-0.3471861073883528,0.6469987701621277],[-0.2721861060591954,0.6783728861625721]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[0.5274808632972545,1.5611792274152827,0.71338606911949],"aabb_xy":[[0.5115963700319294,1.5468262871164586],[0.5433653565625797,1.5755321677141068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874051986999112,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2637.png","name":"2637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2637.png","name":"2637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5507.png","name":"5507"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2792.png","name":"2792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1679.png","name":"1679"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":528.250724530836,"rotation_z_degrees":284.1930299935907,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018032899275618044,-0.010511274990066965,-0.016754800200762775]},{"name":"camera_2","offset_m":[-0.017761711115119518,-0.009757878002459908,-0.013197281042828152]},{"name":"camera_3","offset_m":[-0.0007338938203183959,-0.007387505260911316,-0.011096838662890436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001256432064992034,0.001770616673845377,0.0008606454695952335],"end_effector_yaw_offset_degrees":-0.4474738608426032},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009116025388211941,-0.00019474191645698735,-0.0011406261187448209],"end_effector_yaw_offset_degrees":0.41670370250624456},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010949234579654245,-0.001695616084377181,0.0014277291827444363],"end_effector_yaw_offset_degrees":0.17573503284074699}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029401138962640715,-0.0003495721121397344],"position_m":[0.2491598861037359,-0.09484957211213974,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003258473569933899,0.002485327248241607],"position_m":[0.35785847356993394,0.0732853272482416,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0002878376941222085,-0.0008284124872920988],"position_m":[0.3137121623058778,0.2472715875127079,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003941449923872332,0.00034567385965929547],"position_m":[0.25084144992387236,-0.3783543261403407,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ff95e31697554b6fa346175933d1202dbf00b8a8d6785981c190ea429b6c847","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2637/tex_ceiling_textures_1679/tex_floor_textures_2792/tex_table_textures_5507/tex_wall_textures_3523","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4969857675565101459,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4969857675565101459,"visual_seed":4969857675565101459,"scene_id":"lab_003","finished_at":"2026-09-02T06:28:32"}
+{"episode_id":"ep_000070","started_at":"2026-09-02T06:28:35","dimensions":{"distractor":{"count":33,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.6414010446081273,0.7164449473906784,0.71338606911949],"aabb_xy":[[0.6043669351800675,0.6820677400569689],[0.6784351540361869,0.7508221547243877]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.5099465693948795,0.6128208757499567,0.71338606911949],"aabb_xy":[[0.4599534572856877,0.5628208750757612],[0.5599396815040715,0.6628208764241524]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.35420210377825884,1.4200656377613075,0.71338606911949],"aabb_xy":[[-0.40420210413882485,1.370085650551704],[-0.3042021034176927,1.47004562497091]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.4180924827949244,1.6392302167435662,0.71338606911949],"aabb_xy":[[-0.4680924844564191,1.589231774487863],[-0.36809248113342957,1.6892286589992684]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.11937916687555328,-1.7617041092965677,0.71338606911949],"aabb_xy":[[0.07410055199440402,-1.8257041086447512],[0.16465778175670254,-1.6977041099483838]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.2334472578369859,-2.4088867825249194,0.71338606911949],"aabb_xy":[[-0.2834472591208258,-2.4588656369155406],[-0.18344725655314587,-2.3589079281342964]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.06478641024543708,-1.057414570548135,0.71338606911949],"aabb_xy":[[-0.09908332126317769,-1.0917114567580761],[-0.03048949922769644,-1.0231176843381935]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.34413381168374463,1.1614096623818537,0.71338606911949],"aabb_xy":[[-0.3608109476768402,1.1447097384079234],[-0.3274566756906492,1.178109586355784]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.5838718867490218,1.2547778585251574,0.71338606911949],"aabb_xy":[[0.5463718862516636,1.250809174977039],[0.62137188724638,1.258746542073276]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.6121819269688328,-1.747762727319318,0.71338606911949],"aabb_xy":[[-0.6721819272202338,-1.8020440523557826],[-0.5521819267174315,-1.6934814022828533]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.29595958559654767,-0.5134422287761407,0.71338606911949],"aabb_xy":[[0.27816607866163123,-0.5312419743719383],[0.3137530925314641,-0.495642483180343]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.6358179031933036,1.4022113539884486,0.71338606911949],"aabb_xy":[[-0.6422317168364885,1.3958015337407799],[-0.6294040895501186,1.4086211742361165]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.09040027366584646,-2.439285735879379,0.71338606911949],"aabb_xy":[[-0.11331598655089639,-2.4621900330158026],[-0.06748456078079658,-2.4163814387429556]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.40678580300871925,-1.9540694455947185,0.71338606911949],"aabb_xy":[[0.3943184448989837,-1.9665347702280422],[0.419253161118455,-1.9416041209613952]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.32825169725086595,-1.6803569973453207,0.71338606911949],"aabb_xy":[[-0.38984245647485877,-1.7443569954543678],[-0.26666093802687313,-1.616356999236274]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.2968887521588589,1.5978269727062426,0.71338606911949],"aabb_xy":[[0.21688875475526545,1.51783440150806],[0.3768887495624523,1.6778195439044257]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.5734680268512329,0.029486862735704555,0.71338606911949],"aabb_xy":[[-0.590570104809601,0.012380057204434802],[-0.5563659488928647,0.04659366826697431]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.04228712801429102,1.4280254691119896,0.71338606911949],"aabb_xy":[[0.03820897010724128,1.4239444888637265],[0.04636528592134076,1.432106449360253]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.6117624808736133,0.40034898752453163,0.71338606911949],"aabb_xy":[[0.5477624835712669,0.3559825605566748],[0.6757624781759597,0.44471541449238833]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[-0.5070033704223482,0.8851618173461224,0.71338606911949],"aabb_xy":[[-0.5157845975695846,0.8763820700575925],[-0.4982221432751121,0.8939415646346528]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[0.5706489959786174,-0.17490493850697675,0.71338606911949],"aabb_xy":[[0.4906489945484902,-0.2544220935195862],[0.6506489974087446,-0.09538778349436727]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.4915429362560009,-0.5515631071256695,0.71338606911949],"aabb_xy":[[0.42754293403559385,-0.5959361912509576],[0.5555429384764079,-0.5071900230003811]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.2579767949299151,-1.251207676387148,0.71338606911949],"aabb_xy":[[0.2255150940479876,-1.2813405085020502],[0.2904384958118425,-1.221074844272245]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[0.615520033605633,0.15158372821517885,0.71338606911949],"aabb_xy":[[0.6074836989043481,0.14354560891076204],[0.6235563683069177,0.1596218475195956]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.6480932485826757,1.31005307957362,0.71338606911949],"aabb_xy":[[-0.6825555959808173,1.2755591971757971],[-0.6136309011845337,1.3445469619714425]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.4418838580137476,0.6304004647580248,0.71338606911949],"aabb_xy":[[-0.4472214336797522,0.605400463828885],[-0.43654628234774306,0.6554004656871646]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.5491911996985585,-2.2103470033091157,0.71338606911949],"aabb_xy":[[-0.5991700082088743,-2.2603470033148345],[-0.49921239118824257,-2.160347003303397]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.575318938444104,-1.0258945379070366,0.71338606911949],"aabb_xy":[[0.5673254486488221,-1.0338926698475124],[0.5833124282393861,-1.0178964059665612]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.3982421033887462,-2.1662577733725765,0.71338606911949],"aabb_xy":[[0.3432421051870013,-2.206779739999014],[0.453242101590491,-2.125735806746139]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[0.03462957792491017,-2.084149375970889,0.71338606911949],"aabb_xy":[[0.01708288300879124,-2.1216493775351406],[0.0521762728410291,-2.0466493744066376]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[-0.5593570080307626,0.2958108568485387,0.71338606911949],"aabb_xy":[[-0.6064863870325982,0.23181085580413663],[-0.5122276290289268,0.35981085789294054]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[-0.6180473891171313,-0.4629688882171723,0.71338606911949],"aabb_xy":[[-0.6730396397526424,-0.5179688899604851],[-0.5630551384816205,-0.4079688864738596]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_32","position":[-0.26568706032964556,0.3207589407205491,0.71338606911949],"aabb_xy":[[-0.3042327531548466,0.2822131696643604],[-0.22714136750444452,0.35930471177673773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6849037642672299,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4474.png","name":"4474"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4474.png","name":"4474"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8382.png","name":"8382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5760.png","name":"5760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8986.png","name":"8986"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":782.5594181797574,"rotation_z_degrees":77.66567806021318,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038403476934607654,0.002862083948690315,0.004652365235265736]},{"name":"camera_2","offset_m":[0.019887649422066788,-0.005454665032684738,0.0005619994627600287]},{"name":"camera_3","offset_m":[-0.015213346331808038,0.006007514253251033,-0.00036121935179518616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001688402007365444,-0.0018675156075768915,-0.001892909992465095],"end_effector_yaw_offset_degrees":0.24499957331122646},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004386460677673423,0.00032572128681531776,0.0004865965649287463],"end_effector_yaw_offset_degrees":-0.7156963426899301},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005880286677912142,0.0002657505042301567,0.00041754497975296815],"end_effector_yaw_offset_degrees":-0.057399589118454}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001928729379775178,-0.0011659935640883556],"position_m":[0.25402872937977516,-0.09566599356408835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.9382729679713433e-05,-0.002053175130344452],"position_m":[0.35461938272967974,0.06874682486965555,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015485834372841144,-0.0036247214479866296],"position_m":[0.3124514165627159,0.24447527855201337,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019700604785895725,0.0019000832592595456],"position_m":[0.2488700604785896,-0.3767999167407404,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"44333f44b63975e1ebe9beeac22b87c489d66165de619ac75c0b640d719aec57","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4474/tex_ceiling_textures_7239/tex_floor_textures_8986/tex_table_textures_8382/tex_wall_textures_5760","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7344841803589314972,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7344841803589314972,"visual_seed":7344841803589314972,"scene_id":"lab_003","finished_at":"2026-09-02T06:31:12"}
+{"episode_id":"ep_000071","started_at":"2026-09-02T06:31:17","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.6282890723948218,-0.8179017228357126,0.71338606911949],"aabb_xy":[[0.5632890713943213,-0.8686880879903874],[0.6932890733953223,-0.7671153576810376]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.39136517340016574,1.0674661912638053,0.71338606911949],"aabb_xy":[[0.3874046896304314,1.0597983266782844],[0.3953256571699001,1.0751340558493256]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.5568108872491386,-1.9955754225356204,0.71338606911949],"aabb_xy":[[0.5471792510287089,-2.0052127353153293],[0.5664425234695681,-1.9859381097559115]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.2878071354055188,-2.285911879277058,0.71338606911949],"aabb_xy":[[-0.34780713704844063,-2.3379120285690025],[-0.22780713376259693,-2.233911729985114]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.5121733290850874,1.728991631504846,0.71338606911949],"aabb_xy":[[-0.5661889253669873,1.6649916286125885],[-0.4581577328031873,1.7929916343971029]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.42644801298139595,1.1724242211370366,0.71338606911949],"aabb_xy":[[-0.4904480162000338,1.1257011092380282],[-0.3624480097627581,1.219147333036045]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.40242674966243186,-2.0539327527418982,0.71338606911949],"aabb_xy":[[0.39431309498905476,-2.062038569195927],[0.41054040433580896,-2.0458269362878694]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.5251685643597168,0.3633999566729611,0.71338606911949],"aabb_xy":[[-0.589168563653885,0.2994138163041069],[-0.4611685650655486,0.4273860970418153]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[0.2581778716082167,0.5591798461935236,0.71338606911949],"aabb_xy":[[0.24301499863127968,0.5440143888984048],[0.27334074458515384,0.5743453034886423]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.2023861595715204,-0.8984367873674419,0.71338606911949],"aabb_xy":[[0.1383904621764238,-0.9624367856681504],[0.266381856966617,-0.834436789066733]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.6022099490840234,-1.0050847782874561,0.71338606911949],"aabb_xy":[[0.5920569335298739,-1.0411543198601962],[0.6123629646381726,-0.9690152367147156]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.1968875671715546,0.8712342383425824,0.71338606911949],"aabb_xy":[[-0.2312038443461725,0.8212342383694046],[-0.16257128999693662,0.92123423831576]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[-0.26455173890231587,-2.404472246767237,0.71338606911949],"aabb_xy":[[-0.2820517391473652,-2.421972034606804],[-0.24705173865726646,-2.38697245892767]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.5037843798289845,-2.5551996542637863,0.71338606911949],"aabb_xy":[[-0.5098213928296492,-2.561226355332735],[-0.49774736682831977,-2.5491729531948386]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.5625953298660471,0.6279255996984889,0.71338606911949],"aabb_xy":[[0.49259532647448506,0.592609825995058],[0.632595333257609,0.6632413734019197]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[0.5085330977263725,-1.4787614613596682,0.71338606911949],"aabb_xy":[[0.501120642184984,-1.484612671781296],[0.5159455532677609,-1.47291025093804]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.07595720861912436,-0.8901292783128674,0.71338606911949],"aabb_xy":[[-0.11245302924640309,-0.9266132207396248],[-0.039461387991845606,-0.8536453358861097]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.4781619978440974,1.7038858387601423,0.71338606911949],"aabb_xy":[[0.45566199733205676,1.6813939803947437],[0.500661998356138,1.7263776971255405]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.26108579379401076,1.3007088596288594,0.71338606911949],"aabb_xy":[[0.2467513686678473,1.2886486440743206],[0.2754202189201742,1.3127690751833982]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.007751645524358364,0.9965565390986666,0.71338606911949],"aabb_xy":[[-0.057634342402054575,0.9465565398523919],[0.04213105135333784,1.0465565383449413]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.45828095544705927,1.4350888775419288,0.71338606911949],"aabb_xy":[[0.3942809531042577,1.3901480262977963],[0.5222809577898608,1.4800297287860613]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.24357431431190835,0.5932837448111838,0.71338606911949],"aabb_xy":[[-0.2740585644389385,0.5432837450296879],[-0.2130900641848782,0.6432837445926798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853450753668929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4117.png","name":"4117"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4117.png","name":"4117"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1017.png","name":"1017"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4465.png","name":"4465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/316.png","name":"316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8904.png","name":"8904"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":848.6039506923557,"rotation_z_degrees":317.8489201027477,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013094192240594247,0.0032219817943730106,0.014911110572647813]},{"name":"camera_2","offset_m":[-0.011547563388306351,0.0035467166029498377,-0.018755376385300282]},{"name":"camera_3","offset_m":[-0.010802163959156182,0.008870812237588132,-0.003919297909449452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002548704143194645,-0.0003510139571250273,-0.001671939800331943],"end_effector_yaw_offset_degrees":0.4619700783903944},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018950242317378615,-0.0014203425255863054,-0.0012134937921334842],"end_effector_yaw_offset_degrees":0.7281104766231992},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[6.404899668776502e-05,0.001057318088586666,0.0002473174599147798],"end_effector_yaw_offset_degrees":0.33831450308110744}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004070050023689645,-0.00011708235768095182],"position_m":[0.24802994997631034,-0.09461708235768096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028103332279731242,-0.0024124573770062385],"position_m":[0.3517896667720269,0.06838754262299376,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0031670572812382237,-0.002157351328756524],"position_m":[0.3108329427187618,0.24594264867124346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001222760815547107,-0.003693476940736168],"position_m":[0.2456772391844529,-0.38239347694073617,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"db1dfcbac9bee53ca1f05c41478fa28beca47067cf34c6eab27b381c0b7f978b","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4117/tex_ceiling_textures_8904/tex_floor_textures_316/tex_table_textures_1017/tex_wall_textures_4465","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8571176713634019771,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8571176713634019771,"visual_seed":8571176713634019771,"scene_id":"lab_003","finished_at":"2026-09-02T06:33:51"}
+{"episode_id":"ep_000072","started_at":"2026-09-02T06:33:54","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.38301116564039167,-0.3290413794787477,0.71338606911949],"aabb_xy":[[-0.4000212629304424,-0.3451758679770216],[-0.3660010683503411,-0.31290689098047375]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.12705692230700638,-0.8805926185628701,0.71338606911949],"aabb_xy":[[0.09020637437001877,-0.9180926193859039],[0.163907470243994,-0.8430926177398365]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.3242309561249024,1.2258535460207445,0.71338606911949],"aabb_xy":[[-0.3566926570068298,1.1957207139058414],[-0.29176925524297487,1.2559863781356466]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.6144904064556526,1.1189365097514679,0.71338606911949],"aabb_xy":[[-0.6369895421818795,1.0964365089732049],[-0.5919912707294256,1.1414365105297308]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.47319383385269154,-2.309749112909887,0.71338606911949],"aabb_xy":[[0.4131938322097697,-2.3617492622018306],[0.5331938354956134,-2.257748963617942]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.19269335100176466,-1.2125217063479066,0.71338606911949],"aabb_xy":[[0.14269834004231263,-1.2625217053834983],[0.2426883619612167,-1.1625217073123149]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.5828894141709888,1.0781398441870698,0.71338606911949],"aabb_xy":[[0.4978894154789141,1.046153980792191],[0.6678894128630634,1.1101257075819486]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.5483029197559297,-1.7983192430656856,0.71338606911949],"aabb_xy":[[-0.5904873339167606,-1.8623192433428968],[-0.5061185055950991,-1.7343192427884744]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.2925877389046174,1.4932519541257592,0.71338606911949],"aabb_xy":[[0.23258773905805064,1.4364333319327205],[0.3525877387511842,1.5500705763187979]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.2318473443056046,-2.4737041050639124,0.71338606911949],"aabb_xy":[[-0.2968473421872524,-2.5248277687704532],[-0.16684734642395682,-2.4225804413573715]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.21419528451542613,1.1149616940715696,0.71338606911949],"aabb_xy":[[0.19676456943641962,1.0976895794077186],[0.23162599959443264,1.1322338087354202]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[-0.14533699478933437,0.6311105828749759,0.71338606911949],"aabb_xy":[[-0.22533699525955034,0.6227998752606275],[-0.06533699431911842,0.6394212904893243]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.44020683016766116,0.6132866744609311,0.71338606911949],"aabb_xy":[[0.4152068308956988,0.5969413108647686],[0.4652068294396234,0.6296320380570933]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.23675253409499214,-1.039536626389174,0.71338606911949],"aabb_xy":[[-0.25454604102990863,-1.0573363719849718],[-0.21895902716007573,-1.0217368807933764]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.6804124046921513,1.8010817755345,0.71338606911949],"aabb_xy":[[-0.6923451390539793,1.7886996227266407],[-0.6684796703303232,1.8134639283423595]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.5904294426151238,-0.6839072831428501,0.71338606911949],"aabb_xy":[[0.528838683391131,-0.7479072812518971],[0.6520202018391167,-0.6199072850338033]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.37492987361405944,-0.6332167258975681,0.71338606911949],"aabb_xy":[[-0.41084337803904913,-0.6691302341143227],[-0.33901636918906974,-0.5973032176808134]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.0070221211593873845,-1.8936382336034856,0.71338606911949],"aabb_xy":[[-0.04046229635540698,-1.9270818594344152],[0.026418054036632218,-1.860194607772555]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.5713786490753411,-0.791145385618286,0.71338606911949],"aabb_xy":[[-0.6126274601052557,-0.8461453851305033],[-0.5301298380454262,-0.7361453861060684]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.5065962850826198,-1.0650067260920268,0.71338606911949],"aabb_xy":[[-0.5160137596524824,-1.0744229032297459],[-0.4971788105127569,-1.0555905489543078]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.4681154086938262,0.7928809104655201,0.71338606911949],"aabb_xy":[[-0.5133940235749754,0.7288809111173364],[-0.4228367938126769,0.8568809098137038]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.4927854941215146,-1.343192386924314,0.71338606911949],"aabb_xy":[[0.428785491778713,-1.3881332381684464],[0.5567854964643161,-1.2982515356801814]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.2465733668020379,1.2910033378931778,0.71338606911949],"aabb_xy":[[0.19657336551819787,1.2410244835025557],[0.29657336808587775,1.3409821922838]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.4368546577576357,1.3857768459607702,0.71338606911949],"aabb_xy":[[-0.5008546580181066,1.340768046607842],[-0.3728546574971649,1.430785645313698]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853339920006852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7839.png","name":"7839"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7839.png","name":"7839"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7725.png","name":"7725"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6535.png","name":"6535"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/137.png","name":"137"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6793.png","name":"6793"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":810.5637108284672,"rotation_z_degrees":327.4045607244151,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015925394123505257,-0.014734550700189555,-0.01424588435482397]},{"name":"camera_2","offset_m":[-0.016483463939914872,0.009998748825358415,-0.006079737293845349]},{"name":"camera_3","offset_m":[0.009075116322263006,0.0098951453616389,0.007788839522571013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015391639698431612,-0.000971952189641545,0.0015785208906747865],"end_effector_yaw_offset_degrees":-0.6106870220760108},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016245971107835796,0.0016295807656446291,0.001391671893983901],"end_effector_yaw_offset_degrees":0.26495443073237723},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001563602362891023,-0.0003884203955167474,-0.0012075903646380018],"end_effector_yaw_offset_degrees":0.9802082299669377}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020130449377124037,-0.0005840128241882125],"position_m":[0.2541130449377124,-0.09508401282418821,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013341624749054612,0.0005018322783495229],"position_m":[0.3559341624749055,0.07130183227834952,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004747686829697911,-0.004858146800358094],"position_m":[0.3187476868296979,0.2432418531996419,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00052538742579242,-0.0026343139998122414],"position_m":[0.2463746125742076,-0.3813343139998122,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"17befc8123c62af6d6ac6b6a79e9d43d2afab803f25fca9a163445892e10b77c","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7839/tex_ceiling_textures_6793/tex_floor_textures_137/tex_table_textures_7725/tex_wall_textures_6535","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2873200297512731596,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2873200297512731596,"visual_seed":2873200297512731596,"scene_id":"lab_003","finished_at":"2026-09-02T06:36:30"}
+{"episode_id":"ep_000073","started_at":"2026-09-02T06:36:33","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5571147799211914,-0.94627910414789,0.71338606911949],"aabb_xy":[[-0.6271147833127534,-0.9815948778513208],[-0.4871147765296295,-0.9109633304444591]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.27275942113497836,0.2742738587266875,0.71338606911949],"aabb_xy":[[-0.3427594229437238,0.25292008996250015],[-0.20275941932623293,0.2956276274908749]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.23916203643698736,-0.7030729752665494,0.71338606911949],"aabb_xy":[[-0.30316203669745817,-0.7480817746194774],[-0.17516203617651657,-0.6580641759136214]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.30261937764676033,1.2623251387941203,0.71338606911949],"aabb_xy":[[-0.3066975355538101,1.258244158545857],[-0.2985412197397106,1.2664061190423836]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.24589758081574675,1.45953029233319,0.71338606911949],"aabb_xy":[[0.20839758064387479,1.426829556950283],[0.2833975809876187,1.4922310277160973]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.3915543419222051,0.623929521808654,0.71338606911949],"aabb_xy":[[-0.4086564198805732,0.6068227162773843],[-0.3744522639638369,0.6410363273399238]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.5182518052067318,-0.3441243404382539,0.71338606911949],"aabb_xy":[[0.5108393496653433,-0.34997555085988186],[0.5256642607481202,-0.33827313001662596]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.3025597677500674,-0.9844573393186202,0.71338606911949],"aabb_xy":[[-0.3825597651536608,-1.064449910516803],[-0.22255977034647398,-0.9044647681204375]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.1245807119657143,0.5661758724707706,0.71338606911949],"aabb_xy":[[-0.18617147118970712,0.5021758743617237],[-0.06298995274172148,0.6301758705798175]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.5913437831786135,-2.269556058418173,0.71338606911949],"aabb_xy":[[0.5794110488167854,-2.2819382112260325],[0.6032765175404415,-2.2571739056103137]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.5731503241785615,1.2686722651856779,0.71338606911949],"aabb_xy":[[-0.6371503255865522,1.216883313661753],[-0.5091503227705708,1.3204612167096024]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.6403198079007677,1.479258525244329,0.71338606911949],"aabb_xy":[[0.6342251800126494,1.4706891306926604],[0.646414435788886,1.4878279197959978]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.4349526836400506,-0.3704641532605959,0.71338606911949],"aabb_xy":[[-0.4428759638787989,-0.39296415349859926],[-0.42702940340130224,-0.34796415302259254]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.5189644191845335,0.8688919585817034,0.71338606911949],"aabb_xy":[[-0.5476137515449496,0.8402463993046275],[-0.4903150868241172,0.8975375178587791]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.03774278488851868,0.902379846050696,0.71338606911949],"aabb_xy":[[0.020732687598468025,0.886245357552422],[0.05475288217856933,0.9185143345489698]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.33513768227597374,-1.1553545529955407,0.71338606911949],"aabb_xy":[[0.29014509555752327,-1.2003545522699892],[0.3801302689944241,-1.1103545537210917]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.41397744409990034,0.38138559102709735,0.71338606911949],"aabb_xy":[[-0.42028954363623877,0.3756186517738785],[-0.4076653445635619,0.3871525302803161]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.5564462334139224,0.7556938937023125,0.71338606911949],"aabb_xy":[[0.5063487694328488,0.6916938931925007],[0.606543697394996,0.8196938942121244]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[-0.19199115673656197,1.0498844385091468,0.71338606911949],"aabb_xy":[[-0.20375934353121958,0.9648844386039255],[-0.1802229699419045,1.1348844384143686]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.42658072601772434,-1.6200978976264127,0.71338606911949],"aabb_xy":[[0.4020671019207185,-1.644362490928449],[0.4510943501147302,-1.5958333043243762]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.06941410869398468,-0.5073647797360881,0.71338606911949],"aabb_xy":[[-0.08286063532802802,-0.5208346313891793],[-0.05596758205994136,-0.49389492808299684]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.44740062577369333,0.48266851637801267,0.71338606911949],"aabb_xy":[[0.38340062248398515,0.439333597374095],[0.5114006290634013,0.5260034353819302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888339819655064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7181.png","name":"7181"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7181.png","name":"7181"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4786.png","name":"4786"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3012.png","name":"3012"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2569.png","name":"2569"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.4780756806992,"rotation_z_degrees":267.08229959345084,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012382662967480997,-0.0027147429127609805,-0.007696490132780429]},{"name":"camera_2","offset_m":[0.018313761436355307,-0.005697413229909248,0.00012828567935952925]},{"name":"camera_3","offset_m":[-0.013906313127031309,-0.012548224699813315,-0.008871939712331378]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008499239213494219,0.001954768458151005,0.0005035452992100506],"end_effector_yaw_offset_degrees":-0.6419200968337544},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-7.604407914285627e-05,0.0005660866379850215,-0.001288571220490263],"end_effector_yaw_offset_degrees":0.018018490566786394},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007268391494233959,-0.0018641515637230369,0.001421333085656867],"end_effector_yaw_offset_degrees":0.3929008556588678}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0035262633668639966,-0.0022096869635780127],"position_m":[0.248573736633136,-0.09670968696357801,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000279551479036441,-0.0012136035638354117],"position_m":[0.3548795514790365,0.06958639643616459,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00049349514535972,0.0007355405351919912],"position_m":[0.31350650485464027,0.24883554053519197,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002509755203567745,-0.004392072430437346],"position_m":[0.24940975520356776,-0.3830920724304373,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9fc717a918dd18e8426e879e9bf0fef9144e322ff6af4d86c7be85be51cf078c","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7181/tex_ceiling_textures_2569/tex_floor_textures_3012/tex_table_textures_4786/tex_wall_textures_9758","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6308982936527677110,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6308982936527677110,"visual_seed":6308982936527677110,"scene_id":"lab_003","finished_at":"2026-09-02T06:39:11"}
+{"episode_id":"ep_000074","started_at":"2026-09-02T06:39:14","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.39449958947712127,0.011505824603778692,0.71338606911949],"aabb_xy":[[-0.4071022886141978,-0.0010895716210868045],[-0.38189689034004487,0.024101220828644188]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.3918111446514,-1.2861397403718569,0.71338606911949],"aabb_xy":[[-0.42931114446843355,-1.2907779516829987],[-0.35431114483436643,-1.281501529060715]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.4444874469658417,-2.3125594100755076,0.71338606911949],"aabb_xy":[[-0.45248093676112383,-2.3205575420159836],[-0.4364939571705598,-2.3045612781350324]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.21071222430968922,-0.8554911403932035,0.71338606911949],"aabb_xy":[[-0.21775253424322624,-0.9354911397928751],[-0.20367191437615226,-0.7754911409935323]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.1939481844383264,-2.502474460570724,0.71338606911949],"aabb_xy":[[0.17877601515669306,-2.5176433174989272],[0.20912035371995974,-2.487305603642521]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.5463286485684145,-2.436735730222683,0.71338606911949],"aabb_xy":[[-0.5838286493604099,-2.4431035711808726],[-0.508828647776419,-2.430367889264492]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.0874350452736099,0.8104245618388295,0.71338606911949],"aabb_xy":[[-0.09784660395409359,0.8050788285029311],[-0.07702348659312616,0.8157702951747281]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[0.0856958157217983,1.242684000888623,0.71338606911949],"aabb_xy":[[0.0631993942879342,1.2201840010818756],[0.1081922371556624,1.2651840006953705]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.5669246783634481,0.07978466950464824,0.71338606911949],"aabb_xy":[[0.5499145810733974,0.06365018100637432],[0.5839347756534987,0.09591915800292217]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.2596591515074894,-1.3079684218761574,0.71338606911949],"aabb_xy":[[0.19806839228349665,-1.3719684199852042],[0.3212499107314823,-1.2439684237671105]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.4362823978523245,-0.7433337852640625,0.71338606911949],"aabb_xy":[[0.3462824011167142,-0.7965172485813569],[0.5262823945879347,-0.6901503219467678]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.4932916873340638,-0.9633592335890369,0.71338606911949],"aabb_xy":[[0.4598125200730229,-0.9968383469601438],[0.5267708545951049,-0.9298801202179299]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.10647478417457568,-1.6386057739904714,0.71338606911949],"aabb_xy":[[-0.113718550220821,-1.718605772194074],[-0.09923101812833035,-1.5586057757868692]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.470949794692636,0.5148982726741087,0.71338606911949],"aabb_xy":[[0.46491278169197137,0.5088715716051605],[0.4769868076933008,0.5209249737430569]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.607470040775542,-0.4171346433680352,0.71338606911949],"aabb_xy":[[-0.6430991966755017,-0.45276731012488813],[-0.5718408848755823,-0.38150197661118224]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.5725690891705024,-2.2279392173947508,0.71338606911949],"aabb_xy":[[0.49256908591265947,-2.3079357251867347],[0.6525690924283454,-2.147942709602767]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.41870096202038654,1.6237564894948044,0.71338606911949],"aabb_xy":[[-0.46858365889808284,1.57375649024853],[-0.3688182651426904,1.6737564887410794]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.47625824352054347,-1.8495689478584771,0.71338606911949],"aabb_xy":[[-0.5262513556297354,-1.899568948532673],[-0.4262651314113516,-1.7995689471842817]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[-0.1644865255685789,0.6473818604693107,0.71338606911949],"aabb_xy":[[-0.18004229497884416,0.6318314272249036],[-0.14893075615831364,0.662932293713718]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.3203103034790937,1.3032674482159674,0.71338606911949],"aabb_xy":[[0.2653103038573479,1.248283755428495],[0.37531030310083957,1.3582511410034404]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[0.06115709601065067,1.5562584338494152,0.71338606911949],"aabb_xy":[[0.01615709454442182,1.5112585769879348],[0.10615709747687954,1.601258290710896]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[0.09033098762366665,1.6755351570194708,0.71338606911949],"aabb_xy":[[0.06533098845803355,1.6685829113141142],[0.11533098678929977,1.6824874027248273]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.28882997883625317,-1.1717310202325188,0.71338606911949],"aabb_xy":[[-0.3039928518131903,-1.1868964775276376],[-0.27366710585931614,-1.1565655629374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863908643642551,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/20.png","name":"20"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/20.png","name":"20"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5685.png","name":"5685"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7430.png","name":"7430"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2168.png","name":"2168"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":710.2069160987649,"rotation_z_degrees":264.4977551224827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012868746008353648,0.017504491033955707,-0.010094696873065702]},{"name":"camera_2","offset_m":[0.0098086817332038,0.007671581195883393,0.002255041638657848]},{"name":"camera_3","offset_m":[-0.01605439236160342,0.00032322254872403297,0.005073680492431173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010119076018696859,-0.0003560392061769009,-0.0010431261606216019],"end_effector_yaw_offset_degrees":-0.1873786446336898},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[7.643053192311683e-05,0.0018779132490712607,-0.0018245808836874406],"end_effector_yaw_offset_degrees":-0.8885233713484451},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00025991206815393925,0.001290018922371238,-0.00017054546786828603],"end_effector_yaw_offset_degrees":-0.9358992751927884}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004357279689750081,0.0019512566386745709],"position_m":[0.2477427203102499,-0.09254874336132543,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002624321079210813,0.004203431978525916],"position_m":[0.3572243210792108,0.07500343197852592,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00029319970478866673,0.0010026011613588738],"position_m":[0.3142931997047887,0.24910260116135885,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018661036259776196,-0.0034703787466303904],"position_m":[0.24708661036259777,-0.38217037874663035,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c08ce93cdc1d587af144f890fa9ef3b935089207301fa7130f98fd6108b36931","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_20/tex_ceiling_textures_2168/tex_floor_textures_7430/tex_table_textures_230/tex_wall_textures_5685","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6827019558057064621,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6827019558057064621,"visual_seed":6827019558057064621,"scene_id":"lab_003","finished_at":"2026-09-02T06:41:50"}
+{"episode_id":"ep_000075","started_at":"2026-09-02T06:41:53","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.2078803575534136,-2.1887534771253967,0.71338606911949],"aabb_xy":[[-0.22050714484060996,-2.1982995508269694],[-0.19525357026621726,-2.179207403423824]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.5490390545876742,-1.5510255974609755,0.71338606911949],"aabb_xy":[[-0.5569623348264225,-1.5735255976989788],[-0.5411157743489259,-1.528525597222972]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.09849448458922472,1.109074839876187,0.71338606911949],"aabb_xy":[[0.04851024888104748,1.0590748410626913],[0.14847872029740194,1.1590748386896825]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.3001648674452594,0.19541822738158698,0.71338606911949],"aabb_xy":[[-0.31152660209854555,0.18404976097529888],[-0.2888031327919732,0.20678669378787504]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.28852843443045045,-1.3722876662075083,0.71338606911949],"aabb_xy":[[-0.3260284356152432,-1.3767058889035686],[-0.2510284332456576,-1.3678694435114476]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.13145197971630507,-1.3019752318046112,0.71338606911949],"aabb_xy":[[0.12774871838716617,-1.3056772501133287],[0.1351552410454439,-1.2982732134958932]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.6508842265038342,0.9461506819996122,0.71338606911949],"aabb_xy":[[0.6133842260064758,0.942181998451494],[0.6883842270011923,0.9501193655477308]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.32905818750230753,-0.4785271901964383,0.71338606911949],"aabb_xy":[[0.24905819034273224,-0.4900747911542553],[0.4090581846618828,-0.4669795892386212]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.12750676292719543,1.5619328036845954,0.71338606911949],"aabb_xy":[[0.11240446146617729,1.546831282053533],[0.14260906438821347,1.577034325315657]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.04670381648498345,0.8097277001294496,0.71338606911949],"aabb_xy":[[-0.12670381514186946,0.7952228412051869],[0.03329618217190255,0.8242325590537125]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.27159309361535977,-1.1414385601677592,0.71338606911949],"aabb_xy":[[0.22159309225447252,-1.1914164647431749],[0.32159309497624694,-1.0914606555923436]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.4865499437436354,0.8434265604175359,0.71338606911949],"aabb_xy":[[-0.5415499433653812,0.7884428676300632],[-0.4315499441218896,0.8984102532050087]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.5377012449948437,-1.0656473734359309,0.71338606911949],"aabb_xy":[[0.515201244482803,-1.088139231801329],[0.5602012455068842,-1.0431555150705323]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.07322398899461313,-1.278022934225793,0.71338606911949],"aabb_xy":[[-0.13322398950246606,-1.334869667911714],[-0.01322398848676022,-1.2211762005398714]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.6366321216179156,0.749834266714998,0.71338606911949],"aabb_xy":[[0.5953833105880008,0.6948342672027804],[0.6778809326478302,0.8048342662272153]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.015930175550904146,-1.6463159041365256,0.71338606911949],"aabb_xy":[[-0.07993017472067408,-1.693082591255488],[0.048069823618865797,-1.5995492170175631]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.38945979104597606,-0.11784886379801085,0.71338606911949],"aabb_xy":[[-0.4013318740574771,-0.2028488634916612],[-0.3775877080344749,-0.0328488641043605]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.45411844856966965,-1.3541558854011067,0.71338606911949],"aabb_xy":[[-0.49630286273050045,-1.4181558856783176],[-0.41193403440883897,-1.2901558851238952]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.5246943678362589,0.9522113889384034,0.71338606911949],"aabb_xy":[[-0.5359394234068767,0.940969591214308],[-0.5134493122656411,0.9634531866624986]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.6679919789075719,-1.357754404144412,0.71338606911949],"aabb_xy":[[0.6179919772460771,-1.4077528464001146],[0.7179919805690667,-1.3077559618887091]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.4069509363893056,-1.3182165968724564,0.71338606911949],"aabb_xy":[[0.3710374319643159,-1.3541301050892107],[0.44286444081429527,-1.2823030886557016]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.1263610307011599,-1.0864894007460795,0.71338606911949],"aabb_xy":[[-0.13713400462252767,-1.1214893989651185],[-0.11558805677979211,-1.0514894025270405]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.619805752108,1.2154683253938185,0.71338606911949],"aabb_xy":[[0.6097240450294265,1.1354683275017037],[0.6298874591865734,1.295468323285933]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[0.3231726997295896,-2.0759199518927858,0.71338606911949],"aabb_xy":[[0.3105700005925131,-2.0885153481176513],[0.335775398866666,-2.0633245556679203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6818998538097069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5093.png","name":"5093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5093.png","name":"5093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/557.png","name":"557"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2698.png","name":"2698"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6069.png","name":"6069"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/836.png","name":"836"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":831.4921862360306,"rotation_z_degrees":190.37854504336016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007946732950290265,0.01505634582732195,-0.0004762091758553355]},{"name":"camera_2","offset_m":[0.015464990029558066,0.0010307878883221468,-0.008532001155012821]},{"name":"camera_3","offset_m":[0.0014950258552810965,-0.010766647473897528,-0.017026933001246677]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011881688976783371,0.0007629859415599306,0.000731488894699461],"end_effector_yaw_offset_degrees":0.027529322775087683},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00013564504340946157,-0.0010315841132026403,0.0012671886478230663],"end_effector_yaw_offset_degrees":0.2164886799132002},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0001058830258063902,-0.0001221770158212458,0.001636854955204877],"end_effector_yaw_offset_degrees":0.3194030500069607}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00406935270696405,-0.0006132283337976488],"position_m":[0.24803064729303595,-0.09511322833379765,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016745602049052133,0.0024634757392172748],"position_m":[0.35292543979509483,0.07326347573921728,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003961553097416251,-0.0009479920978009105],"position_m":[0.31003844690258375,0.24715200790219907,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[6.107634953972461e-05,0.004464184922505354],"position_m":[0.24696107634953973,-0.37423581507749465,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f19f66efe4298650b76ad6b4463106ccf1e247d31d237d569c63cf4b4d2615bb","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5093/tex_ceiling_textures_836/tex_floor_textures_6069/tex_table_textures_557/tex_wall_textures_2698","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8453934517949941355,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8453934517949941355,"visual_seed":8453934517949941355,"scene_id":"lab_003","finished_at":"2026-09-02T06:44:45"}
+{"episode_id":"ep_000076","started_at":"2026-09-02T06:44:48","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.2902676190367398,-2.025777546955169,0.71338606911949],"aabb_xy":[[-0.32676343966401855,-2.0622614893819264],[-0.25377179840946107,-1.9892936045284113]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.6474213745263551,1.2101096640388378,0.71338606911949],"aabb_xy":[[0.5824213766447074,1.158986000332297],[0.712421372408003,1.2612333277453787]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.1359606559507126,1.268996771413804,0.71338606911949],"aabb_xy":[[-0.15846065646275317,1.2465049130484054],[-0.11346065543867198,1.291488629779202]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[-0.31884478323469745,-0.36670934656058973,0.71338606911949],"aabb_xy":[[-0.33229130986874084,-0.38017919821368096],[-0.30539825660065417,-0.3532394949074985]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.2770698326624005,-2.3249895779921848,0.71338606911949],"aabb_xy":[[-0.288838019457058,-2.4099895778974068],[-0.26530164586774296,-2.2399895780869636]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.10906504970221309,0.8785481812213738,0.71338606911949],"aabb_xy":[[-0.13095479729115386,0.7885481839321247],[-0.08717530211327228,0.9685481785106229]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.2641930053882606,-0.6205534027888358,0.71338606911949],"aabb_xy":[[-0.2812950833466288,-0.6376602083201055],[-0.24709092742989247,-0.603446597257566]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.35101923129018625,0.3409896365153178,0.71338606911949],"aabb_xy":[[-0.38601923042014186,0.3352444154396536],[-0.31601923216023053,0.3467348575909818]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.6107913997183805,-1.0118058266799628,0.71338606911949],"aabb_xy":[[-0.6747913970040292,-1.0533125456328067],[-0.5467914024327319,-0.9702991077271188]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.06971858105186846,0.02719378558233565,0.71338606911949],"aabb_xy":[[-0.1297185813032696,-0.027087539454129006],[-0.009718580800467252,0.0814751106188003]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.24798528644986328,-0.9102360664119014,0.71338606911949],"aabb_xy":[[0.23721231252849548,-0.9452360646309403],[0.25875826037123106,-0.8752360681928624]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.3986567785424613,-1.720366467387875,0.71338606911949],"aabb_xy":[[0.3486837130099459,-1.770366467200408],[0.44862984407497686,-1.6703664675753422]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.698992611119096,-2.395546307607111,0.71338606911949],"aabb_xy":[[0.675156393478491,-2.4855463084155978],[0.7228288287597011,-2.305546306798625]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.34500468728359507,-1.236733915004008,0.71338606911949],"aabb_xy":[[-0.3950046868599298,-1.286714493956114],[-0.29500468770726035,-1.186753336051902]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.5891023925185309,-1.2559535510457727,0.71338606911949],"aabb_xy":[[-0.5972300807118441,-1.26486715945648],[-0.5809747043252177,-1.247039942635065]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.36075211532911683,-0.09221833840301308,0.71338606911949],"aabb_xy":[[-0.4307521117390785,-0.11265627405469479],[-0.2907521189191549,-0.07178040275133134]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.2596953491026926,1.0357942112562735,0.71338606911949],"aabb_xy":[[-0.2939922601204331,1.001497325046332],[-0.22539843808495186,1.0700910974662146]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.1367104633433276,1.4479056227703082,0.71338606911949],"aabb_xy":[[0.09921046305115278,1.4438641473697047],[0.1742104636355024,1.4519470981709117]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.22479369122109782,-2.1177544493094027,0.71338606911949],"aabb_xy":[[0.18354488019118306,-2.1727544488216197],[0.2660425022510125,-2.062754449797185]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.11093199653735131,0.641612866836526,0.71338606911949],"aabb_xy":[[0.07593199734453301,0.6306458208388632],[0.14593199573016954,0.6525799128341885]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[0.603030724929039,1.6014977794816843,0.71338606911949],"aabb_xy":[[0.5130307281934288,1.5483143161643897],[0.6930307216646492,1.6546812427989788]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[-0.39513974486905196,0.7134870701321803,0.71338606911949],"aabb_xy":[[-0.45011346690538484,0.6584870705679472],[-0.3401660228327191,0.7684870696964136]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.07874043695629429,-2.307478818193296,0.71338606911949],"aabb_xy":[[-0.0012595635139216607,-2.315789525807644],[0.15874043742651023,-2.2991681105789477]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.2548524829400693,-1.4588507520885712,0.71338606911949],"aabb_xy":[[-0.34485248235844007,-1.4922262489327607],[-0.1648524835216983,-1.4254752552443812]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.005170388754471733,-1.0615986026384874,0.71338606911949],"aabb_xy":[[-0.01120740175513646,-1.0676253037074357],[0.0008666242461929932,-1.055571901569539]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6790069399244288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4489.png","name":"4489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4489.png","name":"4489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4901.png","name":"4901"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9693.png","name":"9693"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2930.png","name":"2930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9075.png","name":"9075"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":711.398320865837,"rotation_z_degrees":304.3974107901112,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01572486179884568,0.01057095026315355,0.015469182826072066]},{"name":"camera_2","offset_m":[-0.011547047932415247,0.016379488176538195,0.006237415773056011]},{"name":"camera_3","offset_m":[-0.01906247579042841,0.01137862881602986,-0.011459997291661823]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016667634270491282,-0.0013099865136170772,0.0006796037370459702],"end_effector_yaw_offset_degrees":0.6742458118238059},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008596292495723157,0.001303664166734793,-0.0003863974240672064],"end_effector_yaw_offset_degrees":0.24807060707115292},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[3.9998652440818676e-05,-0.0002150545642058833,0.0012646740673379125],"end_effector_yaw_offset_degrees":0.5718466453810336}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00014967951557566007,0.00048306394340659996],"position_m":[0.25224967951557564,-0.0940169360565934,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003513665496846791,0.0016918412131035811],"position_m":[0.3581136654968468,0.07249184121310358,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00490686386628193,-0.0018577503196440036],"position_m":[0.3189068638662819,0.246242249680356,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004787998621716059,0.002375530804040785],"position_m":[0.24211200137828395,-0.3763244691959592,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ac38122b4291db138c537776de706c7ca9d26e489cba453a89a3873da2bde95f","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4489/tex_ceiling_textures_9075/tex_floor_textures_2930/tex_table_textures_4901/tex_wall_textures_9693","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4012704725617611625,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4012704725617611625,"visual_seed":4012704725617611625,"scene_id":"lab_003","finished_at":"2026-09-02T06:47:24"}
+{"episode_id":"ep_000077","started_at":"2026-09-02T06:47:27","dimensions":{"distractor":{"count":34,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.5068978251442305,1.1105760735575485,0.71338606911949],"aabb_xy":[[-0.5293978256562711,1.08808421519215],[-0.48439782463218994,1.1330679319229466]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[-0.06160950853522651,-1.0239013476041514,0.71338606911949],"aabb_xy":[[-0.1029140515989625,-1.0879013471722683],[-0.020304965471490515,-0.9599013480360341]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.503214421157493,-0.26748094242483367,0.71338606911949],"aabb_xy":[[-0.5114289662731769,-0.27615753272247484],[-0.494999876041809,-0.25880435212719227]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.1869853497607622,0.8001470030012845,0.71338606911949],"aabb_xy":[[0.17957289421937375,0.7942957925796565],[0.1943978053021507,0.8059982134229124]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.4267557163682769,1.7157405702402708,0.71338606911949],"aabb_xy":[[0.39810638400786064,1.6870950109631946],[0.4554050487286931,1.7443861295173462]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.07474468593854988,0.7085674463625145,0.71338606911949],"aabb_xy":[[-0.12971840797488277,0.6535674467982813],[-0.019770963902216998,0.7635674459267476]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.4884248135284207,-2.317515949943026,0.71338606911949],"aabb_xy":[[-0.568424814601541,-2.3272939962804102],[-0.4084248124553004,-2.3077379036056413]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.48291762499491736,0.42239828259108414,0.71338606911949],"aabb_xy":[[-0.5000197029532856,0.4052914770598144],[-0.4658155470365492,0.4395050881223539]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[-0.1783496202964754,-1.2109466820553845,0.71338606911949],"aabb_xy":[[-0.2028958359192261,-1.2411955786044215],[-0.15380340467372466,-1.1806977855063474]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.6182140617513278,0.7992644823740687,0.71338606911949],"aabb_xy":[[-0.6832140603084006,0.7695119489601862],[-0.5532140631942549,0.8290170157879514]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.03683225609723706,-1.551576584680026,0.71338606911949],"aabb_xy":[[0.0022411732431918403,-1.6165765849650569],[0.07142333895128226,-1.4865765843949947]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.2682628886599128,-1.9269566353963583,0.71338606911949],"aabb_xy":[[-0.32985364788390575,-1.9909566335054056],[-0.20667212943592012,-1.8629566372873119]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.5998708490263229,0.8051646204710505,0.71338606911949],"aabb_xy":[[0.5537857577715913,0.7411646232184954],[0.6459559402810543,0.8691646177236056]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[0.6114569151340208,-2.34234183837173,0.71338606911949],"aabb_xy":[[0.5474569187384477,-2.406305126790463],[0.6754569115295939,-2.278378549952996]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.5033520245701049,0.9608653038847668,0.71338606911949],"aabb_xy":[[-0.5443699679564757,0.9108653032538095],[-0.462334081183734,1.010865304515724]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[0.34792882882095566,-1.0019822953714177,0.71338606911949],"aabb_xy":[[0.3371558548995879,-1.036982293590457],[0.35870180274232344,-0.9669822971523789]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.023703315412802795,1.6860784092527008,0.71338606911949],"aabb_xy":[[-0.013147232524184815,1.6485784084296669],[0.060553863349790404,1.7235784100757343]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.16716486496401417,1.5863501476539859,0.71338606911949],"aabb_xy":[[-0.20216486415683244,1.5753831016563231],[-0.1321648657711959,1.5973171936516481]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.20789389143252296,1.4387476179393643,0.71338606911949],"aabb_xy":[[-0.23904081027610605,1.368747619252557],[-0.17674697258893982,1.5087476166261713]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.32791986971345427,-1.2809586393315786,0.71338606911949],"aabb_xy":[[-0.37291987117968317,-1.3259584961930595],[-0.2829198682472255,-1.2359587824700982]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.16420001917558646,1.4410815971827335,0.71338606911949],"aabb_xy":[[0.10020001588587833,1.397746678178816],[0.22820002246529456,1.4844165161866512]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[0.4236675991391763,-1.590104752283224,0.71338606911949],"aabb_xy":[[0.37378490226148015,-1.640104751529499],[0.4735502960168726,-1.5401047530369496]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.22442369446497018,0.38770247034102523,0.71338606911949],"aabb_xy":[[-0.2743967599974857,0.33770247052849234],[-0.17445062893245475,0.4377024701535582]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.07747808857144567,1.2345382224328536,0.71338606911949],"aabb_xy":[[0.054978088327930275,1.2223335877730817],[0.09997808881496106,1.2467428570926256]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.09314828552090426,-2.122063415019637,0.71338606911949],"aabb_xy":[[-0.10508101988273233,-2.134445567827496],[-0.0812155511590762,-2.1096812622117773]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.2044669657933132,-0.397249820597251,0.71338606911949],"aabb_xy":[[-0.26946696675044035,-0.4491980325309566],[-0.13946696483618598,-0.3453016086635454]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.3035763910041629,-2.1897919548029847,0.71338606911949],"aabb_xy":[[-0.36757639268216025,-2.238309346282299],[-0.23957638932616554,-2.1412745633236705]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_27","position":[0.018553388267887994,-2.2852976277981774,0.71338606911949],"aabb_xy":[[-0.04544661364445435,-2.3412087770561882],[0.08255339018023033,-2.2293864785401674]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[0.5767520603727114,1.6104799638243796,0.71338606911949],"aabb_xy":[[0.572838187177289,1.6017309484178226],[0.5806659335681339,1.6192289792309362]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_29","position":[0.6741108829391562,-2.0133102551004676,0.71338606911949],"aabb_xy":[[0.6263047153253876,-2.078310257807526],[0.7219170505529249,-1.9483102523934082]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.5624613324744883,-2.1206128046422,0.71338606911949],"aabb_xy":[[-0.5967582434922288,-2.154909690852141],[-0.5281644214567477,-2.086315918432258]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_31","position":[0.4427395340975917,-0.25876326684976325,0.71338606911949],"aabb_xy":[[0.3827395335897387,-0.31561000053568455],[0.5027395346054445,-0.20191653316384198]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[0.25739799468479496,-1.519525681649117,0.71338606911949],"aabb_xy":[[0.22090217405751617,-1.5560096240758743],[0.29389381531207365,-1.4830417392223592]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_33","position":[-0.083905241607378,-2.046999443080146,0.71338606911949],"aabb_xy":[[-0.09325224918967323,-2.06130306529779],[-0.07455823402508277,-2.032695820862502]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827775756241814,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3673.png","name":"3673"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3673.png","name":"3673"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7883.png","name":"7883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3890.png","name":"3890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/395.png","name":"395"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":802.2587451281936,"rotation_z_degrees":215.45217187822973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01937072656573519,0.012183377797697962,-0.01655201249153423]},{"name":"camera_2","offset_m":[-0.008732178740580797,0.016404665491583936,0.015802022351065686]},{"name":"camera_3","offset_m":[0.00038458683285523196,-0.015457480681798069,0.011671615874761027]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004767263981450664,0.000317488744824596,0.0009844529490419017],"end_effector_yaw_offset_degrees":-0.6611419001813743},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007742238224420646,0.00047998623522072393,-0.0019184282668113855],"end_effector_yaw_offset_degrees":-0.8327852829663234},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001717917675258137,-0.00022772972206900103,0.00025968794079715305],"end_effector_yaw_offset_degrees":0.08711100766172675}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004461594953303823,0.0027947534154596256],"position_m":[0.25656159495330383,-0.09170524658454038,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018489917876645234,-0.003998336370549637],"position_m":[0.35644899178766454,0.06680166362945036,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027196539350856776,0.004570327971206362],"position_m":[0.31128034606491434,0.25267032797120637,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-5.83545355623688e-06,0.0027658245258576075],"position_m":[0.24689416454644378,-0.3759341754741424,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fd5928cd56678273239fbe18da71cb611dd2aef190ccd8f1acb920cdfcf9e4f6","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3673/tex_ceiling_textures_395/tex_floor_textures_3890/tex_table_textures_5478/tex_wall_textures_7883","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6695589021069282361,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6695589021069282361,"visual_seed":6695589021069282361,"scene_id":"lab_003","finished_at":"2026-09-02T06:50:04"}
+{"episode_id":"ep_000078","started_at":"2026-09-02T06:50:07","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.13108190488421612,-1.1313125522246805,0.71338606911949],"aabb_xy":[[-0.16757772551149488,-1.1677964946514379],[-0.0945860842569374,-1.0948286097979227]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[0.12608367178425395,-1.0014637956062493,0.71338606911949],"aabb_xy":[[0.10858367153920455,-1.0189635834458162],[0.1435836720293033,-0.9839640077666826]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.03970068143253391,-1.972381402031722,0.71338606911949],"aabb_xy":[[0.03245691538628859,-2.0523814002353244],[0.04694444747877924,-1.8923814038281197]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[-0.49696490580546604,-0.798550828316499,0.71338606911949],"aabb_xy":[[-0.5315559886595111,-0.8635508286015299],[-0.4623738229514207,-0.7335508280314678]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.4939650522963508,-0.34038045626372027,0.71338606911949],"aabb_xy":[[-0.5091372215779841,-0.3555493131919236],[-0.47879288301471745,-0.3252115993355169]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.34287070467257164,0.9678831506603469,0.71338606911949],"aabb_xy":[[-0.3501530210492352,0.8778831470508377],[-0.33558838829590787,1.0578831542698555]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.4622911942718791,0.46250517129531765,0.71338606911949],"aabb_xy":[[-0.5122642598043945,0.4125051714827848],[-0.4123181287393637,0.5125051711078505]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.4435043571398034,1.6382763726321836,0.71338606911949],"aabb_xy":[[0.38948876085790335,1.5742763697399265],[0.49751995342170335,1.7022763755244408]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.0606094200373416,1.4812365907936775,0.71338606911949],"aabb_xy":[[0.005609420415595756,1.426252898006205],[0.11560941965908744,1.5362202835811505]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.6195282397879663,-0.2520716374203955,0.71338606911949],"aabb_xy":[[-0.6371065419769132,-0.2696461269945004],[-0.6019499375990195,-0.2344971478462906]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.4478622835764251,1.6683728935214392,0.71338606911949],"aabb_xy":[[-0.5278622857391875,1.5884177098952954],[-0.36786228141366256,1.7483280771475826]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.3667008824886681,-0.6322174995283736,0.71338606911949],"aabb_xy":[[-0.38420081592265154,-0.6497174994486081],[-0.3492009490546848,-0.614717499608139]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.5883124245155829,-1.6092069381869063,0.71338606911949],"aabb_xy":[[-0.6683124249857989,-1.617517645801255],[-0.508312424045367,-1.6008962305725585]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.46082798182536866,-1.1494474539547186,0.71338606911949],"aabb_xy":[[0.39582798082486814,-1.2002338191093935],[0.5258279828258692,-1.0986610888000437]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.45730543857548145,-0.14372256028020747,0.71338606911949],"aabb_xy":[[-0.5213054417941193,-0.19044567217921582],[-0.3933054353568436,-0.09699944838119912]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[-0.6600449253080745,0.7694544171120445,0.71338606911949],"aabb_xy":[[-0.6950449244380302,0.7637091960363803],[-0.6250449261781189,0.7751996381877085]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.5302347260977083,-1.8418709014745829,0.71338606911949],"aabb_xy":[[-0.5677347262033011,-1.8486930633275638],[-0.49273472599211526,-1.8350487396216015]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.4521038768535932,0.1485439402150046,0.71338606911949],"aabb_xy":[[0.44340591456287803,0.1364189659075299],[0.4608018391443086,0.16066891452247933]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.36281381517347233,-2.4760456470353995,0.71338606911949],"aabb_xy":[[0.325313816750072,-2.48920986100323],[0.4003138135968727,-2.4628814330675683]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.5421134050044589,-2.5290149361144527,0.71338606911949],"aabb_xy":[[0.5243198980695425,-2.5468146817102504],[0.5599069119393754,-2.511215190518655]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.26910987065916536,-2.133255454342014,0.71338606911949],"aabb_xy":[[0.23481295964142468,-2.167552340551955],[0.30340678167690593,-2.098958568132072]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.5792864800051897,1.1548825676434515,0.71338606911949],"aabb_xy":[[-0.6167864798222232,1.1502443563323095],[-0.5417864801881561,1.1595207789545932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866870186108388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9607.png","name":"9607"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9607.png","name":"9607"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1625.png","name":"1625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4964.png","name":"4964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8738.png","name":"8738"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7727.png","name":"7727"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":622.2583798743451,"rotation_z_degrees":282.6125230768862,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009530502302765744,0.006223730896419227,0.019271279097649512]},{"name":"camera_2","offset_m":[0.0035287325450537935,0.016367388977654936,-0.0010361264319515805]},{"name":"camera_3","offset_m":[-0.002843381507116289,0.015147162576956526,0.0076659613684988415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000504261794926791,-0.0016954325415023668,-0.0014637431496989457],"end_effector_yaw_offset_degrees":-0.15548515690635334},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015610240671103909,-0.0002834001011288083,-0.00038401208670915026],"end_effector_yaw_offset_degrees":0.6090605129180298},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0015241394810736955,0.0015816252476073987,-0.0005057959403000911],"end_effector_yaw_offset_degrees":0.09338597883576183}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0025326364640214693,-0.0025446424071820318],"position_m":[0.25463263646402146,-0.09704464240718204,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015542600586083942,0.0021256197129485444],"position_m":[0.35304573994139166,0.07292561971294854,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004027559213106589,-0.0014829289382558785],"position_m":[0.3180275592131066,0.2466170710617441,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004219204791132014,0.0020751335909797676],"position_m":[0.25111920479113203,-0.3766248664090202,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b4e515fa35794238bcf2bd8d0f08ced691f025766a501563087ca99627b7901","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9607/tex_ceiling_textures_7727/tex_floor_textures_8738/tex_table_textures_1625/tex_wall_textures_4964","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8575891456207156578,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8575891456207156578,"visual_seed":8575891456207156578,"scene_id":"lab_003","finished_at":"2026-09-02T06:52:52"}
+{"episode_id":"ep_000079","started_at":"2026-09-02T06:52:54","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.5052636984539038,-1.4820695457905841,0.71338606911949],"aabb_xy":[[-0.5115757979902423,-1.487836485043803],[-0.4989515989175655,-1.4763026065373652]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.5743758011315963,-2.46259053109661,0.71338606911949],"aabb_xy":[[0.5507906776677014,-2.527590533342042],[0.5979609245954911,-2.3975905288511785]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.002744347299353689,-0.9343076527077656,0.71338606911949],"aabb_xy":[[-0.007587942060583663,-0.9391593051867497],[0.0020992474618762853,-0.9294560002287815]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.21604225649582137,-1.012371418948383,0.71338606911949],"aabb_xy":[[-0.24055588059282726,-1.0366360122504195],[-0.19152863239881554,-0.9881068256463466]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.6164742566674213,0.05806176591511747,0.71338606911949],"aabb_xy":[[0.578974256170063,0.05409308236699905],[0.6539742571647795,0.062030449463235875]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.6210118729017349,-0.5063009501337383,0.71338606911949],"aabb_xy":[[0.5885501720198072,-0.5364337822486407],[0.6534735737836621,-0.4761681180188355]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.39412416304949116,1.5680465693796628,0.71338606911949],"aabb_xy":[[0.36579445310095093,1.563585827185946],[0.4224538729980314,1.57250731157338]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[0.2385475029642523,1.1167939859338003,0.71338606911949],"aabb_xy":[[0.20354750469413238,1.1097198582388121],[0.2735475012343722,1.1238681136287885]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.12257757407387637,-2.0263271659496325,0.71338606911949],"aabb_xy":[[0.10507757493950917,-2.03620679298722],[0.1400775732082435,-2.016447538912044]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[0.015382023057427974,-2.4300745203409306,0.71338606911949],"aabb_xy":[[-0.03974318257216279,-2.4900745217822173],[0.07050722868701874,-2.370074518899643]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.5187294229133541,-1.5486559020284527,0.71338606911949],"aabb_xy":[[0.5078236468257915,-1.6286558984272816],[0.5296351990009169,-1.4686559056296233]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.32157805285751206,-0.03361379266223041,0.71338606911949],"aabb_xy":[[-0.32861950380825966,-0.04064054440002496],[-0.31453660190676447,-0.026587040924435867]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.28084254334693853,-1.8351412781172973,0.71338606911949],"aabb_xy":[[-0.2983425436062752,-1.8492328203060702],[-0.26334254308760197,-1.821049735928525]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.5301598289434002,-0.40696962401780956,0.71338606911949],"aabb_xy":[[0.5051598297777671,-0.41392186972316614],[0.5551598281090333,-0.400017378312453]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.6252983525330233,1.7649055133749667,0.71338606911949],"aabb_xy":[[0.6002983532610611,1.7485601497788044],[0.6502983518049856,1.781250876971129]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.46766275787088696,-0.9099013158238929,0.71338606911949],"aabb_xy":[[0.4076627562279651,-0.9619014651158371],[0.5276627595138088,-0.8579011665319487]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[-0.03781295561245834,-2.2837675113019458,0.71338606911949],"aabb_xy":[[-0.05449009160555384,-2.300467435275876],[-0.021135819619362832,-2.2670675873280155]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.4856825256943992,0.6409570967616642,0.71338606911949],"aabb_xy":[[-0.5328119046962347,0.5769570957172622],[-0.43855314669256346,0.7049570978060661]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.3941248832076273,-0.7746667267450686,0.71338606911949],"aabb_xy":[[-0.4591248813635463,-0.8009629712949808],[-0.32912488505170817,-0.7483704821951565]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.3208362058045948,0.5954027330465115,0.71338606911949],"aabb_xy":[[0.27101942633976006,0.5454027345622081],[0.3706529852694296,0.6454027315308148]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.11530120230508689,0.7366872312706199,0.71338606911949],"aabb_xy":[[-0.17030120148167638,0.6816975564956622],[-0.06030120312849739,0.7916769060455775]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.32248971051773245,1.2480667794043465,0.71338606911949],"aabb_xy":[[-0.3450034023411896,1.178066778803339],[-0.2999760186942752,1.318066780005354]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.1899085826094058,-1.6198807978676633,0.71338606911949],"aabb_xy":[[0.15240858250381284,-1.6267029597206442],[0.22740858271499875,-1.613058636014682]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.16371441960021094,0.9765177074629552,0.71338606911949],"aabb_xy":[[-0.18114513467921742,0.9592455927991044],[-0.1462837045212044,0.993789822126806]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.7096767708371443,-0.9084236143081146,0.71338606911949],"aabb_xy":[[0.6992652121566606,-0.9137693476440129],[0.720088329517628,-0.9030778809722159]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[-0.3816751350527514,-0.6084591475376011,0.71338606911949],"aabb_xy":[[-0.3855890082481739,-0.6172081629441579],[-0.37776126185732883,-0.5997101321310443]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[-0.6217181579212093,-1.526691539728004,0.71338606911949],"aabb_xy":[[-0.6290004742978729,-1.6166915433375126],[-0.6144358415445456,-1.4366915361184946]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[0.482536930830469,-2.3548149295398524,0.71338606911949],"aabb_xy":[[0.46225262810707024,-2.375097554682561],[0.5028212335538678,-2.334532304397143]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6880876276781481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4278.png","name":"4278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4278.png","name":"4278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2459.png","name":"2459"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3347.png","name":"3347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6972.png","name":"6972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5554.png","name":"5554"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":615.8084779184089,"rotation_z_degrees":221.98621820935605,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011895226254197633,-0.019518230418679516,0.009376692927677698]},{"name":"camera_2","offset_m":[0.003211610574221587,-0.012345780103619024,-0.001042477433399306]},{"name":"camera_3","offset_m":[0.011810140897110102,0.019178992871538906,-0.015034208646916573]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013373397051285457,-0.0017037156714963726,-0.001634722991990826],"end_effector_yaw_offset_degrees":-0.012749547194498723},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010556892703862016,-0.0012422063367640707,0.000760567998117368],"end_effector_yaw_offset_degrees":0.9893343561494783},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013931657057778685,0.0016865398927472016,-0.0010460443606720394],"end_effector_yaw_offset_degrees":0.2275707917373826}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002637063543170123,-0.004971146744329048],"position_m":[0.2547370635431701,-0.09947114674432905,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017172254165244384,0.0015069674366359675],"position_m":[0.35631722541652444,0.07230696743663596,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008218151327284836,0.0029888179464151307],"position_m":[0.3148218151327285,0.25108881794641513,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022801460258150344,-0.0033925518543168696],"position_m":[0.24918014602581504,-0.38209255185431684,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e71e158b7168b097aa9948214e6ff59c464114e80960e61fa69329b443b36fc5","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4278/tex_ceiling_textures_5554/tex_floor_textures_6972/tex_table_textures_2459/tex_wall_textures_3347","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2933065691339431667,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2933065691339431667,"visual_seed":2933065691339431667,"scene_id":"lab_003","finished_at":"2026-09-02T06:55:28"}
+{"episode_id":"ep_000080","started_at":"2026-09-02T06:55:31","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.5320364616651824,-1.6934950989675568,0.71338606911949],"aabb_xy":[[-0.5495364619102318,-1.7109948868071236],[-0.514536461420133,-1.67599531112799]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.4431386267190646,-0.42733614875226555,0.71338606911949],"aabb_xy":[[-0.4487202983531933,-0.43983614857004105],[-0.4375569550849358,-0.41483614893449006]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[-0.44843806949799114,0.34484011725419306,0.71338606911949],"aabb_xy":[[-0.46308147505202407,0.3301813975974087],[-0.4337946639439581,0.3594988369109773]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[0.6543169631425374,1.3038074732460547,0.71338606911949],"aabb_xy":[[0.631816963328635,1.2993328568755742],[0.6768169629564398,1.3082820896165357]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.5462860161910585,0.5078407048361995,0.71338606911949],"aabb_xy":[[-0.5557034907609213,0.49842452769848045],[-0.5368685416211958,0.5172568819739185]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[-0.4495161791665461,0.4386893310193347,0.71338606911949],"aabb_xy":[[-0.4819778800484736,0.40855649890443196],[-0.41705447828461867,0.46882216313423725]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[0.29674856454221954,-1.388142419639056,0.71338606911949],"aabb_xy":[[0.23274856524805126,-1.4521285600079101],[0.3607485638363877,-1.3241562792702017]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.0640341084071796,1.7994567426216048,0.71338606911949],"aabb_xy":[[0.05960347905233944,1.7940083708869223],[0.06846473776201979,1.8049051143562873]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.21365572479074119,-0.7553830741203018,0.71338606911949],"aabb_xy":[[-0.23115565822472456,-0.7728830740405362],[-0.1961557913567578,-0.7378830742000672]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.6854529688045641,-0.2259593494841452,0.71338606911949],"aabb_xy":[[0.657607932023957,-0.2567438482224569],[0.7132980055851712,-0.1951748507458335]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.648883068764252,-1.410022207451962,0.71338606911949],"aabb_xy":[[0.611383070188631,-1.4227585031155197],[0.6863830673398726,-1.3972859117884038]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.1778275728912465,1.2224443589421266,0.71338606911949],"aabb_xy":[[-0.2578275699054945,1.2023098072687153],[-0.09782757587699853,1.2425789106155378]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.1488972549477222,-1.9584992553684013,0.71338606911949],"aabb_xy":[[0.14148479940633374,-1.9643504657900293],[0.1563097104891107,-1.9526480449467734]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.1855323373849569,-1.8427245080723957,0.71338606911949],"aabb_xy":[[0.18019476171895232,-1.8677245090015355],[0.19086991305096146,-1.817724507143256]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.30063715471170255,-1.7997515706697471,0.71338606911949],"aabb_xy":[[-0.3158093239933359,-1.8149204275979505],[-0.2854649854300692,-1.7845827137415438]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.21022647424522306,-1.5837625491975638,0.71338606911949],"aabb_xy":[[-0.22785930983875063,-1.6013854952131867],[-0.1925936386516955,-1.5661396031819408]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.21103874728982247,0.5695240380811337,0.71338606911949],"aabb_xy":[[-0.2219445233773852,0.48952404168230446],[-0.20013297120225979,0.6495240344799628]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.4494033865019691,0.8193141224479006,0.71338606911949],"aabb_xy":[[0.35940338416795,0.7418317678627879],[0.5394033888359882,0.8967964770330132]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.5401035905781284,-2.2212518911553745,0.71338606911949],"aabb_xy":[[0.5352042982715649,-2.248928810457943],[0.5450028828846919,-2.1935749718528053]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.5559771556577113,-2.26721083738029,0.71338606911949],"aabb_xy":[[-0.6359709792362696,-2.3472108399731315],[-0.4759833320791531,-2.1872108347874484]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.00812468166834146,1.397814342684085,0.71338606911949],"aabb_xy":[[-0.04312468301982319,1.3774546067272642],[0.02687531968314027,1.4181740786409058]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.6421245742320958,-1.2914567000305281,0.71338606911949],"aabb_xy":[[0.6046245734401003,-1.2978245409887184],[0.6796245750240912,-1.2850888590723384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824201488622664,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/819.png","name":"819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/819.png","name":"819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1706.png","name":"1706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2794.png","name":"2794"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6124.png","name":"6124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4189.png","name":"4189"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":840.0380574272074,"rotation_z_degrees":310.0423633602575,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014153296943811264,-0.0008486936639875327,0.007376650798234782]},{"name":"camera_2","offset_m":[0.010793830220100439,-0.01437644093857613,0.0055191102761608]},{"name":"camera_3","offset_m":[-0.013075810107942183,-0.004044228825769429,0.017734638445166876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006932925639097003,-0.0019873138684939934,-0.0015478197952376097],"end_effector_yaw_offset_degrees":-0.4887226124403834},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008669322940577028,0.0017443103904734819,8.403475435898259e-06],"end_effector_yaw_offset_degrees":-0.9416731703732639},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00014124073149923786,-0.00034677297818042833,-0.0013268235284352838],"end_effector_yaw_offset_degrees":0.9396469889583825}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003642277698752126,-0.004762872219705405],"position_m":[0.24845772230124785,-0.09926287221970541,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030850764825349234,0.004080913478565785],"position_m":[0.35768507648253495,0.07488091347856579,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000894836447647266,-0.004461310337848509],"position_m":[0.31310516355235274,0.24363868966215146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00030881201192883585,0.002955638144211548],"position_m":[0.24659118798807117,-0.3757443618557884,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"da96995708546f24e8ff1320421c3dc015b7fd3e054571a5ac8d9d7779d7c991","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_819/tex_ceiling_textures_4189/tex_floor_textures_6124/tex_table_textures_1706/tex_wall_textures_2794","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3805912236841300854,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3805912236841300854,"visual_seed":3805912236841300854,"scene_id":"lab_003","finished_at":"2026-09-02T06:58:08"}
+{"episode_id":"ep_000081","started_at":"2026-09-02T06:58:13","dimensions":{"distractor":{"count":28,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[0.08943529474836431,-1.2290527370198379,0.71338606911949],"aabb_xy":[[0.056973593866436835,-1.25918556913474],[0.12189699563029174,-1.1989199049049348]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.06790540139854218,1.3992090884914012,0.71338606911949],"aabb_xy":[[-0.13190539868419082,1.3577023695385573],[-0.003905404112893529,1.4407158074442452]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[0.4532903217933608,-1.2940601565513368,0.71338606911949],"aabb_xy":[[0.38929032108989153,-1.340078539024258],[0.5172903224968302,-1.248041774078416]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.2822428029825287,1.7799110511787295,0.71338606911949],"aabb_xy":[[-0.3126409140816722,1.7495041491770595],[-0.25184469188338504,1.8103179531803986]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.13291871325513593,1.0356920662884987,0.71338606911949],"aabb_xy":[[0.09541871275777769,1.0317233827403802],[0.17041871375249418,1.0396607498366173]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.3896386900720208,-1.4393847014043086,0.71338606911949],"aabb_xy":[[-0.43963869043258674,-1.4893646886139111],[-0.3396386897114546,-1.3894047141947052]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.2186150272638695,1.2727694126330769,0.71338606911949],"aabb_xy":[[0.1836150272873737,1.2633047965854602],[0.25361502724036533,1.2822340286806935]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.5884088584400812,-2.3154396101210932,0.71338606911949],"aabb_xy":[[-0.6384088578802767,-2.365407534605409],[-0.5384088589998854,-2.2654716856367765]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.17589185827489573,-2.4308141870922735,0.71338606911949],"aabb_xy":[[0.11189186184757383,-2.47798381091437],[0.23989185470221763,-2.383644563270177]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.15377245982775567,1.2650793405274952,0.71338606911949],"aabb_xy":[[-0.18376412256162597,1.2350793411906944],[-0.12378079709388531,1.2950793398642955]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.5789699660522302,-1.989007074227633,0.71338606911949],"aabb_xy":[[-0.5990283776654706,-2.0090721611367903],[-0.55891155443899,-1.9689419873184755]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.4446335943111638,0.6524759478386937,0.71338606911949],"aabb_xy":[[-0.4986491905930637,0.5884759449464364],[-0.39061799802926367,0.7164759507309507]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.332217315065787,0.5351867082890531,0.71338606911949],"aabb_xy":[[0.32034523205428583,0.4501867085954028],[0.34408939807728806,0.6201867079827035]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.5619412098531509,0.00860693243038213,0.71338606911949],"aabb_xy":[[0.5244412090611553,0.0022390914721920323],[0.5994412106451462,0.014974773388572225]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.30416127958568323,-0.7238635236182343,0.71338606911949],"aabb_xy":[[-0.3391612794817021,-0.7322377591301741],[-0.26916127968966436,-0.7154892881062942]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[0.5052800431044682,-0.2654351270527826,0.71338606911949],"aabb_xy":[[0.4412843457093715,-0.3294351253534913],[0.5692757404995646,-0.20143512875207392]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[0.6507708032023647,0.21811616975947068,0.71338606911949],"aabb_xy":[[0.6406177876482152,0.18204662818673029],[0.660923818756514,0.2541857113322109]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.2641405153818367,0.5669709933301772,0.71338606911949],"aabb_xy":[[0.25643732470775965,0.5592616226314392],[0.27184370605591374,0.5746803640289152]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.5298361117412321,-1.3917334749530577,0.71338606911949],"aabb_xy":[[-0.5480419354024799,-1.4027588755350495],[-0.5116302880799846,-1.3807080743710662]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.23619262532487428,-2.035283326411414,0.71338606911949],"aabb_xy":[[0.23129333301831073,-2.062960245713983],[0.24109191763143772,-2.0076064071088453]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.15487099054349784,0.8562476562109178,0.71338606911949],"aabb_xy":[[-0.1832007004920381,0.8517869140172007],[-0.12654128059495764,0.8607083984046349]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.06380798059828208,-1.6971430224396795,0.71338606911949],"aabb_xy":[[0.05509401154834758,-1.7196430230988675],[0.07252194964821655,-1.674643021780491]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.4556635455845812,-1.786427645521822,0.71338606911949],"aabb_xy":[[-0.5456635453077554,-1.8095009980570016],[-0.36566354586140704,-1.763354292986642]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.1290720931394922,1.7385551167674378,0.71338606911949],"aabb_xy":[[-0.20907209639733518,1.6585586089754536],[-0.04907208988164927,1.8185516245594215]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.4004453045378933,-1.8679981835055428,0.71338606911949],"aabb_xy":[[0.38757340103695315,-1.9479981839193787],[0.41331720803883343,-1.7879981830917064]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.02759130248664743,-1.4915958039719175,0.71338606911949],"aabb_xy":[[-0.06977571664747817,-1.5555958042491287],[0.014593111674183309,-1.4275958036947063]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.6260528819106805,1.472172266500674,0.71338606911949],"aabb_xy":[[-0.6412157548876177,1.4570068092055553],[-0.6108900089337436,1.4873377237957928]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.20170307285782785,-2.219970248354278,0.71338606911949],"aabb_xy":[[0.18390956592291138,-2.2377699939500757],[0.21949657979274426,-2.2021705027584804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892061455706113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9316.png","name":"9316"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9316.png","name":"9316"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/76.png","name":"76"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4071.png","name":"4071"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8466.png","name":"8466"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":625.8921455632219,"rotation_z_degrees":31.512161932008247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011122398529749349,0.017455990223885467,-0.01436462163645497]},{"name":"camera_2","offset_m":[0.0161648023250552,0.018658291637906093,-0.0031406700677875585]},{"name":"camera_3","offset_m":[-0.01691933316914883,-0.014831820531759661,0.018622825325434206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001900404035393372,-4.797519058889104e-05,0.0017864397017910848],"end_effector_yaw_offset_degrees":0.6622410332803652},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016693734097997155,0.0006792413835717873,0.0004793492364373428],"end_effector_yaw_offset_degrees":0.047546022403240906},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001145736180454484,0.0010296019755279863,0.001701460092861225],"end_effector_yaw_offset_degrees":-0.41291847416771943}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031000044823060865,0.0028353658394951785],"position_m":[0.25520000448230606,-0.09166463416050483,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017143741550876114,-0.0006589196170452786],"position_m":[0.35631437415508765,0.07014108038295472,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000550596009762404,-0.0014028735388533285],"position_m":[0.31455059600976243,0.24669712646114667,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037702401852606456,-0.0031738433654501528],"position_m":[0.25067024018526063,-0.38187384336545016,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5c085a5976e1e350000edb2748c611675df3809d641603ce8ce1f236606b7871","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9316/tex_ceiling_textures_8466/tex_floor_textures_4071/tex_table_textures_76/tex_wall_textures_8129","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3226644860264959358,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3226644860264959358,"visual_seed":3226644860264959358,"scene_id":"lab_003","finished_at":"2026-09-02T07:00:49"}
+{"episode_id":"ep_000082","started_at":"2026-09-02T07:00:52","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.4468454283792218,0.26515909790301917,0.71338606911949],"aabb_xy":[[0.38684542751840895,0.21373266789653275],[0.5068454292400345,0.3165855279095055]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.44402273757697736,-0.19196584598136068,0.71338606911949],"aabb_xy":[[-0.46408114919021765,-0.21203093289051822],[-0.42396432596373707,-0.17190075907220315]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.12570570386293412,1.6551508870735874,0.71338606911949],"aabb_xy":[[-0.17570570552442885,1.6051524448178847],[-0.07570570220143934,1.70514932932929]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.41417073579600694,1.0066986404344678,0.71338606911949],"aabb_xy":[[0.37970838839786514,0.9722047580366447],[0.44863308319414874,1.04119252283229]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[-0.2535021337426998,1.2383524138992046,0.71338606911949],"aabb_xy":[[-0.27261444110067873,1.2192176350219628],[-0.234389826384721,1.2574871927764468]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.4010811526229508,1.3014882696681243,0.71338606911949],"aabb_xy":[[-0.4650768500180474,1.2374882713674156],[-0.3370854552278542,1.365488267968833]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.293210807248626,-2.0222958839539547,0.71338606911949],"aabb_xy":[[-0.3828978835567415,-2.112295884208405],[-0.20352373094051057,-1.9322958836995041]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.2102155691248916,-2.1655604948778104,0.71338606911949],"aabb_xy":[[0.20013386204631806,-2.2455604927699246],[0.220297276203465,-2.0855604969856953]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.5010557420624633,-0.25842987225583647,0.71338606911949],"aabb_xy":[[0.4410557404195413,-0.31043002154778065],[0.561055743705385,-0.20642972296389228]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.249704649746182,0.2327157713184298,0.71338606911949],"aabb_xy":[[-0.3047046493679279,0.17773207853095707],[-0.19470465012443622,0.2876994641059025]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.6082441697928986,-1.8324029006713674,0.71338606911949],"aabb_xy":[[0.5748039945968789,-1.8658465265022972],[0.6416843449889181,-1.798959274840437]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.05021414473607366,-0.4584871039113403,0.71338606911949],"aabb_xy":[[-0.08771414508430142,-0.47027849949242373],[-0.012714144387845905,-0.4466957083302566]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.4494306198405792,0.28194357860564123,0.71338606911949],"aabb_xy":[[-0.5294306184278985,0.20262797666748036],[-0.36943062125325976,0.3612591805438021]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.6401316624355575,1.2398108736635174,0.71338606911949],"aabb_xy":[[0.5751316642796385,1.213514629113605],[0.7051316605914766,1.2661071182134294]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.2611144359627098,-2.332049135719924,0.71338606911949],"aabb_xy":[[-0.2729865189742109,-2.4170491354135737],[-0.24924235295120867,-2.247049136026273]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.4943805102852101,-1.4512175384743269,0.71338606911949],"aabb_xy":[[-0.549354232321543,-1.50621753803856],[-0.4394067882488772,-1.3962175389100937]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.5783957683674978,-1.2859584328570157,0.71338606911949],"aabb_xy":[[0.5500660584189576,-1.290419175050733],[0.6067254783160381,-1.2814976906632989]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.022568468340823267,-0.8402436887663836,0.71338606911949],"aabb_xy":[[-0.05634402753151624,-0.8542821839795485],[0.011207090849869702,-0.8262051935532184]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.34235503827263347,1.7784368081232889,0.71338606911949],"aabb_xy":[[-0.3600306688612318,1.7607565918438863],[-0.32467940768403514,1.7961170244026918]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.2459492518473353,-1.514258564533081,0.71338606911949],"aabb_xy":[[0.21032009594737555,-1.5498912312899342],[0.28157840774729503,-1.4786258977762283]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.4609325414731753,1.1700000808603077,0.71338606911949],"aabb_xy":[[0.4059325422965858,1.11501040608535],[0.5159325406497648,1.2249897556352654]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.5137439862774797,1.4947747119323513,0.71338606911949],"aabb_xy":[[-0.5296284795428049,1.4804217716335273],[-0.4978594930121546,1.5091276522311754]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.63091143159625,-0.5610023963866273,0.71338606911949],"aabb_xy":[[-0.6659114307890681,-0.5719694423842898],[-0.5959114324034316,-0.5500353503889646]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-5.513915089294663e-06,-2.1407046291424927,0.71338606911949],"aabb_xy":[[-0.010911290002652008,-2.220704625541322],[0.010900262172473418,-2.0607046327436636]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.010136737011116947,1.180171590168693,0.71338606911949],"aabb_xy":[[-0.020347513115913207,1.1301715903871972],[0.0406209871381471,1.230171589950189]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6794747797751887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9396.png","name":"9396"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2309.png","name":"2309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2223.png","name":"2223"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5480.png","name":"5480"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":751.5489741916684,"rotation_z_degrees":65.16365681525853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00907680085390779,-0.004050765223935916,-0.009240813322176309]},{"name":"camera_2","offset_m":[0.004985602291754078,0.0032497275895927782,0.006422665091111671]},{"name":"camera_3","offset_m":[-0.003388567136627406,-0.0014182394875857755,-0.012608689988995347]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00033561994324248444,-0.0005729190540789664,0.001105558047373526],"end_effector_yaw_offset_degrees":0.04986693738493919},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006000341661672928,0.0012815893083173956,0.0015731932314879044],"end_effector_yaw_offset_degrees":-0.6562829238077725},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004797370587410689,0.00031315196554023306,-0.00027575057064716684],"end_effector_yaw_offset_degrees":-0.06277346586655264}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004159834274303464,-0.004908664998426203],"position_m":[0.25625983427430343,-0.09940866499842621,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014561703896179379,0.003212375437747936],"position_m":[0.3531438296103821,0.07401237543774794,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014104403638606653,0.0011358072563117765],"position_m":[0.3154104403638607,0.24923580725631175,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038141965304988134,0.0029953562309396825],"position_m":[0.2430858034695012,-0.3757046437690603,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2a34103ff384ceb671cec44389f759f9c95af22c4da1415d52a1ee0ea8775660","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0084.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6043/tex_ceiling_textures_5480/tex_floor_textures_2223/tex_table_textures_9396/tex_wall_textures_2309","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8892977807878472938,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8892977807878472938,"visual_seed":8892977807878472938,"scene_id":"lab_003","finished_at":"2026-09-02T07:03:38"}
+{"episode_id":"ep_000083","started_at":"2026-09-02T07:03:42","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.1270779333654447,1.1688848111765204,0.71338606911949],"aabb_xy":[[-0.17488410097921336,1.1038848084694612],[-0.07927176575167606,1.2338848138835792]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.5566645080440837,1.6828554122371489,0.71338606911949],"aabb_xy":[[-0.5684326948387414,1.5978554123319275],[-0.5448963212494263,1.7678554121423706]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.41757421036226944,-1.944492741271088,0.71338606911949],"aabb_xy":[[-0.4310207369963127,-1.9579625929241793],[-0.40412768372822605,-1.9310228896179966]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.49341690175414316,-2.2378234030698403,0.71338606911949],"aabb_xy":[[-0.5434169013304779,-2.2878039820219467],[-0.4434169021778085,-2.187842824117735]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.4180985095825336,-1.7402207607960074,0.71338606911949],"aabb_xy":[[0.36800104560145996,-1.8042207613058192],[0.4681959735636072,-1.6762207602861956]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.4599999940790138,1.0123961936898316,0.71338606911949],"aabb_xy":[[0.44737320679181747,1.0028501199882585],[0.47262678136621017,1.0219422673914043]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.5741373685184421,-0.043420885012229515,0.71338606911949],"aabb_xy":[[0.5528593603749699,-0.10842088733830257],[0.5954153766619144,0.02157911731384355]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.6749218819059442,1.3856764803840074,0.71338606911949],"aabb_xy":[[0.6702867667537107,1.3818091453068582],[0.6795569970581774,1.3895438154611557]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.32112200073838215,1.0004891550246309,0.71338606911949],"aabb_xy":[[0.27612941401993174,0.9554891557501821],[0.36611458745683256,1.0454891542990796]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.12572630988025368,-0.0014919864090976453,0.71338606911949],"aabb_xy":[[-0.1630575864054963,-0.03614504120394995],[-0.08839503335501106,0.03316106838575466]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.5872751958927838,-1.4032836355842957,0.71338606911949],"aabb_xy":[[0.5072751987332085,-1.4148312365421127],[0.667275193052359,-1.3917360346264787]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.43733729393887993,0.9755767046293911,0.71338606911949],"aabb_xy":[[-0.4723372931316981,0.9646096586317283],[-0.40233729474606156,0.9865437506270536]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.6075097360057407,1.5963701441738105,0.71338606911949],"aabb_xy":[[0.5225097375883173,1.5114958487115253],[0.6925097344231638,1.6812444396360953]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.3998196991657825,-1.4866733756068269,0.71338606911949],"aabb_xy":[[-0.40744396725596077,-1.4943065991433706],[-0.3921954310756043,-1.4790401520702832]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.05458369708305366,1.164129210723504,0.71338606911949],"aabb_xy":[[0.046557426452427664,1.1553777157461516],[0.06260996771367966,1.1728807057008568]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.16399762961633202,0.5038704601890278,0.71338606911949],"aabb_xy":[[-0.22162809850360282,0.4438704612623171],[-0.10636716072906113,0.5638704591157383]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[0.054699166761597806,-2.081759297124618,0.71338606911949],"aabb_xy":[[-0.010300831120049989,-2.132882960831159],[0.11969916464324562,-2.0306356334180773]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.08510693373714873,-1.112291921614368,0.71338606911949],"aabb_xy":[[0.08067630438230856,-1.117740293349051],[0.08953756309198892,-1.1068435498796856]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.40611644520483026,1.2856707106478682,0.71338606911949],"aabb_xy":[[0.38361644469278955,1.2631788522824696],[0.42861644571687074,1.3081625690132663]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[0.528591910409205,-2.170137459339229,0.71338606911949],"aabb_xy":[[0.49412943239611706,-2.1768011365221516],[0.5630543884222926,-2.163473782156306]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[-0.35625907707543886,0.2266603716703055,0.71338606911949],"aabb_xy":[[-0.44625907357631056,0.18074872925184723],[-0.26625908057456704,0.2725720140887637]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.3710154702937974,-0.15395556433620694,0.71338606911949],"aabb_xy":[[-0.38178844421516517,-0.18895556255524593],[-0.3602424963724296,-0.11895556611716795]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.2504413286455862,-2.338647974262157,0.71338606911949],"aabb_xy":[[0.19044132879901943,-2.3954665964551958],[0.310441328492153,-2.2818293520691184]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.36082800518077063,-0.7095622130143888,0.71338606911949],"aabb_xy":[[0.35148099759847545,-0.723865835232033],[0.3701750127630659,-0.6952585907967449]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.08324586464818995,-1.8430237727267804,0.71338606911949],"aabb_xy":[[-0.1332451398166261,-1.8930237740027278],[-0.0332465894797538,-1.7930237714508335]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[0.24143661305609976,-2.219683794736882,0.71338606911949],"aabb_xy":[[0.2333089248627865,-2.2285974031475897],[0.24956430124941295,-2.210770186326174]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.4640743746575666,-2.0104404322998612,0.71338606911949],"aabb_xy":[[0.4485186052473014,-2.025990865544269],[0.47963014406783194,-1.9948899990554545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856227099781531,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1915.png","name":"1915"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1915.png","name":"1915"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4782.png","name":"4782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6302.png","name":"6302"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9072.png","name":"9072"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7062.png","name":"7062"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":536.3256621763468,"rotation_z_degrees":115.65253218985126,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01976667103372048,0.009619764895032246,0.005346267502540223]},{"name":"camera_2","offset_m":[-0.007386171282750457,-0.014419196363179041,-0.00472287314434737]},{"name":"camera_3","offset_m":[0.012803863296557177,-0.004954168004572717,0.0038368651104133955]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017390940511891528,0.0013978860775963014,-0.0019322019725456112],"end_effector_yaw_offset_degrees":0.3986171148326132},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001334723928626303,0.0019600956761717586,9.728096968211709e-05],"end_effector_yaw_offset_degrees":-0.35066671911901115},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018324937362824984,-0.000903347532309037,0.0012212728553430484],"end_effector_yaw_offset_degrees":-0.9011777650110602}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004997368492948079,-0.0011300117732381243],"position_m":[0.24710263150705192,-0.09563001177323813,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00010077158950247411,0.00270865389029693],"position_m":[0.35470077158950253,0.07350865389029693,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0015739724273954418,0.0003630710135942364],"position_m":[0.31557397242739543,0.24846307101359422,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021568326361236676,0.0008775315957031673],"position_m":[0.2490568326361237,-0.37782246840429684,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2cc025716f3e731cf5eb5ae098d71330af03746ae82a627426eeffa890fe98af","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1915/tex_ceiling_textures_7062/tex_floor_textures_9072/tex_table_textures_4782/tex_wall_textures_6302","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3049632248661847977,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3049632248661847977,"visual_seed":3049632248661847977,"scene_id":"lab_003","finished_at":"2026-09-02T07:06:28"}
+{"episode_id":"ep_000084","started_at":"2026-09-02T07:06:31","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.02711341535568612,-1.6209058220336883,0.71338606911949],"aabb_xy":[[-0.031191573262735865,-1.6249868022819516],[-0.023035257448636385,-1.616824841785425]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.4882923340886048,-0.6846786042210404,0.71338606911949],"aabb_xy":[[-0.5257923356042364,-0.6959053772371854],[-0.450792332572973,-0.6734518312048953]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.09470940197171152,-1.3456884264712252,0.71338606911949],"aabb_xy":[[0.05970940370159161,-1.3527625541662134],[0.12970940024183142,-1.338614298776237]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[0.24830859104167513,1.6329178060248677,0.71338606911949],"aabb_xy":[[0.21151395791676883,1.5960119309282852],[0.2851032241665814,1.6698236811214497]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.47293197364356665,-0.7886157819192894,0.71338606911949],"aabb_xy":[[0.40793197508649387,-0.8183683153331719],[0.5379319722006395,-0.7588632485054067]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.3087489958324765,0.7084440745366769,0.71338606911949],"aabb_xy":[[0.2635776779843076,0.6444440773921386],[0.3539203136806455,0.7724440716812155]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.4681639548898707,-1.8999252272845366,0.71338606911949],"aabb_xy":[[-0.5181570669990627,-1.9499252279587325],[-0.418170842780679,-1.8499252266103412]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.6567276497754502,1.6994406898709582,0.71338606911949],"aabb_xy":[[-0.6819484866352897,1.6742169390180714],[-0.6315068129156104,1.724664440723845]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.13820162871445185,-2.253164202784633,0.71338606911949],"aabb_xy":[[0.11908932135647296,-2.272298981661875],[0.1573139360724307,-2.234029423907391]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.6769949736942724,-1.734056065604161,0.71338606911949],"aabb_xy":[[-0.687846579943148,-1.744915356331812],[-0.6661433674453968,-1.72319677487651]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.6189209658997697,0.0005062228826049342,0.71338606911949],"aabb_xy":[[-0.6489126286336402,-0.029493776454195597],[-0.5889293031658995,0.030506222219405466]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[0.5816176777991671,1.6799147846480094,0.71338606911949],"aabb_xy":[[0.5430719849739659,1.6413690135918206],[0.620163370624368,1.718460555704198]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.529342747696995,-1.9526066796404988,0.71338606911949],"aabb_xy":[[0.4693427460540731,-2.004606828932443],[0.5893427493399168,-1.9006065303485546]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.5234340165446147,-0.39042618144947383,0.71338606911949],"aabb_xy":[[-0.6131210928527302,-0.4804261817039244],[-0.4337469402364993,-0.30042618119502335]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.669221109449434,1.4655703984481208,0.71338606911949],"aabb_xy":[[-0.6731349826448565,1.4568213830415637],[-0.6653072362540116,1.4743194138546774]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.1726325473018948,0.1326815929534848,0.71338606911949],"aabb_xy":[[-0.2326325471484616,0.07586297076044612],[-0.11263254745532802,0.1895002151465235]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[0.24592277690567232,-2.4915542555768626,0.71338606911949],"aabb_xy":[[0.16092277848824912,-2.5764285510391476],[0.33092277532309555,-2.4066799601145776]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.5992953531390597,1.2772271596689193,0.71338606911949],"aabb_xy":[[-0.6110635399337172,1.192227159763698],[-0.5875271663444022,1.362227159574141]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.12080666543968255,-1.8222343606084928,0.71338606911949],"aabb_xy":[[0.05680666403169186,-1.8740233121324177],[0.18480666684767316,-1.7704454090845683]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.022887192144559254,1.167277981973383,0.71338606911949],"aabb_xy":[[0.0009785100052082073,1.1453773151532922],[0.0447958742839103,1.1891786487934737]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.6007400900832252,-1.353090737053726,0.71338606911949],"aabb_xy":[[0.5431096211959542,-1.413090735980436],[0.6583705589704959,-1.293090738127015]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.4148741278778154,-2.4206055498275534,0.71338606911949],"aabb_xy":[[-0.4204557995119441,-2.4331055496453287],[-0.4092924562436866,-2.408105550009778]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.2562664965547477,-1.5226252876002364,0.71338606911949],"aabb_xy":[[-0.3062664982162424,-1.5726237298559391],[-0.2062664948932529,-1.4726268453445337]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866612500019658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6135.png","name":"6135"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6135.png","name":"6135"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2818.png","name":"2818"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4954.png","name":"4954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/467.png","name":"467"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5854.png","name":"5854"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":709.6686928339839,"rotation_z_degrees":210.39823890819042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018950007410323162,-0.007867208660744534,0.019086655220439532]},{"name":"camera_2","offset_m":[-0.01180523357153568,0.017532878446603995,0.008747756222574298]},{"name":"camera_3","offset_m":[0.0054365342477461845,-0.014492825150174592,0.00023292988311980622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004770860243814546,-0.0009424773324018699,0.0011285273922826264],"end_effector_yaw_offset_degrees":0.5117332171472042},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003729134519094117,-0.0019536865994975194,0.0009178187995191357],"end_effector_yaw_offset_degrees":0.22271010892687704},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005176102015056181,-0.0015495550716934834,-0.00013183373550862106],"end_effector_yaw_offset_degrees":-0.6900341196405484}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015726818125183241,-0.002221886623821001],"position_m":[0.25052731818748164,-0.096721886623821,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004365241148389835,0.0042287753213372985],"position_m":[0.35896524114838985,0.0750287753213373,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0021570194046058202,0.004894613975140444],"position_m":[0.31184298059539417,0.25299461397514045,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000207154867419246,-0.004541818574729827],"position_m":[0.24669284513258077,-0.38324181857472983,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2f38bb0af1756ead3313d6be920afc7f8609c387b0ddc1de6a241bfd098f0544","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6135/tex_ceiling_textures_5854/tex_floor_textures_467/tex_table_textures_2818/tex_wall_textures_4954","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1770766202111028274,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1770766202111028274,"visual_seed":1770766202111028274,"scene_id":"lab_003","finished_at":"2026-09-02T07:09:16"}
+{"episode_id":"ep_000085","started_at":"2026-09-02T07:09:18","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.2808853747229091,-1.4532309832198511,0.71338606911949],"aabb_xy":[[-0.3508853711328708,-1.4736689188715324],[-0.21088537831294726,-1.432793047568169]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.06408349358126075,1.609771833068263,0.71338606911949],"aabb_xy":[[-0.09839977075587869,1.5597718330950854],[-0.029767216406642816,1.6597718330414408]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.4420257706643446,-1.5428923229529865,0.71338606911949],"aabb_xy":[[-0.48327458169425935,-1.5978923224652035],[-0.4007769596344299,-1.4878923234407686]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.07680373938371676,1.182045933848237,0.71338606911949],"aabb_xy":[[-0.08816547403700292,1.1706774674419487],[-0.0654420047304306,1.1934144002545248]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.41660537170017453,0.4726415431442721,0.71338606911949],"aabb_xy":[[0.3366053702700473,0.3931243881316626],[0.4966053731303017,0.5521586981568816]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.2944883250546433,1.0678298112515772,0.71338606911949],"aabb_xy":[[-0.3183245426952484,0.9778298104430909],[-0.2706521074140383,1.1578298120600639]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.596614476167862,0.9167927250729435,0.71338606911949],"aabb_xy":[[0.5834632301965726,0.8917927253162571],[0.6097657221391514,0.9417927248296302]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.09182729861114625,0.8372334418473253,0.71338606911949],"aabb_xy":[[-0.10369938162264737,0.7522334421536749],[-0.07995521559964515,0.9222334415409756]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.44644492836678595,-0.7089179639435486,0.71338606911949],"aabb_xy":[[0.3824449310644395,-0.7532843909114052],[0.5104449256691324,-0.6645515369756917]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.37822207830324045,0.3531673621800282,0.71338606911949],"aabb_xy":[[-0.3916686049372837,0.339697510526937],[-0.36477555166919706,0.3666372138331194]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.04666652398949278,0.018003149676725005,0.71338606911949],"aabb_xy":[[-0.07166652392201067,0.01112048145580169],[-0.021666524056974897,0.02488581789764832]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.3006529998150358,-1.3045763692210368,0.71338606911949],"aabb_xy":[[-0.3076933097485728,-1.3845763686207084],[-0.2936126898814988,-1.2245763698213656]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.6429689568536368,-1.1096816014656474,0.71338606911949],"aabb_xy":[[0.5929860066661573,-1.1596816011082076],[0.692951907041116,-1.0596816018230868]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.21198035085765599,-0.5663874531535202,0.71338606911949],"aabb_xy":[[0.18158223975851237,-0.5967943551551896],[0.24237846195679955,-0.5359805511518506]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.5953485668505321,0.26406423358380726,0.71338606911949],"aabb_xy":[[0.5778486334165486,0.24656423366357266],[0.6128485002845153,0.28156423350404175]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.49450922267555164,-2.173590036717698,0.71338606911949],"aabb_xy":[[-0.5015506736262991,-2.180616788455493],[-0.487467771724804,-2.166563284979904]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.540135754615511,1.7162487970763816,0.71338606911949],"aabb_xy":[[-0.563051467500561,1.6933444999399583],[-0.5172200417304612,1.7391530942128053]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.5372231329956509,-2.330245303979943,0.71338606911949],"aabb_xy":[[0.47222313188970777,-2.355210677048072],[0.6022231341015943,-2.3052799309118153]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.12030208673727472,0.2646003195600284,0.71338606911949],"aabb_xy":[[-0.17529433737278566,0.20960031781671568],[-0.06530983610176377,0.3196003213033412]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[0.5901199649845601,-0.35944408213463097,0.71338606911949],"aabb_xy":[[0.5719141413233124,-0.37046948271662267],[0.6083257886458078,-0.3484186815526394]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.3862536334869947,0.7380516850204297,0.71338606911949],"aabb_xy":[[-0.45125363136864255,0.6869280213138889],[-0.3212536356053469,0.7891753487269707]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.36434841473903096,-0.2343389619358036,0.71338606911949],"aabb_xy":[[-0.369192009500261,-0.23919061441478776],[-0.35950481997780104,-0.22948730945681953]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.5919802863640258,1.381004538584897,0.71338606911949],"aabb_xy":[[-0.6182691106844663,1.3547331049302456],[-0.565691462043585,1.407275972239548]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_23","position":[0.07506199552740189,-1.0612790666686802,0.71338606911949],"aabb_xy":[[0.011061995149868276,-1.1110243335194925],[0.1390619959049355,-1.011533799817868]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.1748285611499525,0.7684470647378423,0.71338606911949],"aabb_xy":[[-0.18491026822852594,0.6884470668457274],[-0.16474685407137898,0.8484470626299567]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.5563652302880528,-2.0088390439065558,0.71338606911949],"aabb_xy":[[0.549082913911389,-2.098839047516064],[0.5636475466647163,-1.918839040297046]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.35393434003277324,0.11391087826427393,0.71338606911949],"aabb_xy":[[-0.4089080620691062,0.05891087870004075],[-0.2989606179964404,0.1689108778285071]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810756019903279,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1097.png","name":"1097"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4649.png","name":"4649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9780.png","name":"9780"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7987.png","name":"7987"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":716.3044672418923,"rotation_z_degrees":11.381355327319227,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007002136523440408,-0.015922846067352944,0.018140745173159206]},{"name":"camera_2","offset_m":[0.010551737076713159,0.007304268681977581,-0.006430250476697683]},{"name":"camera_3","offset_m":[-0.004735720435106101,0.01129751777162864,-0.012774378110105244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012168283395787784,0.00106614050432561,0.0007929642990046077],"end_effector_yaw_offset_degrees":-0.08325319653883079},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002705492001438951,0.001867336551460765,0.0014094364003055023],"end_effector_yaw_offset_degrees":0.9307396144834157},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007704577329269283,-0.00180317821256395,-0.0006605769515187769],"end_effector_yaw_offset_degrees":-0.9647692883476462}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015475952605082024,-0.003569031391799359],"position_m":[0.2505524047394918,-0.09806903139179936,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017421780472540015,-0.0036692041637073547],"position_m":[0.352857821952746,0.06713079583629265,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002764740463917611,0.0039801808707982085],"position_m":[0.3112352595360824,0.2520801808707982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002460448402524438,0.0021402001041716037],"position_m":[0.24443955159747557,-0.3765597998958284,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5f1c448d24e1c43dd74e3b2cef20bb6ce24a3cd1260991481a9eb59ef64cf89a","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3815/tex_ceiling_textures_7987/tex_floor_textures_9780/tex_table_textures_1097/tex_wall_textures_4649","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4769655195246387483,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4769655195246387483,"visual_seed":4769655195246387483,"scene_id":"lab_003","finished_at":"2026-09-02T07:11:55"}
+{"episode_id":"ep_000086","started_at":"2026-09-02T07:11:58","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.1105660401896369,-2.440846721802238,0.71338606911949],"aabb_xy":[[-0.16053933419289734,-2.4908467223567854],[-0.060592746186376445,-2.3908467212476907]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.5265130557766962,-2.151659954290282,0.71338606911949],"aabb_xy":[[0.5177110004677233,-2.159471280445211],[0.5353151110856688,-2.143848628135353]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.06915097286520444,1.5380774828399608,0.71338606911949],"aabb_xy":[[-0.11915097322577049,1.4880974956303576],[-0.01915097250463837,1.5880574700495635]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.32410980909147447,-1.826101968612997,0.71338606911949],"aabb_xy":[[0.24410980692871193,-1.9060571522391405],[0.4041098112542369,-1.7461467849868533]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.15039234476887486,-1.471522735255482,0.71338606911949],"aabb_xy":[[-0.15841861539950086,-1.4802742302328344],[-0.14236607413824887,-1.4627712402781292]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.5239417670481953,-2.040407123714953,0.71338606911949],"aabb_xy":[[-0.56519057807811,-2.0954071232271705],[-0.4826929560182806,-1.9854071242027358]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.5047268150725147,-0.32181412547628474,0.71338606911949],"aabb_xy":[[-0.5847268120355539,-0.39888976712005814],[-0.42472681810947555,-0.24473848383251123]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.6900421392857492,-1.8681526529332106,0.71338606911949],"aabb_xy":[[0.6600745823759235,-1.8981526532310966],[0.7200096961955749,-1.8381526526353251]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.4560734814383023,-1.031949455075721,0.71338606911949],"aabb_xy":[[0.4185734830149019,-1.0451136690435512],[0.4935734798617026,-1.0187852411078901]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.4376581433825584,-0.2840394194042193,0.71338606911949],"aabb_xy":[[0.4008635102576521,-0.32094529450080156],[0.47445277650746465,-0.247133544307637]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.23645707064165516,-2.1471567374785177,0.71338606911949],"aabb_xy":[[-0.30145707164215574,-2.1979431026331926],[-0.17145706964115467,-2.0963703723238427]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.49092326099998185,-1.4968467673138919,0.71338606911949],"aabb_xy":[[0.42692326388787616,-1.5458791371083023],[0.5549232581120875,-1.447814397519481]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.4005353162623586,1.0826868460779084,0.71338606911949],"aabb_xy":[[0.38303531698427173,1.0653487460115627],[0.4180353155404455,1.1000249461442546]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.2775046036790956,-0.9758401400080081,0.71338606911949],"aabb_xy":[[-0.3274996146385476,-1.0258401390435998],[-0.22750959271964355,-0.9258401409724164]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.6231621885341672,-0.547257408393413,0.71338606911949],"aabb_xy":[[-0.6871621904465096,-0.6031685576514234],[-0.5591621866218249,-0.49134625913540253]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[0.6579410057242454,-2.3158679645683877,0.71338606911949],"aabb_xy":[[0.6499470171465419,-2.3238680446634783],[0.6659349943019487,-2.307867884473297]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.4861889777709511,-2.428082263557114,0.71338606911949],"aabb_xy":[[-0.508361504747602,-2.450257930713237],[-0.4640164507943002,-2.4059065964009907]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[-0.10083097562774346,-0.4850639694989223,0.71338606911949],"aabb_xy":[[-0.1808309736085285,-0.4926655104607742],[-0.020830977646958414,-0.4774624285370703]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.44678468390176096,1.2026429076954397,0.71338606911949],"aabb_xy":[[-0.4967634924120768,1.1526429076897207],[-0.396805875391445,1.2526429077011583]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.567774188039901,0.37789593767104535,0.71338606911949],"aabb_xy":[[-0.5906899009249509,0.35499164053462184],[-0.5448584751548511,0.4008002348074689]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.09349351045278687,1.228616010579652,0.71338606911949],"aabb_xy":[[0.05599351016061205,1.2245745351790485],[0.13099351074496168,1.2326574859802555]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.4589771191206243,0.05171772407128472,0.71338606911949],"aabb_xy":[[-0.5489771158562343,-0.0014657392460097896],[-0.36897712238501396,0.10490118738857923]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.2299756106142936,1.0855642711240323,0.71338606911949],"aabb_xy":[[0.1940621061893039,1.0496507629072775],[0.26588911503928325,1.1214777793407866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829221450606896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8166.png","name":"8166"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8166.png","name":"8166"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9479.png","name":"9479"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5388.png","name":"5388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3982.png","name":"3982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5530.png","name":"5530"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":801.084628657195,"rotation_z_degrees":202.33170656559744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00419781941872039,-0.0068737114464984695,-0.014528944071273916]},{"name":"camera_2","offset_m":[0.01221694560406485,-0.018265330766429763,-0.017929038565710546]},{"name":"camera_3","offset_m":[-0.008068771600659157,-0.0047255787417321785,-0.008251739469424564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001547835840267023,0.0015560379596177547,-0.0004220565070854735],"end_effector_yaw_offset_degrees":-0.5321969940358804},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017519343812334874,-0.001609679096998658,0.0007746061978620134],"end_effector_yaw_offset_degrees":-0.28325152664623277},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011067490046194643,0.0010906704839371687,-0.0013887811960555942],"end_effector_yaw_offset_degrees":0.058202609512399306}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0004832952665507961,0.0018663998555005553],"position_m":[0.25258329526655077,-0.09263360014449945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002142619044656402,0.0022935837763489167],"position_m":[0.35674261904465643,0.07309358377634892,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0036661914660961635,0.002453216636667313],"position_m":[0.31766619146609615,0.2505532166366673,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044047553969596065,-0.004077859899382296],"position_m":[0.2424952446030404,-0.3827778598993823,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"24c407657fbe8204624a6d15b0eab160469f6ba9f27d4daecbf5dc397eed9e7d","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8166/tex_ceiling_textures_5530/tex_floor_textures_3982/tex_table_textures_9479/tex_wall_textures_5388","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":582779306513877370,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":582779306513877370,"visual_seed":582779306513877370,"scene_id":"lab_003","finished_at":"2026-09-02T07:14:42"}
+{"episode_id":"ep_000087","started_at":"2026-09-02T07:14:46","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.3062459846770835,-0.8657578604782548,0.71338606911949],"aabb_xy":[[0.2422459855073136,-0.9125245475972172],[0.3702459838468535,-0.8189911733592923]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.10262136887756435,-2.2164173994133938,0.71338606911949],"aabb_xy":[[-0.19262137255448247,-2.2778498059904977],[-0.012621365200646158,-2.154984992836289]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.22583430475881983,0.35451534817468033,0.71338606911949],"aabb_xy":[[-0.23026493411366,0.3490669764399978],[-0.22140367540397965,0.359963719909363]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.2364285274913513,0.1750450232149623,0.71338606911949],"aabb_xy":[[-0.2914285256930961,0.1345230565885247],[-0.1814285292896064,0.21556698984139988]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.47439502513196274,0.9200980650452553,0.71338606911949],"aabb_xy":[[-0.492070655720561,0.9024178487658525],[-0.45671939454336435,0.937778281324658]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.4630859886223908,1.7566976432990127,0.71338606911949],"aabb_xy":[[0.4518409330517729,1.7454558455749172],[0.4743310441930086,1.7679394410231077]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.5722541725042767,-0.2905205176973422,0.71338606911949],"aabb_xy":[[-0.622227466507537,-0.34052051825188956],[-0.5222808785010161,-0.24052051714279488]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.08539262574519835,1.724756246253675,0.71338606911949],"aabb_xy":[[-0.09342896044648319,1.716718126949258],[-0.0773562910439135,1.7327943655580915]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.4397824232141991,-1.377738924881729,0.71338606911949],"aabb_xy":[[-0.4732615904752401,-1.411218038252836],[-0.4063032559531582,-1.3442598115106221]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.377141894395707,-0.578772492075319,0.71338606911949],"aabb_xy":[[0.28714189467253276,-0.6018458446104987],[0.46714189411888113,-0.555699139540139]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.6528020621615087,-1.3838655796870347,0.71338606911949],"aabb_xy":[[0.6303372921901036,-1.4063655805658952],[0.6752668321329138,-1.3613655788081742]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.5896270422392511,-2.338325742204539,0.71338606911949],"aabb_xy":[[-0.649627043882173,-2.390325891496483],[-0.5296270405963293,-2.2863255929125947]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.41436663374988114,-0.7162085031638017,0.71338606911949],"aabb_xy":[[-0.4406554580703217,-0.7424799368184529],[-0.38807780942944037,-0.6899370695091505]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.5743646752630871,-0.634017112619556,0.71338606911949],"aabb_xy":[[-0.5913747725531378,-0.6501516011178298],[-0.5573545779730364,-0.6178826241212819]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.6066976712766567,-0.5567265633611918,0.71338606911949],"aabb_xy":[[-0.6316976705486189,-0.5730719269573541],[-0.5816976720046944,-0.5403811997650294]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.2651523696069973,-2.4666950313117844,0.71338606911949],"aabb_xy":[[0.2001523695726946,-2.513395707992112],[0.33015236964130007,-2.4199943546314575]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.40264456567611595,-2.0789165295858165,0.71338606911949],"aabb_xy":[[0.32264456871307673,-2.15599217122959],[0.48264456263915506,-2.001840887942043]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.08861974452022237,-1.2665738562852873,0.71338606911949],"aabb_xy":[[-0.1686197419238158,-1.3465664274834697],[-0.008619747116628952,-1.186581285087104]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.5297577539811018,0.1530420295223518,0.71338606911949],"aabb_xy":[[0.480277332767143,0.08904203160949994],[0.5792381751950606,0.2170420274352036]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.39089121489895207,-0.5251987870628549,0.71338606911949],"aabb_xy":[[-0.40832192997795846,-0.5424709017267056],[-0.37346049981994545,-0.507926672399004]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.15078884559302164,1.3176031886313853,0.71338606911949],"aabb_xy":[[0.12624262997027091,1.2873542920823482],[0.17533506121577236,1.3478520851804223]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.5515736822992587,1.4889559947056914,0.71338606911949],"aabb_xy":[[0.487573680891268,1.4371670431817667],[0.6155736837072493,1.540744946229616]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[0.06579430278195775,-0.7076042882805902,0.71338606911949],"aabb_xy":[[0.028294301597164947,-0.7120225109766505],[0.10329430396675053,-0.7031860655845295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859996129282391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5968.png","name":"5968"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5968.png","name":"5968"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5904.png","name":"5904"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2339.png","name":"2339"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2998.png","name":"2998"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4153.png","name":"4153"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":845.3129474274131,"rotation_z_degrees":305.58836612480354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01733827104193524,-0.019019307723232674,0.009566670912592098]},{"name":"camera_2","offset_m":[-0.00919297217523706,-0.009803935638954151,0.00867979689974634]},{"name":"camera_3","offset_m":[0.0028440804292100726,-0.011890361870172074,0.0007233421780581846]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004995358707822585,0.0011776292542798848,0.00019494130542226226],"end_effector_yaw_offset_degrees":0.746098805926189},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009691200278663711,-0.0015567461277852495,0.0016329202337804537],"end_effector_yaw_offset_degrees":0.34067255401302643},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005729313850494511,-0.0013769594623066908,-0.0015064131574128155],"end_effector_yaw_offset_degrees":-0.7757828857380371}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015009706402810937,0.0034703671173116563],"position_m":[0.2536009706402811,-0.09102963288268834,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004180573573065558,0.0007344511541520979],"position_m":[0.3587805735730656,0.0715344511541521,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0044569955727820415,-0.004067388337383277],"position_m":[0.31845699557278206,0.24403261166261672,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042285075635523925,0.0033441233273379016],"position_m":[0.25112850756355243,-0.37535587667266207,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a0b8d329d5221fab8ede4723a27c62f42bd6b02ea33e6672d2065af2a31bc6df","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5968/tex_ceiling_textures_4153/tex_floor_textures_2998/tex_table_textures_5904/tex_wall_textures_2339","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1269573596568558355,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1269573596568558355,"visual_seed":1269573596568558355,"scene_id":"lab_003","finished_at":"2026-09-02T07:17:24"}
+{"episode_id":"ep_000088","started_at":"2026-09-02T07:17:27","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.3697220570472535,0.500239606843941,0.71338606911949],"aabb_xy":[[-0.4337220602658914,0.45351649494493274],[-0.30572205382861567,0.5469627187429494]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.32737564422114884,-2.53649093807811,0.71338606911949],"aabb_xy":[[-0.3367931187910116,-2.5459071152158286],[-0.3179581696512861,-2.5270747609403905]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.1440098197001447,1.085385466997839,0.71338606911949],"aabb_xy":[[0.13138303241294835,1.0758393932962662],[0.15663660698734105,1.094931540699412]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.47728826860429474,1.240581202000559,0.71338606911949],"aabb_xy":[[-0.48140421871636746,1.2364656469677133],[-0.47317231849222213,1.2446967570334044]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.4927744778857349,0.11721659912287263,0.71338606911949],"aabb_xy":[[-0.5567744792937256,0.06542764759894792],[-0.4287744764777443,0.16900555064679734]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.5633918908065607,-0.3238287149784993,0.71338606911949],"aabb_xy":[[-0.6133918903828954,-0.3738092939306053],[-0.513391891230226,-0.2738481360263934]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.10228908818071059,1.3313726705669082,0.71338606911949],"aabb_xy":[[0.0372890870747673,1.30640729749878],[0.16728908928665387,1.3563380436350365]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.4154079170211926,-1.3508977988375643,0.71338606911949],"aabb_xy":[[0.4066058617122199,-1.3587091249924932],[0.42420997233016533,-1.343086472682635]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.601996243469784,1.2844326393952468,0.71338606911949],"aabb_xy":[[-0.6129020195573466,1.2044326429964176],[-0.5910904673822212,1.364432635794076]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.499443251010367,-1.0160535416341145,0.71338606911949],"aabb_xy":[[0.4624091415823073,-1.050430748967824],[0.5364773604384268,-0.9816763343004051]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.1284302752892681,-1.0420974303766373,0.71338606911949],"aabb_xy":[[-0.15201539875316292,-1.1070974326220693],[-0.10484515182537321,-0.9770974281312057]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.22511624341786374,1.535168952101508,0.71338606911949],"aabb_xy":[[0.16748577453059282,1.4751689531747971],[0.2827467123051345,1.595168951028218]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.6637791412193981,1.1991980158847682,0.71338606911949],"aabb_xy":[[0.6138017243541444,1.1491980143955196],[0.7137565580846515,1.2491980173740167]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.360774304219597,-2.106013396043869,0.71338606911949],"aabb_xy":[[0.2770520787195145,-2.196013399578565],[0.4444965297196794,-2.016013392509173]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.1224121894060961,-1.6364049127385183,0.71338606911949],"aabb_xy":[[-0.2024121915688586,-1.7163600963646621],[-0.042412187243333635,-1.556449729112375]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.04970352034287029,-1.259870299573955,0.71338606911949],"aabb_xy":[[-0.0402964790755006,-1.2932457964181447],[0.13970351976124118,-1.2264948027297653]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.2078722739397938,0.5880011534959997,0.71338606911949],"aabb_xy":[[0.20145846029660883,0.5815913332483312],[0.2142860875829787,0.5944109737436679]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.6766934256087642,-0.5075598198647833,0.71338606911949],"aabb_xy":[[0.6727795524133418,-0.51630883527134],[0.6806072988041867,-0.4988108044582264]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.4961631216570681,1.0593799846469438,0.71338606911949],"aabb_xy":[[-0.5010067164182981,1.0545283321679597],[-0.49131952689583813,1.064231637125928]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.07247004498873899,1.2124591641879263,0.71338606911949],"aabb_xy":[[0.008470045818969053,1.1656924770689638],[0.13647004415850894,1.2592258513068888]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.2782275281759574,-1.916107580315393,0.71338606911949],"aabb_xy":[[0.1882275284527832,-1.939180932850573],[0.36822752789913155,-1.8930342277802132]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.31940144097423384,0.26197541270694646,0.71338606911949],"aabb_xy":[[-0.3569014395498546,0.2492391170433885],[-0.281901442398613,0.27471170837050435]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.48329215943353476,1.5135079770481954,0.71338606911949],"aabb_xy":[[-0.4958948585706112,1.50091258082333],[-0.4706894602964583,1.526103373273061]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[-0.03349709053841765,1.7930668238762606,0.71338606911949],"aabb_xy":[[-0.037927719893257834,1.7876184521415783],[-0.02906646118357748,1.7985151956109433]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[-0.6110475233530204,-0.8423975463015099,0.71338606911949],"aabb_xy":[[-0.6455098707511621,-0.8768914286993325],[-0.5765851759548785,-0.8079036639036871]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[0.4299198871206653,-1.6147785099686764,0.71338606911949],"aabb_xy":[[0.407419887110517,-1.6288747296082797],[0.4524198871308136,-1.6006822903290732]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829718048186281,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9767.png","name":"9767"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6550.png","name":"6550"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9070.png","name":"9070"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/323.png","name":"323"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":559.491234619705,"rotation_z_degrees":36.59848031640004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014861026905703678,-0.004918120718166236,-0.01130887717324324]},{"name":"camera_2","offset_m":[0.00850210076957528,-0.0036511826083825936,0.007846606500239238]},{"name":"camera_3","offset_m":[-0.010251556652917557,-0.015701856292892738,0.00922500758077684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.846009944866141e-05,0.0012805510856210797,-0.0014008751921125349],"end_effector_yaw_offset_degrees":-0.5602650369786673},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009489901521376959,0.0018731376551766408,0.0015458260119145016],"end_effector_yaw_offset_degrees":0.4154968570087083},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001908294558586575,-0.0010530884057500488,0.0016161600814322869],"end_effector_yaw_offset_degrees":-0.9644446292591702}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030165901922663343,0.0026573004352665663],"position_m":[0.24908340980773366,-0.09184269956473344,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046252615737923265,-0.0022810388374703418],"position_m":[0.3499747384262077,0.06851896116252966,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002756473892887252,0.0034270395860967725],"position_m":[0.31124352610711276,0.25152703958609673,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030106249530298247,-0.0020990011861823457],"position_m":[0.2438893750469702,-0.3807990011861823,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"dafc3d25ae4ae5368f239df55fecac504957716e2d3aa09b6186084af760f84b","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_951/tex_ceiling_textures_323/tex_floor_textures_9070/tex_table_textures_9767/tex_wall_textures_6550","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":3827032265231746019,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":3827032265231746019,"visual_seed":3827032265231746019,"scene_id":"lab_003","finished_at":"2026-09-02T07:20:11"}
+{"episode_id":"ep_000089","started_at":"2026-09-02T07:20:14","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.4408607789384206,-1.4802192576203894,0.71338606911949],"aabb_xy":[[-0.4751770561130385,-1.530219257593567],[-0.40654450176380263,-1.4302192576472115]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.5585642273000886,-1.403445359470694,0.71338606911949],"aabb_xy":[[-0.5746261547586062,-1.4884453612832855],[-0.542502299841571,-1.318445357658102]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.5010655108660056,-1.4589345587585558,0.71338606911949],"aabb_xy":[[0.495727935200001,-1.4839345596876958],[0.5064030865320102,-1.4339345578294163]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.2061692862248175,-2.105553713447009,0.71338606911949],"aabb_xy":[[-0.2861692832390655,-2.12568826512042],[-0.12616928921056952,-2.085419161773598]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.44396394545194384,-1.8313412740616193,0.71338606911949],"aabb_xy":[[-0.5276861709520262,-1.9213412775963155],[-0.36024171995186133,-1.7413412705269236]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.11573109722302033,-1.1754112087914663,0.71338606911949],"aabb_xy":[[-0.13819586719442545,-1.1979112096703268],[-0.09326632725161521,-1.1529112079126058]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.428662172229837,-0.8448817958947386,0.71338606911949],"aabb_xy":[[-0.4511585936637011,-0.867381795701486],[-0.4061657507959729,-0.8223817960879911]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.5845752239393032,-2.3060646636872604,0.71338606911949],"aabb_xy":[[-0.6195752222499985,-2.313779678610806],[-0.5495752256286076,-2.2983496487637147]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.667850066980243,0.6250748001219084,0.71338606911949],"aabb_xy":[[0.630350068404622,0.6123385044583504],[0.7053500655558637,0.6378110957854662]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.6955009901786204,0.9108218275116524,0.71338606911949],"aabb_xy":[[0.6730009896665797,0.888329969146254],[0.7180009906906609,0.9333136858770507]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.3409566835782354,-0.690265495766262,0.71338606911949],"aabb_xy":[[0.30595668360173955,-0.6997301118138787],[0.3759566835547312,-0.6808008797186454]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.3636101699672876,1.554257995722272,0.71338606911949],"aabb_xy":[[-0.3689426846219006,1.5489336674770364],[-0.35827765531267464,1.5595823239675075]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.09817047277778479,-1.3305019998391159,0.71338606911949],"aabb_xy":[[-0.13164964003882573,-1.363981113210223],[-0.06469130551674385,-1.2970228864680091]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.591981430671676,-0.8193447437286889,0.71338606911949],"aabb_xy":[[0.5269814306373732,-0.8660454204090162],[0.6569814307059787,-0.7726440670483616]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.11158707972205617,-1.7639384332918882,0.71338606911949],"aabb_xy":[[0.10074660149554127,-1.7811247145825364],[0.12242755794857108,-1.746752152001239]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.015418024111900408,-1.6936992141850948,0.71338606911949],"aabb_xy":[[-0.002081976133148975,-1.7111990020246612],[0.032918024356949786,-1.6761994263455275]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.18293615583103162,1.0952213440030483,0.71338606911949],"aabb_xy":[[-0.2179361557270505,1.0868471084911082],[-0.14793615593501275,1.1035955795149883]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.6356801168812141,0.22690382733462444,0.71338606911949],"aabb_xy":[[0.5986460074531542,0.192526620000915],[0.6727142263092737,0.2612810346683339]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.030775342266148642,-2.3898198320489854,0.71338606911949],"aabb_xy":[[-0.05266508985508944,-2.479819829338234],[-0.008885594677207847,-2.299819834759736]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.5484069927984684,1.7452056484035245,0.71338606911949],"aabb_xy":[[-0.5859069943141001,1.7339788753873793],[-0.5109069912828367,1.7564324214196694]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.08921858910847247,0.9623992117936395,0.71338606911949],"aabb_xy":[[0.07745040231381496,0.8773992118884181],[0.10098677590313002,1.047399211698861]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.2474100696140406,-1.7916601424472893,0.71338606911949],"aabb_xy":[[-0.3114100667261463,-1.8406925122417],[-0.18341007250193492,-1.7426277726528787]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[-0.379766472866629,-0.7345086270402803,0.71338606911949],"aabb_xy":[[-0.39719718794563547,-0.7517807417041311],[-0.36233575778762245,-0.7172365123764295]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.6086941807977855,0.512252771107562,0.71338606911949],"aabb_xy":[[0.5782960696986419,0.4818458691058924],[0.6390922918969291,0.5426596731092314]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.4429094826893889,0.6402347128501886,0.71338606911949],"aabb_xy":[[0.36290948052662636,0.5602795292240449],[0.5229094848521514,0.7201898964763321]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.06339345936333507,1.7576703729771102,0.71338606911949],"aabb_xy":[[-0.08250576672131393,1.7385355940998684],[-0.044281152005356206,1.7768051518543524]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.14586633724679743,-1.9545512844897472,0.71338606911949],"aabb_xy":[[0.1283196423306785,-1.9920512860539983],[0.16341303216291636,-1.9170512829254958]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[-0.5205610152148584,-2.066546600245279,0.71338606911949],"aabb_xy":[[-0.5805610150614251,-2.1233652224383177],[-0.4605610153682915,-2.0097279780522403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850325577415395,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1451.png","name":"1451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1451.png","name":"1451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1803.png","name":"1803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9549.png","name":"9549"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6147.png","name":"6147"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":690.0245936530515,"rotation_z_degrees":88.61203129925697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019746751855554922,0.011195990233326639,0.0007712949791675652]},{"name":"camera_2","offset_m":[-0.014659821056698396,-0.011158404466017404,0.014442265576227273]},{"name":"camera_3","offset_m":[-0.005659031293139773,0.004584565121357707,-0.004564985483259525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017212948844642093,5.2461975634070235e-06,0.0006008194349358975],"end_effector_yaw_offset_degrees":-0.07411929687083396},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001715443836482677,-0.0006208732183102322,0.0001278476439362684],"end_effector_yaw_offset_degrees":0.871825201705718},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006983699523068505,-0.0008703956908732836,0.00012098669570650717],"end_effector_yaw_offset_degrees":-0.926930413129659}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046916782543104584,-0.004769876500481226],"position_m":[0.25679167825431043,-0.09926987650048123,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008404979922612618,0.004969165986326446],"position_m":[0.3554404979922613,0.07576916598632645,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0037114826372376666,-0.0034678825118802294],"position_m":[0.31771148263723764,0.24463211748811975,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012424904045528627,-0.0031624805249697062],"position_m":[0.24565750959544713,-0.3818624805249697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2856228f8f13b51cffa9dddb916e6b48044b69342688b358c34f89785368fdec","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1451/tex_ceiling_textures_6147/tex_floor_textures_3672/tex_table_textures_1803/tex_wall_textures_9549","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":8810220158014073396,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":8810220158014073396,"visual_seed":8810220158014073396,"scene_id":"lab_003","finished_at":"2026-09-02T07:22:53"}
+{"episode_id":"ep_000090","started_at":"2026-09-02T07:22:56","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.17435578042055078,0.5462959302792965,0.71338606911949],"aabb_xy":[[-0.17899089557278414,0.5424285952021478],[-0.16972066526831736,0.5501632653564451]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.4413564156139255,-0.826560990395516,0.71338606911949],"aabb_xy":[[-0.5063564182517191,-0.8780405890949629],[-0.376356412976132,-0.7750813916960689]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.43505303941796475,-2.3666470796545624,0.71338606911949],"aabb_xy":[[-0.5200530381100394,-2.3986329430494413],[-0.35005304072589005,-2.3346612162596836]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.49875254936180236,-0.6823161947933007,0.71338606911949],"aabb_xy":[[0.4749163317211974,-0.7723161956017873],[0.5225887670024075,-0.5923161939848143]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.40595316322166863,-1.8313224455774257,0.71338606911949],"aabb_xy":[[0.3883748610327218,-1.8488969351515303],[0.4235314654106155,-1.8137479560033203]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.5572300295311186,1.4483441513230457,0.71338606911949],"aabb_xy":[[0.5485160604811838,1.425844150663857],[0.5659439985810528,1.4708441519822335]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[-0.033748014737792875,-1.880459961322707,0.71338606911949],"aabb_xy":[[-0.0837480160986801,-1.9304378658981223],[0.01625198662309434,-1.830482056747291]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.48362494306075476,0.2943628506226048,0.71338606911949],"aabb_xy":[[-0.528903557941904,0.2303628512744212],[-0.4383463281796055,0.35836284997078854]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.14451465147753195,-0.8666107510110415,0.71338606911949],"aabb_xy":[[-0.15254092210815798,-0.8753622459883942],[-0.13648838084690598,-0.857859256033689]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.4752624573427555,-1.334195526905054,0.71338606911949],"aabb_xy":[[-0.555262455930075,-1.413511128843215],[-0.3952624587554361,-1.2548799249668932]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.2399852940795168,-2.3931382205598815,0.71338606911949],"aabb_xy":[[-0.2624844298057437,-2.4156382213381447],[-0.2174861583532898,-2.3706382197816183]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.4993800168158887,0.6083359875884642,0.71338606911949],"aabb_xy":[[-0.521880017059404,0.5961313529286922],[-0.4768800165723733,0.6205406222482361]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.5205256745602386,-0.04833875121584574,0.71338606911949],"aabb_xy":[[-0.5580256750575968,-0.052307434763964156],[-0.48302567406288033,-0.04437006766772733]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.40654128754196506,-2.2461709278495046,0.71338606911949],"aabb_xy":[[-0.4102445488711039,-2.249872946158222],[-0.4028380262128261,-2.2424689095407864]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.15031810743567853,-1.7263067943087018,0.71338606911949],"aabb_xy":[[0.1376913201484822,-1.735852868010275],[0.1629448947228749,-1.7167607206071291]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.22018284491603263,-2.171373641531769,0.71338606911949],"aabb_xy":[[-0.22810612515478096,-2.1938736417697724],[-0.2122595646772843,-2.1488736412937657]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.43473915470084123,0.7811055411955872,0.71338606911949],"aabb_xy":[[0.41687004694638574,0.7672726332183762],[0.45260826245529673,0.7949384491727981]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.3368550767059555,-0.6063156288031106,0.71338606911949],"aabb_xy":[[0.27285507436315387,-0.651256480047243],[0.400855079048757,-0.561374777558978]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.23312844621106743,-1.8677961955351856,0.71338606911949],"aabb_xy":[[0.19562844778766708,-1.8809604095030161],[0.2706284446344678,-1.8546319815673546]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.4880062067355537,1.1538966679834903,0.71338606911949],"aabb_xy":[[-0.5253374832607964,1.119243613188638],[-0.4506749302103112,1.1885497227783426]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.42932019877406313,-1.5506522609236661,0.71338606911949],"aabb_xy":[[0.34932019830384725,-1.5589629685380146],[0.5093201992442792,-1.542341553309318]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.22909547682401288,-2.4215504387139073,0.71338606911949],"aabb_xy":[[0.2065954768138646,-2.4356466583535106],[0.25159547683416117,-2.407454219074304]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.4902382621080374,-1.97300480111516,0.71338606911949],"aabb_xy":[[-0.5402332730674895,-2.0230048001507517],[-0.4402432511485854,-1.9230048020795683]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.3894139471356755,1.7508537909089994,0.71338606911949],"aabb_xy":[[-0.47941394363654727,1.7049421484905412],[-0.29941395063480375,1.7967654333274576]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.2532474212563583,-2.079270308888924,0.71338606911949],"aabb_xy":[[-0.2585799359109713,-2.08459463713416],[-0.2479149066017453,-2.0739459806436886]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[0.5763247360363273,1.1224181604023613,0.71338606911949],"aabb_xy":[[0.4963247390220793,1.10228360872895],[0.6563247330505753,1.1425527120757726]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.42098164912676395,1.0278746975853257,0.71338606911949],"aabb_xy":[[0.4077507035920826,1.014647278563326],[0.4342125946614452,1.0411021166073249]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[0.696304127600412,0.02467608446653724,0.71338606911949],"aabb_xy":[[0.6792940303103613,0.00854159596826332],[0.7133142248904626,0.040810572964811165]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[0.3447899559517775,1.3618262388756186,0.71338606911949],"aabb_xy":[[0.28478995509096466,1.3103998088691318],[0.4047899568125903,1.4132526688821045]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[0.15120021733228883,0.7584048440327598,0.71338606911949],"aabb_xy":[[0.08720022004664019,0.7168981250799159],[0.21520021461793748,0.7999115629856038]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_30","position":[0.4128491361888986,0.4779461007970167,0.71338606911949],"aabb_xy":[[0.3228491364657244,0.4548727482618368],[0.5028491359120727,0.5010194533321964]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[-0.19028773044845726,-0.6593746357039529,0.71338606911949],"aabb_xy":[[-0.23528773191468613,-0.7043744925654337],[-0.14528772898222841,-0.6143747788424724]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887705220721945,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3565.png","name":"3565"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3565.png","name":"3565"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9412.png","name":"9412"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6119.png","name":"6119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2818.png","name":"2818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4494.png","name":"4494"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":770.304611570004,"rotation_z_degrees":61.34346429849784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01943744777055959,0.01476159035280122,0.002001062382092623]},{"name":"camera_2","offset_m":[-0.018697537906570402,0.0023905903856601407,0.013104165031533149]},{"name":"camera_3","offset_m":[-0.0037016075762008813,-0.00011927316050324918,-0.0021589474849575026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019672318002674468,0.0017391209323274416,0.0006825895473752553],"end_effector_yaw_offset_degrees":-0.7739171954019375},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011928237260014755,-0.001756507867861473,-0.001694799038840082],"end_effector_yaw_offset_degrees":-0.4089410328199403},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014959964789251,0.0009440648222151858,0.0011935529446440874],"end_effector_yaw_offset_degrees":0.6542673087519797}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004550602845143984,-0.003891936046191805],"position_m":[0.247549397154856,-0.0983919360461918,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00494224250094184,-0.002669548970945784],"position_m":[0.35954224250094186,0.06813045102905421,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013479265927932881,-0.0030847437775655493],"position_m":[0.3126520734072067,0.24501525622243445,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003547067925351622,-0.0027228543407777296],"position_m":[0.25044706792535165,-0.3814228543407777,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"74a33c6541f71633ed448c3aee8b832983799c45694162aec2f3245a699050b9","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3565/tex_ceiling_textures_4494/tex_floor_textures_2818/tex_table_textures_9412/tex_wall_textures_6119","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6258635393691183099,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6258635393691183099,"visual_seed":6258635393691183099,"scene_id":"lab_003","finished_at":"2026-09-02T07:25:37"}
+{"episode_id":"ep_000091","started_at":"2026-09-02T07:25:41","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.5278864496629885,0.685195494827775,0.71338606911949],"aabb_xy":[[-0.5453864499080379,0.667695706988208],[-0.5103864494179391,0.7026952826673417]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.16988047764577752,-1.7862127594447503,0.71338606911949],"aabb_xy":[[0.16284016771224055,-1.8662127588444222],[0.17692078757931454,-1.7062127600450794]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.20957908782288287,0.3379209553458713,0.71338606911949],"aabb_xy":[[-0.27357909004328984,0.293547871220583],[-0.14557908560247582,0.3822940394711596]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.1125244384080829,1.1906925415649114,0.71338606911949],"aabb_xy":[[0.10908376216802573,1.1868311085905472],[0.11596511464814008,1.1945539745392761]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.3998641746832392,0.8121304988357414,0.71338606911949],"aabb_xy":[[0.3911502056333047,0.789630498176553],[0.4085781437331737,0.8346304994949294]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.5558049769736586,-1.6684806667089758,0.71338606911949],"aabb_xy":[[0.5440367901790012,-1.7534806666141978],[0.5675731637683162,-1.5834806668037547]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[-0.014858214897788158,0.8558254697512235,0.71338606911949],"aabb_xy":[[-0.026790949259616226,0.8434433169433642],[-0.00292548053596009,0.8682076225590829]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.2726119061087834,0.5679850436080844,0.71338606911949],"aabb_xy":[[0.2634520271649068,0.5614538255645474],[0.28177178505266,0.5745162616516215]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.2243670418474616,1.763442736091481,0.71338606911949],"aabb_xy":[[0.14436704077434123,1.7536646897540964],[0.3043670429205819,1.7732207824288653]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.09152491552100672,-2.544970657235684,0.71338606911949],"aabb_xy":[[0.027524913471274726,-2.5850651403249922],[0.15552491757073872,-2.5048761741463763]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.39745429029812884,-2.5102132567237145,0.71338606911949],"aabb_xy":[[0.34245429067638306,-2.5651969495111873],[0.45245428991987474,-2.455229563936242]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.47934921565011246,-1.563700082327663,0.71338606911949],"aabb_xy":[[-0.544349216650613,-1.614486447482338],[-0.4143492146496119,-1.512913717172988]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.28400615340338875,-2.0011815309017202,0.71338606911949],"aabb_xy":[[0.26699605611333804,-2.0173160193999937],[0.30101625069343935,-1.9850470424034459]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.38976729738347066,-1.197086571356346,0.71338606911949],"aabb_xy":[[-0.4497672978913235,-1.2539333050422672],[-0.3297672968756177,-1.1402398376704246]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.2041827947160994,1.6104168255011495,0.71338606911949],"aabb_xy":[[-0.2841827951863154,1.6021061178868012],[-0.1241827942458835,1.6187275331154978]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[0.4243343395996022,-0.32527468688924976,0.71338606911949],"aabb_xy":[[0.4099999144734387,-0.3373349024437886],[0.4386687647257656,-0.3132144713347109]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.05080607689647043,0.5640552631855429,0.71338606911949],"aabb_xy":[[-0.1008060772570365,0.5140752759759398],[-0.0008060765359043722,0.6140352503951457]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.6440518263809564,-1.1630096152968095,0.71338606911949],"aabb_xy":[[-0.6778273855716492,-1.1770481105099746],[-0.6102762671902633,-1.1489711200836443]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[-0.5274353037484051,1.79571469160576,0.71338606911949],"aabb_xy":[[-0.597435307139967,1.7603989179023287],[-0.45743530035684304,1.8310304653091904]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.5448608652854581,-0.922377091943305,0.71338606911949],"aabb_xy":[[0.5103985178873162,-0.9568709743411276],[0.5793232126835998,-0.8878832095454822]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.3968547982481895,-0.6307134802200272,0.71338606911949],"aabb_xy":[[-0.48057702374827194,-0.7207134837547231],[-0.313132572748107,-0.5407134766853312]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.3749902894173168,-0.9598197347179107,0.71338606911949],"aabb_xy":[[-0.41249029093294853,-0.9710465077340558],[-0.3374902879016851,-0.9485929617017657]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.6013573594407251,-0.6107233167545834,0.71338606911949],"aabb_xy":[[0.5750685351202843,-0.6369947504092346],[0.6276461837611657,-0.5844518830999321]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.03336068991712704,-1.582302924325527,0.71338606911949],"aabb_xy":[[0.02012974438244574,-1.595530343347526],[0.046591635451808326,-1.5690755053035272]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.1155280397286742,-2.4090703663449653,0.71338606911949],"aabb_xy":[[-0.1795280370310206,-2.4534367933128216],[-0.05152804242632779,-2.364703939377108]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[-0.2730137890243755,-1.2107294703590914,0.71338606911949],"aabb_xy":[[-0.2800552399751231,-1.2177562220968858],[-0.2659723380736279,-1.203702718621297]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[-0.38702104567726836,0.49872349326945953,0.71338606911949],"aabb_xy":[[-0.3926027173113971,0.4862234934516841],[-0.3814393740431396,0.511223493087235]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[0.45646169302503714,-0.5556627924788278,0.71338606911949],"aabb_xy":[[0.43146169309251925,-0.5625454606997512],[0.48146169295755503,-0.5487801242579046]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[-0.4797039143221996,0.8862220397013858,0.71338606911949],"aabb_xy":[[-0.4905555205710751,0.8753627489737349],[-0.4688523080733239,0.8970813304290369]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[0.38789250648432505,1.630864297347967,0.71338606911949],"aabb_xy":[[0.30789250952128583,1.5537886557041933],[0.46789250344736416,1.7079399389917402]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_30","position":[0.7061662594302001,-0.48911567975251424,0.71338606911949],"aabb_xy":[[0.6915228538761671,-0.5037743994092985],[0.720809664984233,-0.4744569600957299]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[-0.5140983053088559,-0.12826795846623362,0.71338606911949],"aabb_xy":[[-0.5940921288874141,-0.2082679610590752],[-0.4341044817302977,-0.048267955873392054]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[0.5839895649019271,-0.2649390004521961,0.71338606911949],"aabb_xy":[[0.5539979021680568,-0.2949389997889966],[0.6139812276357974,-0.23493900111539556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862815967691639,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9346.png","name":"9346"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8010.png","name":"8010"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5456.png","name":"5456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1056.png","name":"1056"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":527.251359393798,"rotation_z_degrees":247.68872885114416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0174487506381145,0.015759104804292,-0.006948721726845691]},{"name":"camera_2","offset_m":[0.0049443771851505475,0.0191416946409723,-0.0036544859501081196]},{"name":"camera_3","offset_m":[-0.010513649961945811,-0.01936603976571793,0.01980237241594084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015266637682899238,-0.0009089109904577208,0.0015576115795939128],"end_effector_yaw_offset_degrees":-0.9394961570450313},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00019932363464499102,-5.0171768228623624e-05,0.0007135894227752407],"end_effector_yaw_offset_degrees":0.4212160125247226},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018681452255177682,-0.0019303216233306532,-0.0010573885787138995],"end_effector_yaw_offset_degrees":0.8256671180968664}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038856471098028577,-0.001547007565281846],"position_m":[0.25598564710980287,-0.09604700756528185,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004077566880523727,-0.0022005839398790586],"position_m":[0.35867756688052377,0.06859941606012095,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002000199264225344,0.003112271450556919],"position_m":[0.31199980073577466,0.2512122714505569,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003650599781087523,0.0019476932373456279],"position_m":[0.2505505997810875,-0.37675230676265437,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c96d659f47c19bfc8225e51e03009fc88a1998a9a604a37bed03e4be367eaadb","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2231/tex_ceiling_textures_1056/tex_floor_textures_5456/tex_table_textures_9346/tex_wall_textures_8010","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7151907350694213204,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7151907350694213204,"visual_seed":7151907350694213204,"scene_id":"lab_003","finished_at":"2026-09-02T07:28:25"}
+{"episode_id":"ep_000092","started_at":"2026-09-02T07:28:28","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.08561115778125572,0.11588691555191932,0.71338606911949],"aabb_xy":[[-0.1355842233137712,0.06588691573938645],[-0.03563809224874027,0.16588691536445224]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.6054487580150314,-2.425230063486225,0.71338606911949],"aabb_xy":[[0.570448759704336,-2.432945078409771],[0.6404487563257268,-2.4175150485626795]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.41549117080661757,-0.5609157397678839,0.71338606911949],"aabb_xy":[[0.3929911702945769,-0.5834075981332821],[0.4379911713186581,-0.5384238814024854]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.4441323896410625,-0.7579981751552702,0.71338606911949],"aabb_xy":[[0.4348387714039119,-0.7954981736434041],[0.4534260078782131,-0.7204981766671363]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.31549447835211186,-2.336800449212793,0.71338606911949],"aabb_xy":[[0.2784603689240521,-2.371177656546502],[0.3525285877801716,-2.302423241879083]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.559290431588497,0.7235317872930125,0.71338606911949],"aabb_xy":[[0.49929043072768414,0.672105357286526],[0.6192904324493097,0.7749582172994988]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[0.5652891014244228,-0.5522201066557635,0.71338606911949],"aabb_xy":[[0.5402891018726843,-0.5623625905208982],[0.5902891009761613,-0.5420776227906288]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.307881124989972,-0.638517352383507,0.71338606911949],"aabb_xy":[[0.3034504956351318,-0.6439657241181896],[0.3123117543448122,-0.6330689806488244]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.6188172628284516,-1.3426812107757358,0.71338606911949],"aabb_xy":[[0.5760505559490314,-1.4066812141975382],[0.6615839697078718,-1.2786812073539333]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.6752490190809903,-0.9013428902889102,0.71338606911949],"aabb_xy":[[0.6665350500310556,-0.9238428909480983],[0.6839629881309246,-0.8788428896297219]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.5693016038287368,1.464595297382623,0.71338606911949],"aabb_xy":[[0.5549671787025734,1.4525350818280842],[0.5836360289549003,1.476655512937162]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.44909988151531494,-2.42689093898988,0.71338606911949],"aabb_xy":[[-0.5390998851922328,-2.4883233455669838],[-0.35909987783839664,-2.365458532412775]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.4404441360558229,1.5305032764190352,0.71338606911949],"aabb_xy":[[0.43222959094013885,1.5218266861213936],[0.4486586811715068,1.5391798667166763]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[0.47670020975055793,-0.9466165145506664,0.71338606911949],"aabb_xy":[[0.46800224745984265,-0.958741488858141],[0.4853981720412732,-0.9344915402431916]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.4284963554308223,0.4960168582515019,0.71338606911949],"aabb_xy":[[0.3934963540793406,0.47565712229468105],[0.46349635678230405,0.5163765942083227]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.03866788906714003,-0.6639660353428951,0.71338606911949],"aabb_xy":[[-0.07616789058277174,-0.6751928083590402],[-0.0011678875515083106,-0.6527392623267501]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.527136758418266,0.5395512412500456,0.71338606911949],"aabb_xy":[[0.51911048778764,0.530799746272693],[0.535163029048892,0.5483027362273982]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.1757089764462869,1.8250369255884284,0.71338606911949],"aabb_xy":[[0.1532089766323845,1.820562309217948],[0.19820897626018927,1.8295115419589094]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.22644539576382294,0.9653919627534502,0.71338606911949],"aabb_xy":[[0.14144539734639974,0.8805176672911652],[0.31144539418124617,1.0502662582157352]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.5655901576693776,0.21736119631575956,0.71338606911949],"aabb_xy":[[0.4955901560670981,0.20392840311410199],[0.6355901592716571,0.23079398951741714]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[0.015013621304164948,-0.825882633418652,0.71338606911949],"aabb_xy":[[0.010170026542934975,-0.8307342858976361],[0.019857216065394923,-0.8210309809396679]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.18315198890594475,-1.35858733906052,0.71338606911949],"aabb_xy":[[0.16850858335191174,-1.3732460587173043],[0.1977953944599777,-1.3439286194037359]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.23038073243539947,-0.10331277392696503,0.71338606911949],"aabb_xy":[[-0.2753807339016283,-0.1483126307884457],[-0.18538073096917063,-0.058312917065484346]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.32224596749613427,-2.003177471679605,0.71338606911949],"aabb_xy":[[-0.3286597811393192,-2.009587291927273],[-0.3158321538529493,-1.9967676514319366]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[0.3418716195601119,-1.242922712185635,0.71338606911949],"aabb_xy":[[0.3369723272535484,-1.2705996314882035],[0.3467709118666754,-1.215245792883066]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.28714518140260525,-1.7423279419746263,0.71338606911949],"aabb_xy":[[0.2801048714690683,-1.8223279413742979],[0.2941854913361423,-1.662327942574955]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[0.5463929048928744,-1.8952854026052153,0.71338606911949],"aabb_xy":[[0.49139290527112867,-1.950269095392688],[0.6013929045146204,-1.8403017098177425]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.5083125897690334,1.1250851823308863,0.71338606911949],"aabb_xy":[[-0.5458125900612082,1.1210437069302828],[-0.47081258947685856,1.1291266577314898]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[-0.4113221933846432,-1.6286479396438844,0.71338606911949],"aabb_xy":[[-0.4244734393559326,-1.6536479394005712],[-0.3981709474133539,-1.6036479398871981]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_29","position":[0.3590297093282384,0.3121416159128527,0.71338606911949],"aabb_xy":[[0.3509020211349252,0.3032280075021451],[0.36715739752155163,0.32105522432356043]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6823983478974882,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8770.png","name":"8770"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8770.png","name":"8770"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2867.png","name":"2867"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9216.png","name":"9216"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6310.png","name":"6310"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/557.png","name":"557"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":749.0773992643267,"rotation_z_degrees":180.3702256450033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006684780441835087,-0.004822198221555158,-0.01334914879603676]},{"name":"camera_2","offset_m":[-0.007629321434923319,0.005824234911622237,0.019495037143928733]},{"name":"camera_3","offset_m":[-0.01329242341200085,0.013688390702927027,0.01420292486649508]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[8.615448604184714e-05,0.0014507116754840146,-0.00042587415567572873],"end_effector_yaw_offset_degrees":-0.06732417862528961},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007860084024171399,0.0005260745339902089,-0.0019375965363754469],"end_effector_yaw_offset_degrees":-0.32239566439695766},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0019777886227860435,0.0006189428885434154,0.0006897329039446602],"end_effector_yaw_offset_degrees":-0.8801326313816078}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004937016106643494,-0.004012433654241443],"position_m":[0.2471629838933565,-0.09851243365424145,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002589807141547257,0.001580655193305143],"position_m":[0.3571898071415473,0.07238065519330514,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016005540561798161,0.0023539639239726507],"position_m":[0.3123994459438202,0.2504539639239726,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004971461764348774,-0.003980587393782834],"position_m":[0.24192853823565125,-0.3826805873937828,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6b1ca2175e084e3c82b30273f2c34cfb0d4ecea334816f713e68e23cefc138d2","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8770/tex_ceiling_textures_557/tex_floor_textures_6310/tex_table_textures_2867/tex_wall_textures_9216","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":1619662032557109526,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":1619662032557109526,"visual_seed":1619662032557109526,"scene_id":"lab_003","finished_at":"2026-09-02T07:31:09"}
+{"episode_id":"ep_000093","started_at":"2026-09-02T07:31:12","dimensions":{"distractor":{"count":32,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.5668724529246382,-0.42056789768100167,0.71338606911949],"aabb_xy":[[-0.6565595292327535,-0.5105678979354522],[-0.4771853766165226,-0.33056789742655107]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.35613551119574555,-1.2536661723819038,0.71338606911949],"aabb_xy":[[-0.3911355094658654,-1.2607403000768915],[-0.3211355129256256,-1.2465920446869152]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.4338796078307648,-0.6756235923743934,0.71338606911949],"aabb_xy":[[-0.4401917073671033,-0.6813905316276123],[-0.4275675082944264,-0.6698566531211747]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[0.3657790973646673,-0.6126051227928659,0.71338606911949],"aabb_xy":[[0.3322999301036264,-0.6460842361639729],[0.3992582646257083,-0.579126009421759]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[-0.21954475586122058,-1.8846381329215287,0.71338606911949],"aabb_xy":[[-0.23471692514285394,-1.8998069898497323],[-0.20437258657958726,-1.8694692759933256]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.09250808592314708,-2.0769746914659155,0.71338606911949],"aabb_xy":[[-0.10180170416029766,-2.114474689954049],[-0.0832144676859965,-2.039474692977781]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.14426871903863814,1.003541914973472,0.71338606911949],"aabb_xy":[[0.06426872187906285,0.9919943140156549],[0.22426871619821342,1.015089515931289]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.11649983012550524,-0.9274784950094987,0.71338606911949],"aabb_xy":[[-0.18049983217523724,-0.9675729780988067],[-0.05249982807577325,-0.8873840119201908]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.2771166730480083,0.16339728808907816,0.71338606911949],"aabb_xy":[[-0.3270996232354876,0.11339728844651774],[-0.22713372286052894,0.21339728773163855]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[-0.03780037157427818,-1.910932605132377,0.71338606911949],"aabb_xy":[[-0.0878978355553518,-1.9749326056421888],[0.01229709240679544,-1.8469326046225651]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.4988979747162774,-2.2338134521350037,0.71338606911949],"aabb_xy":[[-0.5488910868254694,-2.2838134528092],[-0.4489048626070856,-2.1838134514608085]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.13988021759145497,-2.3163996976866215,0.71338606911949],"aabb_xy":[[0.13574436125875478,-2.3538996971309785],[0.14401607392415516,-2.2788996982422645]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.16404782870308388,1.037932050866614,0.71338606911949],"aabb_xy":[[-0.2015478285201174,1.0332938395554723],[-0.1265478288860503,1.042570262177756]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.3724989625017039,1.2132088075860228,0.71338606911949],"aabb_xy":[[-0.3795404134524515,1.2061820558482284],[-0.3654575115509563,1.2202355593238172]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.28312734007115936,0.7791391789253064,0.71338606911949],"aabb_xy":[[0.24853625721711417,0.7141391786402753],[0.3177184229252046,0.8441391792103374]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.058460122592413954,-0.6937655974487067,0.71338606911949],"aabb_xy":[[-0.09346012256890979,-0.7032302134963233],[-0.023460122615918115,-0.6843009814010901]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[-0.2052812416983471,0.3819589914029522,0.71338606911949],"aabb_xy":[[-0.2234870653595948,0.3709335908209606],[-0.18707541803709946,0.3929843919849439]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.4375445268797077,1.196455997941622,0.71338606911949],"aabb_xy":[[-0.453100296289973,1.180905564697215],[-0.4219887574694425,1.2120064311860295]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.052480968904509706,1.5816365648266886,0.71338606911949],"aabb_xy":[[-0.08998096907638164,1.5489358294437814],[-0.01498096873263776,1.6143373002095958]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.5365872171013455,-0.5611524718250895,0.71338606911949],"aabb_xy":[[0.4565933935227874,-0.6411524744179311],[0.6165810406799038,-0.48115246923224797]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.06847794217039338,-0.767092337490829,0.71338606911949],"aabb_xy":[[0.018499133660077494,-0.8170923374965477],[0.11845675068070927,-0.7170923374851101]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.20763228094965108,-2.0247980499148026,0.71338606911949],"aabb_xy":[[-0.2652627498369219,-2.0847980488415123],[-0.1500018120623802,-1.9647980509880911]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.5008645869651516,-0.27327093638078637,0.71338606911949],"aabb_xy":[[0.45086458738881685,-0.3232515153328923],[0.5508645865414863,-0.22329035742868042]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[0.5005241107353509,-0.8436359304749474,0.71338606911949],"aabb_xy":[[0.4830241104903014,-0.8611357183145143],[0.5180241109804001,-0.8261361426353806]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.45840479271207374,0.29190937251085547,0.71338606911949],"aabb_xy":[[-0.5083780867153341,0.24190937195630807],[-0.4084314987088132,0.34190937306540276]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[0.3827671871453613,-0.7087462640010413,0.71338606911949],"aabb_xy":[[0.3753547316039728,-0.7145974744226694],[0.39017964268674976,-0.7028950535794135]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[0.6094381584060029,-2.0130165012784826,0.71338606911949],"aabb_xy":[[0.5294381562432404,-2.0929716849046263],[0.6894381605687654,-1.933061317652339]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[-0.0628701190938421,-1.419346230441246,0.71338606911949],"aabb_xy":[[-0.08292853070708239,-1.4394113173504037],[-0.04281170748060181,-1.3992811435320889]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[0.33376307545643624,1.756097712960226,0.71338606911949],"aabb_xy":[[0.3112630749443956,1.7336058545948274],[0.3562630759684768,1.7785895713256241]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[0.07351804849994281,1.2354738757323953,0.71338606911949],"aabb_xy":[[0.009518045281304954,1.188750763833387],[0.13751805171858067,1.2821969876314037]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_30","position":[-0.36507135816907504,-1.576400078305911,0.71338606911949],"aabb_xy":[[-0.4290713552811808,-1.6254324481003215],[-0.3010713610569694,-1.5273677085115003]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_31","position":[0.5956413823880122,-0.0043636428477435985,0.71338606911949],"aabb_xy":[[0.5316413859606903,-0.05153326666984004],[0.6596413788153341,0.04280598097435284]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827397972661774,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6176.png","name":"6176"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6176.png","name":"6176"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2496.png","name":"2496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/194.png","name":"194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1232.png","name":"1232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":660.9874789858246,"rotation_z_degrees":96.91163724996375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010267358269848188,0.008818806094234515,0.010634718864254572]},{"name":"camera_2","offset_m":[0.01354172513393945,0.010169281522176839,0.006878029547688114]},{"name":"camera_3","offset_m":[0.019169219074860983,-0.004836693055238452,-0.01908912471050314]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006943918578348448,-0.0006043067009831029,0.0015932245082604375],"end_effector_yaw_offset_degrees":-0.5746435419080971},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010762127969576895,-0.0006562736580651523,0.0013472431040949884],"end_effector_yaw_offset_degrees":-0.5815892798078193},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015251908496767496,0.0016160935923026638,0.0015739935696854768],"end_effector_yaw_offset_degrees":0.2848504987163767}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004117900406349149,0.0019850121671412257],"position_m":[0.24798209959365083,-0.09251498783285877,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002394516405160086,-0.0003124173359765562],"position_m":[0.3569945164051601,0.07048758266402344,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009433777245148279,-0.004769928019420103],"position_m":[0.3149433777245148,0.24333007198057988,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041311283916205775,-0.003347505305156459],"position_m":[0.24276887160837943,-0.38204750530515647,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4da1ef52d2e5238728978f9b9e92bfeb3141708372d6cfe5678b7d509c1db260","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6176/tex_ceiling_textures_8371/tex_floor_textures_1232/tex_table_textures_2496/tex_wall_textures_194","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":311603179496951219,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":311603179496951219,"visual_seed":311603179496951219,"scene_id":"lab_003","finished_at":"2026-09-02T07:34:11"}
+{"episode_id":"ep_000094","started_at":"2026-09-02T07:34:14","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.6989262687715383,-1.144964126742848,0.71338606911949],"aabb_xy":[[0.683754099489905,-1.1601329836710514],[0.7140984380531716,-1.1297952698146447]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.14430997947305968,1.0884495584571812,0.71338606911949],"aabb_xy":[[0.09822488821832819,1.024449561204626],[0.19039507072779113,1.1524495557097363]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.47659452919793743,-0.2904149195286543,0.71338606911949],"aabb_xy":[[0.4216022785624266,-0.3454149212719671],[0.5315867798334485,-0.23541491778534157]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[0.5507856405786964,-2.360285804807901,0.71338606911949],"aabb_xy":[[0.5431613724885181,-2.367919028344445],[0.5584099086688746,-2.3526525812713577]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[0.6987609215641286,0.17131502679061406,0.71338606911949],"aabb_xy":[[0.694644971452056,0.16719947175776853],[0.7028768716762013,0.17543058182345952]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.2886004998783387,0.9862908224315841,0.71338606911949],"aabb_xy":[[-0.3536004999126414,0.9395901457512569],[-0.22360049984403596,1.0329914991119113]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.5555655941571154,1.5109304783787993,0.71338606911949],"aabb_xy":[[0.4755655908992724,1.4309339705868152],[0.6355655974149583,1.590926986170783]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.06637280189593042,-0.8959712312501849,0.71338606911949],"aabb_xy":[[-0.09137280182844831,-0.9028538994711082],[-0.04137280196341253,-0.8890885630292615]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.08556807741470218,0.5328898242517788,0.71338606911949],"aabb_xy":[[-0.09020319256693556,0.52902248917463],[-0.08093296226246878,0.5367571593289273]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.04435287110014863,-1.1973610797386292,0.71338606911949],"aabb_xy":[[-0.09435214626858479,-1.2473610810145765],[0.005646404068287529,-1.1473610784626822]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.4535532201276502,-1.1401235210269782,0.71338606911949],"aabb_xy":[[-0.5035306369929037,-1.1901235225162266],[-0.40357580326239656,-1.0901235195377295]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.4940890026077845,-0.2746948036857568,0.71338606911949],"aabb_xy":[[-0.5285514806208722,-0.2813584808686796],[-0.4596265245946967,-0.26803112650283395]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.37600153360503397,-1.6487472988023861,0.71338606911949],"aabb_xy":[[-0.3926786695981294,-1.6654472227763166],[-0.3593243976119384,-1.632047374828456]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.15504247415398387,0.22930047198151238,0.71338606911949],"aabb_xy":[[-0.1813312984744245,0.20302903832686112],[-0.12875364983354318,0.25557190563616355]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.2948004711420755,-1.890122882891316,0.71338606911949],"aabb_xy":[[0.23480047028126264,-1.941549312897802],[0.3548004720028882,-1.8386964528848293]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.15671373116664455,-2.037210428963973,0.71338606911949],"aabb_xy":[[0.10673078097916523,-2.0872104286065336],[0.2066966813541239,-1.987210429321413]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.28489467718776623,-0.5518984238313958,0.71338606911949],"aabb_xy":[[-0.3488946774617444,-0.6019645240286837],[-0.22089467691378795,-0.5018323236341078]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.5155662387132611,0.7432430058099309,0.71338606911949],"aabb_xy":[[-0.5199968680681013,0.7377946340752484],[-0.511135609358421,0.7486913775446136]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.045553374884970466,-1.804335674690504,0.71338606911949],"aabb_xy":[[-0.04444662185063975,-1.8575191380077982],[0.13555337162058068,-1.7511522113732092]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.2861265942690139,0.6435786812668787,0.71338606911949],"aabb_xy":[[0.26849375867548625,0.6259557352512555],[0.3037594298625414,0.6612016272825014]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.17239952966627436,-0.32529701137007105,0.71338606911949],"aabb_xy":[[-0.2088953502935531,-0.3617809537968286],[-0.13590370903899562,-0.2888130689433135]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.6732760920710579,0.9420270252090677,0.71338606911949],"aabb_xy":[[0.6364255441340704,0.9045270243860337],[0.7101266400080456,0.9795270260321012]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.4216746551889942,1.2830684989734715,0.71338606911949],"aabb_xy":[[-0.42937784586307126,1.2753591282747332],[-0.4139714645149172,1.2907778696722094]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.017577745614067775,1.3044014177365733,0.71338606911949],"aabb_xy":[[-0.07757774612192068,1.247554684050652],[0.04242225489378514,1.3612481514224946]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.466521422784558,0.29087785961409063,0.71338606911949],"aabb_xy":[[0.4025257253894614,0.22687786131338195],[0.5305171201796546,0.3548778579147993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6808028997358274,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5307.png","name":"5307"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5307.png","name":"5307"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9691.png","name":"9691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5146.png","name":"5146"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":623.8862670683097,"rotation_z_degrees":167.06830310345663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007020425302115392,0.012310148498901833,-0.014191772516648066]},{"name":"camera_2","offset_m":[0.004345258018988975,-0.017072111463746303,-0.01654457781303155]},{"name":"camera_3","offset_m":[0.017032890618436294,-0.005806615949973186,-0.014950678479324263]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003674446052112923,-0.0017184919330237665,-0.0011434590071227665],"end_effector_yaw_offset_degrees":0.17124359032285108},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012848146753161398,-0.001116862599344971,0.0009528042675177296],"end_effector_yaw_offset_degrees":0.45162022923420553},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009034327525861258,-0.0019163332827245002,0.0015282786540991903],"end_effector_yaw_offset_degrees":-0.6215476733217731}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020412786506397215,0.003783947271063727],"position_m":[0.25414127865063973,-0.09071605272893628,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014223643002344464,-0.00037242229677766827],"position_m":[0.35317763569976557,0.07042757770322233,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026319556785837153,-0.004257290903168135],"position_m":[0.3166319556785837,0.24384270909683184,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001836803721994058,0.0035764372200630294],"position_m":[0.24506319627800596,-0.37512356277993697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d67ffdcb8a2dd9ba58f3ce506f3a6c8ca6b2ecf1040bd6bebc9af12bab9a8ecf","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5307/tex_ceiling_textures_5146/tex_floor_textures_8517/tex_table_textures_4192/tex_wall_textures_9691","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":4231840916521338901,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":4231840916521338901,"visual_seed":4231840916521338901,"scene_id":"lab_003","finished_at":"2026-09-02T07:36:57"}
+{"episode_id":"ep_000095","started_at":"2026-09-02T07:37:00","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.4756085351591566,1.6218745382370865,0.71338606911949],"aabb_xy":[[-0.5216936264138881,1.5578745409845314],[-0.42952344390442515,1.6858745354896416]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.07879068379140497,1.559836351674075,0.71338606911949],"aabb_xy":[[0.02881187528108907,1.5098363516683562],[0.12876949230172086,1.6098363516797938]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.5084658579214847,0.8953880753563768,0.71338606911949],"aabb_xy":[[0.5047625965923457,0.8916860570476588],[0.5121691192506235,0.8990900936650945]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.5334674876946395,1.0836219559760845,0.71338606911949],"aabb_xy":[[-0.5709674878665113,1.050921220593177],[-0.4959674875227674,1.1163226913589914]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.6096862778661625,0.7117796207504496,0.71338606911949],"aabb_xy":[[0.5456862774886287,0.6620343538996374],[0.673686278243696,0.7615248876012619]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[-0.19968398005437255,-2.542290563450993,0.71338606911949],"aabb_xy":[[-0.2796839811274928,-2.552068609788378],[-0.11968397898125219,-2.532512517113609]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.6612396853136561,-0.08526216567626621,0.71338606911949],"aabb_xy":[[-0.6646803615537132,-0.0891235986506307],[-0.6577990090735989,-0.08140073270190175]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.007805904371304018,-1.8831212687838992,0.71338606911949],"aabb_xy":[[-0.057800915330756056,-1.9331212678194911],[0.04218910658814801,-1.8331212697483077]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.5396603936216293,-1.0672801621293602,0.71338606911949],"aabb_xy":[[-0.6296603933448034,-1.0903535146645398],[-0.4496603938984551,-1.04420680959418]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.36505520372322775,1.4316146877163756,0.71338606911949],"aabb_xy":[[0.3010552066111221,1.382582317921965],[0.4290552008353335,1.4806470575107862]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.2354150363155621,-0.06523846943500189,0.71338606911949],"aabb_xy":[[-0.24352869098893917,-0.07334428588903098],[-0.22730138164218497,-0.05713265298097282]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.527809869839617,-0.5380555201445127,0.71338606911949],"aabb_xy":[[-0.5412563964736602,-0.551525371797604],[-0.5143633432055735,-0.5245856684914215]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.07954109217434613,-0.5237933051935708,0.71338606911949],"aabb_xy":[[-0.0875844521003013,-0.6087933062889372],[-0.07149773224839095,-0.4387933040982044]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.5558199503026171,0.763968567908297,0.71338606911949],"aabb_xy":[[-0.5690508958372984,0.7507411488862976],[-0.5425890047679358,0.7771959869302965]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.4279054202991043,0.28485841376650756,0.71338606911949],"aabb_xy":[[-0.43977750331060533,0.1998584140728572],[-0.4160333372876031,0.3698584134601579]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.2666895357243009,0.6867025085261123,0.71338606911949],"aabb_xy":[[-0.3306895321516228,0.6395328847040159],[-0.20268953929697897,0.7338721323482088]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.46513757256689114,-1.6734395308453212,0.71338606911949],"aabb_xy":[[-0.5227680414541619,-1.7334395297720315],[-0.4075071036796202,-1.6134395319186103]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.5789520814209363,0.48903054554488934,0.71338606911949],"aabb_xy":[[-0.6489520840575226,0.46892568054902367],[-0.5089520787843499,0.5091354105407546]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.3053963622435063,-2.382945707786953,0.71338606911949],"aabb_xy":[[0.2878963629654194,-2.400283807853299],[0.3228963615215931,-2.365607607720607]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_19","position":[-0.5997539004741905,-1.3111727975694485,0.71338606911949],"aabb_xy":[[-0.6797539009444066,-1.3194835051837972],[-0.5197539000039747,-1.3028620899551002]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.5628326725011195,0.24382392721417068,0.71338606911949],"aabb_xy":[[0.5316857536575363,0.17382392852736347],[0.5939795913447026,0.31382392590097785]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.19761213947992573,-0.90958414984772,0.71338606911949],"aabb_xy":[[-0.2351121401445044,-0.9252712078479419],[-0.160112138815347,-0.8938970918474975]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[0.2384075305313229,1.2152983713557601,0.71338606911949],"aabb_xy":[[0.20277837463136317,1.1796657045989072],[0.27403668643128265,1.250931038112613]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.644749769586483,-1.8135669887057353,0.71338606911949],"aabb_xy":[[0.5947566574772911,-1.8635669893799314],[0.6947428816956749,-1.76356698803154]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.1598058271906635,0.8714485479646372,0.71338606911949],"aabb_xy":[[0.15109185814072898,0.8489485473054488],[0.16851979624059796,0.8939485486238252]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.17716660490105607,-0.6133472379628038,0.71338606911949],"aabb_xy":[[0.1071666027696265,-0.6361092035884993],[0.24716660703248558,-0.590585272337108]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857952027690924,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5083.png","name":"5083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5083.png","name":"5083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6471.png","name":"6471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6579.png","name":"6579"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/832.png","name":"832"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":822.2974483296337,"rotation_z_degrees":84.79176701118949,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008987718744951637,0.004197281923387867,-0.012001890917481398]},{"name":"camera_2","offset_m":[-0.010324818559480744,0.018250542237034064,0.0026522713862730633]},{"name":"camera_3","offset_m":[0.017347984833522765,-0.01782308502016692,-0.008318183828090601]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005514285445423527,0.0002508791476117729,0.0009810494599896413],"end_effector_yaw_offset_degrees":0.3293798898609346},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004297683438857611,0.0004606787731921483,-0.0017152358358363076],"end_effector_yaw_offset_degrees":-0.38228294242861294},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008192505623208458,-0.0019938147535363015,-0.0009091688840117307],"end_effector_yaw_offset_degrees":-0.7729137689902157}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020010175562536715,0.0012272834066299398],"position_m":[0.25410101755625364,-0.09327271659337007,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014689016152461378,-0.004777930396303403],"position_m":[0.3560689016152462,0.0660220696036966,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.000712805582153103,-0.002309952558078019],"position_m":[0.3132871944178469,0.24579004744192195,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000965976436638075,-0.0012309866650120583],"position_m":[0.24786597643663807,-0.379930986665012,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"13cabec322b7ac61db652a9ba10c23ae8eb51442d63f69e7dd8d8330355b6691","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5083/tex_ceiling_textures_832/tex_floor_textures_3536/tex_table_textures_6471/tex_wall_textures_6579","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":9037659732227165501,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":9037659732227165501,"visual_seed":9037659732227165501,"scene_id":"lab_003","finished_at":"2026-09-02T07:39:47"}
+{"episode_id":"ep_000096","started_at":"2026-09-02T07:39:50","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.22712000461503806,0.7529044154317108,0.71338606911949],"aabb_xy":[[-0.282112255250549,0.697904413688398],[-0.1721277539795271,0.8079044171750236]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.5977359093760097,0.4900942277045046,0.71338606911949],"aabb_xy":[[-0.6478333733570834,0.4260942271946928],[-0.5476384453949361,0.5540942282143164]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.5108848676657993,0.48578498377870183,0.71338606911949],"aabb_xy":[[0.460911802133284,0.435784983966169],[0.5608579331983149,0.5357849835912347]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.4142753393540117,0.4979927778393245,0.71338606911949],"aabb_xy":[[-0.49427533801089774,0.48348791891506177],[-0.3342753406971257,0.5124976367635874]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.31290173992502707,-0.8825238811393878,0.71338606911949],"aabb_xy":[[-0.34790173990152296,-0.8919884971870046],[-0.2779017399485313,-0.8730592650917713]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.1830788725527509,-2.3388083862036297,0.71338606911949],"aabb_xy":[[-0.24466963177674372,-2.402808384312677],[-0.12148811332875808,-2.2748083880945833]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[-0.19585055039682853,-1.45061644719873,0.71338606911949],"aabb_xy":[[-0.259850548983401,-1.4976234105982384],[-0.13185055181025607,-1.403609483799221]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.20765094505455095,1.5559169720820658,0.71338606911949],"aabb_xy":[[0.14365094271174936,1.5109761208379333],[0.27165094739735246,1.6008578233261983]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.09378339963788762,0.4105936527352796,0.71338606911949],"aabb_xy":[[-0.1537833998892888,0.35631232769881493],[-0.03378339938648643,0.46487497777174425]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.148951700559817,0.13150321806920573,0.71338606911949],"aabb_xy":[[-0.20395169876156183,0.09098125144276813],[-0.09395170235807217,0.1720251846956433]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.3590978407663481,0.6539263442634087,0.71338606911949],"aabb_xy":[[0.3475288600194115,0.6289263441464771],[0.37066682151328467,0.6789263443803405]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.01560685286099217,-1.493736094836404,0.71338606911949],"aabb_xy":[[-0.0331068531203288,-1.507827637025177],[0.0018931473983444529,-1.4796445526476316]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[0.5828521172143142,-1.2953406907606697,0.71338606911949],"aabb_xy":[[0.5328521155528193,-1.3453391330163722],[0.6328521188758088,-1.2453422485049668]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.20539950608406754,-0.24702143418197942,0.71338606911949],"aabb_xy":[[-0.25539950744495477,-0.29699933875739504],[-0.15539950472318032,-0.1970435296065638]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.23116312180970722,1.8200888226021497,0.71338606911949],"aabb_xy":[[-0.23915711038741058,1.8120887425070593],[-0.2231691332320038,1.82808890269724]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.5188118821314694,-1.9467340417263865,0.71338606911949],"aabb_xy":[[-0.5988118853893123,-2.02673054951837],[-0.4388118788736264,-1.8667375339344023]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.48695530678077215,-1.6825977854271177,0.71338606911949],"aabb_xy":[[0.4726208816546087,-1.6946580009816563],[0.5012897319069356,-1.6705375698725786]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.07085797656301174,-0.9056115813796417,0.71338606911949],"aabb_xy":[[-0.08170958281188734,-0.9164708721072926],[-0.06000637031413614,-0.8947522906519906]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.3288071986323649,-2.526583059718258,0.71338606911949],"aabb_xy":[[-0.3928071990098985,-2.57632832656907],[-0.2648071982548313,-2.4768377928674457]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.6601899643131233,-2.1555339073870377,0.71338606911949],"aabb_xy":[[0.6475872651760468,-2.168129303611903],[0.6727926634501997,-2.142938511162172]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[-0.4483763642899874,-2.389858230519411,0.71338606911949],"aabb_xy":[[-0.46100315157718375,-2.399404304220984],[-0.43574957700279104,-2.380312156817838]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.17339999831686503,1.1388014184301007,0.71338606911949],"aabb_xy":[[0.16461877116962886,1.130021671141571],[0.18218122546410132,1.1475811657186314]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[0.6761627484871429,-1.4845232753077573,0.71338606911949],"aabb_xy":[[0.6642300141253148,-1.4969054281156167],[0.6880954828489709,-1.472141122499898]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.29106108834382494,-1.1699725237631047,0.71338606911949],"aabb_xy":[[-0.3332455025046557,-1.233972524040316],[-0.2488766741829942,-1.1059725234858937]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.07420898678784327,-1.7668294786324792,0.71338606911949],"aabb_xy":[[-0.1382089870618215,-1.816895578829767],[-0.010208986513865051,-1.716763378435191]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_25","position":[0.13351704424090027,-0.6389450618107815,0.71338606911949],"aabb_xy":[[0.10851704468916179,-0.6490875456759162],[0.15851704379263876,-0.6288025779456468]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_26","position":[0.6793241785845225,1.0433282826895707,0.71338606911949],"aabb_xy":[[0.667555991789865,0.9583282827843493],[0.6910923653791801,1.1283282825947925]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[0.4287466184068198,-1.0928642614016464,0.71338606911949],"aabb_xy":[[0.391246617222027,-1.0972824840977067],[0.4662466195916126,-1.0884460387055857]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842216371351515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6582.png","name":"6582"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6582.png","name":"6582"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6954.png","name":"6954"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6293.png","name":"6293"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1701.png","name":"1701"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":505.45291192846906,"rotation_z_degrees":102.24826914009728,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007450629761445593,-0.008288633626465728,0.011582396424877735]},{"name":"camera_2","offset_m":[0.006034317822724379,0.008373933705582717,0.017507425758019706]},{"name":"camera_3","offset_m":[0.01661236594121138,-0.0063994036756134815,0.012939497512170512]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005053388499696885,0.0004905444261768229,-0.0007196778649780264],"end_effector_yaw_offset_degrees":-0.1814687955263956},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00030064258870539937,-0.0009183618911894813,-9.889541926519124e-05],"end_effector_yaw_offset_degrees":-0.19044978865324524},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003761964258284156,0.0018220049183537063,-0.0014413666469598287],"end_effector_yaw_offset_degrees":0.4262751509682703}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032678601137780183,-0.0017604975874292374],"position_m":[0.24883213988622196,-0.09626049758742924,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004783169340450018,-0.0001751938569506447],"position_m":[0.34981683065955,0.07062480614304936,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002424815199406476,-0.0005766198883802006],"position_m":[0.31157518480059354,0.24752338011161978,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008659201606628,-0.001142282814800283],"position_m":[0.2460340798393372,-0.37984228281480026,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"75513bebe767051ed09db6f8393dce337f0224d56783f166911149f1c928edc0","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6582/tex_ceiling_textures_1701/tex_floor_textures_2493/tex_table_textures_6954/tex_wall_textures_6293","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":6591954849471501687,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":6591954849471501687,"visual_seed":6591954849471501687,"scene_id":"lab_003","finished_at":"2026-09-02T07:42:29"}
+{"episode_id":"ep_000097","started_at":"2026-09-02T07:42:32","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.17280503310573325,-0.8011879205981078,0.71338606911949],"aabb_xy":[[0.09280503609148524,-0.821322472271519],[0.25280503011998123,-0.7810533689246965]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.5214120651251566,-1.5248069273867586,0.71338606911949],"aabb_xy":[[0.4864120659952009,-1.5305521484624227],[0.5564120642551122,-1.5190617063110945]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.3270687677957811,0.8563788311927487,0.71338606911949],"aabb_xy":[[0.32065495415259615,0.8499690109450803],[0.33348258143896603,0.8627886514404169]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.09626697226457903,0.5407269603523317,0.71338606911949],"aabb_xy":[[-0.10034513017162876,0.5366459801040684],[-0.09218881435752928,0.544807940600595]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.605863163719569,1.5932962113705709,0.71338606911949],"aabb_xy":[[-0.6129034736531062,1.5132962119709],[-0.5988228537860322,1.6732962107702427]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.6894203755883963,0.5173538693071191,0.71338606911949],"aabb_xy":[[0.666906683764939,0.4473538687061115],[0.7119340674118534,0.5873538699081265]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.5419264920262156,-0.12012869173884866,0.71338606911949],"aabb_xy":[[-0.5794264921318085,-0.12695085359182975],[-0.5044264919206226,-0.11330652988586752]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.5631152809958309,0.7378719249610586,0.71338606911949],"aabb_xy":[[0.5319683621522476,0.6678719262742514],[0.5942621998394139,0.8078719236478658]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.6088204250271494,0.5284554867318287,0.71338606911949],"aabb_xy":[[0.6015766589809041,0.44845548852822636],[0.6160641910733947,0.6084554849354311]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.5037359302671842,0.5707683693936372,0.71338606911949],"aabb_xy":[[0.4859424233322678,0.5529686237978395],[0.5215294372021007,0.5885681149894348]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[0.052075604248339236,-1.798972921290807,0.71338606911949],"aabb_xy":[[-0.011924394921430706,-1.8457396084097697],[0.11607560341810919,-1.7522062341718447]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.5185145409617276,-2.36092123439162,0.71338606911949],"aabb_xy":[[-0.5303866239732287,-2.4459212340852705],[-0.5066424579502264,-2.27592123469797]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[0.3072282548201779,1.7004351434466725,0.71338606911949],"aabb_xy":[[0.2522282556435884,1.6454454686717148],[0.3622282539967674,1.75542481822163]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.20342138473635818,0.7549817488773694,0.71338606911949],"aabb_xy":[[-0.268421383293431,0.7252292154634867],[-0.13842138617928534,0.784734282291252]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.1849374508642495,-0.2923175205398363,0.71338606911949],"aabb_xy":[[-0.27493744945871945,-0.3085681068532573],[-0.0949374522697796,-0.27606693422641526]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.020250785957804496,-1.4126320034826008,0.71338606911949],"aabb_xy":[[-0.028277056588430497,-1.4213834984599534],[-0.012224515327178501,-1.4038805085052481]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.5674142113617131,1.4632771798099102,0.71338606911949],"aabb_xy":[[0.5591996662460289,1.4546005895122684],[0.5756287564773969,1.4719537701075511]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.40571684523806284,1.382853022492502,0.71338606911949],"aabb_xy":[[0.40087325047683287,1.3780013700135179],[0.4105604399992928,1.387704674971486]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.5579148519436423,1.6337942757706894,0.71338606911949],"aabb_xy":[[0.5316260276232017,1.607522842116038],[0.584203676264083,1.6600657094253404]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.3588115296433907,-2.329108425528839,0.71338606911949],"aabb_xy":[[0.30883411277813705,-2.379108427018087],[0.4087889465086442,-2.27910842403959]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.46467534813521144,-0.4580933818030206,0.71338606911949],"aabb_xy":[[-0.47727804727228795,-0.4706887780278861],[-0.45207264899813504,-0.4454979855781551]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.5208751793387459,0.8582022631391131,0.71338606911949],"aabb_xy":[[-0.6008751804118663,0.8484242168017287],[-0.4408751782656256,0.8679803094764976]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.4516288048507353,-0.6455868714127764,0.71338606911949],"aabb_xy":[[0.4191671039688078,-0.6757197035276787],[0.4840905057326627,-0.6154540392978736]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[0.23007959285087753,-1.664112650166045,0.71338606911949],"aabb_xy":[[0.16607959573877185,-1.7131450199604557],[0.2940795899629832,-1.6150802803716344]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838024976124549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2714.png","name":"2714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2512.png","name":"2512"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1078.png","name":"1078"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2667.png","name":"2667"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":684.0131245130033,"rotation_z_degrees":163.88545279776622,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008926200238645588,0.008534321885518371,-0.01701641935654966]},{"name":"camera_2","offset_m":[0.00453478523448712,-0.0007057657169646132,-0.015822852247609456]},{"name":"camera_3","offset_m":[0.0007571680401163398,-0.012375074932852458,-0.004016554748265802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001856600001230856,-0.0012869705072593787,0.001948203910028307],"end_effector_yaw_offset_degrees":-0.38207516747696957},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000670819096206087,1.6334065933991133e-05,0.0004716892300475205],"end_effector_yaw_offset_degrees":0.40393047473789223},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005890591319686949,0.0009169781409387439,0.0005703063483846527],"end_effector_yaw_offset_degrees":0.6814541095999516}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00045746701819618894,-0.0038673587543647673],"position_m":[0.2516425329818038,-0.09836735875436477,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012027107915528901,-0.0028060459779202774],"position_m":[0.3558027107915529,0.06799395402207972,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0026316897170385956,0.0009125363427441129],"position_m":[0.3113683102829614,0.2490125363427441,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002264695551194568,0.004355513845292594],"position_m":[0.24916469555119458,-0.3743444861547074,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7421cd9338c1f5645632a7af246d693bf4ba67ab8dfd856d085cd4ca365db55f","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0099.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6322/tex_ceiling_textures_2667/tex_floor_textures_1078/tex_table_textures_2714/tex_wall_textures_2512","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":211089146543478475,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":211089146543478475,"visual_seed":211089146543478475,"scene_id":"lab_003","finished_at":"2026-09-02T07:45:12"}
+{"episode_id":"ep_000098","started_at":"2026-09-02T07:45:16","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.42779390382428645,-1.8247199610441425,0.71338606911949],"aabb_xy":[[-0.45279390375680434,-1.831602629265066],[-0.40279390389176856,-1.8178372928232194]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.5217909143296071,-1.2282087998340878,0.71338606911949],"aabb_xy":[[0.5042909151952398,-1.2380884268716754],[0.5392909134639742,-1.2183291727964998]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.2407541962740729,-1.2059608539455213,0.71338606911949],"aabb_xy":[[-0.24816665181546138,-1.2118120643671493],[-0.23334174073268443,-1.2001096435238934]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.06211528230161545,0.7905630987913916,0.71338606911949],"aabb_xy":[[-0.06842738183795388,0.7847961595381727],[-0.05580318276527701,0.7963300380446103]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.5881777756118483,-1.658510597364797,0.71338606911949],"aabb_xy":[[0.5706777753667988,-1.6760103852043633],[0.6056777758568975,-1.6410108095252296]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.13962627487892032,-1.7008719749693157,0.71338606911949],"aabb_xy":[[-0.14520794651304905,-1.713371974787091],[-0.13404460324479153,-1.68837197515154]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.4604097831055909,-0.5741572468035967,0.71338606911949],"aabb_xy":[[0.4229097826082326,-0.5781259303517151],[0.4979097836029491,-0.5701885632554783]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.08651763048371752,-2.4396807051442453,0.71338606911949],"aabb_xy":[[0.032502034201817506,-2.503680708036502],[0.14053322676561752,-2.3756807022519877]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.4238013883415291,1.5962439147164047,0.71338606911949],"aabb_xy":[[-0.48880138837583187,1.5495432380360774],[-0.3588013883072264,1.642944591396732]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.07898591288010459,-2.3001697347351437,0.71338606911949],"aabb_xy":[[-0.08861754910053421,-2.3098070475148527],[-0.06935427665967497,-2.290532421955435]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.5220822281094516,-1.4334469928512519,0.71338606911949],"aabb_xy":[[-0.532163935188025,-1.5134469907433663],[-0.512000521030878,-1.353446994959137]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.045983646982228565,0.6404750575786875,0.71338606911949],"aabb_xy":[[-0.0722724713026692,0.6142036239240362],[-0.019694822661787893,0.6667464912333386]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.5368276215631937,1.3670670492612294,0.71338606911949],"aabb_xy":[[0.49552307849945776,1.3030670496931123],[0.5781321646269297,1.4310670488293464]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.13504684332583217,-1.1609294427829684,0.71338606911949],"aabb_xy":[[-0.1850468429021669,-1.2109100217350743],[-0.08504684374949747,-1.1109488638308624]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.3551860732183272,-1.347467919078487,0.71338606911949],"aabb_xy":[[0.3052130076858118,-1.39746791889102],[0.40515913875084275,-1.2974679192659542]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[0.6457493173340816,-1.963105823141941,0.71338606911949],"aabb_xy":[[0.6082493166695029,-1.9787928811421631],[0.6832493179986603,-1.9474187651417187]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.056308339512286754,0.9148694472817178,0.71338606911949],"aabb_xy":[[-0.13630834277629988,0.9013094149728043],[0.023691663751726384,0.9284294795906309]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.6458102083556636,-2.2954899509953552,0.71338606911949],"aabb_xy":[[0.6146632895120804,-2.3654899496821624],[0.6769571271992466,-2.225489952308548]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.5455931307673112,-1.9310489948704948,0.71338606911949],"aabb_xy":[[0.530490829306293,-1.946150516501556],[0.5606954322283292,-1.9159474732394326]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.43213584967310725,1.3188839656276667,0.71338606911949],"aabb_xy":[[-0.4961358489672754,1.2548978252588125],[-0.368135850378939,1.382870105996521]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.30532309595155693,-1.405345422819156,0.71338606911949],"aabb_xy":[[-0.3090263572806958,-1.409047441127874],[-0.301619834622418,-1.401643404510438]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.29573297281289657,-1.6101056741533097,0.71338606911949],"aabb_xy":[[0.2592371521856178,-1.6465896165800673],[0.3322287934401753,-1.5736217317265522]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[0.5648195360956221,1.6843114676252209,0.71338606911949],"aabb_xy":[[0.5008195353921528,1.6382930851523],[0.6288195367990915,1.730329850098142]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.6703437675336443,-0.9681236077983235,0.71338606911949],"aabb_xy":[[0.6544592742683193,-0.9824765480971477],[0.6862282607989696,-0.9537706674994996]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.48437252097724437,-2.2308627291886327,0.71338606911949],"aabb_xy":[[-0.534372522638739,-2.2808611714443345],[-0.4343725193157495,-2.180864286932929]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[0.2052177871854305,0.7647280113785819,0.71338606911949],"aabb_xy":[[0.12521778852854445,0.750223152454319],[0.2852177858423165,0.7792328703028446]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.5276302359921212,0.6482012962617665,0.71338606911949],"aabb_xy":[[0.4815451447373897,0.5842012990092114],[0.5737153272468526,0.7122012935143216]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_27","position":[0.43319943701721253,-2.120058052979715,0.71338606911949],"aabb_xy":[[0.36919943843064007,-2.1670650163792238],[0.497199435603785,-2.0730510895802063]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[-0.38939479281554795,-0.7476756541579654,0.71338606911949],"aabb_xy":[[-0.43939479146146915,-0.7975951978174277],[-0.33939479416962676,-0.697756110498503]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[-0.4255976509949238,-1.9711155273066034,0.71338606911949],"aabb_xy":[[-0.46309765178691925,-1.9774833682647934],[-0.38809765020292836,-1.964747686348413]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[-0.20179977182254516,-2.3365139718998176,0.71338606911949],"aabb_xy":[[-0.22471548470759511,-2.359418269036241],[-0.1788840589374953,-2.313609674763394]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_31","position":[-0.43157332137197113,0.2673487857048258,0.71338606911949],"aabb_xy":[[-0.44673619434890827,0.2521833284097071],[-0.4164104483950341,0.2825142429999446]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_32","position":[0.31881371684281956,-0.7594212468278658,0.71338606911949],"aabb_xy":[[0.31277670384215484,-0.7654479478968141],[0.3248507298434843,-0.7533945457589177]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_33","position":[0.6005923127532697,0.8687368146187131,0.71338606911949],"aabb_xy":[[0.5668167535625767,0.854698319405548],[0.6343678719439626,0.882775309831878]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_34","position":[-0.5785029500192053,0.41325818763566824,0.71338606911949],"aabb_xy":[[-0.6285029494594008,0.36329026315135193],[-0.5285029505790095,0.46322611211998455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858731942128744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8613.png","name":"8613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8613.png","name":"8613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5114.png","name":"5114"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3172.png","name":"3172"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6287.png","name":"6287"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":570.5176088282877,"rotation_z_degrees":219.54994823382876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01663126685231066,0.016393990718838288,0.004370936410705125]},{"name":"camera_2","offset_m":[-0.0005055623714005017,-0.0017011131439427056,0.00026575322252880493]},{"name":"camera_3","offset_m":[0.00017699732407478602,-0.004922332493687098,-0.01689250884061678]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014020458336499462,-0.0001318235795389536,-0.0011100522491048661],"end_effector_yaw_offset_degrees":0.4650432255288399},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015661741266514997,-0.0005978507036269144,0.0018325783936355006],"end_effector_yaw_offset_degrees":0.17695013580730823},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015088130678688745,0.0015101138226119447,-0.00015851240990499534],"end_effector_yaw_offset_degrees":0.2178960573852089}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0007708438118738418,-0.003466140980097671],"position_m":[0.25287084381187386,-0.09796614098009768,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001652343435624484,-0.003923917737284411],"position_m":[0.3562523434356245,0.06687608226271559,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004797383844082438,-0.004741257185796563],"position_m":[0.30920261615591754,0.24335874281420342,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002321082494520197,0.0006717155362675085],"position_m":[0.2492210824945202,-0.3780282844637325,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"bd9a040bfaac3467f5a5907d7aa112632ceaced58ab90753de823c0026ddfc5a","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8613/tex_ceiling_textures_5806/tex_floor_textures_6287/tex_table_textures_5114/tex_wall_textures_3172","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":2009771861202653445,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":2009771861202653445,"visual_seed":2009771861202653445,"scene_id":"lab_003","finished_at":"2026-09-02T07:47:56"}
+{"episode_id":"ep_000099","started_at":"2026-09-02T07:47:58","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.6376632107878872,-0.30712803936899347,0.71338606911949],"aabb_xy":[[0.6330280956356538,-0.31099537444614206],[0.6422983259401205,-0.30326070429184476]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.3033395978606849,1.0377649590865294,0.71338606911949],"aabb_xy":[[-0.3533184063710007,0.9877649590808106],[-0.25336078935036893,1.0877649590922482]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.6700560622211555,-1.1396250590599852,0.71338606911949],"aabb_xy":[[0.6248847443729867,-1.2036250562045236],[0.7152273800693246,-1.0756250619154468]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.6533930746422146,0.4127830349331294,0.71338606911949],"aabb_xy":[[-0.6946418856721293,0.3577830354209119],[-0.6121442636122998,0.4677830344453468]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.0883018824322781,-1.6909804481463397,0.71338606911949],"aabb_xy":[[0.07080188217294148,-1.7050719903351128],[0.10580188269161474,-1.6768889059575676]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.5081156448922377,-1.069072929016115,0.71338606911949],"aabb_xy":[[0.497209868804675,-1.149072925414944],[0.5190214209798004,-0.9890729326172858]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.3258673371252187,-0.08615099582536434,0.71338606911949],"aabb_xy":[[-0.3483637585590828,-0.10865099563211178],[-0.3033709156913546,-0.0636509960186169]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.5539495165858739,-0.6231994926699107,0.71338606911949],"aabb_xy":[[0.5040668197081778,-0.6731994919161854],[0.6038322134635702,-0.573199493423636]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.10438440326053589,1.7807442568086018,0.71338606911949],"aabb_xy":[[-0.14188440444532863,1.776326034112541],[-0.06688440207574306,1.7851624795046621]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.047612615339917785,-1.197438278999804,0.71338606911949],"aabb_xy":[[0.013150137326830007,-1.2041019561827266],[0.08207509335300556,-1.1907746018168808]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.06092091289338075,-2.289888537123259,0.71338606911949],"aabb_xy":[[-0.14092090990762873,-2.3100230887966706],[0.019079084120867236,-2.2697539854498476]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.24792719028615257,0.7468042599338656,0.71338606911949],"aabb_xy":[[-0.2543410039293374,0.7403944396861972],[-0.24151337664296754,0.7532140801815339]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.39918451153959417,1.6472129127717285,0.71338606911949],"aabb_xy":[[-0.4543097171691849,1.5872129113304414],[-0.34405930591000333,1.7072129142130157]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.2728978215733966,-0.9860138870082471,0.71338606911949],"aabb_xy":[[0.2228978199119018,-1.0360123292639496],[0.3228978232348913,-0.9360154447525443]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.5442651636356949,0.16915573158544817,0.71338606911949],"aabb_xy":[[-0.6082651638961657,0.12414693223252017],[-0.4802651633752241,0.21416453093837617]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.5081562851654842,1.350901160866378,0.71338606911949],"aabb_xy":[[0.49774472648500045,1.3455554275304793],[0.5185678438459679,1.356246894202276]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.5058277979476623,-0.1564482861562233,0.71338606911949],"aabb_xy":[[-0.5321166222681029,-0.1827197198108745],[-0.4795389736272216,-0.13017685250157204]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.6216162392311921,-2.2660024812989428,0.71338606911949],"aabb_xy":[[0.5416162381580718,-2.275780527636327],[0.7016162403043125,-2.2562244349615583]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.48270688217633206,-2.189982132288609,0.71338606911949],"aabb_xy":[[0.41270688004490247,-2.212744097914304],[0.5527068843077616,-2.1672201666629123]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.27760822052661893,-1.7677192434463782,0.71338606911949],"aabb_xy":[[0.18760822110824799,-1.801094740290568],[0.36760821994498977,-1.7343437466021885]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.5763455660046707,0.7696368891899645,0.71338606911949],"aabb_xy":[[-0.640345565298839,0.7056507488211102],[-0.5123455667105026,0.8336230295588186]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[0.00882237708397593,-0.7586685510943496,0.71338606911949],"aabb_xy":[[-0.08117762151049401,-0.7749191374077706],[0.09882237567844587,-0.7424179647809286]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.30747239615954963,-1.3324945842832339,0.71338606911949],"aabb_xy":[[-0.3154658859548317,-1.3404927162237095],[-0.29947890636426766,-1.3244964523427583]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.4202285550268854,-1.597454604293343,0.71338606911949],"aabb_xy":[[-0.4424010820035362,-1.619630271449466],[-0.3980560280502345,-1.5752789371372193]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[-0.05246799487717668,1.15955257660519,0.71338606911949],"aabb_xy":[[-0.12246799826873865,1.1242368029017589],[0.017532008514385296,1.1948683503086206]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[0.26670779076098605,1.7248516346039895,0.71338606911949],"aabb_xy":[[0.2549396039663286,1.6398516346987684],[0.27847597755564363,1.8098516345092115]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[0.30387074113796575,0.9146513880718001,0.71338606911949],"aabb_xy":[[0.2238707378801228,0.8346548802798162],[0.3838707443958087,0.9946478958637841]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_27","position":[0.12766334931927337,1.7335869368035657,0.71338606911949],"aabb_xy":[[0.08238473443812411,1.669586937455382],[0.17294196420042263,1.7975869361517494]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[0.4627817517587449,-0.7985328778935241,0.71338606911949],"aabb_xy":[[0.3987817500807475,-0.8470502693728383],[0.5267817534367423,-0.7500154864142099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6798127039151355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2709.png","name":"2709"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2709.png","name":"2709"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8005.png","name":"8005"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1864.png","name":"1864"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8894.png","name":"8894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8472.png","name":"8472"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":814.5526973160861,"rotation_z_degrees":211.5006904431295,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017286904006250433,0.0012669318030307554,-0.004038639293387304]},{"name":"camera_2","offset_m":[-0.004024414187557019,-0.00014381050757852898,-0.010287091052238094]},{"name":"camera_3","offset_m":[0.013796742875384276,0.008990760271279413,-0.014537838749991625]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00020556423321010215,0.0010454648325862919,-0.0018732461171015618],"end_effector_yaw_offset_degrees":0.47422521878578294},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012228600817687676,-0.0005373385823246757,-0.0015514819639178153],"end_effector_yaw_offset_degrees":-0.2065521425411252},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018936318344422486,-0.00048311704164040047,0.0006558886990839299],"end_effector_yaw_offset_degrees":0.5564938012769216}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00027","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0022156028027035457,-0.0036339028205400626],"position_m":[0.25431560280270354,-0.09813390282054006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004729514504400117,0.0006803186575526435],"position_m":[0.35932951450440015,0.07148031865755264,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004343538360615434,0.00039207787430339553],"position_m":[0.30965646163938454,0.24849207787430339,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035810769512151465,0.0027355128825208297],"position_m":[0.24331892304878486,-0.37596448711747915,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"44f54068a53718c0a1d1b6d95d1d0b815bf7113c9618b95f8151e21990b9ac74","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2709/tex_ceiling_textures_8472/tex_floor_textures_8894/tex_table_textures_8005/tex_wall_textures_1864","seeds":{"action_seed":4586557938971780878,"physical_seed":7721071036537636492,"visual_seed":7261853936914252818,"layout_id":"layout_00027","physical_randomization_enabled":true},"episode_seed":7261853936914252818,"visual_seed":7261853936914252818,"scene_id":"lab_003","finished_at":"2026-09-02T07:50:48"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dd998f58c610bf74e863a07c8eace3faf271ad38
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_gqr_00027
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b at inspection platform.
+  layout_id: layout_00027
+  reproducibility:
+    enabled: true
+    layout_id: layout_00027
+    action_seed: 4586557938971780878
+    step_seeds:
+    - 3977492345803872476
+    - 6024422583905249305
+    - 3187439485679853542
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.314
+      - 0.314
+      'y':
+      - 0.2481
+      - 0.2481
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2521
+      - 0.2521
+      'y':
+      - -0.0945
+      - -0.0945
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3546
+      - 0.3546
+      'y':
+      - 0.0708
+      - 0.0708
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2469
+      - 0.2469
+      'y':
+      - -0.3787
+      - -0.3787
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c33ec8dbfbf140b6ed7b6694e072ccfb0d61499
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27300485815797704,
+              -0.08698116173446577,
+              1.0469396048011042
+            ],
+            "current_z": 1.0469396048011042,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.19035315699718336,
+            "gripper_z": 1.0503641257183602,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26862369030913347,
+              -0.09144174548436507,
+              1.0503641257183602
+            ],
+            "object_minus_gripper": [
+              0.00438116784884357,
+              0.0044605837498992995,
+              -0.003424520917256091
+            ],
+            "object_to_gripper_xy": 0.006252314700141564,
+            "object_to_gripper_z": -0.003424520917256091,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27300485815797704,
+              -0.11090154122873563,
+              1.0469396048011042
+            ],
+            "finger_b": [
+              0.2618928535079866,
+              -0.08698116173446577,
+              1.0469396048011042
+            ],
+            "finger_midpoint": [
+              0.26744885583298184,
+              -0.0989413514816007,
+              1.0469396048011042
+            ],
+            "object_minus_finger_midpoint": [
+              0.005556002324995202,
+              0.011960189747134933,
+              0.0
+            ],
+            "finger_gap": 0.026375390091736957,
+            "fingertip_max_gap": 0.09186033167167562,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013187695045868465,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469396048011042,
+            "object_top_z": 1.0926577061334792,
+            "finger_top_clearance": 0.04571810133237508,
+            "fingertip_min_top_clearance": 0.013715430399712491,
+            "object_projection_between_fingers": 0.8225046230848924,
+            "object_to_finger_line_xy": 0.010077703770270922,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843016583583781,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8045551939418426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27109650176409167,
+              -0.09193747693005734,
+              1.2440747165519885
+            ],
+            "held_position": [
+              0.2758190600944364,
+              -0.08778844065164962,
+              1.2407128446750713
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00712876158528669,
+            "max_held_gripper_dist": 0.007129763268460088,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033618718769172773,
+            "max_held_gripper_z_dist": 0.003415436344502254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860573921483542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2758190600944364,
+              -0.11278175103403265,
+              1.2407128446750713
+            ],
+            "held_grasp_finger_b": [
+              0.2670762593780438,
+              -0.08778844065164962,
+              1.2407128446750713
+            ],
+            "held_grasp_midpoint": [
+              0.2714476597362401,
+              -0.10028509584284113,
+              1.2407128446750713
+            ],
+            "held_grasp_object_position": [
+              0.2758190600944364,
+              -0.08778844065164962,
+              1.2407128446750713
+            ],
+            "held_grasp_finger_gap": 0.026478333184637784,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0241835979857695,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0816472304736423,
+              -0.9961634961487659,
+              -0.031496328304289715
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003360284854121602,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03239460050784959,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36076047723439253,
+              0.07747982515727131,
+              0.7625846678438019
+            ],
+            "target_position": [
+              0.3589431401712999,
+              0.07502874597254262,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0030513117131326217,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17491923654093045,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846678438019,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513279847256707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591046419484259,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14430310438951813,
+            "release_required_pad_clearance": 0.0529552320974213,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.937927170619605,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b16ed4de926e704db737dd1782d682e263699c7d30351bdeadbded325bc0aca6",
+    "visual_seed": 82803306339185375,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..279cffa5c6e71b68264f5dc507565f940f27c9ae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_100_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2754547207643052,
+              -0.09606222936594198,
+              1.0452959775965769
+            ],
+            "current_z": 1.0452959775965769,
+            "required_z": 0.8565865685529324,
+            "initial_z": 0.7565865685529324,
+            "lift_margin": 0.18870940904364453,
+            "gripper_z": 1.0485923844607135,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27111916511866485,
+              -0.10050916177836974,
+              1.0485923844607135
+            ],
+            "object_minus_gripper": [
+              0.0043355556456403654,
+              0.004446932412427759,
+              -0.0032964068641365696
+            ],
+            "object_to_gripper_xy": 0.006210656216306343,
+            "object_to_gripper_z": -0.0032964068641365696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2754547207643052,
+              -0.11991252799322508,
+              1.0452959775965769
+            ],
+            "finger_b": [
+              0.2643362790979948,
+              -0.09606222936594198,
+              1.0452959775965769
+            ],
+            "finger_midpoint": [
+              0.26989549993115003,
+              -0.10798737867958352,
+              1.0452959775965769
+            ],
+            "object_minus_finger_midpoint": [
+              0.005559220833155187,
+              0.01192514931364154,
+              0.0
+            ],
+            "finger_gap": 0.0263145680127516,
+            "fingertip_max_gap": 0.09204927691470821,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013157284006375782,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452959775965769,
+            "object_top_z": 1.0911577795203669,
+            "finger_top_clearance": 0.04586180192378997,
+            "fingertip_min_top_clearance": 0.013758540577136973,
+            "object_projection_between_fingers": 0.82147651595971,
+            "object_to_finger_line_xy": 0.010077237592615253,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852463845735411,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2349887480433543,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27270553888188664,
+              -0.10137961366763869,
+              1.2439392511074592
+            ],
+            "held_position": [
+              0.2773987989412072,
+              -0.09723590869926992,
+              1.2407395881959535
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007030990228734685,
+            "max_held_gripper_dist": 0.007032032664917135,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031996629115056407,
+            "max_held_gripper_z_dist": 0.0032866698499582903,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611307254559444,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2773987989412072,
+              -0.12213349987961833,
+              1.2407395881959535
+            ],
+            "held_grasp_finger_b": [
+              0.26861787452885233,
+              -0.09723590869926992,
+              1.2407395881959535
+            ],
+            "held_grasp_midpoint": [
+              0.2730083367350298,
+              -0.10968470428944413,
+              1.2407395881959535
+            ],
+            "held_grasp_object_position": [
+              0.2773987989412072,
+              -0.09723590869926992,
+              1.2407395881959535
+            ],
+            "held_grasp_finger_gap": 0.026400656812269902,
+            "held_grasp_max_gap": 0.12496617197990417,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024104977396134302,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07797505513113062,
+              -0.9956654152493423,
+              -0.05069784663722898
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003465958851521102,
+            "held_grasp_line_xy_max_dist": 0.04748308598995209,
+            "held_grasp_object_top_z": 0.045200783759355545,
+            "held_grasp_top_clearance": 0.032463601996132734,
+            "held_grasp_min_top_clearance": 0.013560235127806663
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35933123982605053,
+              0.06999569667931159,
+              0.7625849535814854
+            ],
+            "target_position": [
+              0.3562523434356245,
+              0.06687608226271559,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004383103591202471,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17737106568147126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849535814854,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755837108988102,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535020772673434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14550126329957078,
+            "release_required_pad_clearance": 0.05267510386336717,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3975711364287849,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd9a040bfaac3467f5a5907d7aa112632ceaced58ab90753de823c0026ddfc5a",
+    "visual_seed": 2009771861202653445,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a244a1b777edc65d31b42c3b87b3f54697564f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2771741634092447,
+              -0.0949871758967696,
+              1.0444036529680674
+            ],
+            "current_z": 1.0444036529680674,
+            "required_z": 0.85658663529545,
+            "initial_z": 0.75658663529545,
+            "lift_margin": 0.18781701767261738,
+            "gripper_z": 1.0476723619757187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27272149736877394,
+              -0.09950032646181443,
+              1.0476723619757187
+            ],
+            "object_minus_gripper": [
+              0.004452666040470787,
+              0.004513150565044838,
+              -0.003268709007651305
+            ],
+            "object_to_gripper_xy": 0.006339933981574755,
+            "object_to_gripper_z": -0.003268709007651305,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2771741634092447,
+              -0.11890991643382987,
+              1.0444036529680674
+            ],
+            "finger_b": [
+              0.2659303464799121,
+              -0.0949871758967696,
+              1.0444036529680674
+            ],
+            "finger_midpoint": [
+              0.2715522549445784,
+              -0.10694854616529972,
+              1.0444036529680674
+            ],
+            "object_minus_finger_midpoint": [
+              0.005621908464666314,
+              0.011961370268530128,
+              0.0
+            ],
+            "finger_gap": 0.026433329982123964,
+            "fingertip_max_gap": 0.0931489569406865,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013216664991061975,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444036529680674,
+            "object_top_z": 1.090454554999698,
+            "finger_top_clearance": 0.04605090203163065,
+            "fingertip_min_top_clearance": 0.01381527060948916,
+            "object_projection_between_fingers": 0.8190645034395005,
+            "object_to_finger_line_xy": 0.010175899715568756,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049074478470343255,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5409777797516322,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27491497571155865,
+              -0.10012124256605977,
+              1.239291512614891
+            ],
+            "held_position": [
+              0.27971134047152557,
+              -0.09591581727965715,
+              1.2361014582751724
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007132121945152377,
+            "max_held_gripper_dist": 0.007133455544094116,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003190054339718529,
+            "max_held_gripper_z_dist": 0.0032580085294122707,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613903867496583,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27971134047152557,
+              -0.12084539161964084,
+              1.2361014582751724
+            ],
+            "held_grasp_finger_b": [
+              0.27090414682412856,
+              -0.09591581727965715,
+              1.2361014582751724
+            ],
+            "held_grasp_midpoint": [
+              0.27530774364782706,
+              -0.10838060444964899,
+              1.2361014582751724
+            ],
+            "held_grasp_object_position": [
+              0.27971134047152557,
+              -0.09591581727965715,
+              1.2361014582751724
+            ],
+            "held_grasp_finger_gap": 0.026439560070385507,
+            "held_grasp_max_gap": 0.12496620178222656,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02422873713653162,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07081777532577499,
+              -0.996906030507051,
+              -0.0341058504744145
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003536105769639806,
+            "held_grasp_line_xy_max_dist": 0.04748310089111328,
+            "held_grasp_object_top_z": 0.04520082101225853,
+            "held_grasp_top_clearance": 0.032462746583020764,
+            "held_grasp_min_top_clearance": 0.013560246303677559
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36102342457413417,
+              0.07371703719424949,
+              0.7625849930325787
+            ],
+            "target_position": [
+              0.35932951450440015,
+              0.07148031865755264,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002805751438875085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1772355491037279,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849930325787,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572422801176143,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631149964034372,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14489008748836993,
+            "release_required_pad_clearance": 0.05315574982017186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.328806509660673,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44f54068a53718c0a1d1b6d95d1d0b815bf7113c9618b95f8151e21990b9ac74",
+    "visual_seed": 7261853936914252818,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2eb9b59cb7ad127168a5227260842c717bd4ccd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2791395996155406,
+              -0.08777106346690958,
+              1.0472199596782532
+            ],
+            "current_z": 1.0472199596782532,
+            "required_z": 0.8565865425182191,
+            "initial_z": 0.7565865425182191,
+            "lift_margin": 0.19063341716003412,
+            "gripper_z": 1.0505738189795433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27489490336007594,
+              -0.09215753417701904,
+              1.0505738189795433
+            ],
+            "object_minus_gripper": [
+              0.004244696255464642,
+              0.004386470710109461,
+              -0.003353859301290063
+            ],
+            "object_to_gripper_xy": 0.0061039799796365445,
+            "object_to_gripper_z": -0.003353859301290063,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2791395996155406,
+              -0.11159271573860294,
+              1.0472199596782532
+            ],
+            "finger_b": [
+              0.2681041892462076,
+              -0.08777106346690958,
+              1.0472199596782532
+            ],
+            "finger_midpoint": [
+              0.2736218944308741,
+              -0.09968188960275626,
+              1.0472199596782532
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517705184666488,
+              0.01191082613584668,
+              0.0
+            ],
+            "finger_gap": 0.02625359782911773,
+            "fingertip_max_gap": 0.09253589825912578,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013126798914558865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472199596782532,
+            "object_top_z": 1.0927774488727682,
+            "finger_top_clearance": 0.045557489194514966,
+            "fingertip_min_top_clearance": 0.013667246758354522,
+            "object_projection_between_fingers": 0.8233151471276992,
+            "object_to_finger_line_xy": 0.010013168869454102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876794912956289,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7291571151499796,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2781520503564665,
+              -0.09232304896153343,
+              1.2419660755011372
+            ],
+            "held_position": [
+              0.2827165339559471,
+              -0.08824245503258513,
+              1.2386478270829524
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069639449960265465,
+            "max_held_gripper_dist": 0.0069660744002437245,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033182484181848437,
+            "max_held_gripper_z_dist": 0.003344900843600618,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08491115405321514,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2827165339559471,
+              -0.1131684413712133,
+              1.2386478270829524
+            ],
+            "held_grasp_finger_b": [
+              0.27409940527816323,
+              -0.08824245503258513,
+              1.2386478270829524
+            ],
+            "held_grasp_midpoint": [
+              0.27840796961705516,
+              -0.10070544820189922,
+              1.2386478270829524
+            ],
+            "held_grasp_object_position": [
+              0.2827165339559471,
+              -0.08824245503258513,
+              1.2386478270829524
+            ],
+            "held_grasp_finger_gap": 0.026373465862547598,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024315403201837716,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06371108973850209,
+              -0.9975296272141284,
+              -0.029589523050816968
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035255482710216447,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.032494023345894005,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3628172664474937,
+              0.07078324335308658,
+              0.7625849738007026
+            ],
+            "target_position": [
+              0.35934094424555957,
+              0.06757128995587851,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004733018136189268,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17554891579242343,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849738007026,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563096907775835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596782406410679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14381117389863457,
+            "release_required_pad_clearance": 0.052983912032053396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9969961339256811,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a837e72ba38bd42308e258403b9d6813fffd6ed421192d1b62b9da961c081d84",
+    "visual_seed": 7811978269430733156,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_11_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a16a9f0c4becd10900ba4a923ad4018087a73f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_11_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2774116741213689,
+              -0.09197135337559459,
+              1.0454405355266527
+            ],
+            "current_z": 1.0454405355266527,
+            "required_z": 0.8565865282722912,
+            "initial_z": 0.7565865282722912,
+            "lift_margin": 0.18885400725436152,
+            "gripper_z": 1.0487396157966347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2732681610646571,
+              -0.09632899894178752,
+              1.0487396157966347
+            ],
+            "object_minus_gripper": [
+              0.0041435130567117895,
+              0.004357645566192933,
+              -0.0032990802699819355
+            ],
+            "object_to_gripper_xy": 0.006013133570086565,
+            "object_to_gripper_z": -0.0032990802699819355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2774116741213689,
+              -0.11566316483870963,
+              1.0454405355266527
+            ],
+            "finger_b": [
+              0.2663725792536012,
+              -0.09197135337559459,
+              1.0454405355266527
+            ],
+            "finger_midpoint": [
+              0.2718921266874851,
+              -0.10381725910715212,
+              1.0454405355266527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005519547433883831,
+              0.011845905731557527,
+              0.0
+            ],
+            "finger_gap": 0.026137397458495457,
+            "fingertip_max_gap": 0.09241602953971462,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013068698729247723,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454405355266527,
+            "object_top_z": 1.0908466548089772,
+            "finger_top_clearance": 0.04540611928232452,
+            "fingertip_min_top_clearance": 0.01362183578469739,
+            "object_projection_between_fingers": 0.8216216069631835,
+            "object_to_finger_line_xy": 0.010006204892659876,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870801476985731,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8728783040872465,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2758564464462904,
+              -0.09678487174670486,
+              1.2405781599038899
+            ],
+            "held_position": [
+              0.2803455521440835,
+              -0.09273743670636106,
+              1.2373379947125083
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068580223708589755,
+            "max_held_gripper_dist": 0.006859394855673569,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032401651913815943,
+            "max_held_gripper_z_dist": 0.0032910281725297974,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609988059840645,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2803455521440835,
+              -0.117583158048472,
+              1.2373379947125083
+            ],
+            "held_grasp_finger_b": [
+              0.27183929956889186,
+              -0.09273743670636106,
+              1.2373379947125083
+            ],
+            "held_grasp_midpoint": [
+              0.2760924258564877,
+              -0.10516029737741653,
+              1.2373379947125083
+            ],
+            "held_grasp_object_position": [
+              0.2803455521440835,
+              -0.09273743670636106,
+              1.2373379947125083
+            ],
+            "held_grasp_finger_gap": 0.02626149656593816,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02419808260221941,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06749733385909674,
+              -0.9970421720133575,
+              -0.03675618517746404
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034361007967564465,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.03252754093422415,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3541218480630803,
+              0.0750523437591073,
+              0.762586503955636
+            ],
+            "target_position": [
+              0.35261904293001184,
+              0.07256916098958979,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029025195838797515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17452848479875596,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762586503955636,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562528656093986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861616714388848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.142488696265152,
+            "release_required_pad_clearance": 0.0530808357194424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1829728591102702,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "189ec784bd259b163ec41c9432e8c2bf45a4b7b5a379bbfaecc7999a36fdddca",
+    "visual_seed": 6811352266915943793,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f928f0d0fe9106d0469e3696018d8bfe05172e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2765599771146286,
+              -0.09645891218835666,
+              1.0470682436239442
+            ],
+            "current_z": 1.0470682436239442,
+            "required_z": 0.8565866472717443,
+            "initial_z": 0.7565866472717443,
+            "lift_margin": 0.19048159635219997,
+            "gripper_z": 1.050441322647397,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2720905250809018,
+              -0.10100265817588386,
+              1.050441322647397
+            ],
+            "object_minus_gripper": [
+              0.004469452033726784,
+              0.004543745987527201,
+              -0.003373079023452741
+            ],
+            "object_to_gripper_xy": 0.006373509949859185,
+            "object_to_gripper_z": -0.003373079023452741,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2765599771146286,
+              -0.1203476180420556,
+              1.0470682436239442
+            ],
+            "finger_b": [
+              0.2652322125623148,
+              -0.09645891218835666,
+              1.0470682436239442
+            ],
+            "finger_midpoint": [
+              0.27089609483847166,
+              -0.10840326511520612,
+              1.0470682436239442
+            ],
+            "object_minus_finger_midpoint": [
+              0.00566388227615694,
+              0.011944352926849464,
+              0.0
+            ],
+            "finger_gap": 0.02643839097065492,
+            "fingertip_max_gap": 0.09233713177373018,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219195485327465,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470682436239442,
+            "object_top_z": 1.0927791592463079,
+            "finger_top_clearance": 0.045710915622363624,
+            "fingertip_min_top_clearance": 0.01371327468670912,
+            "object_projection_between_fingers": 0.8164229502912693,
+            "object_to_finger_line_xy": 0.010235329210107336,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866856588686509,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.666663853560711,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2736483677622905,
+              -0.10177453804321762,
+              1.2454311937499911
+            ],
+            "held_position": [
+              0.2784891442219299,
+              -0.09754507025671705,
+              1.242153400406298
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007215638827796465,
+            "max_held_gripper_dist": 0.0072187287392913415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032777933436931583,
+            "max_held_gripper_z_dist": 0.003358318187539844,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620242670642786,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2784891442219299,
+              -0.12248929597534884,
+              1.242153400406298
+            ],
+            "held_grasp_finger_b": [
+              0.2695021374289238,
+              -0.09754507025671705,
+              1.242153400406298
+            ],
+            "held_grasp_midpoint": [
+              0.2739956408254268,
+              -0.11001718311603295,
+              1.242153400406298
+            ],
+            "held_grasp_object_position": [
+              0.2784891442219299,
+              -0.09754507025671705,
+              1.242153400406298
+            ],
+            "held_grasp_finger_gap": 0.02651378297790772,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024229188051263714,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06954861277012704,
+              -0.9963917977260938,
+              -0.0486454097106197
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036670224164158803,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.032461137251862913,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3569041588381548,
+              0.07460984481043584,
+              0.7625854705684336
+            ],
+            "target_position": [
+              0.35262177955017715,
+              0.07090205397940842,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056644933765298815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17636403835924347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854705684336,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757314268363546,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624752655387695,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14446448472308193,
+            "release_required_pad_clearance": 0.05312376327693848,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2710109413502941,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f491f2ef6b9d1c7e70102577edb312b660b9f089ffe2bf705700578102552144",
+    "visual_seed": 8161358391641193559,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3d928b464428117aa4c04d13c94d2e03f6192a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_13_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27174395052718026,
+              -0.09022844164713574,
+              1.0442617210899732
+            ],
+            "current_z": 1.0442617210899732,
+            "required_z": 0.8565865243443314,
+            "initial_z": 0.7565865243443314,
+            "lift_margin": 0.18767519674564181,
+            "gripper_z": 1.0478098479349252,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26726738340886436,
+              -0.09463967200669583,
+              1.0478098479349252
+            ],
+            "object_minus_gripper": [
+              0.0044765671183158995,
+              0.004411230359560092,
+              -0.003548126844951982
+            ],
+            "object_to_gripper_xy": 0.006284791679116482,
+            "object_to_gripper_z": -0.003548126844951982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27174395052718026,
+              -0.11439707342731448,
+              1.0442617210899732
+            ],
+            "finger_b": [
+              0.2609241003762649,
+              -0.09022844164713574,
+              1.0442617210899732
+            ],
+            "finger_midpoint": [
+              0.2663340254517226,
+              -0.1023127575372251,
+              1.0442617210899732
+            ],
+            "object_minus_finger_midpoint": [
+              0.005409925075457678,
+              0.012084315890089362,
+              0.0
+            ],
+            "finger_gap": 0.026480028689828277,
+            "fingertip_max_gap": 0.09233536622744906,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013240014344914133,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0442617210899732,
+            "object_top_z": 1.089950931443148,
+            "finger_top_clearance": 0.04568921035317475,
+            "fingertip_min_top_clearance": 0.01370676310595244,
+            "object_projection_between_fingers": 0.8330426320570286,
+            "object_to_finger_line_xy": 0.009875403734537285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866768311372453,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2908686458948218,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2693443760651506,
+              -0.09501388456210723,
+              1.2394144831821436
+            ],
+            "held_position": [
+              0.27407383482529313,
+              -0.09079947898883137,
+              1.2359555954677428
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007217541043927672,
+            "max_held_gripper_dist": 0.007218547894757091,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003458887714400838,
+            "max_held_gripper_z_dist": 0.0035311560258088903,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631436504359953,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27407383482529313,
+              -0.11565857569250611,
+              1.2359555954677428
+            ],
+            "held_grasp_finger_b": [
+              0.2652066101157816,
+              -0.09079947898883137,
+              1.2359555954677428
+            ],
+            "held_grasp_midpoint": [
+              0.26964022247053737,
+              -0.10322902734066874,
+              1.2359555954677428
+            ],
+            "held_grasp_object_position": [
+              0.27407383482529313,
+              -0.09079947898883137,
+              1.2359555954677428
+            ],
+            "held_grasp_finger_gap": 0.026393225702282468,
+            "held_grasp_max_gap": 0.12496596336364746,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02432572622796497,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05386623648007012,
+              -0.9977583074216423,
+              -0.03970879674042748
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037905369091533916,
+            "held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.032560194665862026,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3561628498078304,
+              0.0735485965161328,
+              0.7625852022153595
+            ],
+            "target_position": [
+              0.35284168962938955,
+              0.07034659684094557,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046133400970186905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17810580575013363,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852022153595,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533764474623074,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575811868950943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.146861855991674,
+            "release_required_pad_clearance": 0.05287905934475472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7981886521587315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a24236aa19ee8a4ce0b265444f99ad1d5cc779c3d5771641dacf80d9413c6096",
+    "visual_seed": 8788268118714543823,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1802a8781e3abb1baa247701be88498a32317b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27811958618214294,
+              -0.0890510584670057,
+              1.0447312959038186
+            ],
+            "current_z": 1.0447312959038186,
+            "required_z": 0.8565865522115291,
+            "initial_z": 0.7565865522115292,
+            "lift_margin": 0.1881447436922895,
+            "gripper_z": 1.0484877790357787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27336062970135233,
+              -0.09360012524459191,
+              1.0484877790357787
+            ],
+            "object_minus_gripper": [
+              0.00475895648079061,
+              0.004549066777586208,
+              -0.0037564831319600867
+            ],
+            "object_to_gripper_xy": 0.00658343947591208,
+            "object_to_gripper_z": -0.0037564831319600867,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27811958618214294,
+              -0.11352533973012599,
+              1.0447312959038186
+            ],
+            "finger_b": [
+              0.2672039851983251,
+              -0.0890510584670057,
+              1.0447312959038186
+            ],
+            "finger_midpoint": [
+              0.272661785690234,
+              -0.10128819909856585,
+              1.0447312959038186
+            ],
+            "object_minus_finger_midpoint": [
+              0.005457800491908915,
+              0.012237140631560145,
+              0.0
+            ],
+            "finger_gap": 0.026798148969364388,
+            "fingertip_max_gap": 0.09497530212823596,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013399074484682194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447312959038186,
+            "object_top_z": 1.0913425244692232,
+            "finger_top_clearance": 0.04661122856540456,
+            "fingertip_min_top_clearance": 0.013983368569621334,
+            "object_projection_between_fingers": 0.8340849777671232,
+            "object_to_finger_line_xy": 0.009969027671999203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04998765106411798,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.229412121793782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2760639021506003,
+              -0.09302850006278088,
+              1.240629585807768
+            ],
+            "held_position": [
+              0.28099587765946943,
+              -0.0886384618391947,
+              1.2369264737905252
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007570327379769053,
+            "max_held_gripper_dist": 0.007580730622462427,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037031120172428267,
+            "max_held_gripper_z_dist": 0.0037361576626517845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08558401671992633,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28099587765946943,
+              -0.11360805122154172,
+              1.2369264737905252
+            ],
+            "held_grasp_finger_b": [
+              0.27157523420259577,
+              -0.0886384618391947,
+              1.2369264737905252
+            ],
+            "held_grasp_midpoint": [
+              0.2762855559310326,
+              -0.10112325653036822,
+              1.2369264737905252
+            ],
+            "held_grasp_object_position": [
+              0.28099587765946943,
+              -0.0886384618391947,
+              1.2369264737905252
+            ],
+            "held_grasp_finger_gap": 0.02668761729837554,
+            "held_grasp_max_gap": 0.1249660900235176,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024781453048526175,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.019015636384595656,
+              -0.999639689576058,
+              -0.01894456642869557
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004478358698433429,
+            "held_grasp_line_xy_max_dist": 0.047483045011758804,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03263087672641434,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3523447559028154,
+              0.07086677643496751,
+              0.7625844666067843
+            ],
+            "target_position": [
+              0.3506623497130544,
+              0.06820807074486482,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003146300451948384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17427142486365746,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844666067843,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577594778939441,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08842515916245307,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14203207953799954,
+            "release_required_pad_clearance": 0.054212579581226536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.437248455838357,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9458ae7cb42e5ba3d76edccf052f2d35ba3b8a96eb9b8f163ee3d0c374063781",
+    "visual_seed": 3851449619807897322,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62255341c9c1ea26e7f62464370b5d2b947b0b04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2700708327402076,
+              -0.09101915334893673,
+              1.046985381539807
+            ],
+            "current_z": 1.046985381539807,
+            "required_z": 0.8565865932875357,
+            "initial_z": 0.7565865932875357,
+            "lift_margin": 0.1903987882522712,
+            "gripper_z": 1.050399511231638,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2657244888646048,
+              -0.09540277497405612,
+              1.050399511231638
+            ],
+            "object_minus_gripper": [
+              0.004346343875602787,
+              0.004383621625119391,
+              -0.0034141296918310804
+            ],
+            "object_to_gripper_xy": 0.006173074083242824,
+            "object_to_gripper_z": -0.0034141296918310804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2700708327402076,
+              -0.11501304979866285,
+              1.046985381539807
+            ],
+            "finger_b": [
+              0.25920754061605655,
+              -0.09101915334893673,
+              1.046985381539807
+            ],
+            "finger_midpoint": [
+              0.2646391866781321,
+              -0.10301610157379978,
+              1.046985381539807
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431646062075524,
+              0.011996948224863052,
+              0.0
+            ],
+            "finger_gap": 0.026338530380695536,
+            "fingertip_max_gap": 0.0913445278447585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169265190347761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046985381539807,
+            "object_top_z": 1.0922629935240522,
+            "finger_top_clearance": 0.04527761198424529,
+            "fingertip_min_top_clearance": 0.013583283595273587,
+            "object_projection_between_fingers": 0.8298860852546425,
+            "object_to_finger_line_xy": 0.009896250951079924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817226392237925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3104350511961573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2672407624658024,
+              -0.09621015023553119,
+              1.2442195160491598
+            ],
+            "held_position": [
+              0.27189289556091245,
+              -0.09206837466335033,
+              1.2409113879102096
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007052684524962555,
+            "max_held_gripper_dist": 0.007055102940006799,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003308128138950206,
+            "max_held_gripper_z_dist": 0.003399565197942378,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650401558281814,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27189289556091245,
+              -0.11691326139177159,
+              1.2409113879102096
+            ],
+            "held_grasp_finger_b": [
+              0.2631608689959235,
+              -0.09206837466335033,
+              1.2409113879102096
+            ],
+            "held_grasp_midpoint": [
+              0.267526882278418,
+              -0.10449081802756097,
+              1.2409113879102096
+            ],
+            "held_grasp_object_position": [
+              0.27189289556091245,
+              -0.09206837466335033,
+              1.2409113879102096
+            ],
+            "held_grasp_finger_gap": 0.026334704943852243,
+            "held_grasp_max_gap": 0.12496628373861313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024208586348731402,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06406418976933226,
+              -0.9969051912532327,
+              -0.045561159352614615
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036069083424022713,
+            "held_grasp_line_xy_max_dist": 0.047483141869306564,
+            "held_grasp_object_top_z": 0.04520087316632271,
+            "held_grasp_top_clearance": 0.0325371697850267,
+            "held_grasp_min_top_clearance": 0.013560261949896813
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36041696982470484,
+              0.07237302675230632,
+              0.7625842549614421
+            ],
+            "target_position": [
+              0.35695720766085953,
+              0.06913945972713914,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004735600272048314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17719235657359897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842549614421,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520928779434634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520726893404672,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14633778111148085,
+            "release_required_pad_clearance": 0.05260363446702336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.26538688202277544,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57c35b822565ba2e673fa250aa1045bae1b59b2e561b6ffab304b716b352535c",
+    "visual_seed": 3051030828735763855,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd5ce7434f81e26fba049df1835181d57d89ec1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27776450142678066,
+              -0.09127025215724087,
+              1.0474790950396535
+            ],
+            "current_z": 1.0474790950396535,
+            "required_z": 0.8565865440299983,
+            "initial_z": 0.7565865440299984,
+            "lift_margin": 0.1908925510096552,
+            "gripper_z": 1.0508296674097573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.273492227407804,
+              -0.09570496741516911,
+              1.0508296674097573
+            ],
+            "object_minus_gripper": [
+              0.004272274018976674,
+              0.00443471525792824,
+              -0.0033505723701037216
+            ],
+            "object_to_gripper_xy": 0.006157842537133005,
+            "object_to_gripper_z": -0.0033505723701037216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27776450142678066,
+              -0.11503381827120798,
+              1.0474790950396535
+            ],
+            "finger_b": [
+              0.26659299754609256,
+              -0.09127025215724087,
+              1.0474790950396535
+            ],
+            "finger_midpoint": [
+              0.2721787494864366,
+              -0.10315203521422442,
+              1.0474790950396535
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055857519403440525,
+              0.01188178305698355,
+              0.0
+            ],
+            "finger_gap": 0.02625851430315728,
+            "fingertip_max_gap": 0.09230748540647879,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013129257151578633,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474790950396535,
+            "object_top_z": 1.0933997076352435,
+            "finger_top_clearance": 0.045920612595589994,
+            "fingertip_min_top_clearance": 0.013776183778676997,
+            "object_projection_between_fingers": 0.8189981636670057,
+            "object_to_finger_line_xy": 0.010110045374092306,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486537427032394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3782702696873181,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27614686710588066,
+              -0.09590150274572631,
+              1.245293119074392
+            ],
+            "held_position": [
+              0.28078125291542755,
+              -0.09180734580589975,
+              1.2419946473986274
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007008535387331762,
+            "max_held_gripper_dist": 0.007009590081468111,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032984716757646915,
+            "max_held_gripper_z_dist": 0.0033474125064409943,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08627978232038998,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28078125291542755,
+              -0.11677628395341429,
+              1.2419946473986274
+            ],
+            "held_grasp_finger_b": [
+              0.27206524250143505,
+              -0.09180734580589975,
+              1.2419946473986274
+            ],
+            "held_grasp_midpoint": [
+              0.2764232477084313,
+              -0.10429181487965702,
+              1.2419946473986274
+            ],
+            "held_grasp_object_position": [
+              0.28078125291542755,
+              -0.09180734580589975,
+              1.2419946473986274
+            ],
+            "held_grasp_finger_gap": 0.026446487663794458,
+            "held_grasp_max_gap": 0.12496576964855194,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024185766202608757,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07849048415063581,
+              -0.9960331485838781,
+              -0.04191909850992692
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034062105201559415,
+            "held_grasp_line_xy_max_dist": 0.04748288482427597,
+            "held_grasp_object_top_z": 0.0452006496489048,
+            "held_grasp_top_clearance": 0.032423642670344165,
+            "held_grasp_min_top_clearance": 0.01356019489467144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35542808073501736,
+              0.06961338545477379,
+              0.7625883614977329
+            ],
+            "target_position": [
+              0.3523659447329871,
+              0.06640867994896639,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044324727042455775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17797337720451303,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625883614977329,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758537510964287,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616473848483013,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14547896356187734,
+            "release_required_pad_clearance": 0.053082369242415064,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1756261861591275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9347d6b5dbc8f0020531d67d673f3c25ddab9896b0034ab86a54e0904fe7a812",
+    "visual_seed": 1912138567629881147,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54da6b52e9c11949b9690bec39eddfb8f1a15cf1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26928461766159206,
+              -0.09853981890486233,
+              1.0478174479702924
+            ],
+            "current_z": 1.0478174479702924,
+            "required_z": 0.8565866236563063,
+            "initial_z": 0.7565866236563064,
+            "lift_margin": 0.19123082431398608,
+            "gripper_z": 1.051143439343928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26485902600588673,
+              -0.10300330782676242,
+              1.051143439343928
+            ],
+            "object_minus_gripper": [
+              0.00442559165570533,
+              0.0044634889219000995,
+              -0.0033259913736356506
+            ],
+            "object_to_gripper_xy": 0.006285586278062975,
+            "object_to_gripper_z": -0.0033259913736356506,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26928461766159206,
+              -0.12249965362957568,
+              1.0478174479702924
+            ],
+            "finger_b": [
+              0.2582288459548039,
+              -0.09853981890486233,
+              1.0478174479702924
+            ],
+            "finger_midpoint": [
+              0.263756731808198,
+              -0.110519736267219,
+              1.0478174479702924
+            ],
+            "object_minus_finger_midpoint": [
+              0.005527885853394088,
+              0.011979917362356679,
+              0.0
+            ],
+            "finger_gap": 0.02638756843796332,
+            "fingertip_max_gap": 0.09230826687661495,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319378421898166,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478174479702924,
+            "object_top_z": 1.093713581965933,
+            "finger_top_clearance": 0.04589613399564052,
+            "fingertip_min_top_clearance": 0.013768840198692123,
+            "object_projection_between_fingers": 0.8244586721514822,
+            "object_to_finger_line_xy": 0.010038608273875987,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048654133438307476,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3835262308986314,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.264374045767245,
+              -0.10430260144852092,
+              1.2455231753190055
+            ],
+            "held_position": [
+              0.2691216695906916,
+              -0.10004560940010787,
+              1.242378424678747
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007109948653725687,
+            "max_held_gripper_dist": 0.007111534801196024,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031447506402584313,
+            "max_held_gripper_z_dist": 0.003313968490016972,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08562707282926058,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2691216695906916,
+              -0.12468396417615063,
+              1.242378424678747
+            ],
+            "held_grasp_finger_b": [
+              0.26016676732726174,
+              -0.10004560940010787,
+              1.242378424678747
+            ],
+            "held_grasp_midpoint": [
+              0.2646442184589767,
+              -0.11236478678812925,
+              1.242378424678747
+            ],
+            "held_grasp_object_position": [
+              0.2691216695906916,
+              -0.10004560940010787,
+              1.242378424678747
+            ],
+            "held_grasp_finger_gap": 0.026215239854285723,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023927940279324208,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06640557058182331,
+              -0.9953016707705018,
+              -0.07046193551947309
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037537481071535416,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.03264212097248293,
+            "held_grasp_min_top_clearance": 0.013560223951935768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3541347080376527,
+              0.07024326260133057,
+              0.7625850877292826
+            ],
+            "target_position": [
+              0.3509820727814124,
+              0.06700658994810661,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004518313725607921,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17508973600947156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850877292826,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587048651885579,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670631750978273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14281799369138287,
+            "release_required_pad_clearance": 0.05335315875489137,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7150358403560813,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8fba59518b24c2f1d5273d72f5cb895cd6583b1ee46beffbef5091ddb8463b6",
+    "visual_seed": 2312220464228727875,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2a571d73860e4b45487d64ffd6a32f8b26b966
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2707402602661809,
+              -0.09099884598027716,
+              1.0462017112728235
+            ],
+            "current_z": 1.0462017112728235,
+            "required_z": 0.8565865325794646,
+            "initial_z": 0.7565865325794646,
+            "lift_margin": 0.18961517869335887,
+            "gripper_z": 1.0496994310986396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2663714423881045,
+              -0.09545400011066307,
+              1.0496994310986396
+            ],
+            "object_minus_gripper": [
+              0.004368817878076414,
+              0.004455154130385913,
+              -0.003497719825816148
+            ],
+            "object_to_gripper_xy": 0.0062397890971806706,
+            "object_to_gripper_z": -0.003497719825816148,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2707402602661809,
+              -0.11492253535355645,
+              1.0462017112728235
+            ],
+            "finger_b": [
+              0.25967546720209644,
+              -0.09099884598027716,
+              1.0462017112728235
+            ],
+            "finger_midpoint": [
+              0.2652078637341387,
+              -0.10296069066691681,
+              1.0462017112728235
+            ],
+            "object_minus_finger_midpoint": [
+              0.005532396532042239,
+              0.011961844686639647,
+              0.0
+            ],
+            "finger_gap": 0.026358538631346174,
+            "fingertip_max_gap": 0.09207949670835264,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013179269315673087,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462017112728235,
+            "object_top_z": 1.0919869369328175,
+            "finger_top_clearance": 0.04578522565999399,
+            "fingertip_min_top_clearance": 0.013735567697998163,
+            "object_projection_between_fingers": 0.8237845694913958,
+            "object_to_finger_line_xy": 0.010042691514391171,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853974835417632,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3789515944289656,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2677349835646938,
+              -0.09618259744711902,
+              1.241907960913206
+            ],
+            "held_position": [
+              0.27243211266265965,
+              -0.0919780999357361,
+              1.2385206549083583
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007156442066883538,
+            "max_held_gripper_dist": 0.00715815466177749,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003387306004847712,
+            "max_held_gripper_z_dist": 0.0034859193207987804,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636662206404525,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27243211266265965,
+              -0.11680802274123411,
+              1.2385206549083583
+            ],
+            "held_grasp_finger_b": [
+              0.263630913257924,
+              -0.0919780999357361,
+              1.2385206549083583
+            ],
+            "held_grasp_midpoint": [
+              0.2680315129602918,
+              -0.10439306133848511,
+              1.2385206549083583
+            ],
+            "held_grasp_object_position": [
+              0.27243211266265965,
+              -0.0919780999357361,
+              1.2385206549083583
+            ],
+            "held_grasp_finger_gap": 0.02634361739565981,
+            "held_grasp_max_gap": 0.12496600061655044,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024115235931229877,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06982247918737264,
+              -0.9959659434790956,
+              -0.05636187390358827
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035935253106482963,
+            "held_grasp_line_xy_max_dist": 0.04748300030827522,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.03252858462683476,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3530795700262136,
+              0.07741298640824132,
+              0.762586775523463
+            ],
+            "target_position": [
+              0.3504925148741154,
+              0.0741677971943272,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00415019365742157,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17491697287756888,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762586775523463,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527380598294639,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510899656607677,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14396905149398384,
+            "release_required_pad_clearance": 0.05255449828303839,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17243795491155894,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67b01bb3fbdf611d4ff9c793fa7ce4e4b1525db890cb7610c3cf558deda77744",
+    "visual_seed": 8430373650927341238,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..696b4ec73db02b14f27b8a1d4b37628f93ffddce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_19_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2770293415078066,
+              -0.08902746728178408,
+              1.0462558295751891
+            ],
+            "current_z": 1.0462558295751891,
+            "required_z": 0.8565865169857108,
+            "initial_z": 0.7565865169857108,
+            "lift_margin": 0.1896693125894784,
+            "gripper_z": 1.0499195056889445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2723642312193426,
+              -0.09355627026804927,
+              1.0499195056889445
+            ],
+            "object_minus_gripper": [
+              0.004665110288464003,
+              0.004528802986265193,
+              -0.0036636761137553986
+            ],
+            "object_to_gripper_xy": 0.006501792867504872,
+            "object_to_gripper_z": -0.0036636761137553986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2770293415078066,
+              -0.11338384806097289,
+              1.0462558295751891
+            ],
+            "finger_b": [
+              0.2660786908249332,
+              -0.08902746728178408,
+              1.0462558295751891
+            ],
+            "finger_midpoint": [
+              0.27155401616636987,
+              -0.10120565767137849,
+              1.0462558295751891
+            ],
+            "object_minus_finger_midpoint": [
+              0.005475325341436743,
+              0.012178190389594404,
+              0.0
+            ],
+            "finger_gap": 0.026704869126044306,
+            "fingertip_max_gap": 0.09323900876661076,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013352434563022163,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462558295751891,
+            "object_top_z": 1.092031265362075,
+            "finger_top_clearance": 0.04577543578688581,
+            "fingertip_min_top_clearance": 0.013732630736065742,
+            "object_projection_between_fingers": 0.8318491979436942,
+            "object_to_finger_line_xy": 0.009987624974047456,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911950438330538,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9599065918225522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2752332223946984,
+              -0.09359725085158306,
+              1.2426140630839213
+            ],
+            "held_position": [
+              0.28014705345955054,
+              -0.08929262336483762,
+              1.239005641825009
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007462992530836431,
+            "max_held_gripper_dist": 0.0074648036775503065,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036084212589122533,
+            "max_held_gripper_z_dist": 0.003646924017264963,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670286080428127,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28014705345955054,
+              -0.1143780915038915,
+              1.239005641825009
+            ],
+            "held_grasp_finger_b": [
+              0.2710345894817575,
+              -0.08929262336483762,
+              1.239005641825009
+            ],
+            "held_grasp_midpoint": [
+              0.27559082147065406,
+              -0.10183535743436456,
+              1.239005641825009
+            ],
+            "held_grasp_object_position": [
+              0.28014705345955054,
+              -0.08929262336483762,
+              1.239005641825009
+            ],
+            "held_grasp_finger_gap": 0.026689280835235387,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02471368555426186,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037669001639343815,
+              -0.998862880927079,
+              -0.02922313161780221
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004097179864882025,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.032500612781191,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3617662661455206,
+              0.06896102192975506,
+              0.7625850290561762
+            ],
+            "target_position": [
+              0.35851379946614936,
+              0.06580475957804366,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004532166317915854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17607544666276936,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850290561762,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572846236228085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770371681190119,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1441101936908241,
+            "release_required_pad_clearance": 0.053851858405950595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.708725633142044,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f9a97433cd4fc912e2e12fcd3d294c95bcaa333b5249f7ce3e801fd5f93d792",
+    "visual_seed": 6117779128955821848,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60bebfef931bcd80f3fb95c1351f97c9d4dcea8e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27096059437150166,
+              -0.09649891912929791,
+              1.046573656329137
+            ],
+            "current_z": 1.046573656329137,
+            "required_z": 0.8565866706914477,
+            "initial_z": 0.7565866706914477,
+            "lift_margin": 0.18998698563768934,
+            "gripper_z": 1.049945378057814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2666489581275903,
+              -0.10083034192781376,
+              1.049945378057814
+            ],
+            "object_minus_gripper": [
+              0.004311636243911343,
+              0.004331422798515852,
+              -0.0033717217286770573
+            ],
+            "object_to_gripper_xy": 0.006111581674109642,
+            "object_to_gripper_z": -0.0033717217286770573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27096059437150166,
+              -0.12052673488455488,
+              1.046573656329137
+            ],
+            "finger_b": [
+              0.26024863889250316,
+              -0.09649891912929791,
+              1.046573656329137
+            ],
+            "finger_midpoint": [
+              0.2656046166320024,
+              -0.1085128270069264,
+              1.046573656329137
+            ],
+            "object_minus_finger_midpoint": [
+              0.005355977739499251,
+              0.012013907877628488,
+              0.0
+            ],
+            "finger_gap": 0.026307449898320085,
+            "fingertip_max_gap": 0.09343117552890803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013153724949160043,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046573656329137,
+            "object_top_z": 1.0926839748825503,
+            "finger_top_clearance": 0.0461103185534133,
+            "fingertip_min_top_clearance": 0.013833095566024023,
+            "object_projection_between_fingers": 0.8342017225955828,
+            "object_to_finger_line_xy": 0.0097837264205653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921558776445402,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7068886388541773,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2677908646362209,
+              -0.10184969783437313,
+              1.2442817349481037
+            ],
+            "held_position": [
+              0.2723899031014969,
+              -0.09772326401842063,
+              1.2410368522817756
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006979102690228926,
+            "max_held_gripper_dist": 0.006981605535596395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032448826663280528,
+            "max_held_gripper_z_dist": 0.0033555515970888905,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08614117918589609,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2723899031014969,
+              -0.12248148131568173,
+              1.2410368522817756
+            ],
+            "held_grasp_finger_b": [
+              0.2636944074046562,
+              -0.09772326401842063,
+              1.2410368522817756
+            ],
+            "held_grasp_midpoint": [
+              0.26804215525307656,
+              -0.11010237266705118,
+              1.2410368522817756
+            ],
+            "held_grasp_object_position": [
+              0.2723899031014969,
+              -0.09772326401842063,
+              1.2410368522817756
+            ],
+            "held_grasp_finger_gap": 0.026240826380893076,
+            "held_grasp_max_gap": 0.1249660900235176,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024234458380019613,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05383015033671662,
+              -0.9977510870043764,
+              -0.03993849391642024
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003708805588294206,
+            "held_grasp_line_xy_max_dist": 0.047483045011758804,
+            "held_grasp_object_top_z": 0.04520079866051674,
+            "held_grasp_top_clearance": 0.032615489629893725,
+            "held_grasp_min_top_clearance": 0.013560239598155022
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35441916271385376,
+              0.07852306119678498,
+              0.7625817586218935
+            ],
+            "target_position": [
+              0.3521258848849992,
+              0.07567405064472768,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0036573192813931107,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17452472854285944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625817586218935,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586787586040052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637373461153795,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14218196956431178,
+            "release_required_pad_clearance": 0.05318686730576898,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3904066643415418,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3d79083cbb9021a30ed0dd51539dc37620a0740464d566ea3646425f6c15d22",
+    "visual_seed": 2193217910378500916,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9afeb3b20600e246a6dc86fe4b5e188cbbceb40e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27778867220076464,
+              -0.09279167924933429,
+              1.045082765439512
+            ],
+            "current_z": 1.045082765439512,
+            "required_z": 0.856586532503819,
+            "initial_z": 0.756586532503819,
+            "lift_margin": 0.18849623293569306,
+            "gripper_z": 1.0485378483360601,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2735409745188556,
+              -0.09706830625176903,
+              1.0485378483360601
+            ],
+            "object_minus_gripper": [
+              0.004247697681909024,
+              0.004276627002434738,
+              -0.0034550828965480562
+            ],
+            "object_to_gripper_xy": 0.006027642500584224,
+            "object_to_gripper_z": -0.0034550828965480562,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27778867220076464,
+              -0.11689625928160598,
+              1.045082765439512
+            ],
+            "finger_b": [
+              0.26726396111425765,
+              -0.09279167924933429,
+              1.045082765439512
+            ],
+            "finger_midpoint": [
+              0.27252631665751115,
+              -0.10484396926547013,
+              1.045082765439512
+            ],
+            "object_minus_finger_midpoint": [
+              0.005262355543253494,
+              0.012052290016135836,
+              0.0
+            ],
+            "finger_gap": 0.02630209729254749,
+            "fingertip_max_gap": 0.09251745037343376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013151048646273738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045082765439512,
+            "object_top_z": 1.090691146904619,
+            "finger_top_clearance": 0.04560838146510693,
+            "fingertip_min_top_clearance": 0.013682514439532095,
+            "object_projection_between_fingers": 0.8398822030953271,
+            "object_to_finger_line_xy": 0.009645380666017353,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875872518671688,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5837950386866393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27618194724136724,
+              -0.0969085084265875,
+              1.2408859221318427
+            ],
+            "held_position": [
+              0.2806375651244913,
+              -0.09279801365876952,
+              1.237496872152912
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006945095947239571,
+            "max_held_gripper_dist": 0.006949244841997177,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003389049978930636,
+            "max_held_gripper_z_dist": 0.003435574292935728,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632212483530376,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2806375651244913,
+              -0.11754116714681874,
+              1.237496872152912
+            ],
+            "held_grasp_finger_b": [
+              0.2718863851689818,
+              -0.09279801365876952,
+              1.237496872152912
+            ],
+            "held_grasp_midpoint": [
+              0.27626197514673656,
+              -0.10516959040279414,
+              1.237496872152912
+            ],
+            "held_grasp_object_position": [
+              0.2806375651244913,
+              -0.09279801365876952,
+              1.237496872152912
+            ],
+            "held_grasp_finger_gap": 0.02624512897942918,
+            "held_grasp_max_gap": 0.12496600061655044,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024363620219801433,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03950737584560943,
+              -0.998634082245449,
+              -0.03419264586988801
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00390669724352755,
+            "held_grasp_line_xy_max_dist": 0.04748300030827522,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.03267317416392487,
+            "held_grasp_min_top_clearance": 0.01356021612882614
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3569403058556182,
+              0.07217038535935488,
+              0.7625841312328652
+            ],
+            "target_position": [
+              0.35393127420250614,
+              0.0689521683017402,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004405813491212766,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17589239763034245,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625841312328652,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756839948465681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733515240933835,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14384370527024465,
+            "release_required_pad_clearance": 0.05366757620466918,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3413866273818704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5425102e4d3bbe324caf62420158c6ef62c22fedeae1303445b43c76fe477e83",
+    "visual_seed": 7883377665811173758,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c655dab5210f14a7e25a178a7d66919491231ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2794253601108858,
+              -0.09058829390048273,
+              1.0480624447343174
+            ],
+            "current_z": 1.0480624447343174,
+            "required_z": 0.8565866278145772,
+            "initial_z": 0.7565866278145772,
+            "lift_margin": 0.19147581691974025,
+            "gripper_z": 1.051387247819308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2749747769646482,
+              -0.09502845118587992,
+              1.051387247819308
+            ],
+            "object_minus_gripper": [
+              0.0044505831462375856,
+              0.004440157285397192,
+              -0.003324803084990613
+            ],
+            "object_to_gripper_xy": 0.0062867071715358115,
+            "object_to_gripper_z": -0.003324803084990613,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2794253601108858,
+              -0.11466640170112147,
+              1.0480624447343174
+            ],
+            "finger_b": [
+              0.26844195361773127,
+              -0.09058829390048273,
+              1.0480624447343174
+            ],
+            "finger_midpoint": [
+              0.27393365686430854,
+              -0.1026273478008021,
+              1.0480624447343174
+            ],
+            "object_minus_finger_midpoint": [
+              0.005491703246577273,
+              0.012039053900319369,
+              0.0
+            ],
+            "finger_gap": 0.0264648917143647,
+            "fingertip_max_gap": 0.09201662330295649,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01323244585718235,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480624447343174,
+            "object_top_z": 1.093730806505127,
+            "finger_top_clearance": 0.045668361770809573,
+            "fingertip_min_top_clearance": 0.013700508531242906,
+            "object_projection_between_fingers": 0.8277600576799431,
+            "object_to_finger_line_xy": 0.009992848201108151,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048508311651478245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3823140158327374,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27804277038429537,
+              -0.09526749657849794,
+              1.246212786420494
+            ],
+            "held_position": [
+              0.2827954474086619,
+              -0.09112445619126128,
+              1.2429340675715854
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007106526566361637,
+            "max_held_gripper_dist": 0.007112974219346117,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003278718848908513,
+            "max_held_gripper_z_dist": 0.0033093590756527735,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637868095052778,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2827954474086619,
+              -0.11617821281937267,
+              1.2429340675715854
+            ],
+            "held_grasp_finger_b": [
+              0.2739365277147415,
+              -0.09112445619126128,
+              1.2429340675715854
+            ],
+            "held_grasp_midpoint": [
+              0.2783659875617017,
+              -0.10365133450531697,
+              1.2429340675715854
+            ],
+            "held_grasp_object_position": [
+              0.2827954474086619,
+              -0.09112445619126128,
+              1.2429340675715854
+            ],
+            "held_grasp_finger_gap": 0.026573881525361834,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02444415026922963,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061699877882971134,
+              -0.9974849242559848,
+              -0.03488482408238446
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003674762119920473,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520070552825928,
+            "held_grasp_top_clearance": 0.032432036130354516,
+            "held_grasp_min_top_clearance": 0.013560211658477784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3615584308887453,
+              0.07755413344922492,
+              0.7625869367269105
+            ],
+            "target_position": [
+              0.3574272504048164,
+              0.07404351292806424,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005421356715287194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17791164096943493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625869367269105,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514806619022331,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520713419952151,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14737823533049796,
+            "release_required_pad_clearance": 0.05260356709976076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2653893692164129,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e1992f14da7240a5a77cd0837d24aa5b74ad2d83aa09230967903baa841abd1",
+    "visual_seed": 2287887763720497073,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2932793a4eba7acb76e1e0f742b793c192a713b4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2760496637640904,
+              -0.08628679938969269,
+              1.0458259220887667
+            ],
+            "current_z": 1.0458259220887667,
+            "required_z": 0.8565866219618676,
+            "initial_z": 0.7565866219618677,
+            "lift_margin": 0.18923930012689905,
+            "gripper_z": 1.0496696785005861,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27126297949377265,
+              -0.09085829508178446,
+              1.0496696785005861
+            ],
+            "object_minus_gripper": [
+              0.004786684270317754,
+              0.004571495692091768,
+              -0.0038437564118194434
+            ],
+            "object_to_gripper_xy": 0.006618981731846749,
+            "object_to_gripper_z": -0.0038437564118194434,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2760496637640904,
+              -0.11073888683713003,
+              1.0458259220887667
+            ],
+            "finger_b": [
+              0.2650491915757478,
+              -0.08628679938969269,
+              1.0458259220887667
+            ],
+            "finger_midpoint": [
+              0.2705494276699191,
+              -0.09851284311341135,
+              1.0458259220887667
+            ],
+            "object_minus_finger_midpoint": [
+              0.005500236094171329,
+              0.01222604372371866,
+              0.0
+            ],
+            "finger_gap": 0.026812589746304284,
+            "fingertip_max_gap": 0.0957756525900938,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013406294873152147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458259220887667,
+            "object_top_z": 1.0928250976513958,
+            "finger_top_clearance": 0.046999175562629114,
+            "fingertip_min_top_clearance": 0.0140997526687887,
+            "object_projection_between_fingers": 0.8316763545053938,
+            "object_to_finger_line_xy": 0.010032022660158428,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0503878262950469,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.430206262636667,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27395657582720556,
+              -0.09023116877164336,
+              1.2422581527477108
+            ],
+            "held_position": [
+              0.2789327270250017,
+              -0.0858260304130815,
+              1.2384683485055568
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007650486317565037,
+            "max_held_gripper_dist": 0.0076552499068707315,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037898042421540268,
+            "max_held_gripper_z_dist": 0.003825325043440131,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08552246792948168,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2789327270250017,
+              -0.1108263986914858,
+              1.2384683485055568
+            ],
+            "held_grasp_finger_b": [
+              0.26946612947122783,
+              -0.0858260304130815,
+              1.2384683485055568
+            ],
+            "held_grasp_midpoint": [
+              0.2741994282481148,
+              -0.09832621455228366,
+              1.2384683485055568
+            ],
+            "held_grasp_object_position": [
+              0.2789327270250017,
+              -0.0858260304130815,
+              1.2384683485055568
+            ],
+            "held_grasp_finger_gap": 0.026732655747249694,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480724401875301,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.019627409417613303,
+              -0.9997072253660388,
+              -0.01415020672956846
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004490551613065797,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.045200686901807785,
+            "held_grasp_top_clearance": 0.03261126010645159,
+            "held_grasp_min_top_clearance": 0.013560206070542336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35824660788007984,
+              0.07366508918844074,
+              0.7625880343596638
+            ],
+            "target_position": [
+              0.3577186153713505,
+              0.0717858560976148,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0019519972077155958,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17423561191248277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625880343596638,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756924203000023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08817718991482408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14202621578792846,
+            "release_required_pad_clearance": 0.05408859495741204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1886822047062116,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5dd2830181fff9eda425cfc1df4de098113c970a53c44280c7f8a7142e720340",
+    "visual_seed": 6488452176983430450,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e14f913dd9d878bc1910d44f21e4d5a440679035
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2745243586740493,
+              -0.09552680330909483,
+              1.0472687217049361
+            ],
+            "current_z": 1.0472687217049361,
+            "required_z": 0.856586554582985,
+            "initial_z": 0.7565865545829851,
+            "lift_margin": 0.19068216712195107,
+            "gripper_z": 1.0504857284333264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27039745852286245,
+              -0.09985117205460216,
+              1.0504857284333264
+            ],
+            "object_minus_gripper": [
+              0.00412690015118683,
+              0.0043243687455073315,
+              -0.0032170067283903148
+            ],
+            "object_to_gripper_xy": 0.005977580606314442,
+            "object_to_gripper_z": -0.0032170067283903148,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2745243586740493,
+              -0.1192496764010207,
+              1.0472687217049361
+            ],
+            "finger_b": [
+              0.26361248915247537,
+              -0.09552680330909483,
+              1.0472687217049361
+            ],
+            "finger_midpoint": [
+              0.26906842391326236,
+              -0.10738823985505777,
+              1.0472687217049361
+            ],
+            "object_minus_finger_midpoint": [
+              0.005455934760786929,
+              0.011861436545962944,
+              0.0
+            ],
+            "finger_gap": 0.0261121351902037,
+            "fingertip_max_gap": 0.09230802726322473,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013056067595101846,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472687217049361,
+            "object_top_z": 1.0927154049401653,
+            "finger_top_clearance": 0.04544668323522916,
+            "fingertip_min_top_clearance": 0.013634004970568747,
+            "object_projection_between_fingers": 0.8253721297319422,
+            "object_to_finger_line_xy": 0.009913432738088259,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865401363161237,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.674578665087951,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27192598123805345,
+              -0.10083537307455706,
+              1.2445187744055153
+            ],
+            "held_position": [
+              0.2763999746764147,
+              -0.09679266900388572,
+              1.2414014019478448
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006788084010187619,
+            "max_held_gripper_dist": 0.00678946205438722,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031173724576705197,
+            "max_held_gripper_z_dist": 0.00320548484539529,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602629193923113,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2763999746764147,
+              -0.12155965958896607,
+              1.2414014019478448
+            ],
+            "held_grasp_finger_b": [
+              0.2678948292541333,
+              -0.09679266900388572,
+              1.2414014019478448
+            ],
+            "held_grasp_midpoint": [
+              0.272147401965274,
+              -0.1091761642964259,
+              1.2414014019478448
+            ],
+            "held_grasp_object_position": [
+              0.2763999746764147,
+              -0.09679266900388572,
+              1.2414014019478448
+            ],
+            "held_grasp_finger_gap": 0.026186663042388817,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02409763329442046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06900504492857572,
+              -0.9966705947423032,
+              -0.04342843941968311
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034313331438685867,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.032565043093124635,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3519981404914197,
+              0.07511402670531243,
+              0.7625858645976069
+            ],
+            "target_position": [
+              0.35048049758402866,
+              0.07262711579527782,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029134113799467974,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17364159248099575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858645976069,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531425041861335,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533004084335742,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1425320853745944,
+            "release_required_pad_clearance": 0.05266502042167871,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38765330769148315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d60a41e435643347751cd9a73d58fe9e7d225deadff45ccccd3ef58d59e6e7ae",
+    "visual_seed": 9169761072388045665,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a444590ea40cb2caf71d0be379b2d94433bc950
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2730749835299491,
+              -0.09126426654850954,
+              1.0451627930328786
+            ],
+            "current_z": 1.0451627930328786,
+            "required_z": 0.8565865266582041,
+            "initial_z": 0.7565865266582041,
+            "lift_margin": 0.1885762663746745,
+            "gripper_z": 1.0484964979726272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2688670543560318,
+              -0.09558899002696296,
+              1.0484964979726272
+            ],
+            "object_minus_gripper": [
+              0.004207929173917269,
+              0.004324723478453418,
+              -0.003333704939748605
+            ],
+            "object_to_gripper_xy": 0.006034061741297507,
+            "object_to_gripper_z": -0.003333704939748605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2730749835299491,
+              -0.11513683727613076,
+              1.0451627930328786
+            ],
+            "finger_b": [
+              0.262255054311729,
+              -0.09126426654850954,
+              1.0451627930328786
+            ],
+            "finger_midpoint": [
+              0.26766501892083905,
+              -0.10320055191232015,
+              1.0451627930328786
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054099646091100295,
+              0.011936285363810611,
+              0.0
+            ],
+            "finger_gap": 0.026210122117849236,
+            "fingertip_max_gap": 0.09192129777359254,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013105061058924618,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451627930328786,
+            "object_top_z": 1.0904988959641386,
+            "finger_top_clearance": 0.04533610293126,
+            "fingertip_min_top_clearance": 0.013600830879378033,
+            "object_projection_between_fingers": 0.8295838496075754,
+            "object_to_finger_line_xy": 0.00985495315010035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846064888679627,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.636801584722453,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27097966426108944,
+              -0.0961466294831989,
+              1.2427921101134867
+            ],
+            "held_position": [
+              0.27550425810622275,
+              -0.0920879936973982,
+              1.2395405197511384
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006893280335929784,
+            "max_held_gripper_dist": 0.0068954663676179225,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032515903623482334,
+            "max_held_gripper_z_dist": 0.003320244709358766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603288935129833,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27550425810622275,
+              -0.11693667806363979,
+              1.2395405197511384
+            ],
+            "held_grasp_finger_b": [
+              0.26694095338942975,
+              -0.0920879936973982,
+              1.2395405197511384
+            ],
+            "held_grasp_midpoint": [
+              0.27122260574782625,
+              -0.104512335880519,
+              1.2395405197511384
+            ],
+            "held_grasp_object_position": [
+              0.27550425810622275,
+              -0.0920879936973982,
+              1.2395405197511384
+            ],
+            "held_grasp_finger_gap": 0.02628283284590435,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024246016716105673,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.062392392481763585,
+              -0.9972480401659523,
+              -0.04004417242956726
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003534083856842979,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.032543434453117144,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35785473484263636,
+              0.07055317884578706,
+              0.7625865139817075
+            ],
+            "target_position": [
+              0.3543118907901518,
+              0.0672770476706984,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004825430494433942,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17606428005734373,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625865139817075,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572907722234509,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677583036357371,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14407855543570225,
+            "release_required_pad_clearance": 0.05338791518178686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7852536878056449,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "716acc4608e346cf0aa71e2e1795e918484d9db19b5630acc9b47183e45574bc",
+    "visual_seed": 3093724941738882455,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc39566e308c1618081512c045946373baee7163
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2787044732751344,
+              -0.09591372105619995,
+              1.046093132302525
+            ],
+            "current_z": 1.046093132302525,
+            "required_z": 0.8565865165906258,
+            "initial_z": 0.7565865165906258,
+            "lift_margin": 0.1895066157118993,
+            "gripper_z": 1.0494358884057264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2745468656476311,
+              -0.10015035872351392,
+              1.0494358884057264
+            ],
+            "object_minus_gripper": [
+              0.004157607627503335,
+              0.004236637667313969,
+              -0.0033427561032013386
+            ],
+            "object_to_gripper_xy": 0.005935890826858043,
+            "object_to_gripper_z": -0.0033427561032013386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2787044732751344,
+              -0.11988110798531375,
+              1.046093132302525
+            ],
+            "finger_b": [
+              0.26815104486742436,
+              -0.09591372105619995,
+              1.046093132302525
+            ],
+            "finger_midpoint": [
+              0.27342775907127936,
+              -0.10789741452075685,
+              1.046093132302525
+            ],
+            "object_minus_finger_midpoint": [
+              0.00527671420385506,
+              0.011983693464556897,
+              0.0
+            ],
+            "finger_gap": 0.026187983644536603,
+            "fingertip_max_gap": 0.09312326811135796,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013093991822268312,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046093132302525,
+            "object_top_z": 1.0919065449065595,
+            "finger_top_clearance": 0.045813412604034376,
+            "fingertip_min_top_clearance": 0.013744023781210313,
+            "object_projection_between_fingers": 0.8376011256632477,
+            "object_to_finger_line_xy": 0.009658555828869911,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906163405567898,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.870034509271028,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27715285018701596,
+              -0.1003735366650607,
+              1.2443198328452187
+            ],
+            "held_position": [
+              0.2815744784892166,
+              -0.0963579648869875,
+              1.2410442517673002
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006812124848070364,
+            "max_held_gripper_dist": 0.006813237118953006,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003275581077918588,
+            "max_held_gripper_z_dist": 0.0033253785832176863,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608822102441852,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2815744784892166,
+              -0.12116859873248013,
+              1.2410442517673002
+            ],
+            "held_grasp_finger_b": [
+              0.27298622606673345,
+              -0.0963579648869875,
+              1.2410442517673002
+            ],
+            "held_grasp_midpoint": [
+              0.277280352277975,
+              -0.10876328180973382,
+              1.2410442517673002
+            ],
+            "held_grasp_object_position": [
+              0.2815744784892166,
+              -0.0963579648869875,
+              1.2410442517673002
+            ],
+            "held_grasp_finger_gap": 0.026255011549938267,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024380998703912627,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04578090260889804,
+              -0.9985305819241577,
+              -0.028996308705036437
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003739314574771462,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.03261704685502012,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.361584188048811,
+              0.0725526586177225,
+              0.7625858615802754
+            ],
+            "target_position": [
+              0.35900640106494325,
+              0.0696923560733072,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038504956018396586,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17598703492085435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858615802754,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535881176167697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852818353609817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14473679981563012,
+            "release_required_pad_clearance": 0.052640917680490854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034740858961393,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be151fa09441bf30c5ee78230a48eb08d83cee61f918f779f2823a49b892f956",
+    "visual_seed": 2014817890533077304,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f7f3cbe218ac5b08b12b7f74e3ceffdb640e32
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27978846800240614,
+              -0.09099168138877575,
+              1.044705475570663
+            ],
+            "current_z": 1.044705475570663,
+            "required_z": 0.8565865802066069,
+            "initial_z": 0.756586580206607,
+            "lift_margin": 0.18811889536405613,
+            "gripper_z": 1.0480748398634272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2754800277481032,
+              -0.09533167843336288,
+              1.0480748398634272
+            ],
+            "object_minus_gripper": [
+              0.0043084402543029365,
+              0.004339997044587124,
+              -0.003369364292764132
+            ],
+            "object_to_gripper_xy": 0.006115409370755397,
+            "object_to_gripper_z": -0.003369364292764132,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27978846800240614,
+              -0.11502475251737881,
+              1.044705475570663
+            ],
+            "finger_b": [
+              0.2690149677101831,
+              -0.09099168138877575,
+              1.044705475570663
+            ],
+            "finger_midpoint": [
+              0.27440171785629464,
+              -0.10300821695307728,
+              1.044705475570663
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053867501461115075,
+              0.012016535564301531,
+              0.0
+            ],
+            "finger_gap": 0.02633736540390904,
+            "fingertip_max_gap": 0.09348699765070237,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013168682701954508,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044705475570663,
+            "object_top_z": 1.0908818588065214,
+            "finger_top_clearance": 0.046176383235858376,
+            "fingertip_min_top_clearance": 0.013852914970757479,
+            "object_projection_between_fingers": 0.8326718547282089,
+            "object_to_finger_line_xy": 0.009830911135424114,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04924349882535119,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.674380278536961,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27854643852336247,
+              -0.09546084807516549,
+              1.240796184281199
+            ],
+            "held_position": [
+              0.2831249724092722,
+              -0.09136955722113078,
+              1.2374745543219619
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006981035666921727,
+            "max_held_gripper_dist": 0.00698280339030333,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003321629959237127,
+            "max_held_gripper_z_dist": 0.0033530809797472916,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599458812903014,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2831249724092722,
+              -0.11628519872054711,
+              1.2374745543219619
+            ],
+            "held_grasp_finger_b": [
+              0.27443246819576017,
+              -0.09136955722113078,
+              1.2374745543219619
+            ],
+            "held_grasp_midpoint": [
+              0.27877872030251616,
+              -0.10382737797083895,
+              1.2374745543219619
+            ],
+            "held_grasp_object_position": [
+              0.2831249724092722,
+              -0.09136955722113078,
+              1.2374745543219619
+            ],
+            "held_grasp_finger_gap": 0.026388422098135418,
+            "held_grasp_max_gap": 0.12496622413396835,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024418258029433804,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05253049468521015,
+              -0.998364002644908,
+              -0.02258019820474244
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003696750996643464,
+            "held_grasp_line_xy_max_dist": 0.047483112066984176,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.03253504437412048,
+            "held_grasp_min_top_clearance": 0.013560238480567931
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3564104031741577,
+              0.07660588296487739,
+              0.7625856419728554
+            ],
+            "target_position": [
+              0.35348586884507216,
+              0.07352615149357578,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042470751085100025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17459973115828434,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856419728554,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580553971612138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614308284159826,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14237468154296837,
+            "release_required_pad_clearance": 0.05307154142079913,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1669904070849313,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "451b65a0480e29c68a826d9f27bb05ecc8ec273ba53be429b3b976c5c9d3bab1",
+    "visual_seed": 684033481349728495,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac306e3287c5cbf8b44397dbc408542c61e8829e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2793843537639646,
+              -0.09687738588449155,
+              1.0445777525469484
+            ],
+            "current_z": 1.0445777525469484,
+            "required_z": 0.8565865594389948,
+            "initial_z": 0.7565865594389948,
+            "lift_margin": 0.18799119310795365,
+            "gripper_z": 1.0478050099044551,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2749605099048416,
+              -0.1013535000285095,
+              1.0478050099044551
+            ],
+            "object_minus_gripper": [
+              0.004423843859122978,
+              0.004476114144017954,
+              -0.00322725735750673
+            ],
+            "object_to_gripper_xy": 0.006293329192103148,
+            "object_to_gripper_z": -0.00322725735750673,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2793843537639646,
+              -0.12083570111001084,
+              1.0445777525469484
+            ],
+            "finger_b": [
+              0.2682491962900778,
+              -0.09687738588449155,
+              1.0445777525469484
+            ],
+            "finger_midpoint": [
+              0.2738167750270212,
+              -0.10885654349725118,
+              1.0445777525469484
+            ],
+            "object_minus_finger_midpoint": [
+              0.005567578736943413,
+              0.011979157612759639,
+              0.0
+            ],
+            "finger_gap": 0.026419549587636915,
+            "fingertip_max_gap": 0.09275672922145542,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013209774793818463,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445777525469484,
+            "object_top_z": 1.0905294532962122,
+            "finger_top_clearance": 0.0459517007492638,
+            "fingertip_min_top_clearance": 0.013785510224779174,
+            "object_projection_between_fingers": 0.8223595323291633,
+            "object_to_finger_line_xy": 0.010097810788190583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887836461072771,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3306208364813357,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2774819739299846,
+              -0.10199781418787397,
+              1.2422084148903259
+            ],
+            "held_position": [
+              0.28225852638981175,
+              -0.09785294915109927,
+              1.2390510205075131
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007068557056654177,
+            "max_held_gripper_dist": 0.007073188807873455,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003157394382812706,
+            "max_held_gripper_z_dist": 0.0032133268077891852,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867650501659262,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28225852638981175,
+              -0.12288978292020139,
+              1.2390510205075131
+            ],
+            "held_grasp_finger_b": [
+              0.27351402935190117,
+              -0.09785294915109927,
+              1.2390510205075131
+            ],
+            "held_grasp_midpoint": [
+              0.27788627787085646,
+              -0.11037136603565033,
+              1.2390510205075131
+            ],
+            "held_grasp_object_position": [
+              0.28225852638981175,
+              -0.09785294915109927,
+              1.2390510205075131
+            ],
+            "held_grasp_finger_gap": 0.02651997876371094,
+            "held_grasp_max_gap": 0.12496584415435791,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0243069162161807,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07438919564360824,
+              -0.9968278156616851,
+              -0.02829405405117002
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034476187462523663,
+            "held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "held_grasp_object_top_z": 0.045200664550065994,
+            "held_grasp_top_clearance": 0.03239671034101756,
+            "held_grasp_min_top_clearance": 0.013560199365019798
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3550345705151517,
+              0.06855311001351164,
+              0.7625849902540653
+            ],
+            "target_position": [
+              0.3536488337566422,
+              0.0663960420403455,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0025638269451629375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17543472448981445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849902540653,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561558135558313,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638101673057545,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14331536765941752,
+            "release_required_pad_clearance": 0.05319050836528773,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3932068571338712,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58bd42b9d0dbb8233e5caa2d782cbd45d59bcc20717d3235abe2da06907b889e",
+    "visual_seed": 5457468259476166306,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df32d9844ca26614c0901b0d36a80caed46eedf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27125354730478524,
+              -0.0986673409053764,
+              1.0475593053183347
+            ],
+            "current_z": 1.0475593053183347,
+            "required_z": 0.8565865751633787,
+            "initial_z": 0.7565865751633787,
+            "lift_margin": 0.19097273015495608,
+            "gripper_z": 1.0508498023630013,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26695085383472583,
+              -0.10308452313435447,
+              1.0508498023630013
+            ],
+            "object_minus_gripper": [
+              0.004302693470059404,
+              0.004417182228978064,
+              -0.0032904970446665516
+            ],
+            "object_to_gripper_xy": 0.006166414674775892,
+            "object_to_gripper_z": -0.0032904970446665516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27125354730478524,
+              -0.12250930137611829,
+              1.0475593053183347
+            ],
+            "finger_b": [
+              0.2602183789954559,
+              -0.0986673409053764,
+              1.0475593053183347
+            ],
+            "finger_midpoint": [
+              0.2657359631501206,
+              -0.11058832114074735,
+              1.0475593053183347
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517584154664634,
+              0.011920980235370943,
+              0.0
+            ],
+            "finger_gap": 0.026271924533685095,
+            "fingertip_max_gap": 0.09129684822061548,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013135962266842537,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475593053183347,
+            "object_top_z": 1.0928715924274375,
+            "finger_top_clearance": 0.045312287109102733,
+            "fingertip_min_top_clearance": 0.01359368613273082,
+            "object_projection_between_fingers": 0.8235693041356317,
+            "object_to_finger_line_xy": 0.01001449460931856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048148424110307744,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.300665905810509,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26698414602263876,
+              -0.1045447038711702,
+              1.2448384122713332
+            ],
+            "held_position": [
+              0.2716276417541932,
+              -0.10036020841948698,
+              1.241711365433118
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006989311605767286,
+            "max_held_gripper_dist": 0.006991145089436162,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003127046838215186,
+            "max_held_gripper_z_dist": 0.0032745608987192476,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623607034303223,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2716276417541932,
+              -0.12500848923434113,
+              1.241711365433118
+            ],
+            "held_grasp_finger_b": [
+              0.2628831101468255,
+              -0.10036020841948698,
+              1.241711365433118
+            ],
+            "held_grasp_midpoint": [
+              0.26725537595050936,
+              -0.11268434882691405,
+              1.241711365433118
+            ],
+            "held_grasp_object_position": [
+              0.2716276417541932,
+              -0.10036020841948698,
+              1.241711365433118
+            ],
+            "held_grasp_finger_gap": 0.026153481224497805,
+            "held_grasp_max_gap": 0.12496620178222656,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023904616244526597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07230089929956889,
+              -0.9954793167118489,
+              -0.06159147635334162
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003553921290940445,
+            "held_grasp_line_xy_max_dist": 0.04748310089111328,
+            "held_grasp_object_top_z": 0.04520084708929062,
+            "held_grasp_top_clearance": 0.03261630146786114,
+            "held_grasp_min_top_clearance": 0.013560254126787186
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3586788218059286,
+              0.07127688392395802,
+              0.7625863904382398
+            ],
+            "target_position": [
+              0.3550007809705623,
+              0.0678574784484307,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005021983491877295,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1774860108265286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863904382398,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075763390097136,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609550009193905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14533306352977599,
+            "release_required_pad_clearance": 0.053047750045969524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.118351876721199,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7cdbdde2e49835c020efba55b391dcb47e9af0078bdb2164730fdb7ed5c30373",
+    "visual_seed": 3975157296191848643,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..452c65455bc78dc9de66e27e61277efdd97ff7d8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27398490295042716,
+              -0.09472948540197322,
+              1.0482286820906064
+            ],
+            "current_z": 1.0482286820906064,
+            "required_z": 0.8565865210104323,
+            "initial_z": 0.7565865210104323,
+            "lift_margin": 0.19164216108017407,
+            "gripper_z": 1.0514995186370428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2698578488412484,
+              -0.0989951937072535,
+              1.0514995186370428
+            ],
+            "object_minus_gripper": [
+              0.0041270541091787405,
+              0.00426570830528028,
+              -0.003270836546436451
+            ],
+            "object_to_gripper_xy": 0.005935389032390909,
+            "object_to_gripper_z": -0.003270836546436451,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27398490295042716,
+              -0.11860047827081847,
+              1.0482286820906064
+            ],
+            "finger_b": [
+              0.26332756686891234,
+              -0.09472948540197322,
+              1.0482286820906064
+            ],
+            "finger_midpoint": [
+              0.2686562349096697,
+              -0.10666498183639585,
+              1.0482286820906064
+            ],
+            "object_minus_finger_midpoint": [
+              0.005328668040757434,
+              0.011935496434422627,
+              0.0
+            ],
+            "finger_gap": 0.02614197989630507,
+            "fingertip_max_gap": 0.0944955631189387,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013070989948152546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482286820906064,
+            "object_top_z": 1.094714162208037,
+            "finger_top_clearance": 0.04648548011743059,
+            "fingertip_min_top_clearance": 0.01394564403522921,
+            "object_projection_between_fingers": 0.8338040752074048,
+            "object_to_finger_line_xy": 0.009731519747618064,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04974778155946935,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0518476762816142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2716490306330239,
+              -0.09926215056300955,
+              1.2467679114088184
+            ],
+            "held_position": [
+              0.2760597425593371,
+              -0.09520580122263717,
+              1.2435867132825862
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006784421212336665,
+            "max_held_gripper_dist": 0.006786833934772176,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031811981262321876,
+            "max_held_gripper_z_dist": 0.003256098088869175,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615032148623178,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2760597425593371,
+              -0.11990495676721205,
+              1.2435867132825862
+            ],
+            "held_grasp_finger_b": [
+              0.26737116878262746,
+              -0.09520580122263717,
+              1.2435867132825862
+            ],
+            "held_grasp_midpoint": [
+              0.27171545567098226,
+              -0.10755537899492461,
+              1.2435867132825862
+            ],
+            "held_grasp_object_position": [
+              0.2760597425593371,
+              -0.09520580122263717,
+              1.2435867132825862
+            ],
+            "held_grasp_finger_gap": 0.02618281113418554,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024257169436400737,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04663675530948041,
+              -0.9985109118854287,
+              -0.028301446958294056
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003780075087091184,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03266690647026553,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35432181179010075,
+              0.07362750680115038,
+              0.7625853951337693
+            ],
+            "target_position": [
+              0.35188821552147986,
+              0.07057878962655907,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003900905947250394,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17342846653378372,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853951337693,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075854362103895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633201458930816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14111091641173315,
+            "release_required_pad_clearance": 0.05316600729465408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3556395702515995,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2abb96f8fcdc509a1e7885cbe037377b902b86be8950f4ece41e64339920ae45",
+    "visual_seed": 4135185837454450449,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc6dc1ca8be2e9bd06f7778cd2278d34720d0b36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2722342848666446,
+              -0.08661756523351023,
+              1.0444799151890776
+            ],
+            "current_z": 1.0444799151890776,
+            "required_z": 0.8565866064028907,
+            "initial_z": 0.7565866064028908,
+            "lift_margin": 0.18789330878618682,
+            "gripper_z": 1.0477847281615573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26771782049941406,
+              -0.09108491557551192,
+              1.0477847281615573
+            ],
+            "object_minus_gripper": [
+              0.004516464367230522,
+              0.004467350342001686,
+              -0.0033048129724797537
+            ],
+            "object_to_gripper_xy": 0.006352611231505166,
+            "object_to_gripper_z": -0.0033048129724797537,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2722342848666446,
+              -0.11078970622812936,
+              1.0444799151890776
+            ],
+            "finger_b": [
+              0.26129161631739967,
+              -0.08661756523351023,
+              1.0444799151890776
+            ],
+            "finger_midpoint": [
+              0.26676295059202215,
+              -0.0987036357308198,
+              1.0444799151890776
+            ],
+            "object_minus_finger_midpoint": [
+              0.00547133427462243,
+              0.012086070497309573,
+              0.0
+            ],
+            "finger_gap": 0.026533646474662706,
+            "fingertip_max_gap": 0.09258830642895191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013266823237331348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444799151890776,
+            "object_top_z": 1.0903729471561179,
+            "finger_top_clearance": 0.04589303196704031,
+            "fingertip_min_top_clearance": 0.013767909590112093,
+            "object_projection_between_fingers": 0.8299202485165377,
+            "object_to_finger_line_xy": 0.009968766535060087,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879415321447596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6668479093275588,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27030403862408403,
+              -0.09142043440542544,
+              1.241294735860801
+            ],
+            "held_position": [
+              0.27512082958375916,
+              -0.08722009749979469,
+              1.238059522407435
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007163163502172204,
+            "max_held_gripper_dist": 0.007164280322927357,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032352134533659704,
+            "max_held_gripper_z_dist": 0.0032893141427587924,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086145749358055,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27512082958375916,
+              -0.11224897693721149,
+              1.238059522407435
+            ],
+            "held_grasp_finger_b": [
+              0.26629141962168346,
+              -0.08722009749979469,
+              1.238059522407435
+            ],
+            "held_grasp_midpoint": [
+              0.2707061246027213,
+              -0.09973453721850309,
+              1.238059522407435
+            ],
+            "held_grasp_object_position": [
+              0.27512082958375916,
+              -0.08722009749979469,
+              1.238059522407435
+            ],
+            "held_grasp_finger_gap": 0.026540596944514026,
+            "held_grasp_max_gap": 0.12496606767177582,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02445937254187248,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05672061073915906,
+              -0.9972552758424226,
+              -0.04758872893691035
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037463713536321076,
+            "held_grasp_line_xy_max_dist": 0.04748303383588791,
+            "held_grasp_object_top_z": 0.04520078003406525,
+            "held_grasp_top_clearance": 0.03247028423761366,
+            "held_grasp_min_top_clearance": 0.013560234010219574
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35542283312826173,
+              0.07873390449771224,
+              0.7625871089744103
+            ],
+            "target_position": [
+              0.3513579838493279,
+              0.07508716732901294,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005460924064480448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1782689038483283,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625871089744103,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572473783052153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08740201254681727,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1461536860291694,
+            "release_required_pad_clearance": 0.05370100627340864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.406993326176146,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa73ab4955fb49cc5ad8aefe0aec2999e1a47569a03389268ad837337ed57e63",
+    "visual_seed": 1569548924654956901,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0238a5f60550a708a8eecfd2399cf2990b6ff1a4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2761709487042514,
+              -0.08985716402292582,
+              1.046280201807795
+            ],
+            "current_z": 1.046280201807795,
+            "required_z": 0.8565865571229976,
+            "initial_z": 0.7565865571229976,
+            "lift_margin": 0.18969364468479744,
+            "gripper_z": 1.0499769194990114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27139899929419564,
+              -0.09445790947652812,
+              1.0499769194990114
+            ],
+            "object_minus_gripper": [
+              0.004771949410055765,
+              0.004600745453602298,
+              -0.003696717691216378
+            ],
+            "object_to_gripper_xy": 0.006628601655023009,
+            "object_to_gripper_z": -0.003696717691216378,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2761709487042514,
+              -0.11422281079862888,
+              1.046280201807795
+            ],
+            "finger_b": [
+              0.2650514789332066,
+              -0.08985716402292582,
+              1.046280201807795
+            ],
+            "finger_midpoint": [
+              0.270611213818729,
+              -0.10203998741077736,
+              1.046280201807795
+            ],
+            "object_minus_finger_midpoint": [
+              0.005559734885522416,
+              0.012182823387851538,
+              0.0
+            ],
+            "finger_gap": 0.026782967550058916,
+            "fingertip_max_gap": 0.09713313371842297,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013391483775029463,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046280201807795,
+            "object_top_z": 1.0939133570483293,
+            "finger_top_clearance": 0.04763315524053424,
+            "fingertip_min_top_clearance": 0.014289946572160254,
+            "object_projection_between_fingers": 0.8276343320055477,
+            "object_to_finger_line_xy": 0.010115872046964064,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05106656685921149,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.047085230262178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2738311602257463,
+              -0.09379993176073968,
+              1.241704603545913
+            ],
+            "held_position": [
+              0.27881516463289535,
+              -0.08937654338837106,
+              1.2380738952662422
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007588722371740637,
+            "max_held_gripper_dist": 0.007590749442839996,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036307082796707135,
+            "max_held_gripper_z_dist": 0.0036778000785644416,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08554349349978119,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27881516463289535,
+              -0.1143171880069434,
+              1.2380738952662422
+            ],
+            "held_grasp_finger_b": [
+              0.2693442462774755,
+              -0.08937654338837106,
+              1.2380738952662422
+            ],
+            "held_grasp_midpoint": [
+              0.27407970545518545,
+              -0.10184686569765723,
+              1.2380738952662422
+            ],
+            "held_grasp_object_position": [
+              0.27881516463289535,
+              -0.08937654338837106,
+              1.2380738952662422
+            ],
+            "held_grasp_finger_gap": 0.026678344185592746,
+            "held_grasp_max_gap": 0.12496611982584,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477205638644078,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017290785143229192,
+              -0.9998063956319982,
+              -0.009391485637702868
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004520656822313017,
+            "held_grasp_line_xy_max_dist": 0.04748305991292,
+            "held_grasp_object_top_z": 0.04520076885819435,
+            "held_grasp_top_clearance": 0.03265098105058133,
+            "held_grasp_min_top_clearance": 0.013560230657458304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35369635024444734,
+              0.07310424389294858,
+              0.7625852964973766
+            ],
+            "target_position": [
+              0.3532844879866628,
+              0.07151235700114573,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0016443036202846181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17431467363128295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852964973766,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535821867269865,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773984064432043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14298209712221296,
+            "release_required_pad_clearance": 0.05386992032216022,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.738606967154649,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "899e8093b6a1e59d2f6fd3710d18e857ecf7107d7366630f7a9180fae57f8829",
+    "visual_seed": 1696670243316111386,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c41271847c4e093e8e6227de10303ab9fae86e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_31_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2753102507465105,
+              -0.0966416709809561,
+              1.0456031706183258
+            ],
+            "current_z": 1.0456031706183258,
+            "required_z": 0.8565866125855671,
+            "initial_z": 0.7565866125855671,
+            "lift_margin": 0.18901655803275863,
+            "gripper_z": 1.0488066516490058,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2711559696772562,
+              -0.10096552913730278,
+              1.0488066516490058
+            ],
+            "object_minus_gripper": [
+              0.004154281069254306,
+              0.0043238581563466855,
+              -0.003203481030680022
+            ],
+            "object_to_gripper_xy": 0.005996148810575873,
+            "object_to_gripper_z": -0.003203481030680022,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2753102507465105,
+              -0.12045118020917216,
+              1.0456031706183258
+            ],
+            "finger_b": [
+              0.2644745497528639,
+              -0.0966416709809561,
+              1.0456031706183258
+            ],
+            "finger_midpoint": [
+              0.2698924002496872,
+              -0.10854642559506412,
+              1.0456031706183258
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054178504968233065,
+              0.011904754614108032,
+              0.0
+            ],
+            "finger_gap": 0.026159226779708535,
+            "fingertip_max_gap": 0.09190886726112782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013079613389854267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456031706183258,
+            "object_top_z": 1.090981108661659,
+            "finger_top_clearance": 0.04537793804333323,
+            "fingertip_min_top_clearance": 0.01361338141299997,
+            "object_projection_between_fingers": 0.8284209657644585,
+            "object_to_finger_line_xy": 0.009862398647139736,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845443363056391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7657286389114353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27283271096016204,
+              -0.10161253817452028,
+              1.2433804162504885
+            ],
+            "held_position": [
+              0.2773043587761843,
+              -0.09754370657537768,
+              1.2402723423002608
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006797878231683874,
+            "max_held_gripper_dist": 0.006802352922745289,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003108073950227608,
+            "max_held_gripper_z_dist": 0.0031897590130351983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863109697707161,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2773043587761843,
+              -0.12229534475568977,
+              1.2402723423002608
+            ],
+            "held_grasp_finger_b": [
+              0.2686815823952534,
+              -0.09754370657537768,
+              1.2402723423002608
+            ],
+            "held_grasp_midpoint": [
+              0.27299297058571886,
+              -0.10991952566553373,
+              1.2402723423002608
+            ],
+            "held_grasp_object_position": [
+              0.2773043587761843,
+              -0.09754370657537768,
+              1.2402723423002608
+            ],
+            "held_grasp_finger_gap": 0.02621060596637596,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024167486360665145,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05964324172382976,
+              -0.9971775006114899,
+              -0.04560390324188379
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003610888782841911,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.045200660824775696,
+            "held_grasp_top_clearance": 0.03260262730842473,
+            "held_grasp_min_top_clearance": 0.013560198247432709
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.354823078631112,
+              0.07613123272787452,
+              0.7625858099702085
+            ],
+            "target_position": [
+              0.35158510222264505,
+              0.07276334347238896,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004671955613980475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1747160464411913,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858099702085,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580054034028451,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696248400646588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1425222336586517,
+            "release_required_pad_clearance": 0.05348124200323294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9719166655413738,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "920f56e2cc1313d8a48926f467f1ecf9814648e795ee6a4340209b0d618848b4",
+    "visual_seed": 9030258150718371577,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c36d33258be07d7cc97c3cca4b69132908c917
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2762410308167527,
+              -0.09369534697679545,
+              1.0466132105924346
+            ],
+            "current_z": 1.0466132105924346,
+            "required_z": 0.8565865240583108,
+            "initial_z": 0.7565865240583108,
+            "lift_margin": 0.1900266865341238,
+            "gripper_z": 1.049929172924248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27196107069532915,
+              -0.0980113005539554,
+              1.049929172924248
+            ],
+            "object_minus_gripper": [
+              0.004279960121423565,
+              0.004315953577159956,
+              -0.0033159623318133047
+            ],
+            "object_to_gripper_xy": 0.006078282152152517,
+            "object_to_gripper_z": -0.0033159623318133047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2762410308167527,
+              -0.11771808181723054,
+              1.0466132105924346
+            ],
+            "finger_b": [
+              0.2655383943573758,
+              -0.09369534697679545,
+              1.0466132105924346
+            ],
+            "finger_midpoint": [
+              0.2708897125870643,
+              -0.10570671439701299,
+              1.0466132105924346
+            ],
+            "object_minus_finger_midpoint": [
+              0.005351318229688429,
+              0.012011367420217536,
+              0.0
+            ],
+            "finger_gap": 0.02629901550239928,
+            "fingertip_max_gap": 0.09294672216004021,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013149507751199623,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466132105924346,
+            "object_top_z": 1.0924385281445272,
+            "finger_top_clearance": 0.045825317552092626,
+            "fingertip_min_top_clearance": 0.013747595265627754,
+            "object_projection_between_fingers": 0.8343838954149214,
+            "object_to_finger_line_xy": 0.009776282223710202,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897336108002011,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6892873711762273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2744914905129093,
+              -0.09823021232887198,
+              1.2420548167008902
+            ],
+            "held_position": [
+              0.2790326585319642,
+              -0.0941318243059247,
+              1.2388137066965845
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006922700731935142,
+            "max_held_gripper_dist": 0.006924437786653665,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003241110004305714,
+            "max_held_gripper_z_dist": 0.0033003492579928295,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595607929604196,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2790326585319642,
+              -0.11893297206999039,
+              1.2388137066965845
+            ],
+            "held_grasp_finger_b": [
+              0.27038773885714185,
+              -0.0941318243059247,
+              1.2388137066965845
+            ],
+            "held_grasp_midpoint": [
+              0.27471019869455304,
+              -0.10653239818795754,
+              1.2388137066965845
+            ],
+            "held_grasp_object_position": [
+              0.2790326585319642,
+              -0.0941318243059247,
+              1.2388137066965845
+            ],
+            "held_grasp_finger_gap": 0.02626464480245546,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0243182702689909,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05046061007919596,
+              -0.9981190558339725,
+              -0.03481489927508985
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037168159966753703,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.032605376000499335,
+            "held_grasp_min_top_clearance": 0.013560221716761588
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3608372351753383,
+              0.07076133353550743,
+              0.7625861955041904
+            ],
+            "target_position": [
+              0.35810460803526756,
+              0.06786478099257129,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003982118496559449,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17545644330916185,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861955041904,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549966912249347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857312538923539,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14399806500294446,
+            "release_required_pad_clearance": 0.052865626946176955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7722728981229275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a502455bc093723f0649c4fd9b31349323855d0f992443617a6af1d9136490e",
+    "visual_seed": 7102106040680917804,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eeb27d71e70b7ec5912e548190f51cb3f2338e3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_34_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28005599612296633,
+              -0.08539377616671927,
+              1.0476416266258952
+            ],
+            "current_z": 1.0476416266258952,
+            "required_z": 0.8565866604060326,
+            "initial_z": 0.7565866604060326,
+            "lift_margin": 0.19105496621986262,
+            "gripper_z": 1.0508928249267615,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2759384470636529,
+              -0.08970366101349664,
+              1.0508928249267615
+            ],
+            "object_minus_gripper": [
+              0.004117549059313441,
+              0.00430988484677737,
+              -0.003251198300866287
+            ],
+            "object_to_gripper_xy": 0.005960647418555656,
+            "object_to_gripper_z": -0.003251198300866287,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28005599612296633,
+              -0.10915395884080513,
+              1.0476416266258952
+            ],
+            "finger_b": [
+              0.26915412899269364,
+              -0.08539377616671927,
+              1.0476416266258952
+            ],
+            "finger_midpoint": [
+              0.27460506255783,
+              -0.0972738675037622,
+              1.0476416266258952
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450933565136318,
+              0.01188009133704293,
+              0.0
+            ],
+            "finger_gap": 0.02614186274220049,
+            "fingertip_max_gap": 0.09279515589294382,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013070931371100233,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476416266258952,
+            "object_top_z": 1.093388656211856,
+            "finger_top_clearance": 0.045747029585960775,
+            "fingertip_min_top_clearance": 0.013724108875788232,
+            "object_projection_between_fingers": 0.8260883365349118,
+            "object_to_finger_line_xy": 0.00990864182320651,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889757794647191,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6427310629624132,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2794746880837599,
+              -0.08984275047768865,
+              1.243364402585494
+            ],
+            "held_position": [
+              0.28391310016223575,
+              -0.085843249329406,
+              1.2401399780322793
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006789140218970904,
+            "max_held_gripper_dist": 0.0067906249375368054,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032244245532147,
+            "max_held_gripper_z_dist": 0.0032419713686142604,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08674284069166188,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28391310016223575,
+              -0.11076118408681869,
+              1.2401399780322793
+            ],
+            "held_grasp_finger_b": [
+              0.2754780674952946,
+              -0.085843249329406,
+              1.2401399780322793
+            ],
+            "held_grasp_midpoint": [
+              0.27969558382876514,
+              -0.09830221670811234,
+              1.2401399780322793
+            ],
+            "held_grasp_object_position": [
+              0.28391310016223575,
+              -0.085843249329406,
+              1.2401399780322793
+            ],
+            "held_grasp_finger_gap": 0.02630690496175938,
+            "held_grasp_max_gap": 0.12496603786945343,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024292734294212474,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0666133996411237,
+              -0.9974590887331666,
+              -0.025259083353378335
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003393170933058927,
+            "held_grasp_line_xy_max_dist": 0.047483018934726715,
+            "held_grasp_object_top_z": 0.04520081356167793,
+            "held_grasp_top_clearance": 0.032492560212542806,
+            "held_grasp_min_top_clearance": 0.013560244068503379
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3574552042222569,
+              0.07709503102119124,
+              0.7625847375384527
+            ],
+            "target_position": [
+              0.35592602892705794,
+              0.07481430389168808,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0027459230365577537,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1756541926370795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847375384527,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555891320607126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604102059250789,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.143852178214853,
+            "release_required_pad_clearance": 0.053020510296253945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0711763087655781,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfe2d6512fce0a73ad8686830eec16ba3adebe94efbb6c509a77d4c05f73336c",
+    "visual_seed": 2438111047610175296,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0586846ba0bee94b829fb4972160256bab83bf36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2709177369213871,
+              -0.08837883781495455,
+              1.0443834957698874
+            ],
+            "current_z": 1.0443834957698874,
+            "required_z": 0.8565866753847624,
+            "initial_z": 0.7565866753847624,
+            "lift_margin": 0.18779682038512502,
+            "gripper_z": 1.0477480330378208,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2667719826184872,
+              -0.0927353629438734,
+              1.0477480330378208
+            ],
+            "object_minus_gripper": [
+              0.004145754302899873,
+              0.004356525128918848,
+              -0.0033645372679333985
+            ],
+            "object_to_gripper_xy": 0.0060138664716565,
+            "object_to_gripper_z": -0.0033645372679333985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2709177369213871,
+              -0.11206853139863844,
+              1.0443834957698874
+            ],
+            "finger_b": [
+              0.25989898778743914,
+              -0.08837883781495455,
+              1.0443834957698874
+            ],
+            "finger_midpoint": [
+              0.2654083623544131,
+              -0.1002236846067965,
+              1.0443834957698874
+            ],
+            "object_minus_finger_midpoint": [
+              0.005509374566973979,
+              0.011844846791841945,
+              0.0
+            ],
+            "finger_gap": 0.0261268906409797,
+            "fingertip_max_gap": 0.09260294892589604,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01306344532048985,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443834957698874,
+            "object_top_z": 1.089964141475029,
+            "finger_top_clearance": 0.04558064570514153,
+            "fingertip_min_top_clearance": 0.013674193711542475,
+            "object_projection_between_fingers": 0.8221355572250505,
+            "object_to_finger_line_xy": 0.009990886181047716,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048801474462948025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7482690908958216,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26842963924754104,
+              -0.09352579181892072,
+              1.2403664155795486
+            ],
+            "held_position": [
+              0.27292553035046585,
+              -0.08945703122342993,
+              1.2370928410470217
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006890873661066945,
+            "max_held_gripper_dist": 0.006892251509390683,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032735745325269683,
+            "max_held_gripper_z_dist": 0.003354977795124059,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602868806835313,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27292553035046585,
+              -0.11423692177467631,
+              1.2370928410470217
+            ],
+            "held_grasp_finger_b": [
+              0.2644108807403566,
+              -0.08945703122342993,
+              1.2370928410470217
+            ],
+            "held_grasp_midpoint": [
+              0.26866820554541126,
+              -0.10184697649905312,
+              1.2370928410470217
+            ],
+            "held_grasp_object_position": [
+              0.27292553035046585,
+              -0.08945703122342993,
+              1.2370928410470217
+            ],
+            "held_grasp_finger_gap": 0.026201950952451668,
+            "held_grasp_max_gap": 0.12496582925319671,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024098316049454054,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07031286889818414,
+              -0.9966551482593786,
+              -0.041648720453131505
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034157741279850365,
+            "held_grasp_line_xy_max_dist": 0.04748291462659836,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.03255280590771849,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3606533617071681,
+              0.07604906573128359,
+              0.7625866155527743
+            ],
+            "target_position": [
+              0.3592312086492569,
+              0.07376731426037841,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0026886630683490525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17572399214276294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625866155527743,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751714867987107,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499520320306962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14483382029598957,
+            "release_required_pad_clearance": 0.05249760160153481,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055309021751837474,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e0e774e810a4730d59b7a9b4200f8b16adabd28fda28a9dd0462fb0dd474107",
+    "visual_seed": 421901990154128222,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ad007b07030157f7aa0e923cfdc25b81ce74323
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.277852441924823,
+              -0.0958710288918737,
+              1.0482295623436013
+            ],
+            "current_z": 1.0482295623436013,
+            "required_z": 0.8565865218995224,
+            "initial_z": 0.7565865218995225,
+            "lift_margin": 0.19164304044407887,
+            "gripper_z": 1.0514631562001713,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2736699012459152,
+              -0.1001728138301987,
+              1.0514631562001713
+            ],
+            "object_minus_gripper": [
+              0.004182540678907776,
+              0.004301784938325004,
+              -0.0032335938565699607
+            ],
+            "object_to_gripper_xy": 0.005999916681614685,
+            "object_to_gripper_z": -0.0032335938565699607,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.277852441924823,
+              -0.1197831599391184,
+              1.0482295623436013
+            ],
+            "finger_b": [
+              0.26712804235514565,
+              -0.0958710288918737,
+              1.0482295623436013
+            ],
+            "finger_midpoint": [
+              0.2724902421399843,
+              -0.10782709441549604,
+              1.0482295623436013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005362199784838706,
+              0.011956065523622342,
+              0.0
+            ],
+            "finger_gap": 0.02620692193583023,
+            "fingertip_max_gap": 0.09329644710895388,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01310346096791512,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482295623436013,
+            "object_top_z": 1.0942524992476088,
+            "finger_top_clearance": 0.046022936904007494,
+            "fingertip_min_top_clearance": 0.013806881071202247,
+            "object_projection_between_fingers": 0.8325388986879572,
+            "object_to_finger_line_xy": 0.00978532498173812,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04914822355447694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6395114871760517,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27601745621485496,
+              -0.10021037292715632,
+              1.244942110514955
+            ],
+            "held_position": [
+              0.280472299121876,
+              -0.09613155177446812,
+              1.2417820349053035
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006816779678159356,
+            "max_held_gripper_dist": 0.0068176505854608245,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031600756096514804,
+            "max_held_gripper_z_dist": 0.00321804806167747,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668446187997704,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.280472299121876,
+              -0.12087188414859253,
+              1.2417820349053035
+            ],
+            "held_grasp_finger_b": [
+              0.27176047718994245,
+              -0.09613155177446812,
+              1.2417820349053035
+            ],
+            "held_grasp_midpoint": [
+              0.2761163881559092,
+              -0.10850171796153033,
+              1.2417820349053035
+            ],
+            "held_grasp_object_position": [
+              0.280472299121876,
+              -0.09613155177446812,
+              1.2417820349053035
+            ],
+            "held_grasp_finger_gap": 0.026229370700721476,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024244675035488425,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.051752558201271184,
+              -0.9981892617129376,
+              -0.03065730778468078
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037295709358297863,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03262753129068535,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3594021256901599,
+              0.07420380272102235,
+              0.7625842929049831
+            ],
+            "target_position": [
+              0.3571017899639952,
+              0.07118014979896653,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037992132667338187,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17473230455062175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842929049831,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545919744209904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558062722386948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14323059619357884,
+            "release_required_pad_clearance": 0.052790313611934744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6255704666204915,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69e289a01c663aa1da019eef28b274a1bccffd6b40c374d21e6de34b4f811448",
+    "visual_seed": 8437705619020649879,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3a4932b09944c1b9edeedec96b1846a3377261
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2708465857293614,
+              -0.09450005557443018,
+              1.047889540211796
+            ],
+            "current_z": 1.047889540211796,
+            "required_z": 0.8565865943753507,
+            "initial_z": 0.7565865943753507,
+            "lift_margin": 0.19130294583644536,
+            "gripper_z": 1.051565450862046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26611983222177343,
+              -0.09903647500602261,
+              1.051565450862046
+            ],
+            "object_minus_gripper": [
+              0.004726753507587944,
+              0.004536419431592428,
+              -0.0036759106502499694
+            ],
+            "object_to_gripper_xy": 0.006551434955856946,
+            "object_to_gripper_z": -0.0036759106502499694,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2708465857293614,
+              -0.11894480145614957,
+              1.047889540211796
+            ],
+            "finger_b": [
+              0.2599829670417326,
+              -0.09450005557443018,
+              1.047889540211796
+            ],
+            "finger_midpoint": [
+              0.265414776385547,
+              -0.10672242851528987,
+              1.047889540211796
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054318093438143755,
+              0.012222372940859691,
+              0.0
+            ],
+            "finger_gap": 0.02675002452731648,
+            "fingertip_max_gap": 0.09299862674551498,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01337501226365824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047889540211796,
+            "object_top_z": 1.0936558234903313,
+            "finger_top_clearance": 0.04576628327853527,
+            "fingertip_min_top_clearance": 0.01372988498356058,
+            "object_projection_between_fingers": 0.8350696206598749,
+            "object_to_finger_line_xy": 0.009927407651675275,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048999313372757494,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.710315492248761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2676280508142191,
+              -0.0995312660713045,
+              1.2469651910100903
+            ],
+            "held_position": [
+              0.2725964234723268,
+              -0.09516353404414925,
+              1.243406472680863
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007511743211641966,
+            "max_held_gripper_dist": 0.007513196596670177,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003558718329227384,
+            "max_held_gripper_z_dist": 0.0036578837976213308,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630538092259345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2725964234723268,
+              -0.12015507361692737,
+              1.243406472680863
+            ],
+            "held_grasp_finger_b": [
+              0.2633838115275508,
+              -0.09516353404414925,
+              1.243406472680863
+            ],
+            "held_grasp_midpoint": [
+              0.26799011749993884,
+              -0.10765930383053832,
+              1.243406472680863
+            ],
+            "held_grasp_object_position": [
+              0.2725964234723268,
+              -0.09516353404414925,
+              1.243406472680863
+            ],
+            "held_grasp_finger_gap": 0.026635488902266552,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460278521487775,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038006401326072754,
+              -0.9984548318460578,
+              -0.040539637658739906
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004159457274106859,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.03254920077101796,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3593980541854719,
+              0.07271272285900794,
+              0.7625823447905626
+            ],
+            "target_position": [
+              0.3564829629455632,
+              0.06967815815036305,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004207890196754834,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17695173373210765,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625823447905626,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548987051434862,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730725956844552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14536321156331472,
+            "release_required_pad_clearance": 0.053653629784222764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.315502664863777,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6afbcbc0bccf802e991533a3776cc245b9f152848b016bacf3f8adf818e91a2e",
+    "visual_seed": 2021912926041360578,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b75c5f0cac23078d4868b99c1f6f2eae65df9c7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_38_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2770203248715577,
+              -0.09137132553769081,
+              1.0445597250222154
+            ],
+            "current_z": 1.0445597250222154,
+            "required_z": 0.8565866015501252,
+            "initial_z": 0.7565866015501252,
+            "lift_margin": 0.18797312347209016,
+            "gripper_z": 1.0478789394741925,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27284198344965654,
+              -0.09578052863624358,
+              1.0478789394741925
+            ],
+            "object_minus_gripper": [
+              0.004178341421901155,
+              0.004409203098552764,
+              -0.003319214451977137
+            ],
+            "object_to_gripper_xy": 0.006074504835973238,
+            "object_to_gripper_z": -0.003319214451977137,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2770203248715577,
+              -0.11501570837934186,
+              1.0445597250222154
+            ],
+            "finger_b": [
+              0.26582681893149235,
+              -0.09137132553769081,
+              1.0445597250222154
+            ],
+            "finger_midpoint": [
+              0.271423571901525,
+              -0.10319351695851633,
+              1.0445597250222154
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055967529700327034,
+              0.011822191420825523,
+              0.0
+            ],
+            "finger_gap": 0.02616011114641604,
+            "fingertip_max_gap": 0.09244233098103474,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013080055573208032,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445597250222154,
+            "object_top_z": 1.0904632266166847,
+            "finger_top_clearance": 0.04590350159446932,
+            "fingertip_min_top_clearance": 0.013771050478340796,
+            "object_projection_between_fingers": 0.8169148591663655,
+            "object_to_finger_line_xy": 0.010117064805493358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048721165490517374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.514403898949348,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2751693041352905,
+              -0.09612656066070502,
+              1.2412202563283659
+            ],
+            "held_position": [
+              0.27971676815486657,
+              -0.0920516183842493,
+              1.2379606817412634
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006921662376529875,
+            "max_held_gripper_dist": 0.006923767723836297,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003259574587102465,
+            "max_held_gripper_z_dist": 0.003311416882167517,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601774139622544,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27971676815486657,
+              -0.11692790036872557,
+              1.2379606817412634
+            ],
+            "held_grasp_finger_b": [
+              0.2710788054373594,
+              -0.0920516183842493,
+              1.2379606817412634
+            ],
+            "held_grasp_midpoint": [
+              0.275397786796113,
+              -0.10448975937648744,
+              1.2379606817412634
+            ],
+            "held_grasp_object_position": [
+              0.27971676815486657,
+              -0.0920516183842493,
+              1.2379606817412634
+            ],
+            "held_grasp_finger_gap": 0.026333321197301,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02408942848157771,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0791383719382593,
+              -0.9958490904454254,
+              -0.044963397847369135
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033691412629148656,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.032472486388110684,
+            "held_grasp_min_top_clearance": 0.013560238480567931
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36113692827407695,
+              0.07380819068310744,
+              0.762585810760541
+            ],
+            "target_position": [
+              0.3570190652945219,
+              0.07027164257632341,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005428072220410105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17938040433201918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585810760541,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524541458981768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854190324870439,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14843171062576405,
+            "release_required_pad_clearance": 0.05270951624352195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47146683762645586,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c55aa40b996c80ba5d0fcea63a9a05bdddf3bd5b963f1d19373461d26c7cbf8",
+    "visual_seed": 87634313010640433,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75357f32d039285246f2a8d694c057acc10e6435
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2749423243209048,
+              -0.08918266490863551,
+              1.0471975267774143
+            ],
+            "current_z": 1.0471975267774143,
+            "required_z": 0.8565865326889559,
+            "initial_z": 0.7565865326889559,
+            "lift_margin": 0.19061099408845839,
+            "gripper_z": 1.0508989890297278,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2705726760396554,
+              -0.09355572057674437,
+              1.0508989890297278
+            ],
+            "object_minus_gripper": [
+              0.004369648281249416,
+              0.004373055668108861,
+              -0.003701462252313492
+            ],
+            "object_to_gripper_xy": 0.006182025718015497,
+            "object_to_gripper_z": -0.003701462252313492,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2749423243209048,
+              -0.11335123409155118,
+              1.0471975267774143
+            ],
+            "finger_b": [
+              0.26425592446144175,
+              -0.08918266490863551,
+              1.0471975267774143
+            ],
+            "finger_midpoint": [
+              0.2695991243911733,
+              -0.10126694950009335,
+              1.0471975267774143
+            ],
+            "object_minus_finger_midpoint": [
+              0.005343199929731535,
+              0.012084284591457842,
+              0.0
+            ],
+            "finger_gap": 0.02642572379908852,
+            "fingertip_max_gap": 0.09392820926424916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013212861899544265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471975267774143,
+            "object_top_z": 1.093339936757693,
+            "finger_top_clearance": 0.04614240998027874,
+            "fingertip_min_top_clearance": 0.013842722994083623,
+            "object_projection_between_fingers": 0.8364656240807833,
+            "object_to_finger_line_xy": 0.009773620442087622,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049464104632124584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0181260703102786,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.273191080809038,
+              -0.09336108458678646,
+              1.243974659748277
+            ],
+            "held_position": [
+              0.277791678955243,
+              -0.08917533222086782,
+              1.2403382636849358
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007204818006108265,
+            "max_held_gripper_dist": 0.007206196788224342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036363960633412074,
+            "max_held_gripper_z_dist": 0.003685047589751189,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619230087885757,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.277791678955243,
+              -0.11406360545785621,
+              1.2403382636849358
+            ],
+            "held_grasp_finger_b": [
+              0.26889971837926685,
+              -0.08917533222086782,
+              1.2403382636849358
+            ],
+            "held_grasp_midpoint": [
+              0.2733456986672549,
+              -0.10161946883936201,
+              1.2403382636849358
+            ],
+            "held_grasp_object_position": [
+              0.277791678955243,
+              -0.08917533222086782,
+              1.2403382636849358
+            ],
+            "held_grasp_finger_gap": 0.026429020178654113,
+            "held_grasp_max_gap": 0.12496600061655044,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02454597673229926,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.035729497081577626,
+              -0.9990119352593839,
+              -0.02643021467181339
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004012195212550461,
+            "held_grasp_line_xy_max_dist": 0.04748300030827522,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.032610045410273486,
+            "held_grasp_min_top_clearance": 0.013560221716761588
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3557898057882752,
+              0.07534412327049969,
+              0.7625845225716471
+            ],
+            "target_position": [
+              0.3542270445928169,
+              0.07259607370146022,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003161328674454497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17552607593203248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845225716471,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520235861626227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657416566948577,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14458184393224002,
+            "release_required_pad_clearance": 0.053287082834742885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5890138176689217,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb4d3a2031f4e31ab3a0ec475605bce90fa5bc1cd5a3c09b727ef98dfd273681",
+    "visual_seed": 8421048902967412653,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f05f5f7234c056b019b0bf366855a3f7a7093e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2733371598785186,
+              -0.08965425669018937,
+              1.0443947764833168
+            ],
+            "current_z": 1.0443947764833168,
+            "required_z": 0.8565866109460566,
+            "initial_z": 0.7565866109460566,
+            "lift_margin": 0.1878081655372602,
+            "gripper_z": 1.047990921808213,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.268645924777114,
+              -0.09419237358535691,
+              1.047990921808213
+            ],
+            "object_minus_gripper": [
+              0.004691235101404567,
+              0.004538116895167546,
+              -0.0035961453248962716
+            ],
+            "object_to_gripper_xy": 0.006527035447341729,
+            "object_to_gripper_z": -0.0035961453248962716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2733371598785186,
+              -0.11404038696493848,
+              1.0443947764833168
+            ],
+            "finger_b": [
+              0.26240370183355727,
+              -0.08965425669018937,
+              1.0443947764833168
+            ],
+            "finger_midpoint": [
+              0.2678704308560379,
+              -0.10184732182756392,
+              1.0443947764833168
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054667290224806875,
+              0.012193065137374559,
+              0.0
+            ],
+            "finger_gap": 0.026724966877396967,
+            "fingertip_max_gap": 0.09265489768224858,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013362483438698494,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443947764833168,
+            "object_top_z": 1.0899681329336537,
+            "finger_top_clearance": 0.04557335645033689,
+            "fingertip_min_top_clearance": 0.013672006935101049,
+            "object_projection_between_fingers": 0.8326287983083139,
+            "object_to_finger_line_xy": 0.009976616003345986,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882744884112429,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7232659470176064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2710376327557792,
+              -0.09418755959754936,
+              1.241083313216246
+            ],
+            "held_position": [
+              0.27598518068307965,
+              -0.08984961232128166,
+              1.2375669813660253
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007460603644846037,
+            "max_held_gripper_dist": 0.007462327727653515,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003516331850220711,
+            "max_held_gripper_z_dist": 0.0035781016726765813,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629073667578978,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27598518068307965,
+              -0.11487141960002212,
+              1.2375669813660253
+            ],
+            "held_grasp_finger_b": [
+              0.26679566247319614,
+              -0.08984961232128166,
+              1.2375669813660253
+            ],
+            "held_grasp_midpoint": [
+              0.27139042157813786,
+              -0.10236051596065189,
+              1.2375669813660253
+            ],
+            "held_grasp_object_position": [
+              0.27598518068307965,
+              -0.08984961232128166,
+              1.2375669813660253
+            ],
+            "held_grasp_finger_gap": 0.026655920250935054,
+            "held_grasp_max_gap": 0.12496580690145492,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024629811528965106,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03879603634092127,
+              -0.9985820821432313,
+              -0.03645123847995801
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041315335178914335,
+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.03252921955141545,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3535316397089598,
+              0.07040045402845065,
+              0.762585605660504
+            ],
+            "target_position": [
+              0.3504702817616461,
+              0.0669866257708991,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004585426463660522,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17696161396737278,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585605660504,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751563465726641,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670723658124911,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1462449719854997,
+            "release_required_pad_clearance": 0.05335361829062456,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7191432908637676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68e1418336d196547c8baa1b29050b3535db9afc64b185afd09602c40fc2d073",
+    "visual_seed": 6374884418001731921,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a733a1b2afa972efef14546ec1c9b7b11dc7516
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_40_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2724501562141227,
+              -0.09268105715868619,
+              1.0472987309748876
+            ],
+            "current_z": 1.0472987309748876,
+            "required_z": 0.8565865365233455,
+            "initial_z": 0.7565865365233455,
+            "lift_margin": 0.19071219445154208,
+            "gripper_z": 1.0506337953817964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2681871968318279,
+              -0.09703613252542159,
+              1.0506337953817964
+            ],
+            "object_minus_gripper": [
+              0.0042629593822948175,
+              0.004355075366735406,
+              -0.003335064406908783
+            ],
+            "object_to_gripper_xy": 0.0060942189118082185,
+            "object_to_gripper_z": -0.003335064406908783,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2724501562141227,
+              -0.11658865297659808,
+              1.0472987309748876
+            ],
+            "finger_b": [
+              0.26158745774330183,
+              -0.09268105715868619,
+              1.0472987309748876
+            ],
+            "finger_midpoint": [
+              0.2670188069787123,
+              -0.10463485506764214,
+              1.0472987309748876
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431349235410443,
+              0.011953797908955954,
+              0.0
+            ],
+            "finger_gap": 0.026259690703826135,
+            "fingertip_max_gap": 0.09178931685178585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013129845351913074,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472987309748876,
+            "object_top_z": 1.0926514281997903,
+            "finger_top_clearance": 0.04535269722490276,
+            "fingertip_min_top_clearance": 0.013605809167470794,
+            "object_projection_between_fingers": 0.8288817871201917,
+            "object_to_finger_line_xy": 0.00988972061633595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048394658425892925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4282619697450392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2700330761180312,
+              -0.09768273404421633,
+              1.2456907675924291
+            ],
+            "held_position": [
+              0.27461594991338517,
+              -0.09359043970294564,
+              1.2424503901264143
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006946196896287557,
+            "max_held_gripper_dist": 0.006948532537688453,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003240377466014799,
+            "max_held_gripper_z_dist": 0.003321553913095965,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0859608236021723,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27461594991338517,
+              -0.11843932540843218,
+              1.2424503901264143
+            ],
+            "held_grasp_finger_b": [
+              0.2659645819852181,
+              -0.09359043970294564,
+              1.2424503901264143
+            ],
+            "held_grasp_midpoint": [
+              0.2702902659493016,
+              -0.10601488255568892,
+              1.2424503901264143
+            ],
+            "held_grasp_object_position": [
+              0.27461594991338517,
+              -0.09359043970294564,
+              1.2424503901264143
+            ],
+            "held_grasp_finger_gap": 0.026311846910333954,
+            "held_grasp_max_gap": 0.12496601551771164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024209228851326973,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06533857427429733,
+              -0.9970063523534853,
+              -0.041342521434959416
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035429366511051186,
+            "held_grasp_line_xy_max_dist": 0.04748300775885582,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.03253087148542085,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3579931316949231,
+              0.07446402716485467,
+              0.7625854785773877
+            ],
+            "target_position": [
+              0.3547297157890691,
+              0.0711860667680374,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004625462975495889,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17607573274806895,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854785773877,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525546279480784,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512940905896137,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14512950750037804,
+            "release_required_pad_clearance": 0.052564704529480685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18970069712880108,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43623b02728c0d949390ec89916ac195a386f1f8e47e2334b72ebf7c3cc12636",
+    "visual_seed": 4837001835366856568,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd1de8ee7b9bf3a7c5b09bae51472af07c81657a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_41_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2782890159219799,
+              -0.09259742866110504,
+              1.0476194748859322
+            ],
+            "current_z": 1.0476194748859322,
+            "required_z": 0.8565865181062354,
+            "initial_z": 0.7565865181062355,
+            "lift_margin": 0.19103295677969678,
+            "gripper_z": 1.0512016943840825,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27368977631706337,
+              -0.09708448153156221,
+              1.0512016943840825
+            ],
+            "object_minus_gripper": [
+              0.0045992396049165385,
+              0.00448705287045717,
+              -0.0035822194981502964
+            ],
+            "object_to_gripper_xy": 0.006425468730428215,
+            "object_to_gripper_z": -0.0035822194981502964,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2782890159219799,
+              -0.11693468575527265,
+              1.0476194748859322
+            ],
+            "finger_b": [
+              0.2674384291460229,
+              -0.09259742866110504,
+              1.0476194748859322
+            ],
+            "finger_midpoint": [
+              0.2728637225340014,
+              -0.10476605720818885,
+              1.0476194748859322
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425293387978536,
+              0.01216862854708381,
+              0.0
+            ],
+            "finger_gap": 0.02664652540670518,
+            "fingertip_max_gap": 0.09338337907045813,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013323262703352608,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476194748859322,
+            "object_top_z": 1.0934329611156177,
+            "finger_top_clearance": 0.04581348622968551,
+            "fingertip_min_top_clearance": 0.013744045868905685,
+            "object_projection_between_fingers": 0.8341844425806364,
+            "object_to_finger_line_xy": 0.009910242178238765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049191689535229066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.01421709769027,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27643317797662953,
+              -0.09709560589855377,
+              1.2454925318925927
+            ],
+            "held_position": [
+              0.2812720626111935,
+              -0.09281539168927326,
+              1.2419726895044028
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073569238559090975,
+            "max_held_gripper_dist": 0.007358359691815618,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00351984238818992,
+            "max_held_gripper_z_dist": 0.0035652303756057435,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630780709018845,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2812720626111935,
+              -0.11783775131959069,
+              1.2419726895044028
+            ],
+            "held_grasp_finger_b": [
+              0.27217755232893365,
+              -0.09281539168927326,
+              1.2419726895044028
+            ],
+            "held_grasp_midpoint": [
+              0.27672480747006356,
+              -0.10532657150443198,
+              1.2419726895044028
+            ],
+            "held_grasp_object_position": [
+              0.2812720626111935,
+              -0.09281539168927326,
+              1.2419726895044028
+            ],
+            "held_grasp_finger_gap": 0.026623835162182575,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024688104669641952,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03395860803618372,
+              -0.9989841864998064,
+              -0.029621074652433695
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004136610139373394,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.04520070552825928,
+            "held_grasp_top_clearance": 0.032547816283482,
+            "held_grasp_min_top_clearance": 0.013560211658477784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36129906439109244,
+              0.07566689703748812,
+              0.7625864507447718
+            ],
+            "target_position": [
+              0.3583408147153153,
+              0.07258578649196422,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004271356147404951,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17727731388741028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864507447718,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585623731854671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08822963922584624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14475424452333396,
+            "release_required_pad_clearance": 0.054114819612923123,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2347423219817197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c88a4b083406733c05ba0a2520db8999996305abafc57694ffc2821965d6554",
+    "visual_seed": 2192045593117389355,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..520d77072667bc19edb5f70739ea1d45138d26fd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_42_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27028796535190613,
+              -0.09685305776431044,
+              1.0466352109035024
+            ],
+            "current_z": 1.0466352109035024,
+            "required_z": 0.8565865191962431,
+            "initial_z": 0.7565865191962431,
+            "lift_margin": 0.19004869170725935,
+            "gripper_z": 1.0499178055801723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2659501094536896,
+              -0.10132589882049135,
+              1.0499178055801723
+            ],
+            "object_minus_gripper": [
+              0.004337855898216558,
+              0.004472841056180912,
+              -0.0032825946766699143
+            ],
+            "object_to_gripper_xy": 0.006230834687868854,
+            "object_to_gripper_z": -0.0032825946766699143,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27028796535190613,
+              -0.1206541548721864,
+              1.0466352109035024
+            ],
+            "finger_b": [
+              0.25909882249248267,
+              -0.09685305776431044,
+              1.0466352109035024
+            ],
+            "finger_midpoint": [
+              0.2646933939221944,
+              -0.10875360631824843,
+              1.0466352109035024
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594571429711759,
+              0.01190054855393799,
+              0.0
+            ],
+            "finger_gap": 0.02629998367807723,
+            "fingertip_max_gap": 0.09241774225352214,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013149991839038632,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466352109035024,
+            "object_top_z": 1.0926124265272827,
+            "finger_top_clearance": 0.04597721562378032,
+            "fingertip_min_top_clearance": 0.013793164687134096,
+            "object_projection_between_fingers": 0.8189982892271025,
+            "object_to_finger_line_xy": 0.010126009164523745,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048708871126761075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4287062740583858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26555947161477245,
+              -0.1028540305676166,
+              1.2439683196835858
+            ],
+            "held_position": [
+              0.27025817023746135,
+              -0.0986293239545238,
+              1.2408582017757497
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007042637866184199,
+            "max_held_gripper_dist": 0.007043320024659389,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031101179078361074,
+            "max_held_gripper_z_dist": 0.003268247880531039,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572536573077506,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27025817023746135,
+              -0.12327196416830064,
+              1.2408582017757497
+            ],
+            "held_grasp_finger_b": [
+              0.2614147551113404,
+              -0.0986293239545238,
+              1.2408582017757497
+            ],
+            "held_grasp_midpoint": [
+              0.26583646267440086,
+              -0.11095064406141222,
+              1.2408582017757497
+            ],
+            "held_grasp_object_position": [
+              0.27025817023746135,
+              -0.0986293239545238,
+              1.2408582017757497
+            ],
+            "held_grasp_finger_gap": 0.026181400035111883,
+            "held_grasp_max_gap": 0.12496621668338775,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02383600436450784,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07600845086169239,
+              -0.9945435406255492,
+              -0.07145530909318398
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035852313030864296,
+            "held_grasp_line_xy_max_dist": 0.04748310834169388,
+            "held_grasp_object_top_z": 0.04520083963871002,
+            "held_grasp_top_clearance": 0.03261066317239279,
+            "held_grasp_min_top_clearance": 0.013560251891613006
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3615284716448145,
+              0.0781060380791797,
+              0.7625838134599962
+            ],
+            "target_position": [
+              0.3583488484364346,
+              0.07489975891451651,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004515554210617034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17730091188959915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625838134599962,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585979182418434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623680566713669,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14492158321251664,
+            "release_required_pad_clearance": 0.05311840283356835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.256761458097337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ecec2816c3fcf26dfc9e3f479f0ab768b8c9bdb5ddb851ad6635d34f7bb28b0",
+    "visual_seed": 6887216546544368499,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_44_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..662ff3f7bb021fa48b6fd4a3661e7bec7a8ffb06
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_44_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2731572363489117,
+              -0.09334862954250515,
+              1.0447659180686866
+            ],
+            "current_z": 1.0447659180686866,
+            "required_z": 0.8565866229587027,
+            "initial_z": 0.7565866229587027,
+            "lift_margin": 0.18817929510998388,
+            "gripper_z": 1.0481710230097132,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26889639382895636,
+              -0.09769785490102378,
+              1.0481710230097132
+            ],
+            "object_minus_gripper": [
+              0.0042608425199553435,
+              0.00434922535851863,
+              -0.0034051049410266376
+            ],
+            "object_to_gripper_xy": 0.006088558137937167,
+            "object_to_gripper_z": -0.0034051049410266376,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2731572363489117,
+              -0.11735946358876731,
+              1.0447659180686866
+            ],
+            "finger_b": [
+              0.26243028641649196,
+              -0.09334862954250515,
+              1.0447659180686866
+            ],
+            "finger_midpoint": [
+              0.26779376138270183,
+              -0.10535404656563624,
+              1.0447659180686866
+            ],
+            "object_minus_finger_midpoint": [
+              0.005363474966209869,
+              0.012005417023131085,
+              0.0
+            ],
+            "finger_gap": 0.026298053282510888,
+            "fingertip_max_gap": 0.0950341063546403,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013149026641255451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447659180686866,
+            "object_top_z": 1.0914450006915868,
+            "finger_top_clearance": 0.046679082622900214,
+            "fingertip_min_top_clearance": 0.014003724786870064,
+            "object_projection_between_fingers": 0.8336183966000623,
+            "object_to_finger_line_xy": 0.009793995467382452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05001705317732015,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.206904708668066,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27077247716819763,
+              -0.09813190089374149,
+              1.2400456221972505
+            ],
+            "held_position": [
+              0.27530189317886844,
+              -0.09398181886814128,
+              1.2367362047915562
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006977896085643796,
+            "max_held_gripper_dist": 0.0069815724123664545,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003309417405694237,
+            "max_held_gripper_z_dist": 0.003388439555012779,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08627624978825285,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27530189317886844,
+              -0.1187481645678369,
+              1.2367362047915562
+            ],
+            "held_grasp_finger_b": [
+              0.26659499407428083,
+              -0.09398181886814128,
+              1.2367362047915562
+            ],
+            "held_grasp_midpoint": [
+              0.27094844362657466,
+              -0.10636499171798909,
+              1.2367362047915562
+            ],
+            "held_grasp_object_position": [
+              0.27530189317886844,
+              -0.09398181886814128,
+              1.2367362047915562
+            ],
+            "held_grasp_finger_gap": 0.026252275545832225,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024352566834591045,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04350320362987509,
+              -0.9985867571745409,
+              -0.030528014504260792
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003829611667349605,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.03264561430390971,
+            "held_grasp_min_top_clearance": 0.013560202717781066
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3576259067833767,
+              0.07060078691006037,
+              0.7625847676275617
+            ],
+            "target_position": [
+              0.3557477705096364,
+              0.06814176789241952,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003094215634350396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.175159856363489,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847676275617,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590883609650119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08793562393010866,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14257670307492035,
+            "release_required_pad_clearance": 0.05396781196505433,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9342655049265525,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b19a5df8ceb5096f262e796199b5826b5f659b7dfe379a4a4ff808ea3ca0cabe",
+    "visual_seed": 4287872873258014877,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c1f5100264c3dfd8322d0a8080292c97f274b7c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27832066460283394,
+              -0.08589448154032228,
+              1.0457458950724008
+            ],
+            "current_z": 1.0457458950724008,
+            "required_z": 0.8565865865678003,
+            "initial_z": 0.7565865865678003,
+            "lift_margin": 0.1891593085046005,
+            "gripper_z": 1.0490654070527017,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2739213538663933,
+              -0.09033084852747424,
+              1.0490654070527017
+            ],
+            "object_minus_gripper": [
+              0.00439931073644062,
+              0.0044363669871519545,
+              -0.0033195119803008932
+            ],
+            "object_to_gripper_xy": 0.0062478225807439045,
+            "object_to_gripper_z": -0.0033195119803008932,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27832066460283394,
+              -0.1098974407586829,
+              1.0457458950724008
+            ],
+            "finger_b": [
+              0.2672913069578561,
+              -0.08589448154032228,
+              1.0457458950724008
+            ],
+            "finger_midpoint": [
+              0.272805985780345,
+              -0.09789596114950258,
+              1.0457458950724008
+            ],
+            "object_minus_finger_midpoint": [
+              0.005514678822488961,
+              0.012001479609180299,
+              0.0
+            ],
+            "finger_gap": 0.026415691951927254,
+            "fingertip_max_gap": 0.0917880080037623,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013207845975963632,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457458950724008,
+            "object_top_z": 1.0911921174577528,
+            "finger_top_clearance": 0.04544622238535201,
+            "fingertip_min_top_clearance": 0.013633866715605602,
+            "object_projection_between_fingers": 0.8256682633470335,
+            "object_to_finger_line_xy": 0.01002196808771471,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839400400188115,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2012609922594943,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2772782884757689,
+              -0.09039597688611459,
+              1.242009994316199
+            ],
+            "held_position": [
+              0.2819963271998083,
+              -0.08627378321736193,
+              1.2387245982527262
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007074333702768282,
+            "max_held_gripper_dist": 0.007075652170382445,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032853960634728896,
+            "max_held_gripper_z_dist": 0.0033082068208518667,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08627976331682233,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2819963271998083,
+              -0.11133423678203007,
+              1.2387245982527262
+            ],
+            "held_grasp_finger_b": [
+              0.2732739112683381,
+              -0.08627378321736193,
+              1.2387245982527262
+            ],
+            "held_grasp_midpoint": [
+              0.27763511923407325,
+              -0.09880400999969599,
+              1.2387245982527262
+            ],
+            "held_grasp_object_position": [
+              0.2819963271998083,
+              -0.08627378321736193,
+              1.2387245982527262
+            ],
+            "held_grasp_finger_gap": 0.026535012201776988,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024384738648589695,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06939104038260858,
+              -0.9971885026038306,
+              -0.028283807900450375
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003499637894159097,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.04520076885819435,
+            "held_grasp_top_clearance": 0.032403142017764945,
+            "held_grasp_min_top_clearance": 0.013560230657458304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.355111194520443,
+              0.07288187983673404,
+              0.7625856449992228
+            ],
+            "target_position": [
+              0.3530500419472694,
+              0.07037364755581221,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0032464717933409428,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17534306478785922,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856449992228,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578377728705939,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648963845463879,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14314704105227907,
+            "release_required_pad_clearance": 0.0532448192273194,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5045047354295442,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bee9cd99258dc3c3d8be5ea7295e3ce4120b028ea7ae4e035353aca57f879f63",
+    "visual_seed": 3648612863391096355,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4511568d10d3c5eb7f776cacfe656d745531bfa1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2732213634528271,
+              -0.09453662684276472,
+              1.0466455380923314
+            ],
+            "current_z": 1.0466455380923314,
+            "required_z": 0.8565866046687225,
+            "initial_z": 0.7565866046687225,
+            "lift_margin": 0.1900589334236089,
+            "gripper_z": 1.0498585827791045,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26912547802237863,
+              -0.09888844255126594,
+              1.0498585827791045
+            ],
+            "object_minus_gripper": [
+              0.004095885430448476,
+              0.004351815708501225,
+              -0.003213044686773081
+            ],
+            "object_to_gripper_xy": 0.005976167452483081,
+            "object_to_gripper_z": -0.003213044686773081,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2732213634528271,
+              -0.1181396071055061,
+              1.0466455380923314
+            ],
+            "finger_b": [
+              0.26215906693545477,
+              -0.09453662684276472,
+              1.0466455380923314
+            ],
+            "finger_midpoint": [
+              0.26769021519414093,
+              -0.10633811697413541,
+              1.0466455380923314
+            ],
+            "object_minus_finger_midpoint": [
+              0.005531148258686169,
+              0.01180149013137069,
+              0.0
+            ],
+            "finger_gap": 0.026066742825324903,
+            "fingertip_max_gap": 0.09226279265464066,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033371412662451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466455380923314,
+            "object_top_z": 1.0920256186168067,
+            "finger_top_clearance": 0.045380080524475286,
+            "fingertip_min_top_clearance": 0.013614024157342586,
+            "object_projection_between_fingers": 0.8198986135529488,
+            "object_to_finger_line_xy": 0.010016716246820843,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863139632732033,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8267353055121909,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27009865385918297,
+              -0.0999952646931282,
+              1.244450623139226
+            ],
+            "held_position": [
+              0.2745763879562737,
+              -0.09594679435338434,
+              1.2413547086354344
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006784165486691951,
+            "max_held_gripper_dist": 0.0067859454757828366,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030959145037916525,
+            "max_held_gripper_z_dist": 0.0032004065147885896,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08674691307371996,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2745763879562737,
+              -0.12068918195810882,
+              1.2413547086354344
+            ],
+            "held_grasp_finger_b": [
+              0.2660589244850317,
+              -0.09594679435338434,
+              1.2413547086354344
+            ],
+            "held_grasp_midpoint": [
+              0.27031765622065274,
+              -0.10831798815574659,
+              1.2413547086354344
+            ],
+            "held_grasp_object_position": [
+              0.2745763879562737,
+              -0.09594679435338434,
+              1.2413547086354344
+            ],
+            "held_grasp_finger_gap": 0.026167402017899397,
+            "held_grasp_max_gap": 0.12496577709913254,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024020279865572543,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07366133232776072,
+              -0.996172558876689,
+              -0.047055722933231126
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003387568705577948,
+            "held_grasp_line_xy_max_dist": 0.04748288854956627,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.0325631318110962,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3566554250206432,
+              0.07435077989738152,
+              0.7625857745098534
+            ],
+            "target_position": [
+              0.35492802874727686,
+              0.07189970730723316,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002998608798662547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17621419045090983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857745098534,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528217545548238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14504099648657254,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0544bcaa53f605956b4ffa6f6590f5747d1bba457fdf9a6836548aadea775297",
+    "visual_seed": 8744656137870778256,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34872693bea65bb5315cb70a22198f6433784e84
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27261394183243803,
+              -0.0905768190035405,
+              1.0454368915094998
+            ],
+            "current_z": 1.0454368915094998,
+            "required_z": 0.8565865804647824,
+            "initial_z": 0.7565865804647824,
+            "lift_margin": 0.1888503110447174,
+            "gripper_z": 1.0491764545980766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26806290007576783,
+              -0.09501073420950631,
+              1.0491764545980766
+            ],
+            "object_minus_gripper": [
+              0.004551041756670204,
+              0.0044339152059658105,
+              -0.003739563088576814
+            ],
+            "object_to_gripper_xy": 0.006353863794940104,
+            "object_to_gripper_z": -0.003739563088576814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27261394183243803,
+              -0.11483218439857767,
+              1.0454368915094998
+            ],
+            "finger_b": [
+              0.2617980284908124,
+              -0.0905768190035405,
+              1.0454368915094998
+            ],
+            "finger_midpoint": [
+              0.2672059851616252,
+              -0.10270450170105909,
+              1.0454368915094998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005407956670812841,
+              0.012127682697518585,
+              0.0
+            ],
+            "finger_gap": 0.026557611561665743,
+            "fingertip_max_gap": 0.09234865871617978,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013278805780832882,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454368915094998,
+            "object_top_z": 1.0911354025963753,
+            "finger_top_clearance": 0.045698511086875504,
+            "fingertip_min_top_clearance": 0.013709553326062617,
+            "object_projection_between_fingers": 0.8341374381823954,
+            "object_to_finger_line_xy": 0.009878295326860817,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867432935808989,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.269621164221944,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2702845763885786,
+              -0.09521998032212677,
+              1.2434287101717072
+            ],
+            "held_position": [
+              0.27508772965160744,
+              -0.09098666550655714,
+              1.2397721680564378
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007373027589573019,
+            "max_held_gripper_dist": 0.0073739015466450526,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036565421152694455,
+            "max_held_gripper_z_dist": 0.0037213890647762593,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620481140077024,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27508772965160744,
+              -0.11595132880828081,
+              1.2397721680564378
+            ],
+            "held_grasp_finger_b": [
+              0.26608876508236246,
+              -0.09098666550655714,
+              1.2397721680564378
+            ],
+            "held_grasp_midpoint": [
+              0.27058824736698495,
+              -0.10346899715741897,
+              1.2397721680564378
+            ],
+            "held_grasp_object_position": [
+              0.27508772965160744,
+              -0.09098666550655714,
+              1.2397721680564378
+            ],
+            "held_grasp_finger_gap": 0.026537064213792663,
+            "held_grasp_max_gap": 0.12496594101190567,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024459286168871133,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05094734215513491,
+              -0.998121192129275,
+              -0.03403607130329144
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003881448982382108,
+            "held_grasp_line_xy_max_dist": 0.047482970505952835,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.03251263382035603,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3547925964683968,
+              0.07268754707361995,
+              0.7625845600582504
+            ],
+            "target_position": [
+              0.3515229993296438,
+              0.06942626273933075,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004618034317631444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17591074444698118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845600582504,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545177278670089,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633400984395588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1446112379222335,
+            "release_required_pad_clearance": 0.05316700492197794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.353903502174666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53695f2a374dfede2532a8078c7c739b232e2825389e1c1fcb51dc22816299ce",
+    "visual_seed": 3798014047267784925,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff3c2626a6d71ab4b513908bea2b971b0d7a6698
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26928479159111113,
+              -0.0918846848716352,
+              1.044651528261619
+            ],
+            "current_z": 1.044651528261619,
+            "required_z": 0.8565866327931153,
+            "initial_z": 0.7565866327931153,
+            "lift_margin": 0.18806489546850358,
+            "gripper_z": 1.0480238890318845,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2650839938189129,
+              -0.09627819348608177,
+              1.0480238890318845
+            ],
+            "object_minus_gripper": [
+              0.004200797772198228,
+              0.004393508614446567,
+              -0.0033723607702655922
+            ],
+            "object_to_gripper_xy": 0.006078619898309302,
+            "object_to_gripper_z": -0.0033723607702655922,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26928479159111113,
+              -0.11559495908398586,
+              1.044651528261619
+            ],
+            "finger_b": [
+              0.25820917600529697,
+              -0.0918846848716352,
+              1.044651528261619
+            ],
+            "finger_midpoint": [
+              0.26374698379820405,
+              -0.10373982197781054,
+              1.044651528261619
+            ],
+            "object_minus_finger_midpoint": [
+              0.005537807792907079,
+              0.011855137106175334,
+              0.0
+            ],
+            "finger_gap": 0.026169569423847804,
+            "fingertip_max_gap": 0.09212983746074377,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013084784711923909,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044651528261619,
+            "object_top_z": 1.090042964237738,
+            "finger_top_clearance": 0.045391435976119165,
+            "fingertip_min_top_clearance": 0.01361743079283575,
+            "object_projection_between_fingers": 0.8208806133995139,
+            "object_to_finger_line_xy": 0.010034780410675407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856491873037189,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6341716604883647,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2655129658292645,
+              -0.09746920453549758,
+              1.2425038596462492
+            ],
+            "held_position": [
+              0.2700814559503402,
+              -0.09334708564347638,
+              1.239270797440785
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069509465089817426,
+            "max_held_gripper_dist": 0.006952878791943581,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032330622054641545,
+            "max_held_gripper_z_dist": 0.0033575439026958254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622173331327583,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2700814559503402,
+              -0.1180655990312917,
+              1.239270797440785
+            ],
+            "held_grasp_finger_b": [
+              0.26145169860475737,
+              -0.09334708564347638,
+              1.239270797440785
+            ],
+            "held_grasp_midpoint": [
+              0.2657665772775488,
+              -0.10570634233738405,
+              1.239270797440785
+            ],
+            "held_grasp_object_position": [
+              0.2700814559503402,
+              -0.09334708564347638,
+              1.239270797440785
+            ],
+            "held_grasp_finger_gap": 0.02618162745031803,
+            "held_grasp_max_gap": 0.12496618688106537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023987786170239424,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07308945261114379,
+              -0.9959551379384517,
+              -0.052261794180863616
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034623599440231656,
+            "held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "held_grasp_object_top_z": 0.04520083963871002,
+            "held_grasp_top_clearance": 0.03257620231303466,
+            "held_grasp_min_top_clearance": 0.013560251891613006
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3596117259945353,
+              0.06923609042804402,
+              0.7625866685795251
+            ],
+            "target_position": [
+              0.35784653023631435,
+              0.06670260232041014,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0030877950152760182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17520729045621683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625866685795251,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532000435021007,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1439208992646894,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efb98ac46ac8cee183d09d7940c7233acd24f9cfd312ee8d8508f819ec083d47",
+    "visual_seed": 4076069667753605310,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae47a35f37aee98cb50e29ac854099c3dd41b01
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27495774939807494,
+              -0.08853632564219328,
+              1.04721175121207
+            ],
+            "current_z": 1.04721175121207,
+            "required_z": 0.8565866390628857,
+            "initial_z": 0.7565866390628857,
+            "lift_margin": 0.19062511214918432,
+            "gripper_z": 1.0505398467715044,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2707134239850658,
+              -0.09290475995351019,
+              1.0505398467715044
+            ],
+            "object_minus_gripper": [
+              0.00424432541300912,
+              0.004368434311316907,
+              -0.003328095559434363
+            ],
+            "object_to_gripper_xy": 0.0060907730661883845,
+            "object_to_gripper_z": -0.003328095559434363,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27495774939807494,
+              -0.11239134877223281,
+              1.04721175121207
+            ],
+            "finger_b": [
+              0.26400835645861176,
+              -0.08853632564219328,
+              1.04721175121207
+            ],
+            "finger_midpoint": [
+              0.26948305292834335,
+              -0.10046383720721305,
+              1.04721175121207
+            ],
+            "object_minus_finger_midpoint": [
+              0.005474696469731588,
+              0.011927511565019769,
+              0.0
+            ],
+            "finger_gap": 0.026247882472258344,
+            "fingertip_max_gap": 0.09181309857142295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013123941236129177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04721175121207,
+            "object_top_z": 1.0925875416532889,
+            "finger_top_clearance": 0.045375790441218866,
+            "fingertip_min_top_clearance": 0.013612737132365693,
+            "object_projection_between_fingers": 0.8259830560187599,
+            "object_to_finger_line_xy": 0.009951203572587157,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048406549285711475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4332616184164004,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27342659217391063,
+              -0.09311749792471972,
+              1.244532869910714
+            ],
+            "held_position": [
+              0.27799893660672526,
+              -0.08904833261697871,
+              1.2412617511018875
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006940076237007264,
+            "max_held_gripper_dist": 0.006941473543012935,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032711188088265786,
+            "max_held_gripper_z_dist": 0.0033181630754797187,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861163030199034,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27799893660672526,
+              -0.11398448855164824,
+              1.2412617511018875
+            ],
+            "held_grasp_finger_b": [
+              0.2693849474421381,
+              -0.08904833261697871,
+              1.2412617511018875
+            ],
+            "held_grasp_midpoint": [
+              0.2736919420244317,
+              -0.10151641058431347,
+              1.2412617511018875
+            ],
+            "held_grasp_object_position": [
+              0.27799893660672526,
+              -0.08904833261697871,
+              1.2412617511018875
+            ],
+            "held_grasp_finger_gap": 0.026382052272819475,
+            "held_grasp_max_gap": 0.12496594101190567,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024272917418628023,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06848756042215307,
+              -0.9970609979802793,
+              -0.03433395366094416
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034701100574293154,
+            "held_grasp_line_xy_max_dist": 0.047482970505952835,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.03247432924317252,
+            "held_grasp_min_top_clearance": 0.013560221716761588
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3569452888215263,
+              0.07104451153319873,
+              0.7625853152544462
+            ],
+            "target_position": [
+              0.3549943366463819,
+              0.06829519283725509,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003371196772893256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1735201496042962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853152544462,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752525249130912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515404649862256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1426534240004954,
+            "release_required_pad_clearance": 0.05257702324931128,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2130198256102229,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e369849af75ea89c662775d74f8e0fdf1292c7dd997d2e8a6a68c75336b53005",
+    "visual_seed": 7676810358725451625,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3836679d0482cbcaaa3a9cc3c144dafc76267c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27927625986338883,
+              -0.08870529331575051,
+              1.0455975773045998
+            ],
+            "current_z": 1.0455975773045998,
+            "required_z": 0.8565866215638881,
+            "initial_z": 0.7565866215638881,
+            "lift_margin": 0.1890109557407117,
+            "gripper_z": 1.049367594694347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27454458360319345,
+              -0.09325687851587416,
+              1.049367594694347
+            ],
+            "object_minus_gripper": [
+              0.004731676260195383,
+              0.004551585200123651,
+              -0.003770017389747249
+            ],
+            "object_to_gripper_xy": 0.006565492218050466,
+            "object_to_gripper_z": -0.003770017389747249,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27927625986338883,
+              -0.1131327609226255,
+              1.0455975773045998
+            ],
+            "finger_b": [
+              0.2683166804986312,
+              -0.08870529331575051,
+              1.0455975773045998
+            ],
+            "finger_midpoint": [
+              0.27379647018101005,
+              -0.10091902711918802,
+              1.0455975773045998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005479789682378777,
+              0.012213733803437501,
+              0.0
+            ],
+            "finger_gap": 0.026773373966262597,
+            "fingertip_max_gap": 0.09456798028467917,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013386686983131293,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0455975773045998,
+            "object_top_z": 1.0919478777191796,
+            "finger_top_clearance": 0.04635030041457977,
+            "fingertip_min_top_clearance": 0.013905090124373914,
+            "object_projection_between_fingers": 0.8324356741586602,
+            "object_to_finger_line_xy": 0.009999291469761787,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049783990142339585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2673949753365386,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.277456828159369,
+              -0.09249326896412481,
+              1.2432623513633945
+            ],
+            "held_position": [
+              0.2823949714253402,
+              -0.08812709830559634,
+              1.2395411182779876
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075694306794222045,
+            "max_held_gripper_dist": 0.007571520240997501,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037212330854068387,
+            "max_held_gripper_z_dist": 0.003752246808049753,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588570062423485,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2823949714253402,
+              -0.1131718279035293,
+              1.2395411182779876
+            ],
+            "held_grasp_finger_b": [
+              0.27297389997472865,
+              -0.08812709830559634,
+              1.2395411182779876
+            ],
+            "held_grasp_midpoint": [
+              0.2776844357000344,
+              -0.10064946310456283,
+              1.2395411182779876
+            ],
+            "held_grasp_object_position": [
+              0.2823949714253402,
+              -0.08812709830559634,
+              1.2395411182779876
+            ],
+            "held_grasp_finger_gap": 0.026758084159952615,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482937962001931,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021774721577391864,
+              -0.9995923785051883,
+              -0.018464515551926294
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004442818031358257,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03258084843341975,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35216183259477585,
+              0.07569075842337337,
+              0.7625839925749884
+            ],
+            "target_position": [
+              0.35008380123188837,
+              0.07283086254442402,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035351405606532135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17602392623147464,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625839925749884,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535388803807931,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08734355671249731,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1448095355848358,
+            "release_required_pad_clearance": 0.05367177835624866,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3480615720823748,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a97b6766831ebab7ce49f87889295be1f78608ad0f330b066dff97691cc7f6b",
+    "visual_seed": 1115056726022522858,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f44d97a29001d265c6c1a12d29f2242fc7d3d8fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27372186427994355,
+              -0.09383005842105101,
+              1.0452782063754764
+            ],
+            "current_z": 1.0452782063754764,
+            "required_z": 0.8565866232060011,
+            "initial_z": 0.7565866232060011,
+            "lift_margin": 0.18869158316947532,
+            "gripper_z": 1.049188956076218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26913402976016043,
+              -0.09827085960714485,
+              1.049188956076218
+            ],
+            "object_minus_gripper": [
+              0.004587834519783118,
+              0.004440801186093843,
+              -0.003910749700741567
+            ],
+            "object_to_gripper_xy": 0.006385056049505445,
+            "object_to_gripper_z": -0.003910749700741567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27372186427994355,
+              -0.11815826430588469,
+              1.0452782063754764
+            ],
+            "finger_b": [
+              0.262964998422763,
+              -0.09383005842105101,
+              1.0452782063754764
+            ],
+            "finger_midpoint": [
+              0.2683434313513533,
+              -0.10599416136346784,
+              1.0452782063754764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005378432928590249,
+              0.012164102942416835,
+              0.0
+            ],
+            "finger_gap": 0.02660022113900997,
+            "fingertip_max_gap": 0.09621321460963403,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013300110569504968,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452782063754764,
+            "object_top_z": 1.0922730549974882,
+            "finger_top_clearance": 0.04699484862201175,
+            "fingertip_min_top_clearance": 0.014098454586603509,
+            "object_projection_between_fingers": 0.8364686539922127,
+            "object_to_finger_line_xy": 0.00983808540092333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05060660730481702,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8413134968672225,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27083844285456893,
+              -0.09774020285098307,
+              1.2426777392217698
+            ],
+            "held_position": [
+              0.2755857262980201,
+              -0.09339979972121927,
+              1.2388567733430924
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007481682943519191,
+            "max_held_gripper_dist": 0.007488243257144867,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003820965878677418,
+            "max_held_gripper_z_dist": 0.0038913553509858367,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600751143472216,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2755857262980201,
+              -0.11814063108675843,
+              1.2388567733430924
+            ],
+            "held_grasp_finger_b": [
+              0.2662271573314804,
+              -0.09339979972121927,
+              1.2388567733430924
+            ],
+            "held_grasp_midpoint": [
+              0.2709064418147502,
+              -0.10577021540398884,
+              1.2388567733430924
+            ],
+            "held_grasp_object_position": [
+              0.2755857262980201,
+              -0.09339979972121927,
+              1.2388567733430924
+            ],
+            "held_grasp_finger_gap": 0.026451683306729763,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024666513467077208,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007224364516744076,
+              -0.9997288617834434,
+              -0.02213620280241946
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004597977685991215,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.03279982790528041,
+            "held_grasp_min_top_clearance": 0.013560208305716514
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3585242625320498,
+              0.07349138442724193,
+              0.7625850532116711
+            ],
+            "target_position": [
+              0.3572331519434783,
+              0.07114761359805133,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0026758602825420683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17521835435738095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850532116711,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532009406164294,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770063936679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14405642143324535,
+            "release_required_pad_clearance": 0.053850319683395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7000363581182207,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f53b639c6b71c2a1375c8f3737b2231ebca67d48761d329c2e1b21973f962387",
+    "visual_seed": 8023969850792923752,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3bbf7ec1b88640c072e49d14df4a8d246c6332
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2751768571983273,
+              -0.08851601473110296,
+              1.047924689824195
+            ],
+            "current_z": 1.047924689824195,
+            "required_z": 0.856586667730289,
+            "initial_z": 0.756586667730289,
+            "lift_margin": 0.19133802209390594,
+            "gripper_z": 1.0513478557546856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27079322820677254,
+              -0.09297878561043398,
+              1.0513478557546856
+            ],
+            "object_minus_gripper": [
+              0.0043836289915547555,
+              0.004462770879331016,
+              -0.0034231659304906348
+            ],
+            "object_to_gripper_xy": 0.006255599656068496,
+            "object_to_gripper_z": -0.0034231659304906348,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2751768571983273,
+              -0.11246036003116433,
+              1.047924689824195
+            ],
+            "finger_b": [
+              0.2640825923083111,
+              -0.08851601473110296,
+              1.047924689824195
+            ],
+            "finger_midpoint": [
+              0.2696297247533192,
+              -0.10048818738113365,
+              1.047924689824195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005547132445008096,
+              0.011972172650030685,
+              0.0
+            ],
+            "finger_gap": 0.0263896643650202,
+            "fingertip_max_gap": 0.09195456062305782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131948321825101,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047924689824195,
+            "object_top_z": 1.0936483381527502,
+            "finger_top_clearance": 0.045723648328555244,
+            "fingertip_min_top_clearance": 0.01371709449856654,
+            "object_projection_between_fingers": 0.8232622472364577,
+            "object_to_finger_line_xy": 0.010066248122845026,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847728031152891,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3427499795916684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2733835969582228,
+              -0.09318811032726211,
+              1.2427214319040945
+            ],
+            "held_position": [
+              0.2780688551566121,
+              -0.088998300129984,
+              1.2393585211138698
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007128486715832438,
+            "max_held_gripper_dist": 0.007132551723651432,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033629107902246602,
+            "max_held_gripper_z_dist": 0.0034124203560821353,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612292888544922,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2780688551566121,
+              -0.11389405841469248,
+              1.2393585211138698
+            ],
+            "held_grasp_finger_b": [
+              0.26925390099799995,
+              -0.088998300129984,
+              1.2393585211138698
+            ],
+            "held_grasp_midpoint": [
+              0.27366137807730606,
+              -0.10144617927233823,
+              1.2393585211138698
+            ],
+            "held_grasp_object_position": [
+              0.2780688551566121,
+              -0.088998300129984,
+              1.2393585211138698
+            ],
+            "held_grasp_finger_gap": 0.026410266893559877,
+            "held_grasp_max_gap": 0.12496607512235641,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02422193639677017,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06712301750450954,
+              -0.9967008208904892,
+              -0.04562865500225177
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003608062842529187,
+            "held_grasp_line_xy_max_dist": 0.04748303756117821,
+            "held_grasp_object_top_z": 0.04520084708929062,
+            "held_grasp_top_clearance": 0.03249819256861556,
+            "held_grasp_min_top_clearance": 0.013560254126787186
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35717790496979734,
+              0.07539226374254679,
+              0.7625857759070633
+            ],
+            "target_position": [
+              0.35330862443682287,
+              0.07172864790623089,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005328546972577034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1756864017885785,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857759070633,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529298346317238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512891479360761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14482659278151327,
+            "release_required_pad_clearance": 0.05256445739680381,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19382361041401297,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6cf5653c302762a4e0af88a404407d96ef96448178cec270e5a79c64cedcb26",
+    "visual_seed": 2853643677831132610,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7605d796939d5f24a08e98343af2cb2a718958f1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_52_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2730570380978199,
+              -0.09510094382884478,
+              1.0465954735827117
+            ],
+            "current_z": 1.0465954735827117,
+            "required_z": 0.8565866151465036,
+            "initial_z": 0.7565866151465036,
+            "lift_margin": 0.19000885843620807,
+            "gripper_z": 1.0498504202752976,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2687552536329285,
+              -0.09951268791813232,
+              1.0498504202752976
+            ],
+            "object_minus_gripper": [
+              0.004301784464891378,
+              0.004411744089287545,
+              -0.0032549466925859694
+            ],
+            "object_to_gripper_xy": 0.006161885709078382,
+            "object_to_gripper_z": -0.0032549466925859694,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2730570380978199,
+              -0.11900183621294136,
+              1.0465954735827117
+            ],
+            "finger_b": [
+              0.2620845666188084,
+              -0.09510094382884478,
+              1.0465954735827117
+            ],
+            "finger_midpoint": [
+              0.26757080235831415,
+              -0.10705139002089306,
+              1.0465954735827117
+            ],
+            "object_minus_finger_midpoint": [
+              0.00548623573950574,
+              0.011950446192048284,
+              0.0
+            ],
+            "finger_gap": 0.026299197461403388,
+            "fingertip_max_gap": 0.0922200415427876,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013149598730701687,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465954735827117,
+            "object_top_z": 1.0924289518038302,
+            "finger_top_clearance": 0.045833478221118495,
+            "fingertip_min_top_clearance": 0.013750043466335548,
+            "object_projection_between_fingers": 0.8259299999207599,
+            "object_to_finger_line_xy": 0.009971857901455047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486100207713938,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4432995782873475,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27011901405903194,
+              -0.1003364733091602,
+              1.2446852100991195
+            ],
+            "held_position": [
+              0.27475067730068087,
+              -0.09618985392796014,
+              1.2415381730428416
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006967825981622369,
+            "max_held_gripper_dist": 0.006969397612243886,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003147037056277835,
+            "max_held_gripper_z_dist": 0.0032457467434052756,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635753862276227,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27475067730068087,
+              -0.12100727489055678,
+              1.2415381730428416
+            ],
+            "held_grasp_finger_b": [
+              0.2660034717984281,
+              -0.09618985392796014,
+              1.2415381730428416
+            ],
+            "held_grasp_midpoint": [
+              0.2703770745495545,
+              -0.10859856440925847,
+              1.2415381730428416
+            ],
+            "held_grasp_object_position": [
+              0.27475067730068087,
+              -0.09618985392796014,
+              1.2415381730428416
+            ],
+            "held_grasp_finger_gap": 0.026313836423702493,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024123165348162914,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06848934264284505,
+              -0.9961653848010243,
+              -0.0544402063605398
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003579365207521276,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.045200787484645844,
+            "held_grasp_top_clearance": 0.032540114455753215,
+            "held_grasp_min_top_clearance": 0.013560236245393752
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36200274442883945,
+              0.07288254522807687,
+              0.762585105323112
+            ],
+            "target_position": [
+              0.3589516637151221,
+              0.06982243887065104,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004321266531976007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17574287164557942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585105323112,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547542849237482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604583870367792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14435496952712684,
+            "release_required_pad_clearance": 0.05302291935183896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0733630964495335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac8e1b6730e7c72340dbcf86b0bbefeb50bf2a63a39b6b1ca08ed24bdd7929b8",
+    "visual_seed": 7664233266708328796,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12b34cd01f44a49d2018d9c9139b157e207c6569
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2738415104340514,
+              -0.09812930512061795,
+              1.0455296711396809
+            ],
+            "current_z": 1.0455296711396809,
+            "required_z": 0.8565866573879298,
+            "initial_z": 0.7565866573879299,
+            "lift_margin": 0.18894301375175104,
+            "gripper_z": 1.0487229701268175,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2697381844032637,
+              -0.10240837345505538,
+              1.0487229701268175
+            ],
+            "object_minus_gripper": [
+              0.004103326030787724,
+              0.004279068334437433,
+              -0.0031932989871366058
+            ],
+            "object_to_gripper_xy": 0.005928550440514551,
+            "object_to_gripper_z": -0.0031932989871366058,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2738415104340514,
+              -0.12190828829366517,
+              1.0455296711396809
+            ],
+            "finger_b": [
+              0.2630825620807048,
+              -0.09812930512061795,
+              1.0455296711396809
+            ],
+            "finger_midpoint": [
+              0.2684620362573781,
+              -0.11001879670714156,
+              1.0455296711396809
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379474176673338,
+              0.01188949158652361,
+              0.0
+            ],
+            "finger_gap": 0.026099712841601203,
+            "fingertip_max_gap": 0.09191678527524977,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013049856420800613,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0455296711396809,
+            "object_top_z": 1.0908934189153687,
+            "finger_top_clearance": 0.04536374777568786,
+            "fingertip_min_top_clearance": 0.013609124332706357,
+            "object_projection_between_fingers": 0.8300707317283167,
+            "object_to_finger_line_xy": 0.009802286079030196,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048458392637624886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6245856624034052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27099680698919304,
+              -0.10330967487552509,
+              1.243264907139889
+            ],
+            "held_position": [
+              0.275422268099211,
+              -0.09927309412505922,
+              1.2401894939635705
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006733264913575434,
+            "max_held_gripper_dist": 0.006735776261223569,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003075413176318431,
+            "max_held_gripper_z_dist": 0.0031784356688064896,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673923231265844,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.275422268099211,
+              -0.12396162480328507,
+              1.2401894939635705
+            ],
+            "held_grasp_finger_b": [
+              0.2669199494558352,
+              -0.09927309412505922,
+              1.2401894939635705
+            ],
+            "held_grasp_midpoint": [
+              0.2711711087775231,
+              -0.11161735946417214,
+              1.2401894939635705
+            ],
+            "held_grasp_object_position": [
+              0.275422268099211,
+              -0.09927309412505922,
+              1.2401894939635705
+            ],
+            "held_grasp_finger_gap": 0.02611154858224986,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024065212200168388,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06387968950759006,
+              -0.9967518114354715,
+              -0.04904295737942464
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003507736833257028,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520077630877495,
+            "held_grasp_top_clearance": 0.03262504473365731,
+            "held_grasp_min_top_clearance": 0.013560232892632484
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35815628988505044,
+              0.07614394642843007,
+              0.762585492334669
+            ],
+            "target_position": [
+              0.35496761045471176,
+              0.07302441221592784,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004460848597793578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1760407664245895,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585492334669,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548084271732138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597664212754373,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14465812879551843,
+            "release_required_pad_clearance": 0.05298832106377187,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0063742250120382,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "594e66d0bca7a815b39406ec782f249fb9c9cf5a8a6830e7f33ce7f59141f59d",
+    "visual_seed": 6505650360621001677,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82fa3fa30ec12b3e2ac67e28a71046a24cb97025
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2704386983258681,
+              -0.09129095003550088,
+              1.0444945305702744
+            ],
+            "current_z": 1.0444945305702744,
+            "required_z": 0.8565865708191726,
+            "initial_z": 0.7565865708191726,
+            "lift_margin": 0.18790795975110186,
+            "gripper_z": 1.0478848517335722,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26620469621720044,
+              -0.09565079668057518,
+              1.0478848517335722
+            ],
+            "object_minus_gripper": [
+              0.004234002108667645,
+              0.0043598466450743,
+              -0.003390321163297738
+            ],
+            "object_to_gripper_xy": 0.006077420227758461,
+            "object_to_gripper_z": -0.003390321163297738,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2704386983258681,
+              -0.11513815284267374,
+              1.0444945305702744
+            ],
+            "finger_b": [
+              0.2595326768279905,
+              -0.09129095003550088,
+              1.0444945305702744
+            ],
+            "finger_midpoint": [
+              0.2649856875769293,
+              -0.10321455143908731,
+              1.0444945305702744
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545301074893878,
+              0.011923601403586434,
+              0.0
+            ],
+            "finger_gap": 0.026222707462018508,
+            "fingertip_max_gap": 0.09209315453489719,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013111353731009254,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444945305702744,
+            "object_top_z": 1.0900073649351225,
+            "finger_top_clearance": 0.0455128343648481,
+            "fingertip_min_top_clearance": 0.013653850309454412,
+            "object_projection_between_fingers": 0.8270272704299793,
+            "object_to_finger_line_xy": 0.00991804934162406,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485465772674486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.391024873148512,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2676336735226856,
+              -0.09649513019369811,
+              1.2404753195903437
+            ],
+            "held_position": [
+              0.27219807137951774,
+              -0.09239408111499091,
+              1.2371957555200497
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006957576577557947,
+            "max_held_gripper_dist": 0.006960983926805435,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003279564070294061,
+            "max_held_gripper_z_dist": 0.0033769526409062056,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655863913323018,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27219807137951774,
+              -0.11719176417839872,
+              1.2371957555200497
+            ],
+            "held_grasp_finger_b": [
+              0.263629828370052,
+              -0.09239408111499091,
+              1.2371957555200497
+            ],
+            "held_grasp_midpoint": [
+              0.2679139498747849,
+              -0.10479292264669482,
+              1.2371957555200497
+            ],
+            "held_grasp_object_position": [
+              0.27219807137951774,
+              -0.09239408111499091,
+              1.2371957555200497
+            ],
+            "held_grasp_finger_gap": 0.02623623207670036,
+            "held_grasp_max_gap": 0.12496589630842209,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024107480652519296,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07044856846727812,
+              -0.9965084658768121,
+              -0.04480933649089125
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034461843343698523,
+            "held_grasp_line_xy_max_dist": 0.047482948154211044,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03254333729712241,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3536498826125226,
+              0.07848300279239025,
+              0.7625861774807664
+            ],
+            "target_position": [
+              0.3506810417317977,
+              0.07523376207472035,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004401315873284652,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17535666535431632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625861774807664,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587796044009436,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645138747566737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14288085308625742,
+            "release_required_pad_clearance": 0.05322569373783369,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4724329890875967,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5fd7ec6f29dbb6ede0585f443354365bf1128f31b91a5c373d1c01e095288d1",
+    "visual_seed": 2804241473403590347,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..243fed37eff3c7ec69ba5ef52b1a8e58e3fc4831
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2721008679761053,
+              -0.09120091881745641,
+              1.0445646301769882
+            ],
+            "current_z": 1.0445646301769882,
+            "required_z": 0.8565865498025776,
+            "initial_z": 0.7565865498025777,
+            "lift_margin": 0.18797808037441055,
+            "gripper_z": 1.0478659994382444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2675505751720892,
+              -0.0956659088428001,
+              1.0478659994382444
+            ],
+            "object_minus_gripper": [
+              0.004550292804016087,
+              0.0044649900253436875,
+              -0.0033013692612562373
+            ],
+            "object_to_gripper_xy": 0.006375052982422908,
+            "object_to_gripper_z": -0.0033013692612562373,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2721008679761053,
+              -0.11542077843065411,
+              1.0445646301769882
+            ],
+            "finger_b": [
+              0.2611976772943887,
+              -0.09120091881745641,
+              1.0445646301769882
+            ],
+            "finger_midpoint": [
+              0.26664927263524696,
+              -0.10331084862405526,
+              1.0445646301769882
+            ],
+            "object_minus_finger_midpoint": [
+              0.005451595340858317,
+              0.012109929806598849,
+              0.0
+            ],
+            "finger_gap": 0.026560895442828657,
+            "fingertip_max_gap": 0.09251059171638354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328044772141434,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445646301769882,
+            "object_top_z": 1.0904402551387604,
+            "finger_top_clearance": 0.04587562496177222,
+            "fingertip_min_top_clearance": 0.01376268748853165,
+            "object_projection_between_fingers": 0.8314915087049631,
+            "object_to_finger_line_xy": 0.009942200488515504,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875529585819177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5655081832601045,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26974448381598914,
+              -0.09640295093115293,
+              1.2421897862388216
+            ],
+            "held_position": [
+              0.2745947087874078,
+              -0.09220657402595503,
+              1.2389755511988252
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007173950675617473,
+            "max_held_gripper_dist": 0.00718378215594166,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003214235039996405,
+            "max_held_gripper_z_dist": 0.003284953189069517,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861674353256534,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2745947087874078,
+              -0.11725755344194935,
+              1.2389755511988252
+            ],
+            "held_grasp_finger_b": [
+              0.2657762527495323,
+              -0.09220657402595503,
+              1.2389755511988252
+            ],
+            "held_grasp_midpoint": [
+              0.27018548076847004,
+              -0.10473206373395219,
+              1.2389755511988252
+            ],
+            "held_grasp_object_position": [
+              0.2745947087874078,
+              -0.09220657402595503,
+              1.2389755511988252
+            ],
+            "held_grasp_finger_gap": 0.026557799920033178,
+            "held_grasp_max_gap": 0.12496608257293701,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02445842133692797,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058937216230611614,
+              -0.9970930147068243,
+              -0.04829000482338697
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037139685119743915,
+            "held_grasp_line_xy_max_dist": 0.047483041286468505,
+            "held_grasp_object_top_z": 0.04520078003406525,
+            "held_grasp_top_clearance": 0.03245183411527685,
+            "held_grasp_min_top_clearance": 0.013560234010219574
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36178373596370494,
+              0.07649439797228084,
+              0.7625868006758999
+            ],
+            "target_position": [
+              0.3576152241441846,
+              0.07285282596045592,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005535118563028916,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17833132756093326,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625868006758999,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531772326749751,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643211236059394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14715342431133685,
+            "release_required_pad_clearance": 0.05321605618029697,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4520922882093938,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "902e33518d7ecc47afd2f5792c68e98cfb451b8253386b237061b39c58caa8d9",
+    "visual_seed": 6614817067660534093,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9279f2527bc4183912e079d47abd526c155d5667
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27421999534530184,
+              -0.09730069528928802,
+              1.0474984652638735
+            ],
+            "current_z": 1.0474984652638735,
+            "required_z": 0.856586590180981,
+            "initial_z": 0.7565865901809811,
+            "lift_margin": 0.19091187508289242,
+            "gripper_z": 1.0506919520280156,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27002284583758396,
+              -0.10170228236581712,
+              1.0506919520280156
+            ],
+            "object_minus_gripper": [
+              0.004197149507717879,
+              0.004401587076529101,
+              -0.003193486764142106
+            ],
+            "object_to_gripper_xy": 0.0060819431748746575,
+            "object_to_gripper_z": -0.003193486764142106,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27421999534530184,
+              -0.12098183284714968,
+              1.0474984652638735
+            ],
+            "finger_b": [
+              0.2630968392993233,
+              -0.09730069528928802,
+              1.0474984652638735
+            ],
+            "finger_midpoint": [
+              0.26865841732231255,
+              -0.10914126406821885,
+              1.0474984652638735
+            ],
+            "object_minus_finger_midpoint": [
+              0.005561578022989289,
+              0.011840568778930832,
+              0.0
+            ],
+            "finger_gap": 0.026163349870717147,
+            "fingertip_max_gap": 0.0925817360755122,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013081674935358585,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474984652638735,
+            "object_top_z": 1.0935196845693493,
+            "finger_top_clearance": 0.04602121930547587,
+            "fingertip_min_top_clearance": 0.013806365791642794,
+            "object_projection_between_fingers": 0.8192537223065097,
+            "object_to_finger_line_xy": 0.010067861711286189,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048790868037756105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5105235670803316,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2707446436949947,
+              -0.1028768041419399,
+              1.244121315500098
+            ],
+            "held_position": [
+              0.2753033942417488,
+              -0.09875611087431004,
+              1.241053435884927
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006868348046408508,
+            "max_held_gripper_dist": 0.006870786022205528,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030678796151710763,
+            "max_held_gripper_z_dist": 0.003182359011206559,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637614622186261,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2753033942417488,
+              -0.12344879287542251,
+              1.241053435884927
+            ],
+            "held_grasp_finger_b": [
+              0.26663806393699674,
+              -0.09875611087431004,
+              1.241053435884927
+            ],
+            "held_grasp_midpoint": [
+              0.2709707290893728,
+              -0.11110245187486628,
+              1.241053435884927
+            ],
+            "held_grasp_object_position": [
+              0.2753033942417488,
+              -0.09875611087431004,
+              1.241053435884927
+            ],
+            "held_grasp_finger_gap": 0.026168998714099074,
+            "held_grasp_max_gap": 0.12496571004390716,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023896801600844658,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07772328243558718,
+              -0.9950437750914053,
+              -0.062024003573478925
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003448448383038662,
+            "held_grasp_line_xy_max_dist": 0.04748285502195358,
+            "held_grasp_object_top_z": 0.04520061984658241,
+            "held_grasp_top_clearance": 0.03257872113148619,
+            "held_grasp_min_top_clearance": 0.013560185953974723
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36129048220526266,
+              0.07213233713042203,
+              0.7625865254791238
+            ],
+            "target_position": [
+              0.3582067334918049,
+              0.069076934434274,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004341081865547021,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17701372251156683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625865254791238,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549750577422822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507124488470279,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1454906393609704,
+            "release_required_pad_clearance": 0.052535622442351396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13703737071528416,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eadc2a8c639826863ee044ce0fe0c4e23d4ee5d877e4d3d316e7c082da3a3952",
+    "visual_seed": 8507885656697694094,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dcf81f8f621994e2fcf3fbaafdb0cead2b8910f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.272319414691358,
+              -0.09280207135466043,
+              1.0460335740941176
+            ],
+            "current_z": 1.0460335740941176,
+            "required_z": 0.8565866283806117,
+            "initial_z": 0.7565866283806117,
+            "lift_margin": 0.18944694571350584,
+            "gripper_z": 1.0495846251049314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2678467484494388,
+              -0.09720577349848131,
+              1.0495846251049314
+            ],
+            "object_minus_gripper": [
+              0.004472666241919221,
+              0.004403702143820881,
+              -0.003551051010813877
+            ],
+            "object_to_gripper_xy": 0.006276729712445521,
+            "object_to_gripper_z": -0.003551051010813877,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.272319414691358,
+              -0.11697974817143947,
+              1.0460335740941176
+            ],
+            "finger_b": [
+              0.26152627620824953,
+              -0.09280207135466043,
+              1.0460335740941176
+            ],
+            "finger_midpoint": [
+              0.26692284544980377,
+              -0.10489090976304995,
+              1.0460335740941176
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396569241554239,
+              0.012088838408389521,
+              0.0
+            ],
+            "finger_gap": 0.026477384587080575,
+            "fingertip_max_gap": 0.09229558677363772,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013238692293540287,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460335740941176,
+            "object_top_z": 1.0917782267254403,
+            "finger_top_clearance": 0.04574465263132277,
+            "fingertip_min_top_clearance": 0.01372339578939683,
+            "object_projection_between_fingers": 0.8338327886744415,
+            "object_to_finger_line_xy": 0.0098556945163937,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864779338681886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2016579351758088,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2697708143432087,
+              -0.09760554173355765,
+              1.244208758244098
+            ],
+            "held_position": [
+              0.27450821288574456,
+              -0.09341275104309736,
+              1.2407523890245764
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007208947697582993,
+            "max_held_gripper_dist": 0.007212126567627636,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034563692195215268,
+            "max_held_gripper_z_dist": 0.003532528067174079,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617729810453725,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27450821288574456,
+              -0.1183164404034694,
+              1.2407523890245764
+            ],
+            "held_grasp_finger_b": [
+              0.2655902403709932,
+              -0.09341275104309736,
+              1.2407523890245764
+            ],
+            "held_grasp_midpoint": [
+              0.2700492266283689,
+              -0.10586459572328338,
+              1.2407523890245764
+            ],
+            "held_grasp_object_position": [
+              0.27450821288574456,
+              -0.09341275104309736,
+              1.2407523890245764
+            ],
+            "held_grasp_finger_gap": 0.026452296261983917,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024357209445456527,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05530177257726284,
+              -0.9978597457475811,
+              -0.03489472404799332
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037890466128681303,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.03252885778773488,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3551296778525752,
+              0.0712006163347048,
+              0.7625849014408743
+            ],
+            "target_position": [
+              0.35211756680806805,
+              0.06797162792869077,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004415787480236684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17556727168722835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849014408743,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569204339945855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658182301476823,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1435633595313131,
+            "release_required_pad_clearance": 0.05329091150738412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5924516441945704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24156ebf1f54f1959f3b2e4c461be6381f4a977b1b9076bd378cf01f90559a0f",
+    "visual_seed": 5554061049717525094,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8542e2f9d17f7700c2e39188b2a75dfe662cd560
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2724621491617311,
+              -0.0925367140373912,
+              1.047470354080412
+            ],
+            "current_z": 1.047470354080412,
+            "required_z": 0.856586618305312,
+            "initial_z": 0.756586618305312,
+            "lift_margin": 0.19088373577509998,
+            "gripper_z": 1.0507346410994427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26829447595344014,
+              -0.09687942156992528,
+              1.0507346410994427
+            ],
+            "object_minus_gripper": [
+              0.004167673208290978,
+              0.0043427075325340875,
+              -0.0032642870190306983
+            ],
+            "object_to_gripper_xy": 0.006019020575162932,
+            "object_to_gripper_z": -0.0032642870190306983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2724621491617311,
+              -0.11629667937621667,
+              1.047470354080412
+            ],
+            "finger_b": [
+              0.26153241295548646,
+              -0.0925367140373912,
+              1.047470354080412
+            ],
+            "finger_midpoint": [
+              0.26699728105860876,
+              -0.10441669670680392,
+              1.047470354080412
+            ],
+            "object_minus_finger_midpoint": [
+              0.005464868103122356,
+              0.01187998266941273,
+              0.0
+            ],
+            "finger_gap": 0.026153299723749645,
+            "fingertip_max_gap": 0.0917125063526015,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01307664986187483,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047470354080412,
+            "object_top_z": 1.0928267224420978,
+            "finger_top_clearance": 0.04535636836168577,
+            "fingertip_min_top_clearance": 0.013606910508505697,
+            "object_projection_between_fingers": 0.8253508893465936,
+            "object_to_finger_line_xy": 0.009929536852554616,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048356253176300754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.424927328758876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2698824325107415,
+              -0.09764072510415164,
+              1.2461937670677854
+            ],
+            "held_position": [
+              0.2744016402341444,
+              -0.09358825181563869,
+              1.2430276120608994
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006846189869482463,
+            "max_held_gripper_dist": 0.006847915305020691,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031661550068859956,
+            "max_held_gripper_z_dist": 0.003253390406189105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604897481110294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2744016402341444,
+              -0.11841451326420442,
+              1.2430276120608994
+            ],
+            "held_grasp_finger_b": [
+              0.2658360717875237,
+              -0.09358825181563869,
+              1.2430276120608994
+            ],
+            "held_grasp_midpoint": [
+              0.2701188560108341,
+              -0.10600138253992156,
+              1.2430276120608994
+            ],
+            "held_grasp_object_position": [
+              0.2744016402341444,
+              -0.09358825181563869,
+              1.2430276120608994
+            ],
+            "held_grasp_finger_gap": 0.026262372709378035,
+            "held_grasp_max_gap": 0.12496584415435791,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02411285506516047,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07292157969614212,
+              -0.9964234807779574,
+              -0.042692975639543544
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003408697829711055,
+            "held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03251963713652394,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35295244236320794,
+              0.07208708064509431,
+              0.7625841668590518
+            ],
+            "target_position": [
+              0.3510418693494844,
+              0.06942442818557681,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0032771950446903904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17428366922607852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625841668590518,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546102336605963,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551881623860212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1427509240429173,
+            "release_required_pad_clearance": 0.05275940811930106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5664783924753712,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91f1ea509ff916993e3290ea94b8df6cdf00f053ba6f4788150509d0dc9c70cd",
+    "visual_seed": 2039388245300545567,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..41c41a6fe2f9b2e6c95cbed9d1f62f8c9e9df971
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2749914529304644,
+              -0.09192483641195691,
+              1.0479801831690254
+            ],
+            "current_z": 1.0479801831690254,
+            "required_z": 0.8565865537147989,
+            "initial_z": 0.7565865537147989,
+            "lift_margin": 0.19139362945422655,
+            "gripper_z": 1.0513096492967113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27078502921958686,
+              -0.09619879339289959,
+              1.0513096492967113
+            ],
+            "object_minus_gripper": [
+              0.004206423710877538,
+              0.004273956980942684,
+              -0.0033294661276859205
+            ],
+            "object_to_gripper_xy": 0.00599672483197132,
+            "object_to_gripper_z": -0.0033294661276859205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2749914529304644,
+              -0.11589817504947787,
+              1.0479801831690254
+            ],
+            "finger_b": [
+              0.26435616870741774,
+              -0.09192483641195691,
+              1.0479801831690254
+            ],
+            "finger_midpoint": [
+              0.26967381081894104,
+              -0.10391150573071739,
+              1.0479801831690254
+            ],
+            "object_minus_finger_midpoint": [
+              0.005317642111523357,
+              0.011986669318760482,
+              0.0
+            ],
+            "finger_gap": 0.02622651780039128,
+            "fingertip_max_gap": 0.09410851178059856,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013113258900195652,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479801831690254,
+            "object_top_z": 1.094371754205146,
+            "finger_top_clearance": 0.04639157103612068,
+            "fingertip_min_top_clearance": 0.013917471310836205,
+            "object_projection_between_fingers": 0.835556414074535,
+            "object_to_finger_line_xy": 0.009721583022416255,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049554255890299284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8657380110679196,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27328059297657525,
+              -0.09633116836315295,
+              1.2468034232449376
+            ],
+            "held_position": [
+              0.2777637545132197,
+              -0.09229182006679963,
+              1.2435433904003579
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006858781682678026,
+            "max_held_gripper_dist": 0.006859475155986,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032600328445797633,
+            "max_held_gripper_z_dist": 0.003314642289896419,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608551429833353,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2777637545132197,
+              -0.11713411233952693,
+              1.2435433904003579
+            ],
+            "held_grasp_finger_b": [
+              0.2691209958299914,
+              -0.09229182006679963,
+              1.2435433904003579
+            ],
+            "held_grasp_midpoint": [
+              0.2734423751716055,
+              -0.10471296620316328,
+              1.2435433904003579
+            ],
+            "held_grasp_object_position": [
+              0.2777637545132197,
+              -0.09229182006679963,
+              1.2435433904003579
+            ],
+            "held_grasp_finger_gap": 0.02630279002349609,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02437784237226037,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04947230905886827,
+              -0.9985157298946393,
+              -0.022777791582146545
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037125676429759567,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.03258415495936702,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3601490193159502,
+              0.07764215170696558,
+              0.7625845188424891
+            ],
+            "target_position": [
+              0.3577594814145408,
+              0.07498766680704173,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003571579687784656,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1776740797788299,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845188424891,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566366423928375,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543159961693268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1455765350389306,
+            "release_required_pad_clearance": 0.05271579980846634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4730569008843755,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0505db26484141829c448eea144889902d956b20c0b8364e4331b6c0a659ba41",
+    "visual_seed": 1257348462156039594,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba3815acdf75c4e08912729ea77cf140b8f680d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27382037046003926,
+              -0.09707481897249993,
+              1.046896538321765
+            ],
+            "current_z": 1.046896538321765,
+            "required_z": 0.8565865724586302,
+            "initial_z": 0.7565865724586303,
+            "lift_margin": 0.19030996586313476,
+            "gripper_z": 1.0503080751119458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26967768711472273,
+              -0.101273143569217,
+              1.0503080751119458
+            ],
+            "object_minus_gripper": [
+              0.0041426833453165335,
+              0.004198324596717068,
+              -0.0034115367901808025
+            ],
+            "object_to_gripper_xy": 0.005898114505412938,
+            "object_to_gripper_z": -0.0034115367901808025,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27382037046003926,
+              -0.12110302190940384,
+              1.046896538321765
+            ],
+            "finger_b": [
+              0.26343297409629823,
+              -0.09707481897249993,
+              1.046896538321765
+            ],
+            "finger_midpoint": [
+              0.2686266722781687,
+              -0.10908892044095189,
+              1.046896538321765
+            ],
+            "object_minus_finger_midpoint": [
+              0.005193698181870543,
+              0.012014101468451957,
+              0.0
+            ],
+            "finger_gap": 0.026177328732979947,
+            "fingertip_max_gap": 0.09354406291954981,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088664366489991,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046896538321765,
+            "object_top_z": 1.0929498955688155,
+            "finger_top_clearance": 0.04605335724705051,
+            "fingertip_min_top_clearance": 0.013816007174115118,
+            "object_projection_between_fingers": 0.8425427167605833,
+            "object_to_finger_line_xy": 0.009534604174473178,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049272031459774907,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9056591898799167,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27140479325805117,
+              -0.10135390731290159,
+              1.2431603767785502
+            ],
+            "held_position": [
+              0.27575387371279503,
+              -0.09729014560035919,
+              1.2398506090104433
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00681052294151923,
+            "max_held_gripper_dist": 0.006814389196836298,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003309767768106875,
+            "max_held_gripper_z_dist": 0.003392702423631544,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625077747830917,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27575387371279503,
+              -0.12187206954553732,
+              1.2398506090104433
+            ],
+            "held_grasp_finger_b": [
+              0.26707338583876755,
+              -0.09729014560035919,
+              1.2398506090104433
+            ],
+            "held_grasp_midpoint": [
+              0.2714136297757813,
+              -0.10958110757294826,
+              1.2398506090104433
+            ],
+            "held_grasp_object_position": [
+              0.27575387371279503,
+              -0.09729014560035919,
+              1.2398506090104433
+            ],
+            "held_grasp_finger_gap": 0.026069558005030698,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02425571685189387,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03411239873023299,
+              -0.9987757333470072,
+              -0.03582427570821033
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003943401571155153,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.032776749739941755,
+            "held_grasp_min_top_clearance": 0.01356021612882614
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.356053019988287,
+              0.07273369137264744,
+              0.7625834846418972
+            ],
+            "target_position": [
+              0.35392673578987066,
+              0.07004170952661731,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0034304301117776344,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17697245879098744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625834846418972,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590853610269113,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08788911081147237,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14426103237463478,
+            "release_required_pad_clearance": 0.053944555405736186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.89289847924501,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21b3f59a53f6b37f9b885fe7200c5d53dd3caebd4f9e958a347ffa8d5609b786",
+    "visual_seed": 271027608702808626,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..010572f35252ef48998cc9dc7993f71fa43544a7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2703350200149466,
+              -0.09490275854797793,
+              1.0465396425230442
+            ],
+            "current_z": 1.0465396425230442,
+            "required_z": 0.8565865667807021,
+            "initial_z": 0.7565865667807021,
+            "lift_margin": 0.1899530757423421,
+            "gripper_z": 1.0498375398389257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26615387625010034,
+              -0.09931725575379297,
+              1.0498375398389257
+            ],
+            "object_minus_gripper": [
+              0.00418114376484624,
+              0.004414497205815035,
+              -0.0032978973158814817
+            ],
+            "object_to_gripper_xy": 0.006080275385413176,
+            "object_to_gripper_z": -0.0032978973158814817,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2703350200149466,
+              -0.11852492675883257,
+              1.0465396425230442
+            ],
+            "finger_b": [
+              0.2591446405618113,
+              -0.09490275854797793,
+              1.0465396425230442
+            ],
+            "finger_midpoint": [
+              0.26473983028837894,
+              -0.10671384265340525,
+              1.0465396425230442
+            ],
+            "object_minus_finger_midpoint": [
+              0.00559518972656764,
+              0.011811084105427319,
+              0.0
+            ],
+            "finger_gap": 0.026138695898744905,
+            "fingertip_max_gap": 0.09184891082894117,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013069347949372452,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465396425230442,
+            "object_top_z": 1.0918681709046298,
+            "finger_top_clearance": 0.04532852838158563,
+            "fingertip_min_top_clearance": 0.01359855851447569,
+            "object_projection_between_fingers": 0.816717164877034,
+            "object_to_finger_line_xy": 0.010113015079606404,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842445541447059,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7164436803773833,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.265828583203236,
+              -0.10092421858450425,
+              1.2423613724013995
+            ],
+            "held_position": [
+              0.27038549267213197,
+              -0.09676896126030916,
+              1.2392298770622403
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00691649119114358,
+            "max_held_gripper_dist": 0.006918770765767134,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031314953391592404,
+            "max_held_gripper_z_dist": 0.003280766136184443,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604219555412047,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27038549267213197,
+              -0.12134776812728529,
+              1.2392298770622403
+            ],
+            "held_grasp_finger_b": [
+              0.26173309671277073,
+              -0.09676896126030916,
+              1.2392298770622403
+            ],
+            "held_grasp_midpoint": [
+              0.2660592946924514,
+              -0.10905836469379723,
+              1.2392298770622403
+            ],
+            "held_grasp_object_position": [
+              0.27038549267213197,
+              -0.09676896126030916,
+              1.2392298770622403
+            ],
+            "held_grasp_finger_gap": 0.02605727734898033,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023814559811896632,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07474216055109714,
+              -0.995217494170102,
+              -0.0628947432933553
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034846872407465032,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.03264672312907442,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3554436370707722,
+              0.07829058569075417,
+              0.7625828767812524
+            ],
+            "target_position": [
+              0.35347269630887324,
+              0.0757385144708546,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0032245426029678336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.176888572261729,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625828767812524,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522412982411765,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531822617527061,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14591349335823778,
+            "release_required_pad_clearance": 0.05265911308763531,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33946619776826004,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7fb5ea82cf7cfc7d2a2f65187faf4aa839013bc04a2fc9d12170fe7b949ac3ed",
+    "visual_seed": 7467750354733005994,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f920eac7b577b2f1a0fcd4ab610a428edbe7713
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2690613040646576,
+              -0.09732810054796848,
+              1.0473239187337111
+            ],
+            "current_z": 1.0473239187337111,
+            "required_z": 0.8565866151200611,
+            "initial_z": 0.7565866151200611,
+            "lift_margin": 0.19073730361365004,
+            "gripper_z": 1.0507011174286314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26478074733394774,
+              -0.10179341231198323,
+              1.0507011174286314
+            ],
+            "object_minus_gripper": [
+              0.004280556730709872,
+              0.004465311764014754,
+              -0.003377198694920258
+            ],
+            "object_to_gripper_xy": 0.006185642656561575,
+            "object_to_gripper_z": -0.003377198694920258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2690613040646576,
+              -0.12102525049969823,
+              1.0473239187337111
+            ],
+            "finger_b": [
+              0.2578139767909009,
+              -0.09732810054796848,
+              1.0473239187337111
+            ],
+            "finger_midpoint": [
+              0.2634376404277793,
+              -0.10917667552383335,
+              1.0473239187337111
+            ],
+            "object_minus_finger_midpoint": [
+              0.005623663636878329,
+              0.011848574975864876,
+              0.0
+            ],
+            "finger_gap": 0.026230846090771778,
+            "fingertip_max_gap": 0.09248820978535208,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013115423045385877,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473239187337111,
+            "object_top_z": 1.0932123810473597,
+            "finger_top_clearance": 0.045888462313648626,
+            "fingertip_min_top_clearance": 0.013766538694094587,
+            "object_projection_between_fingers": 0.8161455837185376,
+            "object_to_finger_line_xy": 0.010160922756363527,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874410489267604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6116734576243492,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26332187430426635,
+              -0.10372345857099102,
+              1.244804031592842
+            ],
+            "held_position": [
+              0.2679788392900251,
+              -0.09948890165134874,
+              1.2416345216870435
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007047310708861054,
+            "max_held_gripper_dist": 0.007048182803349637,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003169509905798451,
+            "max_held_gripper_z_dist": 0.003362567545455164,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857449133047658,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2679788392900251,
+              -0.12401294160621111,
+              1.2416345216870435
+            ],
+            "held_grasp_finger_b": [
+              0.2591462780273902,
+              -0.09948890165134874,
+              1.2416345216870435
+            ],
+            "held_grasp_midpoint": [
+              0.26356255865870765,
+              -0.11175092162877992,
+              1.2416345216870435
+            ],
+            "held_grasp_object_position": [
+              0.2679788392900251,
+              -0.09948890165134874,
+              1.2416345216870435
+            ],
+            "held_grasp_finger_gap": 0.02606612119525811,
+            "held_grasp_max_gap": 0.12496582925319671,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023709634206573106,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07574743076556602,
+              -0.9940726762053581,
+              -0.0779861600178726
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003607433443241289,
+            "held_grasp_line_xy_max_dist": 0.04748291462659836,
+            "held_grasp_object_top_z": 0.0452006459236145,
+            "held_grasp_top_clearance": 0.03267678499760389,
+            "held_grasp_min_top_clearance": 0.01356019377708435
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.356815026487409,
+              0.06906727530621855,
+              0.7625876113092489
+            ],
+            "target_position": [
+              0.3539119788262386,
+              0.06600068754756139,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004222753391399125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17514659966788051,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625876113092489,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753316700746534,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852529444706107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1441245835894672,
+            "release_required_pad_clearance": 0.05262647223530535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3115284214107324,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17bcae93e295f1530bb5f49469fbb8bd40816a7ebc40fef74ead2a1f3d3664ed",
+    "visual_seed": 1357716094400249070,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4f814260b8281bde8230d065e522d7d11e0803
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27314009996527133,
+              -0.09532476866823758,
+              1.0439216983825217
+            ],
+            "current_z": 1.0439216983825217,
+            "required_z": 0.8565865566268284,
+            "initial_z": 0.7565865566268284,
+            "lift_margin": 0.18733514175569332,
+            "gripper_z": 1.0476905609399396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26850284505803346,
+              -0.09978850455109749,
+              1.0476905609399396
+            ],
+            "object_minus_gripper": [
+              0.0046372549072378755,
+              0.004463735882859907,
+              -0.003768862557417929
+            ],
+            "object_to_gripper_xy": 0.006436541859308682,
+            "object_to_gripper_z": -0.003768862557417929,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27314009996527133,
+              -0.11972936745615642,
+              1.0439216983825217
+            ],
+            "finger_b": [
+              0.26240394858401095,
+              -0.09532476866823758,
+              1.0439216983825217
+            ],
+            "finger_midpoint": [
+              0.26777202427464114,
+              -0.107527068062197,
+              1.0439216983825217
+            ],
+            "object_minus_finger_midpoint": [
+              0.005368075690630192,
+              0.01220229939395942,
+              0.0
+            ],
+            "finger_gap": 0.026661758915732265,
+            "fingertip_max_gap": 0.0948826080482045,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013330879457866133,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0439216983825217,
+            "object_top_z": 1.0904238858834767,
+            "finger_top_clearance": 0.04650218750095503,
+            "fingertip_min_top_clearance": 0.013950656250286492,
+            "object_projection_between_fingers": 0.8378489897449207,
+            "object_to_finger_line_xy": 0.009827238623458372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049941304024102254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3396037768472784,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27001432432239536,
+              -0.09958185936303741,
+              1.2400606438167148
+            ],
+            "held_position": [
+              0.27481757156047326,
+              -0.09519712353180075,
+              1.2363919046873841
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007467043534017687,
+            "max_held_gripper_dist": 0.00747001590760724,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036687391293306337,
+            "max_held_gripper_z_dist": 0.0037499067343398362,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08591888294502847,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27481757156047326,
+              -0.11993423639611354,
+              1.2363919046873841
+            ],
+            "held_grasp_finger_b": [
+              0.2654622929928747,
+              -0.09519712353180075,
+              1.2363919046873841
+            ],
+            "held_grasp_midpoint": [
+              0.270139932276674,
+              -0.10756567996395715,
+              1.2363919046873841
+            ],
+            "held_grasp_object_position": [
+              0.27481757156047326,
+              -0.09519712353180075,
+              1.2363919046873841
+            ],
+            "held_grasp_finger_gap": 0.02644704123222706,
+            "held_grasp_max_gap": 0.12496582925319671,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460032830099862,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012976145419607527,
+              -0.9993778939254355,
+              -0.03279397480041223
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004535014272135864,
+            "held_grasp_line_xy_max_dist": 0.04748291462659836,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03277911984559378,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3527037275967704,
+              0.07259018024932504,
+              0.7625853358572764
+            ],
+            "target_position": [
+              0.3506410009032285,
+              0.0696902881699791,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003558681705927576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17565957659068074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853358572764,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561907386550318,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08853619977286485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14368453000411374,
+            "release_required_pad_clearance": 0.05426809988643243,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5329071569272776,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c2a2e8199ffc42f45734de9e7a0ceca9a0303aaede4042bfa5ed55c1722baf4",
+    "visual_seed": 7614894220028946589,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d965c01905295963e30a571ba0ef24b26f9f396
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_63_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2779552543825755,
+              -0.09499649111393044,
+              1.045075423681037
+            ],
+            "current_z": 1.045075423681037,
+            "required_z": 0.8565865637798161,
+            "initial_z": 0.7565865637798161,
+            "lift_margin": 0.18848885990122077,
+            "gripper_z": 1.0490717747747846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27318574831874465,
+              -0.09953189514155035,
+              1.0490717747747846
+            ],
+            "object_minus_gripper": [
+              0.004769506063830864,
+              0.004535404027619913,
+              -0.003996351093747741
+            ],
+            "object_to_gripper_xy": 0.006581647042091388,
+            "object_to_gripper_z": -0.003996351093747741,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2779552543825755,
+              -0.11947208692615033,
+              1.045075423681037
+            ],
+            "finger_b": [
+              0.2670708651582997,
+              -0.09499649111393044,
+              1.045075423681037
+            ],
+            "finger_midpoint": [
+              0.2725130597704376,
+              -0.10723428902004038,
+              1.045075423681037
+            ],
+            "object_minus_finger_midpoint": [
+              0.005442194612137907,
+              0.012237797906109946,
+              0.0
+            ],
+            "finger_gap": 0.02678665188388962,
+            "fingertip_max_gap": 0.0965432970683053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01339332594194481,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045075423681037,
+            "object_top_z": 1.092256515268721,
+            "finger_top_clearance": 0.04718109158768402,
+            "fingertip_min_top_clearance": 0.01415432747630524,
+            "object_projection_between_fingers": 0.8348908049800835,
+            "object_to_finger_line_xy": 0.009945323233042034,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050771648534152655,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.818798362109118,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2752858390999594,
+              -0.09887023318255532,
+              1.2419156894243195
+            ],
+            "held_position": [
+              0.2802076151593498,
+              -0.09442768588720692,
+              1.237997867583015
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007701261846632558,
+            "max_held_gripper_dist": 0.007703155828021883,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003917821841304514,
+            "max_held_gripper_z_dist": 0.003974575189994445,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865322562670214,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2802076151593498,
+              -0.119281544622872,
+              1.237997867583015
+            ],
+            "held_grasp_finger_b": [
+              0.27062014736524637,
+              -0.09442768588720692,
+              1.237997867583015
+            ],
+            "held_grasp_midpoint": [
+              0.27541388126229804,
+              -0.10685461525503945,
+              1.237997867583015
+            ],
+            "held_grasp_object_position": [
+              0.2802076151593498,
+              -0.09442768588720692,
+              1.237997867583015
+            ],
+            "held_grasp_finger_gap": 0.026638953296917758,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024812796430111222,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0038355329620912877,
+              -0.9998274208905666,
+              -0.01817737940998576
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004751415272159606,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.0327575081874243,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35717126488899975,
+              0.06821557655414379,
+              0.7625843280309595
+            ],
+            "target_position": [
+              0.35784870121697027,
+              0.06665552948559242,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0017007841822376795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17305741520355256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843280309595,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531047673475068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08828260201345421,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14172294470352445,
+            "release_required_pad_clearance": 0.05414130100672711,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.290170184957668,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e12dc4523ad3f06a23d1f060facbbabec8a498abf26515753659bf28af7486ef",
+    "visual_seed": 943807910545162785,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7ac8b39e9ce1a0266806e809961283e8f405b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27752198608140577,
+              -0.09751864524421289,
+              1.045369432075748
+            ],
+            "current_z": 1.045369432075748,
+            "required_z": 0.8565865641599506,
+            "initial_z": 0.7565865641599506,
+            "lift_margin": 0.18878286791579746,
+            "gripper_z": 1.0485515396030543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27326950755432183,
+              -0.10185710494924294,
+              1.0485515396030543
+            ],
+            "object_minus_gripper": [
+              0.004252478527083936,
+              0.004338459705030051,
+              -0.0031821075273061883
+            ],
+            "object_to_gripper_xy": 0.006075014916482049,
+            "object_to_gripper_z": -0.0031821075273061883,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27752198608140577,
+              -0.1214547567552396,
+              1.045369432075748
+            ],
+            "finger_b": [
+              0.26671476892960044,
+              -0.09751864524421289,
+              1.045369432075748
+            ],
+            "finger_midpoint": [
+              0.2721183775055031,
+              -0.10948670099972624,
+              1.045369432075748
+            ],
+            "object_minus_finger_midpoint": [
+              0.005403608575902663,
+              0.011968055755513352,
+              0.0
+            ],
+            "finger_gap": 0.02626277549754749,
+            "fingertip_max_gap": 0.09161232364437155,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013131387748773739,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045369432075748,
+            "object_top_z": 1.0907345254836793,
+            "finger_top_clearance": 0.04536509340793127,
+            "fingertip_min_top_clearance": 0.01360952802237938,
+            "object_projection_between_fingers": 0.8306650852503453,
+            "object_to_finger_line_xy": 0.009849787387995213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830616182218578,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3085346236917812,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2755242415884811,
+              -0.10233622284766163,
+              1.241424230721568
+            ],
+            "held_position": [
+              0.28007408588658983,
+              -0.09824697913561971,
+              1.2383263189482756
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006857117078525792,
+            "max_held_gripper_dist": 0.006858800183454905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003097911773292328,
+            "max_held_gripper_z_dist": 0.0031682016014735748,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609842334002263,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28007408588658983,
+              -0.12305590050933987,
+              1.2383263189482756
+            ],
+            "held_grasp_finger_b": [
+              0.27145804939029605,
+              -0.09824697913561971,
+              1.2383263189482756
+            ],
+            "held_grasp_midpoint": [
+              0.2757660676384429,
+              -0.1106514398224798,
+              1.2383263189482756
+            ],
+            "held_grasp_object_position": [
+              0.28007408588658983,
+              -0.09824697913561971,
+              1.2383263189482756
+            ],
+            "held_grasp_finger_gap": 0.02626249539995953,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024184965404467025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0638897032587545,
+              -0.997038164088981,
+              -0.042813609607021956
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003547571145471023,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.045200686901807785,
+            "held_grasp_top_clearance": 0.03255772818455946,
+            "held_grasp_min_top_clearance": 0.013560206070542336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35991792628731273,
+              0.0733833920565492,
+              0.7625853802061778
+            ],
+            "target_position": [
+              0.35795559857543646,
+              0.07089313816798669,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0031705038208931806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17445438155125426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853802061778,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563448280778703,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863530424644454,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14251823138701278,
+            "release_required_pad_clearance": 0.053176521232222704,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3711349136150464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "feb7eacd6da1c194a0441c05ac27b72a211a9d74fea82ec65c4fdd1dc05cc8ed",
+    "visual_seed": 4447829694622389395,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1197230ff784e7a1a0c75ace347ff195a16c90a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2757819048173725,
+              -0.08765053286459137,
+              1.046758078573062
+            ],
+            "current_z": 1.046758078573062,
+            "required_z": 0.8565865810561201,
+            "initial_z": 0.7565865810561201,
+            "lift_margin": 0.19017149751694185,
+            "gripper_z": 1.0501638301896865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.271585865345169,
+              -0.09201263379434031,
+              1.0501638301896865
+            ],
+            "object_minus_gripper": [
+              0.004196039472203539,
+              0.004362100929748938,
+              -0.003405751616624597
+            ],
+            "object_to_gripper_xy": 0.006052658240278126,
+            "object_to_gripper_z": -0.003405751616624597,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2757819048173725,
+              -0.11143326770935426,
+              1.046758078573062
+            ],
+            "finger_b": [
+              0.26479013577221966,
+              -0.08765053286459137,
+              1.046758078573062
+            ],
+            "finger_midpoint": [
+              0.2702860202947961,
+              -0.09954190028697282,
+              1.046758078573062
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495884522576433,
+              0.01189136742238145,
+              0.0
+            ],
+            "finger_gap": 0.026199951592288856,
+            "fingertip_max_gap": 0.09197047134435568,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013099975796144435,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046758078573062,
+            "object_top_z": 1.0921013055093878,
+            "finger_top_clearance": 0.045343226936325864,
+            "fingertip_min_top_clearance": 0.013602968080897759,
+            "object_projection_between_fingers": 0.8239912691582806,
+            "object_to_finger_line_xy": 0.009977664567620113,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848523567217784,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.688847372354335,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27446343598899514,
+              -0.09224421554506523,
+              1.24233172813525
+            ],
+            "held_position": [
+              0.2789896707473167,
+              -0.08818593509509066,
+              1.2389752453334189
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006944236322092712,
+            "max_held_gripper_dist": 0.0069458637117169675,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033564828018310955,
+            "max_held_gripper_z_dist": 0.0033972402224045073,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612559461993463,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2789896707473167,
+              -0.11309128614422131,
+              1.2389752453334189
+            ],
+            "held_grasp_finger_b": [
+              0.27045453677578596,
+              -0.08818593509509066,
+              1.2389752453334189
+            ],
+            "held_grasp_midpoint": [
+              0.2747221037615513,
+              -0.10063861061965598,
+              1.2389752453334189
+            ],
+            "held_grasp_object_position": [
+              0.2789896707473167,
+              -0.08818593509509066,
+              1.2389752453334189
+            ],
+            "held_grasp_finger_gap": 0.026327267666668545,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02426081594258456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06711466891922213,
+              -0.9971210036058454,
+              -0.035289168082214495
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034509321033750224,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.0324974797674477,
+            "held_grasp_min_top_clearance": 0.01356021612882614
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36058881117007324,
+              0.07715289260456314,
+              0.7625860130436568
+            ],
+            "target_position": [
+              0.3572239380818088,
+              0.07393431644470991,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046563508670311605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1754710515923651,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860130436568,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523767597416268,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506966163776107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14472909754592075,
+            "release_required_pad_clearance": 0.05253483081888054,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1370503337302458,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "111892c0600449330221d73b3423b7d7795774bc025bcace22ed9fa800eec35b",
+    "visual_seed": 4319691114594458828,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_66_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c44ab8ff1161f38165af3c15feeada3cc737bb3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_66_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2700289529943671,
+              -0.09355395340580117,
+              1.048234199498206
+            ],
+            "current_z": 1.048234199498206,
+            "required_z": 0.8565866433936634,
+            "initial_z": 0.7565866433936634,
+            "lift_margin": 0.19164755610454265,
+            "gripper_z": 1.0517281104242544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26575628442869303,
+              -0.09799722739754399,
+              1.0517281104242544
+            ],
+            "object_minus_gripper": [
+              0.004272668565674043,
+              0.004443273991742824,
+              -0.003493910926048338
+            ],
+            "object_to_gripper_xy": 0.006164282637728197,
+            "object_to_gripper_z": -0.003493910926048338,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2700289529943671,
+              -0.11728693783462371,
+              1.048234199498206
+            ],
+            "finger_b": [
+              0.2588514030984226,
+              -0.09355395340580117,
+              1.048234199498206
+            ],
+            "finger_midpoint": [
+              0.26444017804639486,
+              -0.10542044562021244,
+              1.048234199498206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005588774947972219,
+              0.011866492214411273,
+              0.0
+            ],
+            "finger_gap": 0.026233417077747654,
+            "fingertip_max_gap": 0.0924587918076947,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013116708538873815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048234199498206,
+            "object_top_z": 1.0941876835415245,
+            "finger_top_clearance": 0.04595348404331845,
+            "fingertip_min_top_clearance": 0.013786045212995502,
+            "object_projection_between_fingers": 0.8184553285597762,
+            "object_to_finger_line_xy": 0.010112164070987792,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872939590384735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4853325707551874,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2659289423103654,
+              -0.09917967672734598,
+              1.2465321400675138
+            ],
+            "held_position": [
+              0.27056747700321976,
+              -0.09500190003313162,
+              1.2431845431873445
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007083517987247101,
+            "max_held_gripper_dist": 0.007086769891971506,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003347596880169279,
+            "max_held_gripper_z_dist": 0.0034810240130516146,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624708338648049,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27056747700321976,
+              -0.119716918063038,
+              1.2431845431873445
+            ],
+            "held_grasp_finger_b": [
+              0.261794100678866,
+              -0.09500190003313162,
+              1.2431845431873445
+            ],
+            "held_grasp_midpoint": [
+              0.2661807888410429,
+              -0.1073594090480848,
+              1.2431845431873445
+            ],
+            "held_grasp_object_position": [
+              0.27056747700321976,
+              -0.09500190003313162,
+              1.2431845431873445
+            ],
+            "held_grasp_finger_gap": 0.02622602235085085,
+            "held_grasp_max_gap": 0.12496568024158478,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023912718826609468,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07726450550973471,
+              -0.994965465135638,
+              -0.06382726201052358
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003511024704899003,
+            "held_grasp_line_xy_max_dist": 0.04748284012079239,
+            "held_grasp_object_top_z": 0.045200593769550323,
+            "held_grasp_top_clearance": 0.03256636377289358,
+            "held_grasp_min_top_clearance": 0.013560178130865097
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35822151102191385,
+              0.0782052036546295,
+              0.7625863238590436
+            ],
+            "target_position": [
+              0.35524363237969975,
+              0.07507144231184028,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004322987550446456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1756224187940257,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863238590436,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563283906169307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854199217411256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14378517002165686,
+            "release_required_pad_clearance": 0.0527099608705628,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47146527714690656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfa3ddf41f8852134c8acf7959b59c20a2e42fbc4a583c3e06cad0d5547d50b2",
+    "visual_seed": 9133310017080025061,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2384429440779aac038d90d5d2c2cf924626e65c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27362002009992076,
+              -0.09466646700313482,
+              1.0464511616403578
+            ],
+            "current_z": 1.0464511616403578,
+            "required_z": 0.8565865914537822,
+            "initial_z": 0.7565865914537823,
+            "lift_margin": 0.18986457018657554,
+            "gripper_z": 1.049752963430176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2693576048030092,
+              -0.09911347933016577,
+              1.049752963430176
+            ],
+            "object_minus_gripper": [
+              0.00426241529691157,
+              0.004447012327030958,
+              -0.003301801789818315
+            ],
+            "object_to_gripper_xy": 0.006159878472836217,
+            "object_to_gripper_z": -0.003301801789818315,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27362002009992076,
+              -0.11837686631521946,
+              1.0464511616403578
+            ],
+            "finger_b": [
+              0.26240624125828027,
+              -0.09466646700313482,
+              1.0464511616403578
+            ],
+            "finger_midpoint": [
+              0.2680131306791005,
+              -0.10652166665917714,
+              1.0464511616403578
+            ],
+            "object_minus_finger_midpoint": [
+              0.005606889420820271,
+              0.011855199656042328,
+              0.0
+            ],
+            "finger_gap": 0.02622845537670352,
+            "fingertip_max_gap": 0.0922182866322887,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013114227688351777,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464511616403578,
+            "object_top_z": 1.092341710157118,
+            "finger_top_clearance": 0.04589054851676022,
+            "fingertip_min_top_clearance": 0.013767164555028065,
+            "object_projection_between_fingers": 0.8172074283393936,
+            "object_to_finger_line_xy": 0.010137202908596075,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048609143316144354,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3494220271394104,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27031076301496093,
+              -0.10006517711430223,
+              1.2441887164202443
+            ],
+            "held_position": [
+              0.2749433016685713,
+              -0.09591829586129946,
+              1.2410016133161828
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006986749222608366,
+            "max_held_gripper_dist": 0.006990102173179037,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031871031040615616,
+            "max_held_gripper_z_dist": 0.0032873073896877436,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615531970165602,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2749433016685713,
+              -0.12069404256449176,
+              1.2410016133161828
+            ],
+            "held_grasp_finger_b": [
+              0.26616765390892055,
+              -0.09591829586129946,
+              1.2410016133161828
+            ],
+            "held_grasp_midpoint": [
+              0.2705554777887459,
+              -0.10830616921289561,
+              1.2410016133161828
+            ],
+            "held_grasp_object_position": [
+              0.2749433016685713,
+              -0.09591829586129946,
+              1.2410016133161828
+            ],
+            "held_grasp_finger_gap": 0.02628401830584903,
+            "held_grasp_max_gap": 0.12496599316596985,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0239544734006683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08011461252314564,
+              -0.9952285723600518,
+              -0.055693245716509354
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034529032027682278,
+            "held_grasp_line_xy_max_dist": 0.047482996582984924,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.032520470812665875,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3596859798898818,
+              0.07697706987501363,
+              0.7625864270122323
+            ],
+            "target_position": [
+              0.3554949948042704,
+              0.0733522097116291,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005541116060137128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17792116179483314,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864270122323,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583812614931557,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591841124661313,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14567938291866903,
+            "release_required_pad_clearance": 0.05295920562330657,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9520235636265426,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "013211e1f4b5ba8109c03bc322a9a19d53d4951e53ed1638c34925a5f758cad3",
+    "visual_seed": 1328250475236073505,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_68_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67246c1f80098490d15654d6b7cd4f1468f58457
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_68_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2802649366946656,
+              -0.08852058517153331,
+              1.0477938348248412
+            ],
+            "current_z": 1.0477938348248412,
+            "required_z": 0.8565865541184088,
+            "initial_z": 0.7565865541184088,
+            "lift_margin": 0.19120728070643245,
+            "gripper_z": 1.0511925261940271,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2758879505331825,
+              -0.09291486519795648,
+              1.0511925261940271
+            ],
+            "object_minus_gripper": [
+              0.004376986161483132,
+              0.00439428002642317,
+              -0.0033986913691859133
+            ],
+            "object_to_gripper_xy": 0.006202233856316324,
+            "object_to_gripper_z": -0.0033986913691859133,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2802649366946656,
+              -0.11259644417348826,
+              1.0477938348248412
+            ],
+            "finger_b": [
+              0.2694040540420092,
+              -0.08852058517153331,
+              1.0477938348248412
+            ],
+            "finger_midpoint": [
+              0.2748344953683374,
+              -0.10055851467251078,
+              1.0477938348248412
+            ],
+            "object_minus_finger_midpoint": [
+              0.00543044132632825,
+              0.01203792950097747,
+              0.0
+            ],
+            "finger_gap": 0.026412227446332287,
+            "fingertip_max_gap": 0.0931116107428979,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013206113723166154,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477938348248412,
+            "object_top_z": 1.0935954179488439,
+            "finger_top_clearance": 0.04580158312400262,
+            "fingertip_min_top_clearance": 0.013740474937200787,
+            "object_projection_between_fingers": 0.8309091194738463,
+            "object_to_finger_line_xy": 0.009900152492380809,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905580537144895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8098360613582263,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2792752728989334,
+              -0.09293387119180577,
+              1.2428213461643032
+            ],
+            "held_position": [
+              0.28392444891737506,
+              -0.08879982402231765,
+              1.2394611469307812
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007070793628650694,
+            "max_held_gripper_dist": 0.00707547405908893,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003360199233521932,
+            "max_held_gripper_z_dist": 0.003384204793083878,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663028893980285,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28392444891737506,
+              -0.11378700693965983,
+              1.2394611469307812
+            ],
+            "held_grasp_finger_b": [
+              0.2752198852237623,
+              -0.08879982402231765,
+              1.2394611469307812
+            ],
+            "held_grasp_midpoint": [
+              0.27957216707056864,
+              -0.10129341548098875,
+              1.2394611469307812
+            ],
+            "held_grasp_object_position": [
+              0.28392444891737506,
+              -0.08879982402231765,
+              1.2394611469307812
+            ],
+            "held_grasp_finger_gap": 0.026459945941760328,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024502020327505213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05092232902413461,
+              -0.9983229028435133,
+              -0.027537212365435826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037266304765221038,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.03250638655402481,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3580238907939834,
+              0.07380274309438191,
+              0.762585141336848
+            ],
+            "target_position": [
+              0.3554377923455542,
+              0.07071652838213523,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004026490585491986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1746007718309732,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585141336848,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543171952688131,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603408316755017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14321345902035285,
+            "release_required_pad_clearance": 0.053017041583775085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0497170053293392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "857ada4cd781cf0c4195ea272de5ef18752dbd4accab0c86d5845480b3f6643f",
+    "visual_seed": 1561899956988051989,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e4b47b6ba9f30fa467b706ebb948c3d0a9aed7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_69_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27048666093235685,
+              -0.09458193063314549,
+              1.0474991079850213
+            ],
+            "current_z": 1.0474991079850213,
+            "required_z": 0.8565865399379929,
+            "initial_z": 0.756586539937993,
+            "lift_margin": 0.19091256804702839,
+            "gripper_z": 1.0509044187249421,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26612632036171435,
+              -0.09896912349713186,
+              1.0509044187249421
+            ],
+            "object_minus_gripper": [
+              0.004360340570642496,
+              0.004387192863986367,
+              -0.003405310739920786
+            ],
+            "object_to_gripper_xy": 0.00618546935307288,
+            "object_to_gripper_z": -0.003405310739920786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27048666093235685,
+              -0.11858847356853673,
+              1.0474991079850213
+            ],
+            "finger_b": [
+              0.25963383690259734,
+              -0.09458193063314549,
+              1.0474991079850213
+            ],
+            "finger_midpoint": [
+              0.2650602489174771,
+              -0.1065852021008411,
+              1.0474991079850213
+            ],
+            "object_minus_finger_midpoint": [
+              0.005426412014879756,
+              0.012003271467695614,
+              0.0
+            ],
+            "finger_gap": 0.026345737665317108,
+            "fingertip_max_gap": 0.09174461457466096,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013172868832658549,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474991079850213,
+            "object_top_z": 1.0928281306213354,
+            "finger_top_clearance": 0.04532902263631411,
+            "fingertip_min_top_clearance": 0.0135987067908942,
+            "object_projection_between_fingers": 0.8303066605060062,
+            "object_to_finger_line_xy": 0.009889219628253364,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837230728733048,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.53180453933577,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2672101456089471,
+              -0.0999695317590931,
+              1.2447265831732999
+            ],
+            "held_position": [
+              0.27187523524401874,
+              -0.09580795426466722,
+              1.2414463358135805
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0070598733194236684,
+            "max_held_gripper_dist": 0.0070622048236033946,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003280247359719324,
+            "max_held_gripper_z_dist": 0.003391080700992699,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08644401374692054,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27187523524401874,
+              -0.12060213134783729,
+              1.2414463358135805
+            ],
+            "held_grasp_finger_b": [
+              0.26313155090913143,
+              -0.09580795426466722,
+              1.2414463358135805
+            ],
+            "held_grasp_midpoint": [
+              0.2675033930765751,
+              -0.10820504280625226,
+              1.2414463358135805
+            ],
+            "held_grasp_object_position": [
+              0.27187523524401874,
+              -0.09580795426466722,
+              1.2414463358135805
+            ],
+            "held_grasp_finger_gap": 0.02629074424545166,
+            "held_grasp_max_gap": 0.12496603786945343,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024195608704558277,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05981657533752749,
+              -0.9969528681830006,
+              -0.05006951104792877
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036763664478782045,
+            "held_grasp_line_xy_max_dist": 0.047483018934726715,
+            "held_grasp_object_top_z": 0.045200761407613754,
+            "held_grasp_top_clearance": 0.03257993980258927,
+            "held_grasp_min_top_clearance": 0.013560228422284127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.362186131231026,
+              0.06992070580994013,
+              0.7625860644830611
+            ],
+            "target_position": [
+              0.35851162746728693,
+              0.06671919426674311,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004873566873549221,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1785426049284808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860644830611,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546716209761294,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625593627393151,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1470009116822468,
+            "release_required_pad_clearance": 0.053127968136965756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.279603503100777,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5596adb543b026d74b2cc14142dd377ede374994951902c972aa31daaaf095a7",
+    "visual_seed": 6190097134867393121,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3474f4c22d66e70cc47581f878d266045f21e1d0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_6_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2714681552147683,
+              -0.093743693501438,
+              1.0476772008537758
+            ],
+            "current_z": 1.0476772008537758,
+            "required_z": 0.8565865640117173,
+            "initial_z": 0.7565865640117173,
+            "lift_margin": 0.19109063684205851,
+            "gripper_z": 1.051023616107089,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26721573518672237,
+              -0.09810402689543503,
+              1.051023616107089
+            ],
+            "object_minus_gripper": [
+              0.0042524200280459334,
+              0.0043603333939970235,
+              -0.0033464152533131397
+            ],
+            "object_to_gripper_xy": 0.0060906143698096485,
+            "object_to_gripper_z": -0.0033464152533131397,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2714681552147683,
+              -0.11762682947045523,
+              1.0476772008537758
+            ],
+            "finger_b": [
+              0.26059443436997054,
+              -0.093743693501438,
+              1.0476772008537758
+            ],
+            "finger_midpoint": [
+              0.2660312947923694,
+              -0.10568526148594662,
+              1.0476772008537758
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054368604223988815,
+              0.011941567984508614,
+              0.0
+            ],
+            "finger_gap": 0.02624198903904111,
+            "fingertip_max_gap": 0.09210401019563966,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013120994519520555,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476772008537758,
+            "object_top_z": 1.0930929399341105,
+            "finger_top_clearance": 0.045415739080334694,
+            "fingertip_min_top_clearance": 0.01362472172410044,
+            "object_projection_between_fingers": 0.828302939776477,
+            "object_to_finger_line_xy": 0.009896298372774986,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855200509781983,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5253984134332297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2685125613331475,
+              -0.09905357286509298,
+              1.2459829291533102
+            ],
+            "held_position": [
+              0.273088597544684,
+              -0.09494406397221368,
+              1.2427491534164201
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006948775163037483,
+            "max_held_gripper_dist": 0.006950775773859904,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003233775736890099,
+            "max_held_gripper_z_dist": 0.003333561313668243,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630966199448979,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.273088597544684,
+              -0.11973200371155655,
+              1.2427491534164201
+            ],
+            "held_grasp_finger_b": [
+              0.2644301551177962,
+              -0.09494406397221368,
+              1.2427491534164201
+            ],
+            "held_grasp_midpoint": [
+              0.26875937633124014,
+              -0.10733803384188512,
+              1.2427491534164201
+            ],
+            "held_grasp_object_position": [
+              0.273088597544684,
+              -0.09494406397221368,
+              1.2427491534164201
+            ],
+            "held_grasp_finger_gap": 0.026256629292066874,
+            "held_grasp_max_gap": 0.12496558338403702,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024152823320986075,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.064425615039182,
+              -0.9968819135218192,
+              -0.04556084525005288
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035677300006543887,
+            "held_grasp_line_xy_max_dist": 0.04748279169201851,
+            "held_grasp_object_top_z": 0.045200496912002563,
+            "held_grasp_top_clearance": 0.03256625977287593,
+            "held_grasp_min_top_clearance": 0.013560149073600768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35864621614427816,
+              0.07423002968515474,
+              0.7625859402023909
+            ],
+            "target_position": [
+              0.35581568831900356,
+              0.07126208851684425,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004101287913351853,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17707779097675547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859402023909,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562352266657617,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595753729164711,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14512100959707364,
+            "release_required_pad_clearance": 0.05297876864582356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9827500420998522,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c22916ccaae799c38d9456f8674d4522d263e3064354c26fa10d7885e4172b40",
+    "visual_seed": 851904749166781244,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7da7883ac660bff2a9097eea2a08bc9068f2dfe6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2791081691972417,
+              -0.09188177538578683,
+              1.045938851668124
+            ],
+            "current_z": 1.045938851668124,
+            "required_z": 0.8565865347508502,
+            "initial_z": 0.7565865347508502,
+            "lift_margin": 0.18935231691727383,
+            "gripper_z": 1.0497728025414739,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27434547560792977,
+              -0.09641942077408301,
+              1.0497728025414739
+            ],
+            "object_minus_gripper": [
+              0.004762693589311917,
+              0.00453764538829618,
+              -0.0038339508733498118
+            ],
+            "object_to_gripper_xy": 0.0065782578161393485,
+            "object_to_gripper_z": -0.0038339508733498118,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2791081691972417,
+              -0.11636005612569572,
+              1.045938851668124
+            ],
+            "finger_b": [
+              0.26821498458904264,
+              -0.09188177538578683,
+              1.045938851668124
+            ],
+            "finger_midpoint": [
+              0.2736615768931422,
+              -0.10412091575574128,
+              1.045938851668124
+            ],
+            "object_minus_finger_midpoint": [
+              0.005446592304099496,
+              0.012239140369954452,
+              0.0
+            ],
+            "finger_gap": 0.026792679949756783,
+            "fingertip_max_gap": 0.09578140022601889,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013396339974878387,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045938851668124,
+            "object_top_z": 1.0928329796472953,
+            "finger_top_clearance": 0.04689412797917125,
+            "fingertip_min_top_clearance": 0.014068238393751391,
+            "object_projection_between_fingers": 0.8346982638632496,
+            "object_to_finger_line_xy": 0.00995221200309869,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050390700113009446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5581801339147594,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2768715096829444,
+              -0.09555968376079436,
+              1.241127425106306
+            ],
+            "held_position": [
+              0.28178509638997135,
+              -0.09112899105904547,
+              1.2373587354052786
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007614288818230692,
+            "max_held_gripper_dist": 0.007616385396337466,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037686897010273945,
+            "max_held_gripper_z_dist": 0.0038128937990864475,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08579697015467647,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28178509638997135,
+              -0.11600317185549464,
+              1.2373587354052786
+            ],
+            "held_grasp_finger_b": [
+              0.2722495062873999,
+              -0.09112899105904547,
+              1.2373587354052786
+            ],
+            "held_grasp_midpoint": [
+              0.27701730133868563,
+              -0.10356608145727006,
+              1.2373587354052786
+            ],
+            "held_grasp_object_position": [
+              0.28178509638997135,
+              -0.09112899105904547,
+              1.2373587354052786
+            ],
+            "held_grasp_finger_gap": 0.026639300833518488,
+            "held_grasp_max_gap": 0.12496629118919372,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024788857743207184,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008353982816926874,
+              -0.9997723383365996,
+              -0.01963370744567205
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004670138130658868,
+            "held_grasp_line_xy_max_dist": 0.04748314559459686,
+            "held_grasp_object_top_z": 0.045200854539871216,
+            "held_grasp_top_clearance": 0.03272676551240148,
+            "held_grasp_min_top_clearance": 0.013560256361961365
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35102866704474817,
+              0.07232484468069793,
+              0.7625826297151171
+            ],
+            "target_position": [
+              0.3505833747886298,
+              0.07034528816794937,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0020290217299290423,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17479153211308776,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625826297151171,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550405458161817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08835931022016268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14305734324841313,
+            "release_required_pad_clearance": 0.05417965511008134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.368233242187829,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b728d73b31203770f6e84dfd0af7fdcaca4b95ed2bd796a8781c2e111b8617f",
+    "visual_seed": 8631270233657235470,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed7f589914503daa47eb5bb608de9ff7c4ea30b4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2722224947835421,
+              -0.09091729961643356,
+              1.04683931791715
+            ],
+            "current_z": 1.04683931791715,
+            "required_z": 0.8565865963350549,
+            "initial_z": 0.7565865963350549,
+            "lift_margin": 0.19025272158209516,
+            "gripper_z": 1.050365588926307,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2677830467245329,
+              -0.09530715048738252,
+              1.050365588926307
+            ],
+            "object_minus_gripper": [
+              0.004439448059009199,
+              0.0043898508709489525,
+              -0.0035262710091570337
+            ],
+            "object_to_gripper_xy": 0.006243355647231048,
+            "object_to_gripper_z": -0.0035262710091570337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2722224947835421,
+              -0.11506559275507075,
+              1.04683931791715
+            ],
+            "finger_b": [
+              0.26144030373521776,
+              -0.09091729961643356,
+              1.04683931791715
+            ],
+            "finger_midpoint": [
+              0.26683139925937993,
+              -0.10299144618575215,
+              1.04683931791715
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053910955241621705,
+              0.012074146569318586,
+              0.0
+            ],
+            "finger_gap": 0.026446090548739285,
+            "fingertip_max_gap": 0.09237235823805709,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013223045274369636,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04683931791715,
+            "object_top_z": 1.0925709957742464,
+            "finger_top_clearance": 0.04573167785709642,
+            "fingertip_min_top_clearance": 0.01371950335712896,
+            "object_projection_between_fingers": 0.8337770121841332,
+            "object_to_finger_line_xy": 0.009845368623837628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868617911902855,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2606353668143873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26994290637398344,
+              -0.09554980158975436,
+              1.2422465354585954
+            ],
+            "held_position": [
+              0.2746341774879095,
+              -0.09136023285949942,
+              1.2388078916088887
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007168317957164927,
+            "max_held_gripper_dist": 0.00717143226288101,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003438643849706713,
+            "max_held_gripper_z_dist": 0.00350961568405328,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651221599317171,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2746341774879095,
+              -0.11620969043377086,
+              1.2388078916088887
+            ],
+            "held_grasp_finger_b": [
+              0.26580904554754475,
+              -0.09136023285949942,
+              1.2388078916088887
+            ],
+            "held_grasp_midpoint": [
+              0.27022161151772717,
+              -0.10378496164663514,
+              1.2388078916088887
+            ],
+            "held_grasp_object_position": [
+              0.2746341774879095,
+              -0.09136023285949942,
+              1.2388078916088887
+            ],
+            "held_grasp_finger_gap": 0.026370030252170034,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024311502910101892,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05469325939711207,
+              -0.9977754269453883,
+              -0.03811620076120282
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037569661684478356,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.032562316095683205,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36115662902925294,
+              0.07645099478717295,
+              0.7625854907109244
+            ],
+            "target_position": [
+              0.35785847356993394,
+              0.0732853272482416,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004571573077276498,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.176278292458269,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854907109244,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556691629377262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636636811370378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14465527150570298,
+            "release_required_pad_clearance": 0.05318318405685189,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.389849960947429,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ff95e31697554b6fa346175933d1202dbf00b8a8d6785981c190ea429b6c847",
+    "visual_seed": 4969857675565101459,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9669f4120c2215125582eb6c9e1334bb64c4f86e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2766948558364277,
+              -0.09545099912821808,
+              1.0444144058058773
+            ],
+            "current_z": 1.0444144058058773,
+            "required_z": 0.8565865787972049,
+            "initial_z": 0.7565865787972049,
+            "lift_margin": 0.1878278270086724,
+            "gripper_z": 1.047587467876247,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2725275641219602,
+              -0.09978571044919866,
+              1.047587467876247
+            ],
+            "object_minus_gripper": [
+              0.004167291714467503,
+              0.00433471132098058,
+              -0.0031730620703696033
+            ],
+            "object_to_gripper_xy": 0.006012989478596042,
+            "object_to_gripper_z": -0.0031730620703696033,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2766948558364277,
+              -0.11928465344240248,
+              1.0444144058058773
+            ],
+            "finger_b": [
+              0.26584702870778854,
+              -0.09545099912821808,
+              1.0444144058058773
+            ],
+            "finger_midpoint": [
+              0.27127094227210813,
+              -0.10736782628531027,
+              1.0444144058058773
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054239135643195935,
+              0.011916827157092191,
+              0.0
+            ],
+            "finger_gap": 0.02618622598582852,
+            "fingertip_max_gap": 0.09271216136285623,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013093112992914253,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444144058058773,
+            "object_top_z": 1.0903823905086654,
+            "finger_top_clearance": 0.04596798470278807,
+            "fingertip_min_top_clearance": 0.013790395410836386,
+            "object_projection_between_fingers": 0.8283911471128625,
+            "object_to_finger_line_xy": 0.00987325787167409,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04885608068142812,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7093631969859215,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2746942753644289,
+              -0.1002547405085543,
+              1.2414357058213434
+            ],
+            "held_position": [
+              0.27917833676355647,
+              -0.09619186645467522,
+              1.2383407160970863
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00679652216961638,
+            "max_held_gripper_dist": 0.006798485621028783,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030949897242571467,
+            "max_held_gripper_z_dist": 0.0031634669212461386,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602295934740134,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27917833676355647,
+              -0.12100673217995844,
+              1.2383407160970863
+            ],
+            "held_grasp_finger_b": [
+              0.2705956663779568,
+              -0.09619186645467522,
+              1.2383407160970863
+            ],
+            "held_grasp_midpoint": [
+              0.27488700157075663,
+              -0.10859929931731682,
+              1.2383407160970863
+            ],
+            "held_grasp_object_position": [
+              0.27917833676355647,
+              -0.09619186645467522,
+              1.2383407160970863
+            ],
+            "held_grasp_finger_gap": 0.026257185529140133,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024188012937562384,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06356374765818643,
+              -0.9967234925226955,
+              -0.05001929064877329
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035498794074424857,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.032561197068338016,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3576330700396983,
+              0.07186604861612918,
+              0.7625858013554297
+            ],
+            "target_position": [
+              0.35461938272967974,
+              0.06874682486965555,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004337265034919103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17617025026293404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858013554297,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547400425985673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626570303950386,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14471237983416796,
+            "release_required_pad_clearance": 0.05313285151975193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2881375212146406,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44333f44b63975e1ebe9beeac22b87c489d66165de619ac75c0b640d719aec57",
+    "visual_seed": 7344841803589314972,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d040337706c3f6297c21b09cd0aa50513f2878d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27027256254750215,
+              -0.0931905025216832,
+              1.0446074057709525
+            ],
+            "current_z": 1.0446074057709525,
+            "required_z": 0.8565866550731264,
+            "initial_z": 0.7565866550731264,
+            "lift_margin": 0.1880207506978261,
+            "gripper_z": 1.0479445565653527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26603589235847963,
+              -0.0975810370897147,
+              1.0479445565653527
+            ],
+            "object_minus_gripper": [
+              0.004236670189022518,
+              0.004390534568031498,
+              -0.0033371507944002232
+            ],
+            "object_to_gripper_xy": 0.0061013251088293625,
+            "object_to_gripper_z": -0.0033371507944002232,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27027256254750215,
+              -0.11697401612356682,
+              1.0446074057709525
+            ],
+            "finger_b": [
+              0.2592541839376462,
+              -0.0931905025216832,
+              1.0446074057709525
+            ],
+            "finger_midpoint": [
+              0.26476337324257415,
+              -0.10508225932262502,
+              1.0446074057709525
+            ],
+            "object_minus_finger_midpoint": [
+              0.005509189304927997,
+              0.011891756800941816,
+              0.0
+            ],
+            "finger_gap": 0.026211832946993883,
+            "fingertip_max_gap": 0.09171381256756883,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013105916473496959,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446074057709525,
+            "object_top_z": 1.089966095427223,
+            "finger_top_clearance": 0.045358689656270545,
+            "fingertip_min_top_clearance": 0.013607606896881163,
+            "object_projection_between_fingers": 0.8232983520425017,
+            "object_to_finger_line_xy": 0.009997612836467667,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835690628378442,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.414485348953574,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26674544873671535,
+              -0.09879682353073213,
+              1.241089462070273
+            ],
+            "held_position": [
+              0.2713262581870137,
+              -0.09466091517551056,
+              1.237885392867979
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069538200002461975,
+            "max_held_gripper_dist": 0.006955337596045733,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003204069202294102,
+            "max_held_gripper_z_dist": 0.0033238029537818736,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631626416973864,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2713262581870137,
+              -0.11936962792817037,
+              1.237885392867979
+            ],
+            "held_grasp_finger_b": [
+              0.2626980191058691,
+              -0.09466091517551056,
+              1.237885392867979
+            ],
+            "held_grasp_midpoint": [
+              0.2670121386464414,
+              -0.10701527155184046,
+              1.237885392867979
+            ],
+            "held_grasp_object_position": [
+              0.2713262581870137,
+              -0.09466091517551056,
+              1.237885392867979
+            ],
+            "held_grasp_finger_gap": 0.026171874131113437,
+            "held_grasp_max_gap": 0.12496601551771164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02397863355427404,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07282148186262502,
+              -0.9958816938927406,
+              -0.05400632878336518
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034694325008827634,
+            "held_grasp_line_xy_max_dist": 0.04748300775885582,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.032583127200013065,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3538157327328401,
+              0.07095688435078445,
+              0.7625864743801319
+            ],
+            "target_position": [
+              0.3517896667720269,
+              0.06838754262299376,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003272072766876141,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1755163438248254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864743801319,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563217656030952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583169853404209,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1435404922337521,
+            "release_required_pad_clearance": 0.052915849267021045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8631885937753052,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db1dfcbac9bee53ca1f05c41478fa28beca47067cf34c6eab27b381c0b7f978b",
+    "visual_seed": 8571176713634019771,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..701b88d2fdb390bc52024c6cfe04aad512f5aa39
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2771836679968045,
+              -0.09330463477045454,
+              1.0470142230703212
+            ],
+            "current_z": 1.0470142230703212,
+            "required_z": 0.85658652856963,
+            "initial_z": 0.75658652856963,
+            "lift_margin": 0.1904276945006912,
+            "gripper_z": 1.0511879358173557,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27273982351324444,
+              -0.0976765672417705,
+              1.0511879358173557
+            ],
+            "object_minus_gripper": [
+              0.0044438444835600555,
+              0.0043719324713159535,
+              -0.004173712747034486
+            ],
+            "object_to_gripper_xy": 0.006233903057299974,
+            "object_to_gripper_z": -0.004173712747034486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2771836679968045,
+              -0.11748993233613589,
+              1.0470142230703212
+            ],
+            "finger_b": [
+              0.2664679775517237,
+              -0.09330463477045454,
+              1.0470142230703212
+            ],
+            "finger_midpoint": [
+              0.2718258227742641,
+              -0.10539728355329522,
+              1.0470142230703212
+            ],
+            "object_minus_finger_midpoint": [
+              0.005357845222540403,
+              0.012092648782840679,
+              0.0
+            ],
+            "finger_gap": 0.02645287583714383,
+            "fingertip_max_gap": 0.10403541354622473,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013226437918571922,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470142230703212,
+            "object_top_z": 1.0971862880229728,
+            "finger_top_clearance": 0.050172064952651585,
+            "fingertip_min_top_clearance": 0.015051619485795491,
+            "object_projection_between_fingers": 0.8359053086011495,
+            "object_to_finger_line_xy": 0.009797126166225955,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.054517706773112365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.068356057846642,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2745611274280621,
+              -0.09626445194610372,
+              1.2450100079863726
+            ],
+            "held_position": [
+              0.2791363078985546,
+              -0.091959386823325,
+              1.2409040199842902
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007504998302610487,
+            "max_held_gripper_dist": 0.007510031729400077,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004105988002082395,
+            "max_held_gripper_z_dist": 0.004155523835920105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615519034518615,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2791363078985546,
+              -0.11650937286378832,
+              1.2409040199842902
+            ],
+            "held_grasp_finger_b": [
+              0.2695651069917125,
+              -0.091959386823325,
+              1.2409040199842902
+            ],
+            "held_grasp_midpoint": [
+              0.27435070744513357,
+              -0.10423437984355666,
+              1.2409040199842902
+            ],
+            "held_grasp_object_position": [
+              0.2791363078985546,
+              -0.091959386823325,
+              1.2409040199842902
+            ],
+            "held_grasp_finger_gap": 0.026349757140931664,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024814141479683107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.029042973806767368,
+              -0.9994370384572049,
+              0.016796185053488455
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005144170435316286,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.033071629552105936,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35282788356143446,
+              0.07064846951174444,
+              0.762585654644576
+            ],
+            "target_position": [
+              0.3559341624749055,
+              0.07130183227834952,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003174248193361801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691112361523887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585654644576,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759077004019601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0923325033216068,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13609485582756942,
+            "release_required_pad_clearance": 0.0561662516608034,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.606979830432662,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 134,
+            "max_placed_release_frames": 134
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17befc8123c62af6d6ac6b6a79e9d43d2afab803f25fca9a163445892e10b77c",
+    "visual_seed": 2873200297512731596,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d0eef307bd119abc66769ae91454e73f404a27
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2715175241129497,
+              -0.09252772612561114,
+              1.0464051668788596
+            ],
+            "current_z": 1.0464051668788596,
+            "required_z": 0.8565866348547874,
+            "initial_z": 0.7565866348547874,
+            "lift_margin": 0.18981853202407228,
+            "gripper_z": 1.050115375832421,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2671076315688312,
+              -0.09688249044791003,
+              1.050115375832421
+            ],
+            "object_minus_gripper": [
+              0.004409892544118499,
+              0.004354764322298893,
+              -0.0037102089535614446
+            ],
+            "object_to_gripper_xy": 0.006197670897477477,
+            "object_to_gripper_z": -0.0037102089535614446,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2715175241129497,
+              -0.11670623069618231,
+              1.0464051668788596
+            ],
+            "finger_b": [
+              0.26085917607113507,
+              -0.09252772612561114,
+              1.0464051668788596
+            ],
+            "finger_midpoint": [
+              0.2661883500920424,
+              -0.10461697841089673,
+              1.0464051668788596
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053291740209073235,
+              0.012089252285285595,
+              0.0
+            ],
+            "finger_gap": 0.026423483234607536,
+            "fingertip_max_gap": 0.09524724792639727,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013211741617303773,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464051668788596,
+            "object_top_z": 1.0930796314759195,
+            "finger_top_clearance": 0.04667446459705982,
+            "fingertip_min_top_clearance": 0.014002339379117962,
+            "object_projection_between_fingers": 0.8372954638792156,
+            "object_to_finger_line_xy": 0.009752798847739842,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05012362396319864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5202199844793696,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26880694828095214,
+              -0.096939405964646,
+              1.2421276753193748
+            ],
+            "held_position": [
+              0.27342478038207263,
+              -0.0927138088899496,
+              1.2385189447955767
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072251629701491375,
+            "max_held_gripper_dist": 0.0072284428488132305,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003608730523798176,
+            "max_held_gripper_z_dist": 0.0036913551293271674,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08552541695739634,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27342478038207263,
+              -0.11742045358350571,
+              1.2385189447955767
+            ],
+            "held_grasp_finger_b": [
+              0.26445761690539404,
+              -0.0927138088899496,
+              1.2385189447955767
+            ],
+            "held_grasp_midpoint": [
+              0.26894119864373334,
+              -0.10506713123672765,
+              1.2385189447955767
+            ],
+            "held_grasp_object_position": [
+              0.27342478038207263,
+              -0.0927138088899496,
+              1.2385189447955767
+            ],
+            "held_grasp_finger_gap": 0.026283613009460912,
+            "held_grasp_max_gap": 0.12496591866016388,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02447271067191255,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02397486844095524,
+              -0.9992331027852358,
+              -0.03095822962363059
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042037082536950385,
+            "held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.03274942323230587,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35663613740731614,
+              0.07209326705382689,
+              0.7625844483402957
+            ],
+            "target_position": [
+              0.3548795514790365,
+              0.06958639643616459,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003061044661080376,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17660433072395487,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844483402957,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565514937929164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08807455375417027,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1445666085740921,
+            "release_required_pad_clearance": 0.054037276877085136,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0731638162950885,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9fc717a918dd18e8426e879e9bf0fef9144e322ff6af4d86c7be85be51cf078c",
+    "visual_seed": 6308982936527677110,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7108428d201eee7a4c3469fd1e4bbacc0b40eb4e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27050307026377574,
+              -0.09088941862373844,
+              1.0449208506599033
+            ],
+            "current_z": 1.0449208506599033,
+            "required_z": 0.8565865811862575,
+            "initial_z": 0.7565865811862575,
+            "lift_margin": 0.18833426947364573,
+            "gripper_z": 1.0484469042820044,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2661745843702985,
+              -0.09525062061146565,
+              1.0484469042820044
+            ],
+            "object_minus_gripper": [
+              0.00432848589347723,
+              0.004361201987727215,
+              -0.003526053622101122
+            ],
+            "object_to_gripper_xy": 0.006144580775593008,
+            "object_to_gripper_z": -0.003526053622101122,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27050307026377574,
+              -0.11490455293766758,
+              1.0449208506599033
+            ],
+            "finger_b": [
+              0.2597068790462691,
+              -0.09088941862373844,
+              1.0449208506599033
+            ],
+            "finger_midpoint": [
+              0.2651049746550224,
+              -0.102896985780703,
+              1.0449208506599033
+            ],
+            "object_minus_finger_midpoint": [
+              0.005398095608753317,
+              0.012007567156964563,
+              0.0
+            ],
+            "finger_gap": 0.026330294736691122,
+            "fingertip_max_gap": 0.0933377880704073,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013165147368345556,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449208506599033,
+            "object_top_z": 1.0911289200927081,
+            "finger_top_clearance": 0.046208069432804866,
+            "fingertip_min_top_clearance": 0.01386242082984146,
+            "object_projection_between_fingers": 0.8318760074687369,
+            "object_to_finger_line_xy": 0.009846907706885252,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916889403520365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4424337815693455,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26794751050829696,
+              -0.09572230514966736,
+              1.2399027688016753
+            ],
+            "held_position": [
+              0.2725517451788243,
+              -0.091568570481137,
+              1.2364782662350167
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007083763577851001,
+            "max_held_gripper_dist": 0.007085629066693188,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003424502566658605,
+            "max_held_gripper_z_dist": 0.0035107535869816076,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639599323021001,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2725517451788243,
+              -0.11634833684274591,
+              1.2364782662350167
+            ],
+            "held_grasp_finger_b": [
+              0.26386300417436725,
+              -0.091568570481137,
+              1.2364782662350167
+            ],
+            "held_grasp_midpoint": [
+              0.2682073746765958,
+              -0.10395845366194145,
+              1.2364782662350167
+            ],
+            "held_grasp_object_position": [
+              0.2725517451788243,
+              -0.091568570481137,
+              1.2364782662350167
+            ],
+            "held_grasp_finger_gap": 0.026258923077279048,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024202521961508384,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05944205001141043,
+              -0.9975476837880299,
+              -0.036949441938652676
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00362980153866565,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.045200709253549576,
+            "held_grasp_top_clearance": 0.03258297169547225,
+            "held_grasp_min_top_clearance": 0.013560212776064872
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35986476537762035,
+              0.07796070770402906,
+              0.7625853955002815
+            ],
+            "target_position": [
+              0.3572243210792108,
+              0.07500343197852592,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003964520880214097,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.176222377748435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853955002815,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515137943350057,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610387262231943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.145527554945043,
+            "release_required_pad_clearance": 0.05305193631115972,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1260226865488048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c08ce93cdc1d587af144f890fa9ef3b935089207301fa7130f98fd6108b36931",
+    "visual_seed": 6827019558057064621,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a29daa34fc470c43878401f1b9edf529b0a4b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2705286572194463,
+              -0.09247017045149941,
+              1.0467620308128363
+            ],
+            "current_z": 1.0467620308128363,
+            "required_z": 0.8565865769750561,
+            "initial_z": 0.7565865769750562,
+            "lift_margin": 0.19017545383778012,
+            "gripper_z": 1.0501460596628498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26626037509694617,
+              -0.09682671504789858,
+              1.0501460596628498
+            ],
+            "object_minus_gripper": [
+              0.004268282122500133,
+              0.00435654459639917,
+              -0.003384028850013543
+            ],
+            "object_to_gripper_xy": 0.006098992793705289,
+            "object_to_gripper_z": -0.003384028850013543,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2705286572194463,
+              -0.11639060170263708,
+              1.0467620308128363
+            ],
+            "finger_b": [
+              0.259691753130868,
+              -0.09247017045149941,
+              1.0467620308128363
+            ],
+            "finger_midpoint": [
+              0.26511020517515715,
+              -0.10443038607706825,
+              1.0467620308128363
+            ],
+            "object_minus_finger_midpoint": [
+              0.005418452044289146,
+              0.011960215625568843,
+              0.0
+            ],
+            "finger_gap": 0.026260722028639057,
+            "fingertip_max_gap": 0.09284100846357565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013130361014319535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467620308128363,
+            "object_top_z": 1.092580205100052,
+            "finger_top_clearance": 0.045818174287215685,
+            "fingertip_min_top_clearance": 0.013745452286164738,
+            "object_projection_between_fingers": 0.8297068676120207,
+            "object_to_finger_line_xy": 0.009871145924445986,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892050423178783,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5385449388666266,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.267595622724932,
+              -0.09763596893578962,
+              1.2446399209277481
+            ],
+            "held_position": [
+              0.2721778913878324,
+              -0.0935209591855275,
+              1.2413668563657292
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069744851402017815,
+            "max_held_gripper_dist": 0.006976838757022367,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032730645620189236,
+            "max_held_gripper_z_dist": 0.003370429085111093,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08616431880718975,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2721778913878324,
+              -0.11832145266554724,
+              1.2413668563657292
+            ],
+            "held_grasp_finger_b": [
+              0.2634786598363018,
+              -0.0935209591855275,
+              1.2413668563657292
+            ],
+            "held_grasp_midpoint": [
+              0.2678282756120671,
+              -0.10592120592553736,
+              1.2413668563657292
+            ],
+            "held_grasp_object_position": [
+              0.2721778913878324,
+              -0.0935209591855275,
+              1.2413668563657292
+            ],
+            "held_grasp_finger_gap": 0.026281954007258416,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02419723320832988,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0616692778580547,
+              -0.9973071122943272,
+              -0.039691610393336234
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036110564220405085,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.03256560242052055,
+            "held_grasp_min_top_clearance": 0.013560208305716514
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3559615466997464,
+              0.07639750389714492,
+              0.7625850731896029
+            ],
+            "target_position": [
+              0.35292543979509483,
+              0.07326347573921728,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0043634937413907435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1772536857244356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850731896029,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562439969617529,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08579403723994887,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14540238366014438,
+            "release_required_pad_clearance": 0.05289701861997444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8261204411638144,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f19f66efe4298650b76ad6b4463106ccf1e247d31d237d569c63cf4b4d2615bb",
+    "visual_seed": 8453934517949941355,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b26a53ce2dcbcb1021fe41aff5b72efa05925e6a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2746672651488486,
+              -0.09345062817620887,
+              1.0470389765145744
+            ],
+            "current_z": 1.0470389765145744,
+            "required_z": 0.8565865776410198,
+            "initial_z": 0.7565865776410198,
+            "lift_margin": 0.1904523988735547,
+            "gripper_z": 1.0502530381566013,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27052409455161286,
+              -0.09780879688359094,
+              1.0502530381566013
+            ],
+            "object_minus_gripper": [
+              0.004143170597235735,
+              0.004358168707382065,
+              -0.0032140616420268664
+            ],
+            "object_to_gripper_xy": 0.006013276734011414,
+            "object_to_gripper_z": -0.0032140616420268664,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2746672651488486,
+              -0.11713661991418191,
+              1.0470389765145744
+            ],
+            "finger_b": [
+              0.2636375831907964,
+              -0.09345062817620887,
+              1.0470389765145744
+            ],
+            "finger_midpoint": [
+              0.2691524241698225,
+              -0.10529362404519539,
+              1.0470389765145744
+            ],
+            "object_minus_finger_midpoint": [
+              0.005514840979026103,
+              0.011842995868986517,
+              0.0
+            ],
+            "finger_gap": 0.026128147441162167,
+            "fingertip_max_gap": 0.0917878123593435,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013064073720581083,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470389765145744,
+            "object_top_z": 1.0923774272113986,
+            "finger_top_clearance": 0.045338450696824184,
+            "fingertip_min_top_clearance": 0.013601535209047222,
+            "object_projection_between_fingers": 0.8217995718519108,
+            "object_to_finger_line_xy": 0.009998755415752307,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839390617967175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5693337659409257,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27236777462491857,
+              -0.09853466416030952,
+              1.2431959312532301
+            ],
+            "held_position": [
+              0.2768698945014903,
+              -0.09447882608272286,
+              1.240072217703983
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006817366957438545,
+            "max_held_gripper_dist": 0.0068187618491431165,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003123713549247231,
+            "max_held_gripper_z_dist": 0.003202534473895735,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08606992069411021,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2768698945014903,
+              -0.11927486194635652,
+              1.240072217703983
+            ],
+            "held_grasp_finger_b": [
+              0.26836056038819767,
+              -0.09447882608272286,
+              1.240072217703983
+            ],
+            "held_grasp_midpoint": [
+              0.272615227444844,
+              -0.10687684401453969,
+              1.240072217703983
+            ],
+            "held_grasp_object_position": [
+              0.2768698945014903,
+              -0.09447882608272286,
+              1.240072217703983
+            ],
+            "held_grasp_finger_gap": 0.026215494685438462,
+            "held_grasp_max_gap": 0.12496620923280716,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024069444034729975,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07442124358807937,
+              -0.9962366322343146,
+              -0.044430294813730065
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003366732276546922,
+            "held_grasp_line_xy_max_dist": 0.04748310461640358,
+            "held_grasp_object_top_z": 0.045200809836387634,
+            "held_grasp_top_clearance": 0.03253281259220494,
+            "held_grasp_min_top_clearance": 0.01356024295091629
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36001273020197017,
+              0.0748404295644917,
+              0.7625852330333698
+            ],
+            "target_position": [
+              0.3581136654968468,
+              0.07249184121310358,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0030203168705487254,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17615903253250279,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852330333698,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573072151244388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610572471118554,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14395365321543924,
+            "release_required_pad_clearance": 0.05305286235559277,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.111225094284469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac38122b4291db138c537776de706c7ca9d26e489cba453a89a3873da2bde95f",
+    "visual_seed": 4012704725617611625,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccaa0a454ffff46e6d9a95c9db96b795bbaea78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28039167257120673,
+              -0.08859255343870062,
+              1.046735580943363
+            ],
+            "current_z": 1.046735580943363,
+            "required_z": 0.8565865212957968,
+            "initial_z": 0.7565865212957968,
+            "lift_margin": 0.19014905964756612,
+            "gripper_z": 1.0506364640353199,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2756117431356336,
+              -0.09321903030074644,
+              1.0506364640353199
+            ],
+            "object_minus_gripper": [
+              0.004779929435573149,
+              0.004626476862045814,
+              -0.003900883091956908
+            ],
+            "object_to_gripper_xy": 0.006652218694849405,
+            "object_to_gripper_z": -0.003900883091956908,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28039167257120673,
+              -0.11307951145510803,
+              1.046735580943363
+            ],
+            "finger_b": [
+              0.26935243096127925,
+              -0.08859255343870062,
+              1.046735580943363
+            ],
+            "finger_midpoint": [
+              0.27487205176624296,
+              -0.10083603244690433,
+              1.046735580943363
+            ],
+            "object_minus_finger_midpoint": [
+              0.005519620804963765,
+              0.012243479008203703,
+              0.0
+            ],
+            "finger_gap": 0.026860304693350986,
+            "fingertip_max_gap": 0.09242161319282596,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013430152346675505,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046735580943363,
+            "object_top_z": 1.092211199782699,
+            "finger_top_clearance": 0.04547561883933615,
+            "fingertip_min_top_clearance": 0.013642685651800811,
+            "object_projection_between_fingers": 0.8310895155342826,
+            "object_to_finger_line_xy": 0.010063826487500215,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048710806596412984,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.203664606391403,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2787739947338317,
+              -0.09279931976697471,
+              1.2416232080282184
+            ],
+            "held_position": [
+              0.283760924237164,
+              -0.08835601588984898,
+              1.2377701538009835
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007710930040773204,
+            "max_held_gripper_dist": 0.007712876730199807,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003853054227234809,
+            "max_held_gripper_z_dist": 0.003882658699804864,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613339938090364,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.283760924237164,
+              -0.11345675713513283,
+              1.2377701538009835
+            ],
+            "held_grasp_finger_b": [
+              0.2744747795560314,
+              -0.08835601588984898,
+              1.2377701538009835
+            ],
+            "held_grasp_midpoint": [
+              0.27911785189659766,
+              -0.1009063865124909,
+              1.2377701538009835
+            ],
+            "held_grasp_object_position": [
+              0.283760924237164,
+              -0.08835601588984898,
+              1.2377701538009835
+            ],
+            "held_grasp_finger_gap": 0.026763402139892842,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024818102656521818,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.027212031698318834,
+              -0.9988070581242497,
+              -0.040545850244277926
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004330139362988898,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.0325389928641929,
+            "held_grasp_min_top_clearance": 0.013560221716761588
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36016173384226097,
+              0.07039067727983533,
+              0.7625858294429995
+            ],
+            "target_position": [
+              0.35644899178766454,
+              0.06680166362945036,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005163862173472348,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17547955272767615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858294429995,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553138703860308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0879331060654898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14404852605854046,
+            "release_required_pad_clearance": 0.053966553032744904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.940670268787862,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd5928cd56678273239fbe18da71cb611dd2aef190ccd8f1acb920cdfcf9e4f6",
+    "visual_seed": 6695589021069282361,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d50ee5deda834a13888ae4567e0b646f8d7a05a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_7_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27915539933762246,
+              -0.09682937835882557,
+              1.0440992138629812
+            ],
+            "current_z": 1.0440992138629812,
+            "required_z": 0.8565865672535403,
+            "initial_z": 0.7565865672535403,
+            "lift_margin": 0.1875126466094409,
+            "gripper_z": 1.0477483505043306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27453480765381283,
+              -0.1013208226436464,
+              1.0477483505043306
+            ],
+            "object_minus_gripper": [
+              0.004620591683809627,
+              0.004491444284820831,
+              -0.0036491366413493598
+            ],
+            "object_to_gripper_xy": 0.006443829550208509,
+            "object_to_gripper_z": -0.0036491366413493598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27915539933762246,
+              -0.12118962692162921,
+              1.0440992138629812
+            ],
+            "finger_b": [
+              0.2683190186557032,
+              -0.09682937835882557,
+              1.0440992138629812
+            ],
+            "finger_midpoint": [
+              0.2737372089966628,
+              -0.1090095026402274,
+              1.0440992138629812
+            ],
+            "object_minus_finger_midpoint": [
+              0.005418190340959639,
+              0.012180124281401819,
+              0.0
+            ],
+            "finger_gap": 0.02666174893597661,
+            "fingertip_max_gap": 0.09419117480026226,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013330874467988306,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0440992138629812,
+            "object_top_z": 1.090172322414625,
+            "finger_top_clearance": 0.046073108551643704,
+            "fingertip_min_top_clearance": 0.013821932565493111,
+            "object_projection_between_fingers": 0.8348071531119166,
+            "object_to_finger_line_xy": 0.009900960644652762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04959558740013113,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.365527874378644,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2768364245190237,
+              -0.10087604066634108,
+              1.2413745774929792
+            ],
+            "held_position": [
+              0.28165235415075457,
+              -0.09654726246576428,
+              1.237797064620725
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007397979269957217,
+            "max_held_gripper_dist": 0.007406749830265388,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035775128722541627,
+            "max_held_gripper_z_dist": 0.0036308250333636494,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858382669430943,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28165235415075457,
+              -0.1214421720452851,
+              1.237797064620725
+            ],
+            "held_grasp_finger_b": [
+              0.27235045931873253,
+              -0.09654726246576428,
+              1.237797064620725
+            ],
+            "held_grasp_midpoint": [
+              0.27700140673474355,
+              -0.10899471725552469,
+              1.237797064620725
+            ],
+            "held_grasp_object_position": [
+              0.28165235415075457,
+              -0.09654726246576428,
+              1.237797064620725
+            ],
+            "held_grasp_finger_gap": 0.026575962267404645,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024704076472689122,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01902248637402875,
+              -0.99944213739389,
+              -0.027451029373828373
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004426625969170593,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.045200690627098083,
+            "held_grasp_top_clearance": 0.03267170722305873,
+            "held_grasp_min_top_clearance": 0.013560207188129425
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35311721737126034,
+              0.07410421063963962,
+              0.762582176057446
+            ],
+            "target_position": [
+              0.3510859051049946,
+              0.07121810128757407,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035292855814118966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17589478858457833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762582176057446,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522728999747179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727175743011244,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14505281969103803,
+            "release_required_pad_clearance": 0.05363587871505622,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.274916574309554,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4082f38f82f851812d052510bed9c7595540f9c9d46fb1e95e9b44c7aaa1231d",
+    "visual_seed": 5288253942787192873,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f13ed627f34ead195cddbdc3872141bab34a100
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_80_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27768816050911926,
+              -0.0965837886623601,
+              1.0448877696419863
+            ],
+            "current_z": 1.0448877696419863,
+            "required_z": 0.8565865697225118,
+            "initial_z": 0.7565865697225118,
+            "lift_margin": 0.18830119991947447,
+            "gripper_z": 1.0481457504521734,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2733706449723807,
+              -0.10093810721925528,
+              1.0481457504521734
+            ],
+            "object_minus_gripper": [
+              0.0043175155367385365,
+              0.004354318556895179,
+              -0.0032579808101871333
+            ],
+            "object_to_gripper_xy": 0.006131967914536113,
+            "object_to_gripper_z": -0.0032579808101871333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27768816050911926,
+              -0.12059681790105561,
+              1.0448877696419863
+            ],
+            "finger_b": [
+              0.2668820196259753,
+              -0.0965837886623601,
+              1.0448877696419863
+            ],
+            "finger_midpoint": [
+              0.2722850900675473,
+              -0.10859030328170785,
+              1.0448877696419863
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054030704415719555,
+              0.01200651461934775,
+              0.0
+            ],
+            "finger_gap": 0.026332456285063897,
+            "fingertip_max_gap": 0.09147357022209371,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013166228142531931,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0448877696419863,
+            "object_top_z": 1.0901941895009484,
+            "finger_top_clearance": 0.04530641985896211,
+            "fingertip_min_top_clearance": 0.013591925957688615,
+            "object_projection_between_fingers": 0.8315936330789392,
+            "object_to_finger_line_xy": 0.009854309608465365,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048236785111046857,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2332378562401518,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2758798513400049,
+              -0.10166731978780642,
+              1.2411420698211932
+            ],
+            "held_position": [
+              0.2804969532767262,
+              -0.09757238299100494,
+              1.2379621557469205
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006942477308830908,
+            "max_held_gripper_dist": 0.006944762530500299,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031799140742727605,
+            "max_held_gripper_z_dist": 0.0032417739187486916,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08560712759265503,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2804969532767262,
+              -0.12247472577037496,
+              1.2379621557469205
+            ],
+            "held_grasp_finger_b": [
+              0.27190176373674485,
+              -0.09757238299100494,
+              1.2379621557469205
+            ],
+            "held_grasp_midpoint": [
+              0.2761993585067355,
+              -0.11002355438068995,
+              1.2379621557469205
+            ],
+            "held_grasp_object_position": [
+              0.2804969532767262,
+              -0.09757238299100494,
+              1.2379621557469205
+            ],
+            "held_grasp_finger_gap": 0.026343954887781122,
+            "held_grasp_max_gap": 0.12496589630842209,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024265667654792038,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06554320270920518,
+              -0.9970557439159625,
+              -0.039798644484538404
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035082399137291173,
+            "held_grasp_line_xy_max_dist": 0.047482948154211044,
+            "held_grasp_object_top_z": 0.04520068317651749,
+            "held_grasp_top_clearance": 0.03250449309877843,
+            "held_grasp_min_top_clearance": 0.013560204952955245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35648920314053123,
+              0.07623341961558935,
+              0.7625859514835147
+            ],
+            "target_position": [
+              0.35304573994139166,
+              0.07292561971294854,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004774827640840986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17489169794362455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859514835147,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553311857248585,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599096181604508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14334593106123336,
+            "release_required_pad_clearance": 0.052995480908022544,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.021812847451832,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b4e515fa35794238bcf2bd8d0f08ced691f025766a501563087ca99627b7901",
+    "visual_seed": 8575891456207156578,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d413c26c64f464938911a5fc6cd6cfbcb612877e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_81_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27746535663003713,
+              -0.09909147573402775,
+              1.044895722288302
+            ],
+            "current_z": 1.044895722288302,
+            "required_z": 0.856586536647419,
+            "initial_z": 0.756586536647419,
+            "lift_margin": 0.18830918564088295,
+            "gripper_z": 1.0481106716262973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27328678660618466,
+              -0.10338311035882157,
+              1.0481106716262973
+            ],
+            "object_minus_gripper": [
+              0.004178570023852468,
+              0.004291634624793816,
+              -0.0032149493379953764
+            ],
+            "object_to_gripper_xy": 0.0059898727195966004,
+            "object_to_gripper_z": -0.0032149493379953764,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27746535663003713,
+              -0.12297847165407041,
+              1.044895722288302
+            ],
+            "finger_b": [
+              0.2667325692498004,
+              -0.09909147573402775,
+              1.044895722288302
+            ],
+            "finger_midpoint": [
+              0.27209896293991875,
+              -0.11103497369404908,
+              1.044895722288302
+            ],
+            "object_minus_finger_midpoint": [
+              0.005366393690118376,
+              0.011943497960021324,
+              0.0
+            ],
+            "finger_gap": 0.026187426353758095,
+            "fingertip_max_gap": 0.09315301098992565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309371317687904,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044895722288302,
+            "object_top_z": 1.0907597971554064,
+            "finger_top_clearance": 0.04586407486710442,
+            "fingertip_min_top_clearance": 0.013759222460131292,
+            "object_projection_between_fingers": 0.8320270250709454,
+            "object_to_finger_line_xy": 0.009789967326270247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907650549496283,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.798436519395062,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2753164333478372,
+              -0.1041379437946291,
+              1.2423335122379486
+            ],
+            "held_position": [
+              0.2797969989461131,
+              -0.10009282049872394,
+              1.2392077663461838
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006797703872589116,
+            "max_held_gripper_dist": 0.006799577746856816,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031257458917648417,
+            "max_held_gripper_z_dist": 0.0032000679732751003,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607602421097445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2797969989461131,
+              -0.12487952622144201,
+              1.2392077663461838
+            ],
+            "held_grasp_finger_b": [
+              0.27124102781393283,
+              -0.10009282049872394,
+              1.2392077663461838
+            ],
+            "held_grasp_midpoint": [
+              0.27551901338002294,
+              -0.11248617336008297,
+              1.2392077663461838
+            ],
+            "held_grasp_object_position": [
+              0.2797969989461131,
+              -0.10009282049872394,
+              1.2392077663461838
+            ],
+            "held_grasp_finger_gap": 0.02622185009871208,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02424941920474962,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05636334177733368,
+              -0.9977793179366339,
+              -0.03549093407614245
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003600152576701765,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.045200709253549576,
+            "held_grasp_top_clearance": 0.032593756526014685,
+            "held_grasp_min_top_clearance": 0.013560212776064872
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3588930327767186,
+              0.07527802505741474,
+              0.7625855471675381
+            ],
+            "target_position": [
+              0.35631722541652444,
+              0.07230696743663596,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003932170767250314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17393135153957723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855471675381,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558773956995067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570140739354785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14221961525611404,
+            "release_required_pad_clearance": 0.05285070369677393,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7369926949701355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e71e158b7168b097aa9948214e6ff59c464114e80960e61fa69329b443b36fc5",
+    "visual_seed": 2933065691339431667,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c8fb951e0d4d237e2f8a801de82ff46d54ad01
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27106285187037815,
+              -0.09928044764718102,
+              1.0445163129133377
+            ],
+            "current_z": 1.0445163129133377,
+            "required_z": 0.8565866688396457,
+            "initial_z": 0.7565866688396458,
+            "lift_margin": 0.18792964407369195,
+            "gripper_z": 1.0478734624308412,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26672603370181236,
+              -0.10360882676735164,
+              1.0478734624308412
+            ],
+            "object_minus_gripper": [
+              0.0043368181685657925,
+              0.004328379120170617,
+              -0.0033571495175035437
+            ],
+            "object_to_gripper_xy": 0.0061272226689693034,
+            "object_to_gripper_z": -0.0033571495175035437,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27106285187037815,
+              -0.12336336772379992,
+              1.0445163129133377
+            ],
+            "finger_b": [
+              0.26040699006380236,
+              -0.09928044764718102,
+              1.0445163129133377
+            ],
+            "finger_midpoint": [
+              0.2657349209670903,
+              -0.11132190768549047,
+              1.0445163129133377
+            ],
+            "object_minus_finger_midpoint": [
+              0.00532793090328787,
+              0.012041460038309443,
+              0.0
+            ],
+            "finger_gap": 0.026335041869297537,
+            "fingertip_max_gap": 0.09366596629704074,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013167520934648751,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445163129133377,
+            "object_top_z": 1.0908177233362688,
+            "finger_top_clearance": 0.04630141042293112,
+            "fingertip_min_top_clearance": 0.013890423126879336,
+            "object_projection_between_fingers": 0.836277211502453,
+            "object_to_finger_line_xy": 0.009744593135978407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049332983148520373,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6053392902240993,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2675367289567373,
+              -0.10441412978193443,
+              1.241640561521561
+            ],
+            "held_position": [
+              0.27213394738463537,
+              -0.10025060788194333,
+              1.2384255620842255
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006986097141292792,
+            "max_held_gripper_dist": 0.006987912248714755,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032149994373356083,
+            "max_held_gripper_z_dist": 0.0033400120716284842,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08628199281393222,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27213394738463537,
+              -0.12491547641767503,
+              1.2384255620842255
+            ],
+            "held_grasp_finger_b": [
+              0.26336296060715003,
+              -0.10025060788194333,
+              1.2384255620842255
+            ],
+            "held_grasp_midpoint": [
+              0.2677484539958927,
+              -0.11258304214980919,
+              1.2384255620842255
+            ],
+            "held_grasp_object_position": [
+              0.27213394738463537,
+              -0.10025060788194333,
+              1.2384255620842255
+            ],
+            "held_grasp_finger_gap": 0.0261779668602386,
+            "held_grasp_max_gap": 0.12496608257293701,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024170886187625164,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050211798641934126,
+              -0.9978278689762015,
+              -0.04264175385176294
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003797968682214666,
+            "held_grasp_line_xy_max_dist": 0.047483041286468505,
+            "held_grasp_object_top_z": 0.045200783759355545,
+            "held_grasp_top_clearance": 0.0326749336435808,
+            "held_grasp_min_top_clearance": 0.013560235127806663
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36043219362587775,
+              0.07794435933424235,
+              0.7625835641117172
+            ],
+            "target_position": [
+              0.35768507648253495,
+              0.07488091347856579,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004114772546558289,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17510289535223592,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625835641117172,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588969675659876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867845813934107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1426220192473731,
+            "release_required_pad_clearance": 0.053392290696705355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7922518447079439,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da96995708546f24e8ff1320421c3dc015b7fd3e054571a5ac8d9d7779d7c991",
+    "visual_seed": 3805912236841300854,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce7b16acdb0e2861054871fa6f4bb5e3a24948cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_83_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27796460098068704,
+              -0.08962309084257422,
+              1.048269928104024
+            ],
+            "current_z": 1.048269928104024,
+            "required_z": 0.8565865575689807,
+            "initial_z": 0.7565865575689807,
+            "lift_margin": 0.19168337053504325,
+            "gripper_z": 1.0515024139117266,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2738406623973376,
+              -0.09396424217170489,
+              1.0515024139117266
+            ],
+            "object_minus_gripper": [
+              0.004123938583349418,
+              0.004341151329130669,
+              -0.003232485807702634
+            ],
+            "object_to_gripper_xy": 0.0059876927360754725,
+            "object_to_gripper_z": -0.003232485807702634,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27796460098068704,
+              -0.11331648384817876,
+              1.048269928104024
+            ],
+            "finger_b": [
+              0.2669564706719271,
+              -0.08962309084257422,
+              1.048269928104024
+            ],
+            "finger_midpoint": [
+              0.2724605358263071,
+              -0.10146978734537648,
+              1.048269928104024
+            ],
+            "object_minus_finger_midpoint": [
+              0.005504065154379956,
+              0.011846696502802262,
+              0.0
+            ],
+            "finger_gap": 0.026125768984140325,
+            "fingertip_max_gap": 0.09187897667347669,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013062884492070156,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048269928104024,
+            "object_top_z": 1.0936163032666308,
+            "finger_top_clearance": 0.04534637516260687,
+            "fingertip_min_top_clearance": 0.013603912548782026,
+            "object_projection_between_fingers": 0.8224629663908735,
+            "object_to_finger_line_xy": 0.009983245194454793,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843948833673835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6239348084826617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2768008532125883,
+              -0.09432333205383839,
+              1.2456903737082645
+            ],
+            "held_position": [
+              0.2812756351665245,
+              -0.09031029431389456,
+              1.2425022179063008
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00680385793907262,
+            "max_held_gripper_dist": 0.0068059860972325996,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031881558019637435,
+            "max_held_gripper_z_dist": 0.003225196885013437,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640965992762839,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2812756351665245,
+              -0.1152210433145048,
+              1.2425022179063008
+            ],
+            "held_grasp_finger_b": [
+              0.2727857576466837,
+              -0.09031029431389456,
+              1.2425022179063008
+            ],
+            "held_grasp_midpoint": [
+              0.2770306964066041,
+              -0.10276566881419968,
+              1.2425022179063008
+            ],
+            "held_grasp_object_position": [
+              0.2812756351665245,
+              -0.09031029431389456,
+              1.2425022179063008
+            ],
+            "held_grasp_finger_gap": 0.026317739949952044,
+            "held_grasp_max_gap": 0.12496611982584,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024221685042333997,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07196720386602774,
+              -0.9968659628818729,
+              -0.03284773379248573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00336314829387181,
+            "held_grasp_line_xy_max_dist": 0.04748305991292,
+            "held_grasp_object_top_z": 0.04520076885819435,
+            "held_grasp_top_clearance": 0.03247893359075936,
+            "held_grasp_min_top_clearance": 0.013560230657458304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35971582592025836,
+              0.07337912296385368,
+              0.7625854622780717
+            ],
+            "target_position": [
+              0.35631437415508765,
+              0.07014108038295472,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046962531731687684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17665916218807504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854622780717,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533861041015001,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850429781981941,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1456196034230341,
+            "release_required_pad_clearance": 0.052521489099097055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11190016678288374,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c085a5976e1e350000edb2748c611675df3809d641603ce8ce1f236606b7871",
+    "visual_seed": 3226644860264959358,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24a9b914724a0d6d6f3ba73301eff87a9db272a0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27910338050540495,
+              -0.09787779476724333,
+              1.047555743384897
+            ],
+            "current_z": 1.047555743384897,
+            "required_z": 0.8565865397238553,
+            "initial_z": 0.7565865397238554,
+            "lift_margin": 0.19096920366104164,
+            "gripper_z": 1.0506749801166246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.274906760801493,
+              -0.10219156863132953,
+              1.0506749801166246
+            ],
+            "object_minus_gripper": [
+              0.004196619703911941,
+              0.004313773864086198,
+              -0.003119236731727648
+            ],
+            "object_to_gripper_xy": 0.006018327167056899,
+            "object_to_gripper_z": -0.003119236731727648,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27910338050540495,
+              -0.12176931662524915,
+              1.047555743384897
+            ],
+            "finger_b": [
+              0.26832109676462934,
+              -0.09787779476724333,
+              1.047555743384897
+            ],
+            "finger_midpoint": [
+              0.27371223863501715,
+              -0.10982355569624624,
+              1.047555743384897
+            ],
+            "object_minus_finger_midpoint": [
+              0.005391141870387806,
+              0.011945760929002916,
+              0.0
+            ],
+            "finger_gap": 0.02621187630365602,
+            "fingertip_max_gap": 0.09143587870069317,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013105938151828016,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047555743384897,
+            "object_top_z": 1.0928940362640875,
+            "finger_top_clearance": 0.045338292879190556,
+            "fingertip_min_top_clearance": 0.013601487863757132,
+            "object_projection_between_fingers": 0.8307902853909396,
+            "object_to_finger_line_xy": 0.00982780342344401,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048217939350346586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3139308933565994,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27737696040843274,
+              -0.1026976565829612,
+              1.2452292699687897
+            ],
+            "held_position": [
+              0.2818853146295067,
+              -0.09865569741666619,
+              1.2421823113128887
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006778395734644141,
+            "max_held_gripper_dist": 0.006780042483763932,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030469586559009887,
+            "max_held_gripper_z_dist": 0.0031048451091388873,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640269271974729,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2818853146295067,
+              -0.12351360880261548,
+              1.2421823113128887
+            ],
+            "held_grasp_finger_b": [
+              0.2732997713770911,
+              -0.09865569741666619,
+              1.2421823113128887
+            ],
+            "held_grasp_midpoint": [
+              0.27759254300329894,
+              -0.11108465310964083,
+              1.2421823113128887
+            ],
+            "held_grasp_object_position": [
+              0.2818853146295067,
+              -0.09865569741666619,
+              1.2421823113128887
+            ],
+            "held_grasp_finger_gap": 0.026298808174721664,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02422163944934273,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06569338087303109,
+              -0.9970931357585984,
+              -0.03859609219281345
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035007762075493164,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.03252592086947897,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3565186611776414,
+              0.07737825808306023,
+              0.762585944811877
+            ],
+            "target_position": [
+              0.3531438296103821,
+              0.07401237543774794,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004766408930146934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17582698207142378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585944811877,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754713074583494,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564514602605909,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1443804803399521,
+            "release_required_pad_clearance": 0.05282257301302955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6829759467531868,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a34103ff384ceb671cec44389f759f9c95af22c4da1415d52a1ee0ea8775660",
+    "visual_seed": 8892977807878472938,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a28afec405a71b75d4815345faede7dbd73fcb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.26915535788145284,
+              -0.09253056221694228,
+              1.0443055426688235
+            ],
+            "current_z": 1.0443055426688235,
+            "required_z": 0.8565865440163211,
+            "initial_z": 0.7565865440163211,
+            "lift_margin": 0.1877189986525024,
+            "gripper_z": 1.047715505285391,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2650141128027166,
+              -0.09685845251912348,
+              1.047715505285391
+            ],
+            "object_minus_gripper": [
+              0.004141245078736255,
+              0.004327890302181198,
+              -0.0034099626165675634
+            ],
+            "object_to_gripper_xy": 0.005990037167653579,
+            "object_to_gripper_z": -0.0034099626165675634,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26915535788145284,
+              -0.11626938411363012,
+              1.0443055426688235
+            ],
+            "finger_b": [
+              0.25826470676996194,
+              -0.09253056221694228,
+              1.0443055426688235
+            ],
+            "finger_midpoint": [
+              0.2637100323257074,
+              -0.10439997316528621,
+              1.0443055426688235
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054453255557454505,
+              0.011869410948343928,
+              0.0
+            ],
+            "finger_gap": 0.02611777070645357,
+            "fingertip_max_gap": 0.09423787717372742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01305888535322679,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443055426688235,
+            "object_top_z": 1.0905709844064,
+            "finger_top_clearance": 0.04626544173757652,
+            "fingertip_min_top_clearance": 0.013879632521272988,
+            "object_projection_between_fingers": 0.8261256653285889,
+            "object_to_finger_line_xy": 0.009898671290914034,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961893858686371,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.151770196170095,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.265467958757205,
+              -0.09795121007822807,
+              1.2412344858277298
+            ],
+            "held_position": [
+              0.26993918325529864,
+              -0.09385566636040592,
+              1.237958488098409
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006891842132511486,
+            "max_held_gripper_dist": 0.006893740492076502,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032759977293208564,
+            "max_held_gripper_z_dist": 0.0033963709684696752,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566000092438045,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26993918325529864,
+              -0.11850352569359963,
+              1.237958488098409
+            ],
+            "held_grasp_finger_b": [
+              0.2613282561957355,
+              -0.09385566636040592,
+              1.237958488098409
+            ],
+            "held_grasp_midpoint": [
+              0.2656337197255171,
+              -0.10617959602700278,
+              1.237958488098409
+            ],
+            "held_grasp_object_position": [
+              0.26993918325529864,
+              -0.09385566636040592,
+              1.237958488098409
+            ],
+            "held_grasp_finger_gap": 0.026108715681435215,
+            "held_grasp_max_gap": 0.12496605277061462,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024088159046270898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057719484765158896,
+              -0.9974568982706723,
+              -0.04181144784259905
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036245171672299173,
+            "held_grasp_line_xy_max_dist": 0.04748302638530731,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03265963753421787,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3571227614525895,
+              0.07631777359982621,
+              0.762583468159874
+            ],
+            "target_position": [
+              0.35470077158950253,
+              0.07350865389029693,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003709068405861748,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17475736498982408,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762583468159874,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516285847437043,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592835259637975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14416438673800316,
+            "release_required_pad_clearance": 0.05296417629818988,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9634657734472725,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cc025716f3e731cf5eb5ae098d71330af03746ae82a627426eeffa890fe98af",
+    "visual_seed": 3049632248661847977,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f35b9d50446e416852fb5ab56e6d7ddb0506b28
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2729192289041154,
+              -0.09577004429252524,
+              1.0472203737994128
+            ],
+            "current_z": 1.0472203737994128,
+            "required_z": 0.8565865718430309,
+            "initial_z": 0.7565865718430309,
+            "lift_margin": 0.1906338019563819,
+            "gripper_z": 1.0506326056611768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26856188187481467,
+              -0.100236913190885,
+              1.0506326056611768
+            ],
+            "object_minus_gripper": [
+              0.00435734702930074,
+              0.00446686889835976,
+              -0.0034122318617639813
+            ],
+            "object_to_gripper_xy": 0.006240143499062319,
+            "object_to_gripper_z": -0.0034122318617639813,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2729192289041154,
+              -0.11961237225685815,
+              1.0472203737994128
+            ],
+            "finger_b": [
+              0.2617568554437422,
+              -0.09577004429252524,
+              1.0472203737994128
+            ],
+            "finger_midpoint": [
+              0.2673380421739288,
+              -0.1076912082746917,
+              1.0472203737994128
+            ],
+            "object_minus_finger_midpoint": [
+              0.005581186730186594,
+              0.011921163982166458,
+              0.0
+            ],
+            "finger_gap": 0.026325941275245127,
+            "fingertip_max_gap": 0.09206233716554427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013162970637622564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472203737994128,
+            "object_top_z": 1.0931331870253658,
+            "finger_top_clearance": 0.045912813225952975,
+            "fingertip_min_top_clearance": 0.01377384396778586,
+            "object_projection_between_fingers": 0.8202183835567821,
+            "object_to_finger_line_xy": 0.010109304967296192,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048531168582772136,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1734071591574147,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2694597949339318,
+              -0.10135690889032639,
+              1.2454486872557673
+            ],
+            "held_position": [
+              0.27417529672915103,
+              -0.09717547591776056,
+              1.2421594473712034
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007109109501406085,
+            "max_held_gripper_dist": 0.007112223527690676,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003289239884563866,
+            "max_held_gripper_z_dist": 0.0034013072095540053,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633263114509164,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27417529672915103,
+              -0.1219996274483838,
+              1.2421594473712034
+            ],
+            "held_grasp_finger_b": [
+              0.2653749355951669,
+              -0.09717547591776056,
+              1.2421594473712034
+            ],
+            "held_grasp_midpoint": [
+              0.269775116162159,
+              -0.10958755168307219,
+              1.2421594473712034
+            ],
+            "held_grasp_object_position": [
+              0.27417529672915103,
+              -0.09717547591776056,
+              1.2421594473712034
+            ],
+            "held_grasp_finger_gap": 0.026337897700915363,
+            "held_grasp_max_gap": 0.12496618688106537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023992407859725767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08058643561987401,
+              -0.9950631168686335,
+              -0.057924259527112984
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034632622803585033,
+            "held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "held_grasp_object_top_z": 0.045200806111097336,
+            "held_grasp_top_clearance": 0.032495412445278996,
+            "held_grasp_min_top_clearance": 0.0135602418333292
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36198170556155995,
+              0.07809200584423126,
+              0.7625854595274312
+            ],
+            "target_position": [
+              0.35896524114838985,
+              0.0750287753213373,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00429912069990026,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17680401526319817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854595274312,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523786367341623,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559441590838755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14586414695336783,
+            "release_required_pad_clearance": 0.05279720795419378,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6292633121034225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f38bb0af1756ead3313d6be920afc7f8609c387b0ddc1de6a241bfd098f0544",
+    "visual_seed": 1770766202111028274,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc0a931f71d4bb58bc08f37942d1ceb16109c50
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27372690709746145,
+              -0.09482158215888267,
+              1.04701956662506
+            ],
+            "current_z": 1.04701956662506,
+            "required_z": 0.8565865787156663,
+            "initial_z": 0.7565865787156664,
+            "lift_margin": 0.19043298790939356,
+            "gripper_z": 1.050496520545661,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2690038004612947,
+              -0.09942415627612201,
+              1.050496520545661
+            ],
+            "object_minus_gripper": [
+              0.004723106636166763,
+              0.004602574117239341,
+              -0.003476953920600989
+            ],
+            "object_to_gripper_xy": 0.006594802862958378,
+            "object_to_gripper_z": -0.003476953920600989,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27372690709746145,
+              -0.11904142322108302,
+              1.04701956662506
+            ],
+            "finger_b": [
+              0.26248245829491534,
+              -0.09482158215888267,
+              1.04701956662506
+            ],
+            "finger_midpoint": [
+              0.26810468269618837,
+              -0.10693150268998285,
+              1.04701956662506
+            ],
+            "object_minus_finger_midpoint": [
+              0.005622224401273079,
+              0.012109920531100174,
+              0.0
+            ],
+            "finger_gap": 0.02670277756997063,
+            "fingertip_max_gap": 0.09897177948906222,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013351388784985327,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04701956662506,
+            "object_top_z": 1.095706568201423,
+            "finger_top_clearance": 0.04868700157636319,
+            "fingertip_min_top_clearance": 0.014606100472908973,
+            "object_projection_between_fingers": 0.82267765481596,
+            "object_to_finger_line_xy": 0.010198892685080872,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05198588974453111,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.329997407475341,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27088320067594385,
+              -0.100398538184435,
+              1.2458304521164223
+            ],
+            "held_position": [
+              0.27595094843972684,
+              -0.09609807221641317,
+              1.2424551548204283
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007454442083468457,
+            "max_held_gripper_dist": 0.00745624777315348,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003375297295993951,
+            "max_held_gripper_z_dist": 0.0034629570642241703,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08643368992286037,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27595094843972684,
+              -0.12122478034485619,
+              1.2424551548204283
+            ],
+            "held_grasp_finger_b": [
+              0.2669361176346221,
+              -0.09609807221641317,
+              1.2424551548204283
+            ],
+            "held_grasp_midpoint": [
+              0.2714435330371745,
+              -0.10866142628063469,
+              1.2424551548204283
+            ],
+            "held_grasp_object_position": [
+              0.27595094843972684,
+              -0.09609807221641317,
+              1.2424551548204283
+            ],
+            "held_grasp_finger_gap": 0.026694917790033176,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024660913997099087,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048390365753873635,
+              -0.998823436348108,
+              -0.00318048800710291
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038943982239296113,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.045200709253549576,
+            "held_grasp_top_clearance": 0.032434021295131725,
+            "held_grasp_min_top_clearance": 0.013560212776064872
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3526985270050315,
+              0.06854953445761836,
+              0.7625859169090919
+            ],
+            "target_position": [
+              0.352857821952746,
+              0.06713079583629265,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0014276533739001624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1725221305155211,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859169090919,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514078753129785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686696393495212,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14167369682917821,
+            "release_required_pad_clearance": 0.05343348196747606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.874229382692689,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f1c448d24e1c43dd74e3b2cef20bb6ce24a3cd1260991481a9eb59ef64cf89a",
+    "visual_seed": 4769655195246387483,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..496e9c4723a12c3cb6aa5250615f88ee1ee3abb9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2761461687943498,
+              -0.08866402480968857,
+              1.0453686637976454
+            ],
+            "current_z": 1.0453686637976454,
+            "required_z": 0.8565865228334678,
+            "initial_z": 0.7565865228334678,
+            "lift_margin": 0.18878214096417756,
+            "gripper_z": 1.0489845778793108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.271503602661144,
+              -0.09316050184589146,
+              1.0489845778793108
+            ],
+            "object_minus_gripper": [
+              0.004642566133205794,
+              0.004496477036202887,
+              -0.0036159140816653945
+            ],
+            "object_to_gripper_xy": 0.006463104984315921,
+            "object_to_gripper_z": -0.0036159140816653945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2761461687943498,
+              -0.11296657688428108,
+              1.0453686637976454
+            ],
+            "finger_b": [
+              0.2651947172898293,
+              -0.08866402480968857,
+              1.0453686637976454
+            ],
+            "finger_midpoint": [
+              0.27067044304208954,
+              -0.10081530084698483,
+              1.0453686637976454
+            ],
+            "object_minus_finger_midpoint": [
+              0.005475725752260241,
+              0.012151276037296252,
+              0.0
+            ],
+            "finger_gap": 0.026656112383356734,
+            "fingertip_max_gap": 0.09316444466220339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013328056191678367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453686637976454,
+            "object_top_z": 1.0911328294973588,
+            "finger_top_clearance": 0.04576416569971342,
+            "fingertip_min_top_clearance": 0.013729249709914059,
+            "object_projection_between_fingers": 0.8312088208050403,
+            "object_to_finger_line_xy": 0.009984509993556226,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049082222331101696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0235979679217357,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27439301587378057,
+              -0.09326633104157946,
+              1.2421983204403992
+            ],
+            "held_position": [
+              0.27930502536922946,
+              -0.0890164967570767,
+              1.2386389535365523
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007406620112123767,
+            "max_held_gripper_dist": 0.007408399320759572,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00355936690384695,
+            "max_held_gripper_z_dist": 0.0036009561136034485,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08606141314778971,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27930502536922946,
+              -0.11411988626600104,
+              1.2386389535365523
+            ],
+            "held_grasp_finger_b": [
+              0.27029391021163923,
+              -0.0890164967570767,
+              1.2386389535365523
+            ],
+            "held_grasp_midpoint": [
+              0.27479946779043435,
+              -0.10156819151153887,
+              1.2386389535365523
+            ],
+            "held_grasp_object_position": [
+              0.27930502536922946,
+              -0.0890164967570767,
+              1.2386389535365523
+            ],
+            "held_grasp_finger_gap": 0.026671714628424728,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024698408810816586,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04145117495539189,
+              -0.9987468071928643,
+              -0.02804666142123157
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003997166577913615,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.032478017064813514,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35981296842361654,
+              0.07633411480993049,
+              0.7625864533758692
+            ],
+            "target_position": [
+              0.35674261904465643,
+              0.07309358377634892,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004464088561899955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17634002444088676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864533758692,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551949087238072,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704099954034582,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14464761712733867,
+            "release_required_pad_clearance": 0.05352049977017291,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0463240612233933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24c407657fbe8204624a6d15b0eab160469f6ba9f27d4daecbf5dc397eed9e7d",
+    "visual_seed": 582779306513877370,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c06d641f67b30f4b027a5634897f75bc76e665
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2763582591825212,
+              -0.08776183845234195,
+              1.0463022666660209
+            ],
+            "current_z": 1.0463022666660209,
+            "required_z": 0.8565865724032379,
+            "initial_z": 0.7565865724032379,
+            "lift_margin": 0.189715694262783,
+            "gripper_z": 1.049682659686925,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27211412038053373,
+              -0.09218579702653666,
+              1.049682659686925
+            ],
+            "object_minus_gripper": [
+              0.004244138801987485,
+              0.004423958574194711,
+              -0.0033803930209042043
+            ],
+            "object_to_gripper_xy": 0.0061305891753343465,
+            "object_to_gripper_z": -0.0033803930209042043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2763582591825212,
+              -0.11150040361702075,
+              1.0463022666660209
+            ],
+            "finger_b": [
+              0.26519213237581485,
+              -0.08776183845234195,
+              1.0463022666660209
+            ],
+            "finger_midpoint": [
+              0.27077519577916803,
+              -0.09963112103468136,
+              1.0463022666660209
+            ],
+            "object_minus_finger_midpoint": [
+              0.005583063403353183,
+              0.011869282582339408,
+              0.0
+            ],
+            "finger_gap": 0.026233601810295673,
+            "fingertip_max_gap": 0.0922890985759417,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013116800905147843,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463022666660209,
+            "object_top_z": 1.0921618898267464,
+            "finger_top_clearance": 0.04585962316072556,
+            "fingertip_min_top_clearance": 0.013757886948217701,
+            "object_projection_between_fingers": 0.8188287559271872,
+            "object_to_finger_line_xy": 0.01010413403217994,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864454928797085,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.446077689988268,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2748701702887839,
+              -0.09246857512343397,
+              1.24420203894282
+            ],
+            "held_position": [
+              0.2794862004523231,
+              -0.08839350631925778,
+              1.2408679474571962
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007002148689079895,
+            "max_held_gripper_dist": 0.007003559470169631,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033340914856239134,
+            "max_held_gripper_z_dist": 0.0033771104617583703,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617967536194315,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2794862004523231,
+              -0.113385648471885,
+              1.2408679474571962
+            ],
+            "held_grasp_finger_b": [
+              0.270814843381654,
+              -0.08839350631925778,
+              1.2408679474571962
+            ],
+            "held_grasp_midpoint": [
+              0.2751505219169885,
+              -0.10088957739557139,
+              1.2408679474571962
+            ],
+            "held_grasp_object_position": [
+              0.2794862004523231,
+              -0.08839350631925778,
+              1.2408679474571962
+            ],
+            "held_grasp_finger_gap": 0.026453725688911352,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024214093525389443,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07851076502762165,
+              -0.9961086268956885,
+              -0.04004576380547276
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033794980237792133,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.032412871338699245,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3615630116618643,
+              0.07465140501244452,
+              0.7625846362533568
+            ],
+            "target_position": [
+              0.3587805735730656,
+              0.0715344511541521,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00417820093733196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17486493212426318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846362533568,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520763169903225,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567475639731097,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1440920211420796,
+            "release_required_pad_clearance": 0.052837378198655485,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7066025643143737,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0b8d329d5221fab8ede4723a27c62f42bd6b02ea33e6672d2065af2a31bc6df",
+    "visual_seed": 1269573596568558355,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35bd73ce41d6e3cb33fb5e6c66a966aa321ac31
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2700733902798954,
+              -0.0876626305799959,
+              1.0443968674251605
+            ],
+            "current_z": 1.0443968674251605,
+            "required_z": 0.8565866349451295,
+            "initial_z": 0.7565866349451296,
+            "lift_margin": 0.18781023248003093,
+            "gripper_z": 1.0479045135986893,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26570792256597076,
+              -0.09213269901423309,
+              1.0479045135986893
+            ],
+            "object_minus_gripper": [
+              0.004365467713924653,
+              0.004470068434237182,
+              -0.0035076461735288333
+            ],
+            "object_to_gripper_xy": 0.00624810532626349,
+            "object_to_gripper_z": -0.0035076461735288333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2700733902798954,
+              -0.1115157765487036,
+              1.0443968674251605
+            ],
+            "finger_b": [
+              0.2589013822614459,
+              -0.0876626305799959,
+              1.0443968674251605
+            ],
+            "finger_midpoint": [
+              0.26448738627067064,
+              -0.09958920356434975,
+              1.0443968674251605
+            ],
+            "object_minus_finger_midpoint": [
+              0.005586004009224765,
+              0.011926572984353845,
+              0.0
+            ],
+            "finger_gap": 0.02633982414080961,
+            "fingertip_max_gap": 0.09161855766841492,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169912070404804,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443968674251605,
+            "object_top_z": 1.0898099362175668,
+            "finger_top_clearance": 0.045413068792406364,
+            "fingertip_min_top_clearance": 0.013623920637721892,
+            "object_projection_between_fingers": 0.8200976918549485,
+            "object_to_finger_line_xy": 0.010117286152065329,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048309278834207464,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.467345587526245,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26728882802990783,
+              -0.0929402414359179,
+              1.24328428648495
+            ],
+            "held_position": [
+              0.2720200232112009,
+              -0.08878161950649954,
+              1.2398697881344347
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007164994290367707,
+            "max_held_gripper_dist": 0.007166487601205456,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003414498350515327,
+            "max_held_gripper_z_dist": 0.0034971620991510743,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612847150828554,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2720200232112009,
+              -0.11373267304056406,
+              1.2398697881344347
+            ],
+            "held_grasp_finger_b": [
+              0.26324866389605533,
+              -0.08878161950649954,
+              1.2398697881344347
+            ],
+            "held_grasp_midpoint": [
+              0.26763434355362814,
+              -0.1012571462735318,
+              1.2398697881344347
+            ],
+            "held_grasp_object_position": [
+              0.2720200232112009,
+              -0.08878161950649954,
+              1.2398697881344347
+            ],
+            "held_grasp_finger_gap": 0.02644790760523683,
+            "held_grasp_max_gap": 0.1249656355381012,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024204699685538036,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07436359418480637,
+              -0.9962292556569835,
+              -0.04469145369139582
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034917949289354332,
+            "held_grasp_line_xy_max_dist": 0.0474828177690506,
+            "held_grasp_object_top_z": 0.045200612396001816,
+            "held_grasp_top_clearance": 0.032445992748672194,
+            "held_grasp_min_top_clearance": 0.013560183718800545
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35454918935754487,
+              0.07347866635562028,
+              0.7625856789424457
+            ],
+            "target_position": [
+              0.35248114537347236,
+              0.07058464701355235,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035569866280774484,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17341096497297664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856789424457,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512873096166882,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530898680785347,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14290238692052565,
+            "release_required_pad_clearance": 0.052654493403926736,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3669076716908449,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de5eaf92f039d552e8674e512822af69734232f6933012059e69927535f6bb16",
+    "visual_seed": 230688408035861774,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ae7615f253d51e7725c35adfcbc0ac8efce1167
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.272403509096913,
+              -0.08819208840913474,
+              1.044726552779706
+            ],
+            "current_z": 1.044726552779706,
+            "required_z": 0.8565864590389157,
+            "initial_z": 0.7565864590389157,
+            "lift_margin": 0.18814009374079033,
+            "gripper_z": 1.0483452458953537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2678669097173048,
+              -0.09265741411487452,
+              1.0483452458953537
+            ],
+            "object_minus_gripper": [
+              0.004536599379608208,
+              0.004465325705739778,
+              -0.0036186931156476643
+            ],
+            "object_to_gripper_xy": 0.0063655217845359725,
+            "object_to_gripper_z": -0.0036186931156476643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.272403509096913,
+              -0.11246600164202966,
+              1.044726552779706
+            ],
+            "finger_b": [
+              0.2615734575526191,
+              -0.08819208840913474,
+              1.044726552779706
+            ],
+            "finger_midpoint": [
+              0.2669884833247661,
+              -0.10032904502558221,
+              1.044726552779706
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541502577214692,
+              0.012136956616447467,
+              0.0
+            ],
+            "finger_gap": 0.026580310007412886,
+            "fingertip_max_gap": 0.09286535772615093,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013290155003706438,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044726552779706,
+            "object_top_z": 1.0904781552599747,
+            "finger_top_clearance": 0.04575160248026866,
+            "fingertip_min_top_clearance": 0.013725480744080597,
+            "object_projection_between_fingers": 0.8339874335523897,
+            "object_to_finger_line_xy": 0.009890318488409407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048932678863075466,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6122894076294305,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2703335943627945,
+              -0.09290021177474514,
+              1.242926251103535
+            ],
+            "held_position": [
+              0.2751465276721625,
+              -0.08867167412893716,
+              1.2393815340539573
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007321876578036954,
+            "max_held_gripper_dist": 0.007323007822978773,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003544717049577706,
+            "max_held_gripper_z_dist": 0.0036024097880278383,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863614709451252,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2751465276721625,
+              -0.11373388324135646,
+              1.2393815340539573
+            ],
+            "held_grasp_finger_b": [
+              0.2662191846255437,
+              -0.08867167412893716,
+              1.2393815340539573
+            ],
+            "held_grasp_midpoint": [
+              0.2706828561488531,
+              -0.10120277868514681,
+              1.2393815340539573
+            ],
+            "held_grasp_object_position": [
+              0.2751465276721625,
+              -0.08867167412893716,
+              1.2393815340539573
+            ],
+            "held_grasp_finger_gap": 0.026604732275793453,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024585301747527565,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048689407553664264,
+              -0.9983145810996122,
+              -0.03158067060686153
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003868891764787447,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.045200686901807785,
+            "held_grasp_top_clearance": 0.03247336898407581,
+            "held_grasp_min_top_clearance": 0.013560206070542336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35278670335234086,
+              0.07156997196596489,
+              0.7625859378913353
+            ],
+            "target_position": [
+              0.3499747384262077,
+              0.06851896116252966,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004149194339685911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17524044208812564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859378913353,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514038168757647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584898809488332,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14474866539790598,
+            "release_required_pad_clearance": 0.052924494047441664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8829199514649076,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dafc3d25ae4ae5368f239df55fecac504957716e2d3aa09b6186084af760f84b",
+    "visual_seed": 3827032265231746019,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef16be8d8e4b7a536ae8a7333e0ab52b0be01bb1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27962715261383403,
+              -0.09715763276466831,
+              1.0470844728176059
+            ],
+            "current_z": 1.0470844728176059,
+            "required_z": 0.8565865258238522,
+            "initial_z": 0.7565865258238522,
+            "lift_margin": 0.19049794699375366,
+            "gripper_z": 1.050255034480929,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27554210643420807,
+              -0.1013888006543351,
+              1.050255034480929
+            ],
+            "object_minus_gripper": [
+              0.004085046179625962,
+              0.004231167889666793,
+              -0.0031705616633230793
+            ],
+            "object_to_gripper_xy": 0.005881359026638657,
+            "object_to_gripper_z": -0.0031705616633230793,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27962715261383403,
+              -0.12101743147194291,
+              1.0470844728176059
+            ],
+            "finger_b": [
+              0.2690156038005457,
+              -0.09715763276466831,
+              1.0470844728176059
+            ],
+            "finger_midpoint": [
+              0.2743213782071898,
+              -0.1090875321183056,
+              1.0470844728176059
+            ],
+            "object_minus_finger_midpoint": [
+              0.005305774406644204,
+              0.011929899353637294,
+              0.0
+            ],
+            "finger_gap": 0.026113118591398927,
+            "fingertip_max_gap": 0.09323311127185294,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013056559295699467,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470844728176059,
+            "object_top_z": 1.0930153944515524,
+            "finger_top_clearance": 0.04593092163394652,
+            "fingertip_min_top_clearance": 0.013779276490183956,
+            "object_projection_between_fingers": 0.8348646427997396,
+            "object_to_finger_line_xy": 0.009695870593597887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911655563592647,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7468078800401714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27818791222711226,
+              -0.10172113286849452,
+              1.2432926197501457
+            ],
+            "held_position": [
+              0.28255282689309363,
+              -0.09772793029375058,
+              1.2401885427273356
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0066808263716234,
+            "max_held_gripper_dist": 0.006681930613132534,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031040770228101255,
+            "max_held_gripper_z_dist": 0.003156137377779089,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620546457522765,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28255282689309363,
+              -0.12248616547606396,
+              1.2401885427273356
+            ],
+            "held_grasp_finger_b": [
+              0.27408400035115416,
+              -0.09772793029375058,
+              1.2401885427273356
+            ],
+            "held_grasp_midpoint": [
+              0.2783184136221239,
+              -0.11010704788490727,
+              1.2401885427273356
+            ],
+            "held_grasp_object_position": [
+              0.28255282689309363,
+              -0.09772793029375058,
+              1.2401885427273356
+            ],
+            "held_grasp_finger_gap": 0.02616660528880654,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02425351709729571,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05395676212788943,
+              -0.9980706368834397,
+              -0.030719238463209335
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003580932237589736,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.03261698534451474,
+            "held_grasp_min_top_clearance": 0.013560208305716514
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35764245041066284,
+              0.07863587843921274,
+              0.7625859502760136
+            ],
+            "target_position": [
+              0.3554404979922613,
+              0.07576916598632645,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003614780040394953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17602297722271756,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859502760136,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515377529519529,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535808109163916,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14529082180458266,
+            "release_required_pad_clearance": 0.05267904054581958,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41116191179412237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2856228f8f13b51cffa9dddb916e6b48044b69342688b358c34f89785368fdec",
+    "visual_seed": 8810220158014073396,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f99fc8f95f8cb268b68f03b3d849c4f0eed36dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_92_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27069714822115776,
+              -0.09438544126065684,
+              1.0466610501022329
+            ],
+            "current_z": 1.0466610501022329,
+            "required_z": 0.8565866857573903,
+            "initial_z": 0.7565866857573903,
+            "lift_margin": 0.1900743643448426,
+            "gripper_z": 1.0502699067351862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2660232361640378,
+              -0.09890422376239223,
+              1.0502699067351862
+            ],
+            "object_minus_gripper": [
+              0.004673912057119978,
+              0.004518782501735388,
+              -0.0036088566329532945
+            ],
+            "object_to_gripper_xy": 0.006501142147013972,
+            "object_to_gripper_z": -0.0036088566329532945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27069714822115776,
+              -0.11877334024768717,
+              1.0466610501022329
+            ],
+            "finger_b": [
+              0.25983897739396455,
+              -0.09438544126065684,
+              1.0466610501022329
+            ],
+            "finger_midpoint": [
+              0.26526806280756116,
+              -0.106579390754172,
+              1.0466610501022329
+            ],
+            "object_minus_finger_midpoint": [
+              0.005429085413596602,
+              0.012193949493515155,
+              0.0
+            ],
+            "finger_gap": 0.02669587029325143,
+            "fingertip_max_gap": 0.0932856238627579,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334793514662571,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466610501022329,
+            "object_top_z": 1.0925310274371023,
+            "finger_top_clearance": 0.045869977334869416,
+            "fingertip_min_top_clearance": 0.013760993200460824,
+            "object_projection_between_fingers": 0.8345658467933399,
+            "object_to_finger_line_xy": 0.009919435868118142,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049142811931378955,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.819911376066411,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26748118019676076,
+              -0.0994740116219677,
+              1.242210889320363
+            ],
+            "held_position": [
+              0.2723832694218161,
+              -0.09510348762076128,
+              1.2387234570484282
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007436003137899888,
+            "max_held_gripper_dist": 0.007437547315536609,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034874322719347095,
+            "max_held_gripper_z_dist": 0.003592950843505971,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621642964875018,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2723832694218161,
+              -0.11997600424343181,
+              1.2387234570484282
+            ],
+            "held_grasp_finger_b": [
+              0.26327223729774,
+              -0.09510348762076128,
+              1.2387234570484282
+            ],
+            "held_grasp_midpoint": [
+              0.26782775335977804,
+              -0.10753974593209654,
+              1.2387234570484282
+            ],
+            "held_grasp_object_position": [
+              0.2723832694218161,
+              -0.09510348762076128,
+              1.2387234570484282
+            ],
+            "held_grasp_finger_gap": 0.026488733256065093,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024492631707268356,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.036968202852387076,
+              -0.9982685133033355,
+              -0.045752894170894676
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004132550982734238,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.045200664550065994,
+            "held_grasp_top_clearance": 0.032617530212674356,
+            "held_grasp_min_top_clearance": 0.013560199365019798
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3624323199046606,
+              0.0711121085381738,
+              0.762584902494434
+            ],
+            "target_position": [
+              0.35954224250094186,
+              0.06813045102905421,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0041524485428690245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17821888672493574,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584902494434,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576598842822876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08808968999440979,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14594154086612818,
+            "release_required_pad_clearance": 0.0540448449972049,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0987939282184005,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74a33c6541f71633ed448c3aee8b832983799c45694162aec2f3245a699050b9",
+    "visual_seed": 6258635393691183099,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f0ca9b849415bc8578165eaed93bb9805d1dd8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27954658100185525,
+              -0.09418358903589531,
+              1.0471679414720254
+            ],
+            "current_z": 1.0471679414720254,
+            "required_z": 0.856586546139385,
+            "initial_z": 0.756586546139385,
+            "lift_margin": 0.1905813953326404,
+            "gripper_z": 1.0511117683919986,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27487380274034123,
+              -0.09866843008092537,
+              1.0511117683919986
+            ],
+            "object_minus_gripper": [
+              0.004672778261514021,
+              0.004484841045030052,
+              -0.003943826919973192
+            ],
+            "object_to_gripper_xy": 0.006476778202197776,
+            "object_to_gripper_z": -0.003943826919973192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27954658100185525,
+              -0.11861732085029575,
+              1.0471679414720254
+            ],
+            "finger_b": [
+              0.2687588425306149,
+              -0.09418358903589531,
+              1.0471679414720254
+            ],
+            "finger_midpoint": [
+              0.27415271176623507,
+              -0.10640045494309552,
+              1.0471679414720254
+            ],
+            "object_minus_finger_midpoint": [
+              0.005393869235620186,
+              0.012216865907200211,
+              0.0
+            ],
+            "finger_gap": 0.026709222221957783,
+            "fingertip_max_gap": 0.09585178435072955,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013354611110978886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471679414720254,
+            "object_top_z": 1.0939836572723167,
+            "finger_top_clearance": 0.04681571580029131,
+            "fingertip_min_top_clearance": 0.014044714740087427,
+            "object_projection_between_fingers": 0.8368683099323893,
+            "object_to_finger_line_xy": 0.00986867781097286,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05042589217536478,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7325115207127233,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2773041999435464,
+              -0.09785640394362759,
+              1.244015278201893
+            ],
+            "held_position": [
+              0.28213217791011524,
+              -0.09347867480398382,
+              1.240139157242605
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007582756580346727,
+            "max_held_gripper_dist": 0.007586033965388382,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00387612095928791,
+            "max_held_gripper_z_dist": 0.003921975372497721,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666794146358908,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28213217791011524,
+              -0.11832971619219788,
+              1.240139157242605
+            ],
+            "held_grasp_finger_b": [
+              0.27265996427121275,
+              -0.09347867480398382,
+              1.240139157242605
+            ],
+            "held_grasp_midpoint": [
+              0.277396071090664,
+              -0.10590419549809085,
+              1.240139157242605
+            ],
+            "held_grasp_object_position": [
+              0.28213217791011524,
+              -0.09347867480398382,
+              1.240139157242605
+            ],
+            "held_grasp_finger_gap": 0.026595057610385782,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480316365098436,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0045486957790057915,
+              -0.9998071904127585,
+              -0.019102129872249126
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004685563958299266,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.0327559853305058,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.360271601869236,
+              0.07110007693339285,
+              0.7625867524074272
+            ],
+            "target_position": [
+              0.35867756688052377,
+              0.06859941606012095,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029655104701133386,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17306500874459457,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625867524074272,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584035119247781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08889124234025796,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14076433090834017,
+            "release_required_pad_clearance": 0.05444562117012898,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9012582267046034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 138,
+            "max_placed_release_frames": 138
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c96d659f47c19bfc8225e51e03009fc88a1998a9a604a37bed03e4be367eaadb",
+    "visual_seed": 7151907350694213204,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bf4ead9c358176f4c7926207a4a65204f777f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2694034724950902,
+              -0.09534364128114446,
+              1.0456630880972906
+            ],
+            "current_z": 1.0456630880972906,
+            "required_z": 0.8565866532368888,
+            "initial_z": 0.7565866532368888,
+            "lift_margin": 0.18907643486040182,
+            "gripper_z": 1.0490556351259603,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26521970079690327,
+              -0.09963626562684462,
+              1.0490556351259603
+            ],
+            "object_minus_gripper": [
+              0.0041837716981869555,
+              0.004292624345700158,
+              -0.0033925470286697568
+            ],
+            "object_to_gripper_xy": 0.005994211323923096,
+            "object_to_gripper_z": -0.0033925470286697568,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2694034724950902,
+              -0.11922616459054716,
+              1.0456630880972906
+            ],
+            "finger_b": [
+              0.2586978748296116,
+              -0.09534364128114446,
+              1.0456630880972906
+            ],
+            "finger_midpoint": [
+              0.2640506736623509,
+              -0.1072849029358458,
+              1.0456630880972906
+            ],
+            "object_minus_finger_midpoint": [
+              0.005352798832739314,
+              0.011941261654701343,
+              0.0
+            ],
+            "finger_gap": 0.02617221314675671,
+            "fingertip_max_gap": 0.09322449798384333,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013086106573378348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456630880972906,
+            "object_top_z": 1.0916144328531463,
+            "finger_top_clearance": 0.045951344755855716,
+            "fingertip_min_top_clearance": 0.013785403426756715,
+            "object_projection_between_fingers": 0.8326826650066581,
+            "object_to_finger_line_xy": 0.009769012821086717,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911224899192167,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7114927298145248,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26582706611585216,
+              -0.1007762719674543,
+              1.2407897335115756
+            ],
+            "held_position": [
+              0.2702938104059662,
+              -0.09666309380847245,
+              1.2375391364811321
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068874102662117905,
+            "max_held_gripper_dist": 0.006889433132741829,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003250597030443503,
+            "max_held_gripper_z_dist": 0.0033780740903499584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604787043659959,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2702938104059662,
+              -0.12124396481248338,
+              1.2375391364811321
+            ],
+            "held_grasp_finger_b": [
+              0.26171368762149916,
+              -0.09666309380847245,
+              1.2375391364811321
+            ],
+            "held_grasp_midpoint": [
+              0.2660037490137327,
+              -0.10895352931047791,
+              1.2375391364811321
+            ],
+            "held_grasp_object_position": [
+              0.2702938104059662,
+              -0.09666309380847245,
+              1.2375391364811321
+            ],
+            "held_grasp_finger_gap": 0.026035316904396526,
+            "held_grasp_max_gap": 0.12496572494506836,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024032271425936273,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05589881442134905,
+              -0.9971937167392443,
+              -0.04979973736938459
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036490482934279094,
+            "held_grasp_line_xy_max_dist": 0.04748286247253418,
+            "held_grasp_object_top_z": 0.04520055279135704,
+            "held_grasp_top_clearance": 0.03270479838714759,
+            "held_grasp_min_top_clearance": 0.013560165837407111
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3596217241005725,
+              0.0752248389622222,
+              0.7625822892854801
+            ],
+            "target_position": [
+              0.3571898071415473,
+              0.07238065519330514,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003742138614076957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1746277514414322,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625822892854801,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517077320210115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562080609337945,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1440315889453185,
+            "release_required_pad_clearance": 0.05281040304668973,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6596578665980208,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b1ca2175e084e3c82b30273f2c34cfb0d4ecea334816f713e68e23cefc138d2",
+    "visual_seed": 1619662032557109526,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de2f9cad60f6d5e340d82f19b7aedb3ce082563c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2710882449333173,
+              -0.0908091154429607,
+              1.0474098516232635
+            ],
+            "current_z": 1.0474098516232635,
+            "required_z": 0.8565865125254801,
+            "initial_z": 0.7565865125254801,
+            "lift_margin": 0.19082333909778337,
+            "gripper_z": 1.0512706589491685,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2665920334277849,
+              -0.09525367423519039,
+              1.0512706589491685
+            ],
+            "object_minus_gripper": [
+              0.004496211505532366,
+              0.004444558792229686,
+              -0.0038608073259049913
+            ],
+            "object_to_gripper_xy": 0.006322184809072559,
+            "object_to_gripper_z": -0.0038608073259049913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2710882449333173,
+              -0.11505740283830491,
+              1.0474098516232635
+            ],
+            "finger_b": [
+              0.2603072620552339,
+              -0.0908091154429607,
+              1.0474098516232635
+            ],
+            "finger_midpoint": [
+              0.2656977534942756,
+              -0.10293325914063281,
+              1.0474098516232635
+            ],
+            "object_minus_finger_midpoint": [
+              0.005390491439041689,
+              0.012124143697672105,
+              0.0
+            ],
+            "finger_gap": 0.02653693715229276,
+            "fingertip_max_gap": 0.09427606660810361,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01326846857614638,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474098516232635,
+            "object_top_z": 1.0937774093027621,
+            "finger_top_clearance": 0.04636755767949863,
+            "fingertip_min_top_clearance": 0.013910267303849588,
+            "object_projection_between_fingers": 0.8349501549954922,
+            "object_to_finger_line_xy": 0.009851188542663614,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04963803330405181,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.947398008062233,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2685547365044128,
+              -0.09547799052326493,
+              1.2458698790307845
+            ],
+            "held_position": [
+              0.27330600407932953,
+              -0.09122052297292124,
+              1.2421039490904529
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007408292774058738,
+            "max_held_gripper_dist": 0.007409599571608299,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003765929940331647,
+            "max_held_gripper_z_dist": 0.003844722824280389,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620636174621632,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27330600407932953,
+              -0.11616684377375087,
+              1.2421039490904529
+            ],
+            "held_grasp_finger_b": [
+              0.26433282414714804,
+              -0.09122052297292124,
+              1.2421039490904529
+            ],
+            "held_grasp_midpoint": [
+              0.2688194141132388,
+              -0.10369368337333607,
+              1.2421039490904529
+            ],
+            "held_grasp_object_position": [
+              0.27330600407932953,
+              -0.09122052297292124,
+              1.2421039490904529
+            ],
+            "held_grasp_finger_gap": 0.026511070887333277,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024551630904938324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04046997992287142,
+              -0.9987354654642875,
+              -0.029827013743844333
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003995736909536362,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520068317651749,
+            "held_grasp_top_clearance": 0.03256172331234863,
+            "held_grasp_min_top_clearance": 0.013560204952955245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3592035202429782,
+              0.07323798362224855,
+              0.7625858195735691
+            ],
+            "target_position": [
+              0.3569945164051601,
+              0.07048758266402344,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035276625953314486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1775081314775725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858195735691,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561076802890841,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759609980155901,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1455640912003428,
+            "release_required_pad_clearance": 0.05379804990077951,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5993048199410365,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4da1ef52d2e5238728978f9b9e92bfeb3141708372d6cfe5678b7d509c1db260",
+    "visual_seed": 311603179496951219,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b509ee0c407b5fb840f236701caec6e18b6e20e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_96_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2772662071664559,
+              -0.09019166141365638,
+              1.0449751294592937
+            ],
+            "current_z": 1.0449751294592937,
+            "required_z": 0.8565865737575041,
+            "initial_z": 0.7565865737575042,
+            "lift_margin": 0.18838855570178958,
+            "gripper_z": 1.048330262507619,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2729200359255093,
+              -0.09460349414550026,
+              1.048330262507619
+            ],
+            "object_minus_gripper": [
+              0.004346171240946606,
+              0.004411832731843882,
+              -0.003355133048325243
+            ],
+            "object_to_gripper_xy": 0.00619301804529911,
+            "object_to_gripper_z": -0.003355133048325243,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2772662071664559,
+              -0.11414477041256055,
+              1.0449751294592937
+            ],
+            "finger_b": [
+              0.2662725548002976,
+              -0.09019166141365638,
+              1.0449751294592937
+            ],
+            "finger_midpoint": [
+              0.2717693809833768,
+              -0.10216821591310846,
+              1.0449751294592937
+            ],
+            "object_minus_finger_midpoint": [
+              0.005496826183079118,
+              0.011976554499452077,
+              0.0
+            ],
+            "finger_gap": 0.02635548942936408,
+            "fingertip_max_gap": 0.09169631948054477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013177744714682022,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449751294592937,
+            "object_top_z": 1.0903368098219928,
+            "finger_top_clearance": 0.04536168036269905,
+            "fingertip_min_top_clearance": 0.013608504108809682,
+            "object_projection_between_fingers": 0.8260029726887215,
+            "object_to_finger_line_xy": 0.009991548596675162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834815974027239,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.30799495289328,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2758263054697273,
+              -0.09484296264240118,
+              1.2423833833995979
+            ],
+            "held_position": [
+              0.28049830956582655,
+              -0.09073685415630592,
+              1.23908010230785
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007042685222601607,
+            "max_held_gripper_dist": 0.007044809910400281,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003303281091747934,
+            "max_held_gripper_z_dist": 0.0033435921608511165,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630661606184568,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.28049830956582655,
+              -0.11574715562971921,
+              1.23908010230785
+            ],
+            "held_grasp_finger_b": [
+              0.27180590573317925,
+              -0.09073685415630592,
+              1.23908010230785
+            ],
+            "held_grasp_midpoint": [
+              0.27615210764950293,
+              -0.10324200489301257,
+              1.23908010230785
+            ],
+            "held_grasp_object_position": [
+              0.28049830956582655,
+              -0.09073685415630592,
+              1.23908010230785
+            ],
+            "held_grasp_finger_gap": 0.02647778435180785,
+            "held_grasp_max_gap": 0.12496591120958328,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024338787725664397,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06890974148975589,
+              -0.9971002969798785,
+              -0.032286921352979274
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003498086098485204,
+            "held_grasp_line_xy_max_dist": 0.04748295560479164,
+            "held_grasp_object_top_z": 0.045200690627098083,
+            "held_grasp_top_clearance": 0.03243230546323359,
+            "held_grasp_min_top_clearance": 0.013560207188129425
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35538343327750865,
+              0.07310590702549713,
+              0.7625864205203483
+            ],
+            "target_position": [
+              0.35317763569976557,
+              0.07042757770322233,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0034697249044462063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17545333432663557,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625864205203483,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526137046984947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519168606208209,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14451086511499336,
+            "release_required_pad_clearance": 0.05259584303104105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24701922015288091,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d67ffdcb8a2dd9ba58f3ce506f3a6c8ca6b2ecf1040bd6bebc9af12bab9a8ecf",
+    "visual_seed": 4231840916521338901,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9df28627bedca458470fe41e39ca42bd384bddb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2770863569056478,
+              -0.09081200577209536,
+              1.04729359592384
+            ],
+            "current_z": 1.04729359592384,
+            "required_z": 0.8565864921545879,
+            "initial_z": 0.756586492154588,
+            "lift_margin": 0.19070710376925215,
+            "gripper_z": 1.050559276753372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2727424690746476,
+              -0.09524792774442901,
+              1.050559276753372
+            ],
+            "object_minus_gripper": [
+              0.004343887831000204,
+              0.0044359219723336535,
+              -0.003265680829531936
+            ],
+            "object_to_gripper_xy": 0.006208604129185895,
+            "object_to_gripper_z": -0.003265680829531936,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2770863569056478,
+              -0.11472321047076472,
+              1.04729359592384
+            ],
+            "finger_b": [
+              0.26602047069413337,
+              -0.09081200577209536,
+              1.04729359592384
+            ],
+            "finger_midpoint": [
+              0.2715534137998906,
+              -0.10276760812143004,
+              1.04729359592384
+            ],
+            "object_minus_finger_midpoint": [
+              0.005532943105757193,
+              0.011955602349334682,
+              0.0
+            ],
+            "finger_gap": 0.026347666837650982,
+            "fingertip_max_gap": 0.09195124357164058,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317383341882548,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04729359592384,
+            "object_top_z": 1.0931668667485894,
+            "finger_top_clearance": 0.045873270824749346,
+            "fingertip_min_top_clearance": 0.013761981247424837,
+            "object_projection_between_fingers": 0.8236042676253553,
+            "object_to_finger_line_xy": 0.010042584491678485,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048475621785820294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1361378498536292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2754749977612892,
+              -0.09546674512638108,
+              1.2418466804778887
+            ],
+            "held_position": [
+              0.2801326429319687,
+              -0.09131868613482932,
+              1.238638512401269
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007013728989716435,
+            "max_held_gripper_dist": 0.00701701556716079,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003208168076619611,
+            "max_held_gripper_z_dist": 0.003257071231948183,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604642495888125,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2801326429319687,
+              -0.11621364542289023,
+              1.238638512401269
+            ],
+            "held_grasp_finger_b": [
+              0.2714019455616941,
+              -0.09131868613482932,
+              1.238638512401269
+            ],
+            "held_grasp_midpoint": [
+              0.27576729424683144,
+              -0.10376616577885978,
+              1.238638512401269
+            ],
+            "held_grasp_object_position": [
+              0.2801326429319687,
+              -0.09131868613482932,
+              1.238638512401269
+            ],
+            "held_grasp_finger_gap": 0.026381510088043285,
+            "held_grasp_max_gap": 0.1249660900235176,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02414997328699216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07426781411913604,
+              -0.9961206527584452,
+              -0.04720102683263083
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003480115132169146,
+            "held_grasp_line_xy_max_dist": 0.047483045011758804,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.03247735750411109,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35897062887121145,
+              0.069268861543588,
+              0.7625850285495267
+            ],
+            "target_position": [
+              0.3560689016152462,
+              0.0660220696036966,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004354501001143012,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17645127632851115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850285495267,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752079902990106,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853539680286343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14561638811955513,
+            "release_required_pad_clearance": 0.052676984014317155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4034543317465579,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13cabec322b7ac61db652a9ba10c23ae8eb51442d63f69e7dd8d8330355b6691",
+    "visual_seed": 9037659732227165501,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d67229c04c3aa7c638d34171d4183be80fca6b1d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27153316708709385,
+              -0.09373259688011541,
+              1.0452960162921061
+            ],
+            "current_z": 1.0452960162921061,
+            "required_z": 0.8565866777075403,
+            "initial_z": 0.7565866777075403,
+            "lift_margin": 0.18870933858456584,
+            "gripper_z": 1.0487163987545487,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.267165645542324,
+              -0.09811976169511176,
+              1.0487163987545487
+            ],
+            "object_minus_gripper": [
+              0.004367521544769826,
+              0.004387164814996347,
+              -0.003420382462442584
+            ],
+            "object_to_gripper_xy": 0.006190513674806844,
+            "object_to_gripper_z": -0.003420382462442584,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27153316708709385,
+              -0.11776593595261833,
+              1.0452960162921061
+            ],
+            "finger_b": [
+              0.26069467752731434,
+              -0.09373259688011541,
+              1.0452960162921061
+            ],
+            "finger_midpoint": [
+              0.2661139223072041,
+              -0.10574926641636687,
+              1.0452960162921061
+            ],
+            "object_minus_finger_midpoint": [
+              0.005419244779889754,
+              0.012016669536251454,
+              0.0
+            ],
+            "finger_gap": 0.02636426071239899,
+            "fingertip_max_gap": 0.09164053269004083,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01318213035619949,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452960162921061,
+            "object_top_z": 1.0906747123887317,
+            "finger_top_clearance": 0.04537869609662559,
+            "fingertip_min_top_clearance": 0.013613608828987678,
+            "object_projection_between_fingers": 0.8309923621318352,
+            "object_to_finger_line_xy": 0.009880235120776914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048320266345020416,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2003645400307443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2686296916595321,
+              -0.09860691415214379,
+              1.241854314953841
+            ],
+            "held_position": [
+              0.2732773473058421,
+              -0.09442830028681096,
+              1.238542978604648
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007072938940759751,
+            "max_held_gripper_dist": 0.007074348007758846,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003311336349193006,
+            "max_held_gripper_z_dist": 0.003405081625375894,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625230610337084,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2732773473058421,
+              -0.11920639109343452,
+              1.238542978604648
+            ],
+            "held_grasp_finger_b": [
+              0.2644461940320746,
+              -0.09442830028681096,
+              1.238542978604648
+            ],
+            "held_grasp_midpoint": [
+              0.26886177066895833,
+              -0.10681734569012274,
+              1.238542978604648
+            ],
+            "held_grasp_object_position": [
+              0.2732773473058421,
+              -0.09442830028681096,
+              1.238542978604648
+            ],
+            "held_grasp_finger_gap": 0.026304810437751826,
+            "held_grasp_max_gap": 0.12496611982584,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024177159710001467,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0600318964494171,
+              -0.9971434353714035,
+              -0.04583820136526207
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003708557362080227,
+            "held_grasp_line_xy_max_dist": 0.04748305991292,
+            "held_grasp_object_top_z": 0.04520082473754883,
+            "held_grasp_top_clearance": 0.032582094003688354,
+            "held_grasp_min_top_clearance": 0.013560247421264647
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3530600474609126,
+              0.07400661888611451,
+              0.7625878350302697
+            ],
+            "target_position": [
+              0.34981683065955,
+              0.07062480614304936,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004685628308967577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17576735973251284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625878350302697,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566812586510256,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643836914936119,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1437738414264041,
+            "release_required_pad_clearance": 0.0532191845746806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4477515075018628,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75513bebe767051ed09db6f8393dce337f0224d56783f166911149f1c928edc0",
+    "visual_seed": 6591954849471501687,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3853022098564a767b23a089746532487dc3a8d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.27468945921246657,
+              -0.09752931109531435,
+              1.0481178185974969
+            ],
+            "current_z": 1.0481178185974969,
+            "required_z": 0.8565864831471925,
+            "initial_z": 0.7565864831471926,
+            "lift_margin": 0.19153133545030432,
+            "gripper_z": 1.0516405231342474,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27022808673152016,
+              -0.1019492425404407,
+              1.0516405231342474
+            ],
+            "object_minus_gripper": [
+              0.004461372480946413,
+              0.004419931445126354,
+              -0.0035227045367505205
+            ],
+            "object_to_gripper_xy": 0.006280098597423666,
+            "object_to_gripper_z": -0.0035227045367505205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27468945921246657,
+              -0.12168204994719539,
+              1.0481178185974969
+            ],
+            "finger_b": [
+              0.2638545973594671,
+              -0.09752931109531435,
+              1.0481178185974969
+            ],
+            "finger_midpoint": [
+              0.26927202828596686,
+              -0.10960568052125487,
+              1.0481178185974969
+            ],
+            "object_minus_finger_midpoint": [
+              0.005417430926499711,
+              0.012076369425940522,
+              0.0
+            ],
+            "finger_gap": 0.026471664575933782,
+            "fingertip_max_gap": 0.09269822037871811,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013235832287966879,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481178185974969,
+            "object_top_z": 1.0940619111169025,
+            "finger_top_clearance": 0.04594409251940568,
+            "fingertip_min_top_clearance": 0.013783227755821702,
+            "object_projection_between_fingers": 0.8324732149244205,
+            "object_to_finger_line_xy": 0.00988572471825654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884911018935906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6330553108369776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27220744223398996,
+              -0.102992539163347,
+              1.2449480136289328
+            ],
+            "held_position": [
+              0.2769648984086978,
+              -0.0988100366425181,
+              1.241528924631261
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071983946936109225,
+            "max_held_gripper_dist": 0.007201937497635646,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034190889976717376,
+            "max_held_gripper_z_dist": 0.0035097576416849297,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639265714126963,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2769648984086978,
+              -0.12377060420590826,
+              1.241528924631261
+            ],
+            "held_grasp_finger_b": [
+              0.26825375916014516,
+              -0.0988100366425181,
+              1.241528924631261
+            ],
+            "held_grasp_midpoint": [
+              0.27260932878442146,
+              -0.11129032042421318,
+              1.241528924631261
+            ],
+            "held_grasp_object_position": [
+              0.2769648984086978,
+              -0.0988100366425181,
+              1.241528924631261
+            ],
+            "held_grasp_finger_gap": 0.02643697940564011,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024366939245198404,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05893399342328344,
+              -0.9967850853229018,
+              -0.054279628747808006
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003676740843437845,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.032503905836540746,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3601795037563285,
+              0.07156322200223951,
+              0.7625857325192522
+            ],
+            "target_position": [
+              0.3558027107915529,
+              0.06799395402207972,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00564765354556237,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17705698081820753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857325192522,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577704439965983,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08750273976968574,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14492896716400835,
+            "release_required_pad_clearance": 0.05375136988484287,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5092115228442076,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7421cd9338c1f5645632a7af246d693bf4ba67ab8dfd856d085cd4ca365db55f",
+    "visual_seed": 211089146543478475,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8fbfac5640a7bc547e1644f6618c34af2b751f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2799855774275221,
+              -0.0890386608164522,
+              1.0445837639513957
+            ],
+            "current_z": 1.0445837639513957,
+            "required_z": 0.8565864938458843,
+            "initial_z": 0.7565864938458843,
+            "lift_margin": 0.18799727010551148,
+            "gripper_z": 1.0477907527858665,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2757901412786329,
+              -0.09339919344204904,
+              1.0477907527858665
+            ],
+            "object_minus_gripper": [
+              0.004195436148889231,
+              0.0043605326255968385,
+              -0.003206988834470792
+            ],
+            "object_to_gripper_xy": 0.006051109754276563,
+            "object_to_gripper_z": -0.003206988834470792,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2799855774275221,
+              -0.11282876322659117,
+              1.0445837639513957
+            ],
+            "finger_b": [
+              0.2689883330032231,
+              -0.0890386608164522,
+              1.0445837639513957
+            ],
+            "finger_midpoint": [
+              0.2744869552153726,
+              -0.10093371202152168,
+              1.0445837639513957
+            ],
+            "object_minus_finger_midpoint": [
+              0.005498622212149529,
+              0.011895051205069479,
+              0.0
+            ],
+            "finger_gap": 0.02620893659828028,
+            "fingertip_max_gap": 0.09234453322608899,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013104468299140146,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445837639513957,
+            "object_top_z": 1.0901069793462088,
+            "finger_top_clearance": 0.04552321539481308,
+            "fingertip_min_top_clearance": 0.013656964618443939,
+            "object_projection_between_fingers": 0.8239366524115446,
+            "object_to_finger_line_xy": 0.009982303940579177,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048672266613044496,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5941004349622974,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2790568830565898,
+              -0.09348899165809192,
+              1.2422181255063511
+            ],
+            "held_position": [
+              0.2836000236139183,
+              -0.089466712383952,
+              1.2390449507144528
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068474736175291465,
+            "max_held_gripper_dist": 0.006849301410872182,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003173174791898381,
+            "max_held_gripper_z_dist": 0.003197702829646598,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08646117123107393,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2836000236139183,
+              -0.1144717195842932,
+              1.2390449507144528
+            ],
+            "held_grasp_finger_b": [
+              0.2750355325836973,
+              -0.089466712383952,
+              1.2390449507144528
+            ],
+            "held_grasp_midpoint": [
+              0.27931777809880776,
+              -0.10196921598412259,
+              1.2390449507144528
+            ],
+            "held_grasp_object_position": [
+              0.2836000236139183,
+              -0.089466712383952,
+              1.2390449507144528
+            ],
+            "held_grasp_finger_gap": 0.026431059223872417,
+            "held_grasp_max_gap": 0.1249660974740982,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02434192803756579,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06944403040772286,
+              -0.997267491798797,
+              -0.025200723046526763
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003418581233695852,
+            "held_grasp_line_xy_max_dist": 0.0474830487370491,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.032435040888011225,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.36045516482236556,
+              0.07331939248606649,
+              0.7625855407340821
+            ],
+            "target_position": [
+              0.35881317555541414,
+              0.07107738941153763,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002778975807555819,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17505519652842086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855407340821,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572494346298199,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637741948578374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14283313211208995,
+            "release_required_pad_clearance": 0.053188709742891874,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3937793243788679,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
+    "step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "workflow_spec_digest": "62ed0aff37c35c4f01e91b3b66b8dab651ddf036fc37147599a03ddab8900052",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f264574564e799d3a47bf4b4f9327a9aa52ce65ea994328713f59cbfa5676dfa",
+    "visual_seed": 2370752557470139278,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3977492345803872476,
+      6024422583905249305,
+      3187439485679853542
+    ],
+    "runtime_workflow_digest": "49b735e4db2dae3dfa8ca1272b4c6728662937e2146a30c12546fbf90fb82647"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a25142ff459ef50c4f3fd5520568b9660826042
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00027/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_2beaker_dual_target_s03_psl_gqr_00027",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..32d492d74a168085fc89690f75856d5d05a6abbd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd3a698d852ec124994f2268807184995214bcacd2105613a12bcc4e9c4f1c7
+size 5046175
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0001.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8bc0431a7d6a4186d71dc761a1e9d47ec0b9572c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec88acfd87c7d246adda1779869e1c684b5f5a9156ecc2a722156a3ccae7759
+size 3971715
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0002.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a735bd83f54685089fb3b7c2846f4f6f2b642def
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3486e38d2d479892e76fd55dc98c586418deb7ec63525adbc3ac537df7ae032f
+size 4948698
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0003.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fa786703b66a05708fb609411176687872f8ba82
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f546cbd98346466fa795ad3d1d0c627ff3aec726f464d2287794167acbf09abc
+size 4378468
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0004.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a928abd5e47a1ade83e366e34ab35fd4a754ba6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dffb4828d72f10d1fa6f15555992ccd2882d7d6a12e101b8bf59305ec119687
+size 5664386
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0005.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..52d9bb09c54d8b100bdd4241469b3b07f6bf32b9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f658dae4bd130cfb2648979c2353c3e5b94d4ac4267c889a0b2924f1f309d319
+size 4416070
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a05e53790e9cc7db4c34544b138e9887da33dbf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3521db2143508f912c38b2ca25197b2b4f5c8ebc464a4dc15fdc2ec2736126a
+size 5395195
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0007.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1eebd6b71959289109226309ed28497ddfdb255a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db811248da2873536c55f334f7a0d3a05232aa3915e60e7fbb70937dab69562
+size 4207465
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d6acd35c8767b414a2c384c3d9cd8a611697ae4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da6cdf752317c78487b4e988f851987951fb0a9a4c5988e3437de7424feae6da
+size 5322898
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0009.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..63b87c804cde8bab5c784c18a4014bae2835b998
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b852df5492a9fb370f8804032d97c92b1138ff677fc4e4ae619101cb3507d85
+size 5762844
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0010.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e85488a16eba899c2fa4784fc2bdc51cac182cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f70e9fdb08d7648615c3a7d63e7db96de7e6318d31ae10ce4e591339b704e8d
+size 4807870
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7237a65e608471f69e9a92e2144f0b33530a82a1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dc3ea5c9ece39edb4d0cc2af9f076be720f7c095e8476ca9c3a2c0461652875
+size 4126913
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c097b7d2e4d473b159511231d9fd59749c518f20
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cb0ba4c1467e018226f6d33d9ee6b38c9d998fe4381a1a854dda32a2295ca13
+size 5581402
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0014.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22c46033bc5df5dae20efc0528f79d6c6d22b786
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c58b08eef2d46f8c34c8f75915f95e9d8f37fc0d2044db7565cb90f89b4acd7f
+size 4648868
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0015.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..015d7d9f122b726ca4c080fa7ab3392cb5a7c7cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdebb4af7bf286ee2ee74149059525ea20cdaa4657f0ca7788d88e9796984bc5
+size 4796015
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0016.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..015192d66f60afc2965636316c7d4637cca9ea89
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5facc50d3b045344b40d54967940ad093b117bc7e8b81ff4e1d36c6b5178c58
+size 4915151
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2af9fc8aeec23ce71cefdaffaaa660174b805f9d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c769a9a5a0f28713976ced033182058c1243813bda4a9f5e81826eec3d4529f4
+size 4632555
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee5c4077c0deae5b13b419222afc2c05555f96f6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7ce2cdb7c67532f06592206f0f605e62d9d5db4feb275e4228385d871477254
+size 4827178
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2b5da88e9346e45757b6724c8048e9b57b076e79
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb95db0c7f55c0c9203340af8ba3242e7f32a27d73a767b00513c3be9f4c5c5
+size 4693788
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..595c1a9803e1068d5dc22511a7a0f24644e9cacd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7f0e0603bfdab9d6029875e9ebc1adfac2f4543e1ad80ce632f014aaa450244
+size 5099136
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0021.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0528dec5758da5af5696e738f89b47ce6f213632
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eedfc36132f58729399bf0dfd89845583ec882ad9eb1bee0fe9739f50b8e305
+size 6087096
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..26dc177a5bfb8c13a8b5a4b3c7ddaeb1921d9940
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97bc23195c0f1248c180e9b674542c50e41441f9ee6063581c9dc10b6f60ecc9
+size 3936224
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fa928de101b1a00e748690510dfa0b5e5591c04e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f948ac010dec21ac62701604dd373a363832d960e35783fa478644defe8f0b3
+size 5164545
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e7dd8909901b2ecde7c7020aba1753dea1cbf9e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ad55c90b2e34d1877c8e44cb4c8ec25dd62c3e5219fccbb8cd8faf03d80fdeb
+size 6620534
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0025.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21f229905a62520d934305d2526c39e0538ebbcb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50b76b81f87d4be0bd71cbdfb5e2bc8914800e223d96b72f788b2cf347f87b36
+size 4636657
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e8603b41ac1bbcb95afc030ab88780327d0a78e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d29dc09490ffd1563fec3b36090134b829eecfcecd4230faf8ea85944d56751
+size 3708242
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25eb36f55c65037bd2c72ea34290e197d6b50be5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4db80be77f20384250a47332c91cd51b4539a3c9ee935ae7c590fa46a8f9ff
+size 4517095
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..80064bb39ada071b20437adbc2648b5d2ee93f6a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a93a509030fafe084690ad0642b63fd2fe4773d2a0129d3f36fb23f532c694be
+size 4560796
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0029.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29297c4fbef33405735d55e7deda11f1a6c2df86
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5baa2187e3a7c3374f3fec6201f59f3c0c4dbb56772cc34170e53a1944a21fc7
+size 5562780
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..01b9124709356413765f0c43256e0e8d51c44fe2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d8dd26c8533980f392b2c13d40eeb589f67e8f8f75f20e7be7c894a80afce2e
+size 6557794
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b85a71012cc29045edb5d1fa64c6ba8507f5c3e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d507cf7e5d327a2273b791de29cfc9364276320010c9b11ec9d4064ca97f78b
+size 6158388
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ca657e7bf550191339eb3fdb07c9bf5f30c756a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935243d1e85664b776ee41c2c0aac0dcf47f7d58b84a76b65aa790e172166f73
+size 5070791
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25bf57ec2a9a1f3435820b28bafeeaffe4bc3a3c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9717e396508b85357a5e039f2dce3b80e45a57bcb875826dc1dac393d3f303f7
+size 5127672
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b8e0c0799f40ad84393d14ea25d3189818f9294
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e0fde302685e92f5d020e264ac92faa0d7dc246f473a3c0b796e4ad528cdec5
+size 4415695
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2179af3e5ef1511b9d6c3574dc1fc0e15a7257a7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a4f2f7020551d6e73fbad6fb3b82d2c482f17f33737156cf398ad9069d2c6ef
+size 3965004
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fd6e9c98f862f1dcf9c828129c6602cf2af696c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cab84678d2f47787184b5645713fc4060334a834d8616ada611018fd7828eab
+size 5862026
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0038.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a00498d8efcfa48e32a275fd5444904f5342b5be
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59ca4a587b69f2ff6fe4c945e3f119dea8b3c232a075e1dc875b46ee3748ca99
+size 4626862
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0039.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b135b1649b70a8181ac5047149d153a72be8c23
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fbb06366ad76b60646e2c45b31b8152b3fb2467b484ed057238f0f6d80dcaec
+size 3892075
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5717e252159b9f5813b2544154332c9ae2c74fd8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6fec4768df8ee467df694f4289c1854ca1539f77d35f63efd4108f3f4a4991f
+size 5075332
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8fd474f2dc3540204b174fe1eda9e481de6827d9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f7e2a452cf515b8d1069376a54475e606624921f55c779d449ac63277ecef8
+size 5334720
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..73232ebfa31371cdb1dbcf32f9ac49d4aa48318b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0498d3c2e7f22d71ffa0ebfa1dfd076a1f84eb60b8f8691ddb863fbfb107c4b
+size 4704332
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0043.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e2e6f5667b174fabaa2c36082ae261356bbc43db
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96673d3493326e39334e33d6926ef1833025d42bb8553d7101e76406e2934e2c
+size 6122481
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0045.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..701516b0fb2b6a3481b2d7b09b3cd6e4688a120c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dffdff7eb7ae817ddafbb581112ebd49a3ee2d2a39b958f53289447048358b8
+size 5391729
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e952db8889859942b815d0b64d6f7a15b817da6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a651ae5aebd0af8e2d3b58f9f6218dc620aa34152bd211c198e063e74c3aa0e
+size 4482615
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0047.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6c790ecaae6ab7371f4658a1c2886458ad5e6742
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3a629eed52a650d6c5f1d91ad5ec07a22d17384456760684e1f1bd7ced282c
+size 3806076
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0048.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c59fb10c6327221810389390187ca53f7e6ceae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde27dcc1a8e010faa3296c7588a662372fb1c4d9eba367f8552d90ed7b39c6f
+size 5915040
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02fd110d457e7e0840c041824a986f671af46a63
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d941d54a8af588137596a81e51aa2e68bc9d588e7a40ffff0a5f9eae938b90
+size 4560126
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0050.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79ab9f1d039bd8f2c50bdc1d8af0f45a039530a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4748b2e7e0e71ede1ab6e4306fa2e580f33303f4f6eb12bebab7e29d57eb4d2f
+size 4636407
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ea9d315967217210a93f22cf7ebba84ec575a992
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0018815876b49a9177f081c6b3406563123befd194e495c9e6767d4d5600d6be
+size 4651451
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8580a0544b0831db5e0d75fce88b35a46b9b763b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725a20496f613d88885677cfc8287d15f75a99f93fd17d04fcc306d8780ebef5
+size 5496422
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0053.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e12f4a3442fe3588c7ef23a3e64871a648f96e71
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3a90c08be4c563f360bce3d4abef973ba4d2fe75f6a3417e165060592041cbb
+size 5252209
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0054.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb95aa9d4ab655860ef404a250a2f421be053747
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eb04a6d7630cc758bcf3a3ffe4431b10439c556cec616257b66bb04e6e5b18e
+size 4918671
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2c08dd369988bc315ff1dfaec9d5dfca05f94025
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70dc057ff2c91e2b7d2e09d5ce79064474e359289011fb94b94e399d792574e9
+size 4581346
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7ac17ea3f72bce81e32a1a97344caed01e4f9818
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f32083d051da2672af9cd87a8c30731ec14a4d5f0a74d03cb8d2637a33bce9e
+size 4934045
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0057.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7b60d6c7aed592dcce01797e2b8b89975ed671dd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:104436ee3cc2c860963dae0f5a6e56505c9823679b3ab892670d38e557d294be
+size 5652118
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7c47f64b71159ea965d91e5efe58705f368e491a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da1c9a379ec94d5080c0bc68e955efd933179764b12842b42f4d924d38cbf860
+size 4514124
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0059.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..477a56d9a0e8c68703380f48f6dc6f582d43e116
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37a24c7f9050f6f766c17bf9a2e2c4b266fc11e93f67e59dc8a03d1817c67b9e
+size 5936858
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0060.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b7e78813efa7937a6da14c0343c4992a0b05afef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e174705a4b9d89765435acf5981a4951b6abb09fba1be65d908884a1895c06b1
+size 4141185
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..484f3ec10cd20814ffdf3cc5d9ad403454982a85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98262516cf216903df47294f4e7ea8b846d957593f2c487098b58c8038404a8
+size 5330153
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0062.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d10480cf018279d3cf929d523744e04bd9e5e6e0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe8ee7e4643d40baa266e2727823bc802b835bde129a8e706cf2362873b78c2
+size 4813772
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..155394df49883df65f00ef5637be805f9db761e2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07292c322754e2448a3f192eb2716dfc8cc2e81f343d96f4d1251251ee60813
+size 4631576
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0064.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55d96804d1480c4fff03b34964f4d6a27386abc7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdf0803cc916c54158cd74d758371f9fb1d6fc202e0128c4f442feca4709f8a0
+size 6554095
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc29abbc03b29ecab99f69f2ddf00319817d7626
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdba4f7b2920350b3e5c5a41edb97ef419d7e044deae19ad3225cfa7fae78625
+size 4377652
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0067.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..678fd865584207d8ad45aea53a7111c6575a26c1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:707473789585ee9658218ba52b2310eb3ac75d44444ee5861fe73d1269ae29f7
+size 3880583
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0069.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..52e0b37ab75ea6791cddb71d3b420b03dbfde4f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:500a701f521435231666a58bbeb7dddc1cddacd73fbd8c81bc4b73a0a597707b
+size 5934413
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0070.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5a1757654bcd8d023aca53daa859d5d2e95797ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2048ee67857159328eb06dd9d19a09921fa2e656b58593e120002d764a725ffa
+size 3956285
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0071.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..601aee3a8d9f1e20cf8567c276a34e9a85ce1186
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e47dcdca32c7d45965c7c091d1077c273f96ff9ad085b8a4f2d0cd25a3bfaa8
+size 5174534
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3acabd6dcab16bc405c6c9d9470ddd32c19d0db8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a002fbf3d241e266995c07cbaa5d1c352d59182d8ac1eac310cbd07091ece3
+size 4232096
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a89c796d6f6355736919ac1dbc652d73ce97fe56
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683993b497f3bef8a79ec9e1c65de3cf850cdf2f5b430d41cd65b88f186cf2fc
+size 5541683
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c708009f81bca35371bdff652ab5c00821d12767
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3fec88d368b199990686fc6fd74977910e426c39e175249777bb55d432a2b86
+size 3881368
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a3583138a9d64c25bb40fc5b9a5acc45c5d422b4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f702f6b172bc3f6f4659b954bebcff24f5268623d5dc9ac0b23487b23aae2279
+size 4082496
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0076.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..05fdd93e5238f86255c1bc196054a9fe966c5702
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1f3e828c9b87628d8be6c06e2087031d094fe9670b3d77290461b1e07024157
+size 4498953
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0077.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7561723ffa3f9f24f05d63b9153aa234afc52451
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:535a5a6df38a95bacdd76fd22723ab2ad5dde8a1188c5de8e325e9088512149e
+size 4276011
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de0d4f8a8b9a11077755cedbb36a286cc68e602f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ff4a0ab4b5634b8913247dee9a820778a41c992ef0a3660cde092c9c6fb184
+size 3851209
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0079.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..645bbacd6b2fef19f989d2b0380f614921a4dd27
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81781b97fabbd70ac7f6130a5d83b159e50add9f4ffa168ad6b58d9df3ed4969
+size 4035145
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0080.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3cc8b2c4e898fa356cce300af7d77c94b6d24704
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ec2df032ed49e2bfd36f08e87350a6f2222a34f82e3768f1904204518699d82
+size 4466739
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0081.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..17653e72c881de593330b409975fb69eca335210
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb59ff4b4bdb61614abc03290266bc5e86e15ccbdd15b61f0af66c69e199b3c
+size 4259650
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cf7f2a2321c0f32964819b785349cf03be3e9da7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3df16c51885d5bf839e8e440b1e0f0de62a1afa76a4e6211afd42980700e862e
+size 5842420
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..260a27d281d18d364e28cc1e62e4e5b16fad5cac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27551ec8ae4ae3ad88a276c59d9797a993523107e85eccd6d82f658a0ae7c594
+size 3878594
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fb7cee4d31aeeab153c451b36e9caffba6e5f7e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45a40a9a47105d47a514059901f1348e44d3e94ffada5994eada221fb74fccad
+size 4879110
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0085.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f45c898c740fdd784606ee0ac79b329b5aa2b2b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:546a9403c4bff457b5646bcec9d525f0b0928cf99d265d3f3b70c001898e4724
+size 3852286
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0086.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0720b3fa91684880fde75dd20c5249d1cd7588a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ccd55d629a7da2eb8758b5c6188ba4fe6f6c3f3787cebf3945fe2498dbac996
+size 4413407
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0087.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..72d738978f2481f9284f89f3e40ec6b21d37031c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1aa639719f79e48c38244268d340816ccb890410c01c367513a599e4190d0048
+size 3714785
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a40a271b280e308949063af27b7b32d6f8ad5c4c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1227cd19112587eb7a0512d2e6200b6506421a41979d23fedcaec7c9f4cc4a1f
+size 3703113
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d33f1c0cc9e96f07f16189480ae81c72e6975e3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b7878cca18073f460e617752495fe986dcd829d3726674adc8f2479dfe20c72
+size 3913989
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0c490d0a79be2722e307b075a4046bb1eaedd65
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3bee9f474ac90a68657ba8e35a44c8b9c73de922c508f6e8f8e5473c3df15ba
+size 4951177
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fb01ab5138747fc8481056f3d7a04825dacceea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d85cade020e5ed86ff79ca1231ebaf7f885510c5dd58095db603ae15fb9c8ab9
+size 4683957
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7e4707fe413017dc461dcabbb5698e415cb62ce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad2c2cf615c8fb7cf37393cfc2912b9b460403ed036b0760150790e6326fbecf
+size 5424153
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0093.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60486cb380ca7a610664a5db04f95b46615c5525
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdf799dfe36d2ca11cdee9f54e3f243832c2f88f801ffde107efcfbcd18d0d70
+size 7338010
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f8f83b5902d6b46e281516ab4d116c827f3cb802
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36a09fea21a21bf7321db95a30f0af420279953e19d02d9144727340eadf59fb
+size 5216061
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0095.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1aef1f7387910e89264701242707f4954be908e7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd7dde63c42807195ad1e78286e63973bcd32fd9c3472370cdc90e671935af39
+size 3747938
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0096.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8166c3aecbd2593df3b545108821ba8f661df9a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:839f8f16d4b079b5bf6c931eecbed16f65d9908654fc36d43a4b1e0b44875924
+size 4947581
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0097.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a711426f911e407860e8c01ba672ab6dbf9c952b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d666f7ba8085ae179138efb8e05df54391910c938d123aa293437b12436b617b
+size 5399779
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0098.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d1a47cbe4c9c9ce127df3e498501ccb27285d9a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb26fc5d81b42a5208dfb754bd43c32077cf996cf06b9b14b13138d43ff051ba
+size 4923274
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0099.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ee54f5e17d96ba8a6e5b428472eeee9f546874e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5b8a96d71a067224fcf66981d1585dfbb2f4d9e141e3f25191d5ce0eb35043
+size 4806469
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0100.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ba71e7bc2c84a05c0c3d883edf1ad638c276afad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64e3d7918dd46cf74d7fe435ab56d4720d5b6c23411bbcdee7d2c569a0aaa135
+size 5078383
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0101.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0c1a0b8b0e89adaf87bea22c053bde9365e68ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:117ccf15b766e81ef1f2f85845e7abf3ebf7dc022e35bba330a1b2a4a5201376
+size 5230941
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0103.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e4dd22a1bc90bd54564e470e65d295886c68034a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f76a8f4a08cca4870733d3bc8ee45b852c669c664dec5b11c6194669b704a09
+size 5842835
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0104.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e76cf4919cd0756e493e57aa7b829066c89a960b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74fb5c09342e260341f7096db5a56861414e546bb6f801f5ba7c26e91f64c316
+size 4806880
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0105.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0105.h5
new file mode 100644
index 0000000000000000000000000000000000000000..06a4c292a2af5ff8dc0128f7a4c8c3ddcbc809de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0105.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade65442c2b3921935778a6bd242424ade1d4a86c0c055831012af7a8c512aa0
+size 5063223
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/meta/episode.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0d1953fcf20c3ee23a0cf8086bdbdf871b77fb36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":889,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":885,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":888,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":878,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":885,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":886,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":889,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":886,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":887,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":885,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":886,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":879,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":885,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":880,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":881,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":882,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":883,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":891,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":886,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":886,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":884,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c0b072c8505cdc6cf116f650563863c809db94c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-02T03:11:44","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.6900488123102793,-2.444892547643461,0.71338606911949],"aabb_xy":[[0.6827875647398718,-2.4576795579069706],[0.6973100598806867,-2.4321055373799516]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.7032136259215924,-1.4483142212205158,0.71338606911949],"aabb_xy":[[0.6900623799503032,-1.4733142209772025],[0.7163648718928819,-1.4233142214638295]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.07177523616741388,-0.17105208322360843,0.71338606911949],"aabb_xy":[[-0.10176689890128421,-0.20105208256040896],[-0.04178357343354355,-0.1410520838868079]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.031481347130528414,1.7213685961215544,0.71338606911949],"aabb_xy":[[-0.12148134572499836,1.7051180098081336],[0.05851865146394153,1.7376191824349756]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.5305837175129988,-0.5728828110082667,0.71338606911949],"aabb_xy":[[-0.5655837158236943,-0.5805978259318123],[-0.4955837192023034,-0.565167796084721]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.6044473392443,-1.9478080587418796,0.71338606911949],"aabb_xy":[[-0.6694473403502434,-1.972773431810008],[-0.5394473381383569,-1.9228426856737515]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.11646625271191358,-1.2166609860612567,0.71338606911949],"aabb_xy":[[0.07147366599346315,-1.2616609853357053],[0.161458839430364,-1.1716609867868077]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.061591646067985506,-1.8212823667795162,0.71338606911949],"aabb_xy":[[0.04898894693090904,-1.8338777630043819],[0.07419434520506196,-1.8086869705546509]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.5535115133206062,0.4812583015894627,0.71338606911949],"aabb_xy":[[-0.5576274634326787,0.47714274655661704],[-0.5493955632085333,0.48537385662230803]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.604553763171915,0.8138612083014185,0.71338606911949],"aabb_xy":[[-0.6270501846057791,0.7913612084946711],[-0.5820573417380509,0.8363612081081659]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.5847498195903704,-0.5720800672074104,0.71338606911949],"aabb_xy":[[0.5813091433503133,-0.5759415001817749],[0.5881904958304276,-0.568218634233046]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.08278146476782089,-1.555908542497658,0.71338606911949],"aabb_xy":[[-0.10569717765287082,-1.5788128396340817],[-0.059865751882771004,-1.5330042453612347]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.46145888134566837,0.8619593548224329,0.71338606911949],"aabb_xy":[[0.4244247719176085,0.8275821474887235],[0.498492990773728,0.8963365621561423]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.3395551526742344,-1.540170804745237,0.71338606911949],"aabb_xy":[[0.26955515086548903,-1.5615245735094243],[0.4095551544829799,-1.5188170359810496]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[-0.6642559617877796,0.9937259279817439,0.71338606911949],"aabb_xy":[[-0.6947402119148097,0.9437259282002479],[-0.6337717116607494,1.0437259277632398]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.11631107717244371,1.3993761027931075,0.71338606911949],"aabb_xy":[[-0.12646409272659304,1.363306561220367],[-0.10615806161829427,1.4354456443658477]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.015201946906692965,-1.059939885816517,0.71338606911949],"aabb_xy":[[0.0017554202726496326,-1.0734097374696083],[0.028648473540736297,-1.0464700341634257]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.29990958700318254,0.3678555244018349,0.71338606911949],"aabb_xy":[[-0.31501188846420053,0.35275400277077296],[-0.28480728554216433,0.3829570460328966]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.06074976383308606,-1.0021936684471506,0.71338606911949],"aabb_xy":[[-0.0695309909803223,-1.010973415735681],[-0.051968536685849845,-0.9934139211586205]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.24214482832134865,0.6871908414262538,0.71338606911949],"aabb_xy":[[0.1781448310357,0.6456841224734098],[0.3061448256069973,0.7286975603790977]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.5052948135355422,-2.0055915823683774,0.71338606911949],"aabb_xy":[[0.4702948143427239,-2.01655862836604],[0.5402948127283604,-1.994624536370715]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.14752524940777523,-1.1431799279728256,0.71338606911949],"aabb_xy":[[-0.18502524922480876,-1.1478181392839673],[-0.11002524959074164,-1.1385417166616836]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.2997432896153557,0.8723963962252599,0.71338606911949],"aabb_xy":[[0.26728158873342817,0.8422635641103571],[0.3322049904972831,0.9025292283401622]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[0.3887022969677252,-1.2180647850494746,0.71338606911949],"aabb_xy":[[0.3512022967958532,-1.2507655204323815],[0.42620229713959706,-1.1853640496665672]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[-0.4102482138571015,-1.178540600391096,0.71338606911949],"aabb_xy":[[-0.444545124874842,-1.2128374866010372],[-0.37595130283936073,-1.1442437141811546]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[-0.30226008402760235,-1.9489999618361633,0.71338606911949],"aabb_xy":[[-0.339760084692181,-1.964687019836385],[-0.2647600833630236,-1.9333129038359407]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[-0.2846033662560587,1.3313858084740193,0.71338606911949],"aabb_xy":[[-0.30788520845418993,1.2463858071767913],[-0.26132152405792725,1.4163858097712474]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[0.3099365245310757,1.6824812818183505,0.71338606911949],"aabb_xy":[[0.30265420815441185,1.5924812782088411],[0.31721884090773916,1.772481285427859]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[-0.2965691459350136,0.1772842864059343,0.71338606911949],"aabb_xy":[[-0.37656914919285656,0.0972877786139503],[-0.21656914267717065,0.25728079419791827]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_29","position":[0.38214152790720024,0.26244733927871877,0.71338606911949],"aabb_xy":[[0.3771855077223191,0.2399473390765972],[0.38709754809208147,0.28494733948084044]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[-0.03661526175254681,0.3234336942359981,0.71338606911949],"aabb_xy":[[-0.044538541991295144,0.30093369399799474],[-0.02869198151379848,0.34593369447400146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6763111197784648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6.png","name":"6"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6.png","name":"6"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6833.png","name":"6833"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/223.png","name":"223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4254.png","name":"4254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2838.png","name":"2838"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":683.1399752183404,"rotation_z_degrees":256.35081158335345,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004203741863017928,0.0020461178682483275,-0.019573210408354885]},{"name":"camera_2","offset_m":[-0.00640078027610079,-0.005356961011295907,-0.004559736826299834]},{"name":"camera_3","offset_m":[0.0022305103427589755,0.0018900359316819451,0.00021239236181157597]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010535518012368202,0.000772583532264658,0.0004941991209084181],"end_effector_yaw_offset_degrees":-0.4795871444888762},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009403048580304803,-0.0013689423292316905,0.00043794598102101694],"end_effector_yaw_offset_degrees":-0.7962196136760304},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007304694243403373,-4.327116506661977e-05,-0.0006073477203740918],"end_effector_yaw_offset_degrees":0.43432703463676847}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0034674243086972147,0.0035777934564086783],"position_m":[0.2253674243086972,0.2709777934564087,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001483877013838689,0.0015742117158921232],"position_m":[0.34051612298616135,0.11267421171589213,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0023687626760883883,0.0004762985657836734],"position_m":[0.29343123732391163,-0.043423701434216325,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004903617682797999,-0.004688584595983093],"position_m":[0.276303617682798,-0.3132885845959831,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"ad83248ad25f5a0a33f1d2a8d3cade0a8a5f6f61b14b5d8c8487ed506d8074b2","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6/tex_ceiling_textures_2838/tex_floor_textures_4254/tex_table_textures_6833/tex_wall_textures_223","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5050766169675418721,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5050766169675418721,"visual_seed":5050766169675418721,"scene_id":"lab_003","finished_at":"2026-09-02T03:14:24"}
+{"episode_id":"ep_000001","started_at":"2026-09-02T03:14:28","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.24572691981490435,0.9447103356222728,0.71338606911949],"aabb_xy":[[-0.27072691974742225,0.9378276674013497],[-0.2207269198823865,0.9515930038431963]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.558968914258944,-0.9472180251606921,0.71338606911949],"aabb_xy":[[0.536469778532717,-0.9697180259389551],[0.581468049985171,-0.9247180243824291]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.5343816678852791,-0.4931771383148442,0.71338606911949],"aabb_xy":[[0.506536631104672,-0.5239616370531559],[0.5622267046658862,-0.4623926395765325]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.30349094983153946,1.5968261095729157,0.71338606911949],"aabb_xy":[[0.2234971262529813,1.5168261069800741],[0.38348477341009773,1.6768261121657573]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.19920080991931866,-0.353260844897179,0.71338606911949],"aabb_xy":[[-0.2792008131771616,-0.43325735268916304],[-0.11920080666147567,-0.2732643371051951]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.08754467414454903,0.5916315177314022,0.71338606911949],"aabb_xy":[[-0.12504467408831543,0.5833384276965655],[-0.050044674200782624,0.5999246077662387]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.12568570830923176,0.7298381126953775,0.71338606911949],"aabb_xy":[[-0.15433504066964795,0.7011925534183016],[-0.0970363759488155,0.7584836719724531]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.5259567794467063,-1.731829019914718,0.71338606911949],"aabb_xy":[[-0.5406001850007391,-1.746487739571502],[-0.5113133738926732,-1.7171703002579335]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.2278726931396018,1.3406678888805588,0.71338606911949],"aabb_xy":[[0.19037269162397003,1.3294411158644135],[0.26537269465523344,1.3518946618967036]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.5170712704864533,-1.7690465633897983,0.71338606911949],"aabb_xy":[[0.5129931125794036,-1.7731275436380616],[0.521149428393503,-1.764965583141535]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.33330357574802494,0.6293109014004763,0.71338606911949],"aabb_xy":[[0.31038786286297504,0.6064066042640529],[0.35621928863307484,0.6522151985368999]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.6595384185210476,-1.4612160213871292,0.71338606911949],"aabb_xy":[[-0.6933139777117404,-1.475254516600294],[-0.6257628593303545,-1.4471775261739641]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.03342509083471168,-2.4219889153203997,0.71338606911949],"aabb_xy":[[0.02149235647288361,-2.434371068128259],[0.04535782519653975,-2.4096067625125404]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.6273509028735076,1.3491499252910768,0.71338606911949],"aabb_xy":[[-0.6695353170343383,1.2851499250138656],[-0.5851664887126768,1.413149925568288]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[0.47331149662938765,-1.0543070518237199,0.71338606911949],"aabb_xy":[[0.4383114983592677,-1.0613811795187078],[0.5083114948995076,-1.0472329241287315]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.4020873843116841,-0.9440936363191863,0.71338606911949],"aabb_xy":[[0.3370873857546113,-0.9738461697330688],[0.46708738286875695,-0.9143411029053036]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.4731475363479471,-0.2877113539974312,0.71338606911949],"aabb_xy":[[-0.5431475389845335,-0.3078162189932967],[-0.4031475337113607,-0.2676064890015657]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.48422119480261583,0.8669851633412082,0.71338606911949],"aabb_xy":[[-0.49351481303976635,0.8294851648530742],[-0.4749275765654652,0.904485161829342]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.528700863275156,-2.3196749412152524,0.71338606911949],"aabb_xy":[[-0.5758302422769915,-2.3836749422596535],[-0.4815714842733202,-2.2556749401708496]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[-0.5408272586456387,0.14058542035236954,0.71338606911949],"aabb_xy":[[-0.5908114943538159,0.09058542153887392],[-0.4908430229374614,0.1905854191658651]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[0.1562547895668166,-0.7070931369166478,0.71338606911949],"aabb_xy":[[0.13436504197787577,-0.797093134205897],[0.17814453715575737,-0.6170931396273988]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.37253070580037506,-0.773754745203528,0.71338606911949],"aabb_xy":[[0.3227139263355403,-0.8237547436878314],[0.4223474852652098,-0.7237547467192247]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.4934758137625566,-1.2280315384253206,0.71338606911949],"aabb_xy":[[-0.5434546222728724,-1.2780315384310392],[-0.44349700525224073,-1.1780315384196016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641353978938147,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2987.png","name":"2987"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6987.png","name":"6987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4051.png","name":"4051"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":753.85481060385,"rotation_z_degrees":131.14727419017962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00044903884376527176,0.00033700575233675326,-0.014054671312821298]},{"name":"camera_2","offset_m":[0.01603520935846801,-0.013821360716163938,0.012797876984417696]},{"name":"camera_3","offset_m":[-0.018608624572467886,0.007215895038793597,-0.0081571800353148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015087508896330557,0.0007436656222976367,0.0010628164133166997],"end_effector_yaw_offset_degrees":0.39871393936061517},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001770964085347681,-0.0005243481074593151,-0.0006800776858890409],"end_effector_yaw_offset_degrees":-0.3673944663376012},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009853206478050423,-0.0019090266340755205,-0.0015307128208274592],"end_effector_yaw_offset_degrees":0.861652881219622}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026440787323298333,0.003428570491497299],"position_m":[0.21925592126767016,0.27082857049149733,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004918117614249088,-0.003081859527464337],"position_m":[0.3469181176142491,0.10801814047253566,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003730212086955232,-0.003676179329369972],"position_m":[0.2920697879130448,-0.04757617932936997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00393982465024328,0.004705729378821134],"position_m":[0.2674601753497567,-0.30389427062117885,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"217c09f685404b8dcfd04e6ad51cbcf72b61fe85814925a61d394ab708d494e8","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6678/tex_ceiling_textures_4051/tex_floor_textures_6987/tex_table_textures_2987/tex_wall_textures_9144","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":8124071981593421619,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":8124071981593421619,"visual_seed":8124071981593421619,"scene_id":"lab_003","finished_at":"2026-09-02T03:17:26"}
+{"episode_id":"ep_000002","started_at":"2026-09-02T03:17:29","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[0.46154274700241005,-1.992878405984595,0.71338606911949],"aabb_xy":[[0.42404274650505175,-1.9968470895327135],[0.49904274749976824,-1.9889097224364765]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[-0.16685378583676902,-0.1899911576136204,0.71338606911949],"aabb_xy":[[-0.23085378313911542,-0.23435758458147712],[-0.10285378853442262,-0.14562473064576362]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.3337787048798786,0.949333886512508,0.71338606911949],"aabb_xy":[[0.2697787029675363,0.8934227372544977],[0.397778706792221,1.0052450357705185]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[0.3683581788299286,-1.3401512169912937,0.71338606911949],"aabb_xy":[[0.3133627010092692,-1.3951512184252004],[0.423353656650588,-1.2851512155573865]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.6864872132055442,-0.8336171996039681,0.71338606911949],"aabb_xy":[[0.6643146862288933,-0.8557928667600911],[0.708659740182195,-0.8114415324478448]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.21049347605175628,-2.517406385477219,0.71338606911949],"aabb_xy":[[0.18799347623785387,-2.5218810018477],[0.23299347586565863,-2.5129317691067388]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.07069396058108035,0.32906402622132536,0.71338606911949],"aabb_xy":[[-0.10184087942466345,0.2590640275345182],[-0.03954704173749722,0.39906402490813253]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[0.4183999074438989,-2.5280408697706305,0.71338606911949],"aabb_xy":[[0.3683999070833328,-2.578020856980233],[0.46839990780446494,-2.478060882561027]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.03263982158691692,-1.79437703317586,0.71338606911949],"aabb_xy":[[-0.09263982209476983,-1.8512237668617813],[0.027360178920936003,-1.7375302994899386]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.5328630944757153,-0.36060559595245234,0.71338606911949],"aabb_xy":[[0.468863095181547,-0.4245917363213065],[0.5968630937698834,-0.2966194555835981]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.5971830594292163,-1.7620432920935452,0.71338606911949],"aabb_xy":[[-0.652308265058807,-1.822043293534832],[-0.5420578537996255,-1.7020432906522578]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.1715594496384384,-2.0364023396463278,0.71338606911949],"aabb_xy":[[-0.235559450015972,-2.0861476064971405],[-0.10755944926090477,-1.986657072795516]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.49917105389154615,-0.9990008309114766,0.71338606911949],"aabb_xy":[[0.4291710504999841,-1.0343166046149075],[0.569171057283108,-0.9636850572080459]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[0.08678319983476013,1.5891209223431715,0.71338606911949],"aabb_xy":[[0.006789376256201893,1.5091209197503301],[0.16677702341331835,1.6691209249360133]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.4041039379193855,1.6716644218698513,0.71338606911949],"aabb_xy":[[-0.46809963531448195,1.6076644235691424],[-0.3401082405242888,1.7356644201705598]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.2252223744784277,-0.9033719032914469,0.71338606911949],"aabb_xy":[[-0.2752223740547624,-0.9533524822435531],[-0.17522237490209297,-0.8533913243393412]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.6420566512680794,-2.490066739868451,0.71338606911949],"aabb_xy":[[-0.6795566524528722,-2.4944849625645107],[-0.6045566500832866,-2.4856485171723897]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.14990213358586102,0.7695575131820647,0.71338606911949],"aabb_xy":[[-0.21390213217243348,0.722550549782556],[-0.08590213499928856,0.8165644765815734]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.2520622278400716,-1.042628692461922,0.71338606911949],"aabb_xy":[[0.24575012830373316,-1.048395631715141],[0.25837432737641003,-1.0368617532087032]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.24425956708009122,1.0726618155214336,0.71338606911949],"aabb_xy":[[-0.3082595684880819,1.0208728639975087],[-0.18025956567210055,1.124450767045358]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.5856072175656392,0.35151160962793293,0.71338606911949],"aabb_xy":[[-0.5900378469204793,0.3460632378932504],[-0.581176588210799,0.3569599813626156]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.20465359619059936,0.6018422206687823,0.71338606911949],"aabb_xy":[[-0.2686535985334009,0.5569013694246497],[-0.1406535938477978,0.6467830719129147]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.4329237440153699,0.5447154767886659,0.71338606911949],"aabb_xy":[[-0.5029237456176494,0.5312826835870085],[-0.36292374241309044,0.5581482699903236]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[0.011872711957021442,-2.3973001046931186,0.71338606911949],"aabb_xy":[[-0.005705590231925408,-2.4148745942672236],[0.02945101414596829,-2.3797256151190136]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.24416380494357032,-2.152236641222762,0.71338606911949],"aabb_xy":[[-0.2670795178286202,-2.1751409383591858],[-0.22124809205852042,-2.1293323440863388]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[-0.04815729936569457,-0.6531811178650371,0.71338606911949],"aabb_xy":[[-0.08378645526565431,-0.6888137846218899],[-0.012528143465734824,-0.617548451108184]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.03482808427958606,-1.3467448451274124,0.71338606911949],"aabb_xy":[[0.021597138744904765,-1.3599722641494114],[0.04805902981426735,-1.3335174261054126]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[-0.3747639297348128,-0.8196522225341298,0.71338606911949],"aabb_xy":[[-0.39082585719333046,-0.9046522243467217],[-0.3587020022762952,-0.734652220721538]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_28","position":[0.6657347579720696,-2.1563453124941514,0.71338606911949],"aabb_xy":[[0.6603971823060651,-2.181345313423291],[0.6710723336380743,-2.1313453115650116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679916875163727,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4296.png","name":"4296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4296.png","name":"4296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5044.png","name":"5044"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/693.png","name":"693"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5789.png","name":"5789"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":774.9142302806015,"rotation_z_degrees":280.4384402237952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007613395039726717,0.008169329450938085,0.012168705685552759]},{"name":"camera_2","offset_m":[0.01620951471087759,0.013546602010033933,0.01692169971534423]},{"name":"camera_3","offset_m":[-0.005745069309983366,-0.00967899063466425,0.002683357265884482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015740068133654993,0.0004231937891556567,-0.0013215780980753054],"end_effector_yaw_offset_degrees":-0.3975726552321883},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005970875978027314,0.0007874815780568182,-0.0014272783286932906],"end_effector_yaw_offset_degrees":-0.3005660597153934},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007869720863341585,0.0015721317718949378,-0.0017799326124884858],"end_effector_yaw_offset_degrees":-0.1079258447796656}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003634907381956721,-0.0018901342265779087],"position_m":[0.21826509261804328,0.2655098657734221,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030338527723296027,0.0012140783016747906],"position_m":[0.33896614722767043,0.1123140783016748,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004447752971200504,-0.001871302400355226],"position_m":[0.2913522470287995,-0.04577130240035523,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024468302343459247,-0.0007916298894961793],"position_m":[0.26895316976565403,-0.30939162988949614,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7ad97236a0895244da4f8617578ffc52e6bccf194c7ece8b501698573c2f6cef","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4296/tex_ceiling_textures_5789/tex_floor_textures_693/tex_table_textures_4841/tex_wall_textures_5044","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6804345774224486853,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6804345774224486853,"visual_seed":6804345774224486853,"scene_id":"lab_003","finished_at":"2026-09-02T03:20:30"}
+{"episode_id":"ep_000003","started_at":"2026-09-02T03:20:32","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.11919621455705287,-0.644700199259373,0.71338606911949],"aabb_xy":[[0.06920310244786099,-0.6947001999335688],[0.16918932666624475,-0.5947001985851775]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[-0.24362822305277515,1.7518479510054825,0.71338606911949],"aabb_xy":[[-0.30125869194004595,1.6918479520787715],[-0.18599775416550426,1.8118479499321927]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.4938302804754888,1.6594366744032016,0.71338606911949],"aabb_xy":[[-0.583830277211099,1.6062532110859071],[-0.40383028373987867,1.7126201377204961]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.3847607498455712,-1.1741783927420715,0.71338606911949],"aabb_xy":[[0.3739091435966956,-1.1850376834697227],[0.3956123560944468,-1.1633191020144207]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.5051084252102711,1.4049215228293015,0.71338606911949],"aabb_xy":[[0.4942679469837562,1.3877352415386528],[0.515948903436786,1.4221078041199502]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.1929698118991322,-2.0838072749953755,0.71338606911949],"aabb_xy":[[0.11297598832057401,-2.163807277588217],[0.2729636354776904,-2.003807272402534]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.1586642354607699,-0.9757528662607611,0.71338606911949],"aabb_xy":[[-0.17189518099545117,-0.9889802852827605],[-0.1454332899260886,-0.9625254472387617]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.1021228482318729,-2.2699574300547654,0.71338606911949],"aabb_xy":[[0.0846228490975057,-2.2798370570923527],[0.11962284736624004,-2.260077803017177]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[0.33409878861723463,0.7915144232495508,0.71338606911949],"aabb_xy":[[0.29760296798995584,0.755030480822793],[0.3705946092445133,0.8279983656763081]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.2378268625000483,-0.5380879511021623,0.71338606911949],"aabb_xy":[[-0.28782686194024387,-0.5880558755864786],[-0.18782686305985266,-0.48812002661784604]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.21687839431653744,-2.523682120753761,0.71338606911949],"aabb_xy":[[0.12687839489816652,-2.5570576175979505],[0.30687839373490833,-2.490306623909571]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.5315215511522955,-0.4873897877170581,0.71338606911949],"aabb_xy":[[-0.6115215481153345,-0.5644654293608315],[-0.4515215541892562,-0.4103141460732846]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.10421502943547678,1.662808469996928,0.71338606911949],"aabb_xy":[[0.093442055514109,1.627808471777889],[0.11498800335684456,1.6978084682159669]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.27864309065743265,-0.9456487261759459,0.71338606911949],"aabb_xy":[[0.25875205077709246,-0.9583045374606429],[0.29853413053777295,-0.9329929148912492]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.5195347974550975,1.773669257312981,0.71338606911949],"aabb_xy":[[-0.5301022771131964,1.7631242271999727],[-0.5089673177969983,1.7842142874259899]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.49140691792343394,1.6651826299080423,0.71338606911949],"aabb_xy":[[0.4274069172199646,1.6191642474351216],[0.5554069186269033,1.7112010123809636]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.48342645091603087,1.3135281298344172,0.71338606911949],"aabb_xy":[[0.4484264509395351,1.3040635137868006],[0.5184264508925267,1.3229927458820339]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.5770436557130328,1.3578033055084773,0.71338606911949],"aabb_xy":[[-0.6104838309090522,1.324359679677547],[-0.543603480517013,1.3912469313394071]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.29710946085287404,-1.4051060631572783,0.71338606911949],"aabb_xy":[[-0.3206945843167689,-1.47010606540271],[-0.2735243373889792,-1.3401060609118465]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.6200993194303365,-0.051903447408878645,0.71338606911949],"aabb_xy":[[-0.6288132884802707,-0.07440344806806685],[-0.6113853503804018,-0.029403446749690417]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.19088057284907733,-2.0172186656569506,0.71338606911949],"aabb_xy":[[-0.2608805746578228,-2.038572434421138],[-0.1208805710403319,-1.9958648968927633]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[0.06934176142027104,-1.251637053573227,0.71338606911949],"aabb_xy":[[0.04806375327679879,-1.3166370558993001],[0.09061976956374329,-1.186637051247154]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[0.36701638279481985,1.035397623521955,0.71338606911949],"aabb_xy":[[0.3070163825434186,0.9811162984854904],[0.42701638304622097,1.0896789485584197]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.6300867711384308,-1.7558157465144766,0.71338606911949],"aabb_xy":[[0.5600867690070012,-1.7785777121401716],[0.7000867732698602,-1.7330537808887803]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.42880679560050916,-0.24574434217474916,0.71338606911949],"aabb_xy":[[-0.44390909706152715,-0.26084586380581093],[-0.41370449413949095,-0.23064282054368732]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.5031850967265075,-1.862787988871018,0.71338606911949],"aabb_xy":[[0.48539158979159114,-1.8805877344668154],[0.520978603661424,-1.84498824327522]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.6779138508815888,-1.118940903280243,0.71338606911949],"aabb_xy":[[-0.6853263064229773,-1.124792113701871],[-0.6705013953402004,-1.1130896928586151]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.30477596633116366,-0.7270939985745448,0.71338606911949],"aabb_xy":[[0.2703136189330218,-0.7615878809723674],[0.3392383137293054,-0.692600116176722]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[0.578858242036042,-0.19706017566165457,0.71338606911949],"aabb_xy":[[0.49885823877202884,-0.2106202079705679],[0.6588582453000551,-0.18350014335274123]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[0.5982439991765205,-1.4686036543926348,0.71338606911949],"aabb_xy":[[0.5342439998823523,-1.532589794761489],[0.6622439984706887,-1.4046175140237807]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655878140880285,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4418.png","name":"4418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1001.png","name":"1001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/592.png","name":"592"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7222.png","name":"7222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":666.197366472418,"rotation_z_degrees":49.413428085046704,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029924591193973837,0.019347626588319452,-0.008844108792982475]},{"name":"camera_2","offset_m":[-0.0002825725941671027,-0.013642206400950353,0.008173839080412838]},{"name":"camera_3","offset_m":[0.0016793912885813209,0.014742163840482079,0.012919849457875675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00048584131843878347,0.0010435772417330884,0.00014564051720430222],"end_effector_yaw_offset_degrees":-0.3859376547040745},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000948951192098582,0.0019445293582339047,-0.00032280687394058735],"end_effector_yaw_offset_degrees":-0.3424723321441252},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018389039626929308,0.0016743199667668728,-0.00020705121059351721],"end_effector_yaw_offset_degrees":0.45102153460468664}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002475462352196989,0.004720868514950418],"position_m":[0.22437546235219696,0.27212086851495043,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013990969139945006,0.0021135520716230012],"position_m":[0.3433990969139945,0.11321355207162301,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004899345222236414,0.0015559150017084569],"position_m":[0.2909006547777636,-0.042344084998291544,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004829233513316428,-0.0001597898847659797],"position_m":[0.26657076648668354,-0.308759789884766,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7d842051bc3a1e9dbd3a53c2c2cda6fd996dc68f84aa646c26c32bdb11d8be87","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4418/tex_ceiling_textures_645/tex_floor_textures_7222/tex_table_textures_1001/tex_wall_textures_592","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6725609162098525263,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6725609162098525263,"visual_seed":6725609162098525263,"scene_id":"lab_003","finished_at":"2026-09-02T03:23:12"}
+{"episode_id":"ep_000004","started_at":"2026-09-02T03:23:16","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.011570748933445008,-0.3892740212428616,0.71338606911949],"aabb_xy":[[-0.020730627877321606,-0.3958052392863986],[-0.0024108699895684076,-0.3827428031993246]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.3041368491606279,1.6373662083791465,0.71338606911949],"aabb_xy":[[0.28745971316753244,1.6206662844052162],[0.32081398515372345,1.6540661323530768]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.3265630450639988,1.331236049365017,0.71338606911949],"aabb_xy":[[-0.36247654948898844,1.2953225411482625],[-0.29064954063900905,1.3671495575817716]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.6499610091962106,1.6462953071210227,0.71338606911949],"aabb_xy":[[-0.6869951186242702,1.6119180997873135],[-0.6129268997681507,1.6806725144547323]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.6125502298328213,-1.4193581222757585,0.71338606911949],"aabb_xy":[[-0.6825502332243831,-1.4546738959791892],[-0.5425502264412592,-1.3840423485723274]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.5833397491215602,1.1126910183875856,0.71338606911949],"aabb_xy":[[-0.6383352269422194,1.0576910169536786],[-0.5283442713009007,1.1676910198214925]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.17437347541905845,1.129156773233615,0.71338606911949],"aabb_xy":[[0.15687354198507508,1.1116567733133804],[0.19187340885304183,1.1466567731538495]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.6678433279587277,-1.3351402270726598,0.71338606911949],"aabb_xy":[[0.642622491098888,-1.360363977925546],[0.6930641648185674,-1.3099164762197726]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.31265405290429227,0.9483642457702297,0.71338606911949],"aabb_xy":[[0.2951540536262054,0.9310261457038838],[0.33015405218237914,0.9657023458365757]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.41672587329648325,-2.4254599307707045,0.71338606911949],"aabb_xy":[[-0.47169959533281614,-2.480459930334938],[-0.36175215126015037,-2.370459931206472]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.14385966659630434,-0.8657351482109963,0.71338606911949],"aabb_xy":[[0.09387671640882501,-0.9157351478535566],[0.19384261678378367,-0.8157351485684358]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.4784476499853332,-2.4614954385348375,0.71338606911949],"aabb_xy":[[0.4735483576787696,-2.489172357837406],[0.4833469422918966,-2.4338185192322683]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[0.17471439606059125,-0.6172432791382039,0.71338606911949],"aabb_xy":[[0.14225269517866376,-0.6473761112531061],[0.20717609694251868,-0.587110447023301]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.27664970085409196,0.6138227373915126,0.71338606911949],"aabb_xy":[[-0.32662299485735236,0.5638227368369652],[-0.22667640685083146,0.6638227379460598]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.36860563335740126,-1.5248509261386984,0.71338606911949],"aabb_xy":[[-0.40610563370562897,-1.5366423217197818],[-0.33110563300917345,-1.5130595305576147]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[0.20488813219477997,-1.5276126400904824,0.71338606911949],"aabb_xy":[[0.14089243479968339,-1.591612638391191],[0.26888382958987656,-1.4636126417897737]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.6290150607953331,-2.0213361067854736,0.71338606911949],"aabb_xy":[[0.5877662497654182,-2.0763361062976906],[0.6702638718252477,-1.966336107273256]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.5888243785391187,0.7658107514073107,0.71338606911949],"aabb_xy":[[0.579406903969256,0.7563945742695917],[0.5982418531089815,0.7752269285450297]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[0.603438366463954,-2.2535036852155104,0.71338606911949],"aabb_xy":[[0.5809419450300899,-2.276003685022258],[0.6259347878978181,-2.231003685408763]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.07361755638316891,1.7711369998910143,0.71338606911949],"aabb_xy":[[-0.11861014310161931,1.726137000616565],[-0.02862496966471849,1.8161369991654626]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.40044612266278334,1.613016168669437,0.71338606911949],"aabb_xy":[[-0.4084401112404867,1.6050160885743463],[-0.3924521340850799,1.621016248764527]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.5818887811143029,-2.5105039320101925,0.71338606911949],"aabb_xy":[[-0.6193887812198957,-2.5173260938631734],[-0.5443887810087098,-2.5036817701572107]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.46924635852604424,0.9829869325606588,0.71338606911949],"aabb_xy":[[-0.4798138381841432,0.97244190244765],[-0.4586788788679452,0.9935319626736672]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681692333491728,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5136.png","name":"5136"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4346.png","name":"4346"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7578.png","name":"7578"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7867.png","name":"7867"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":532.4791949940212,"rotation_z_degrees":239.93567115299237,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00022253048308955997,0.0058693355910137725,0.0003552565541061238]},{"name":"camera_2","offset_m":[0.005537994671343079,0.018245672732400003,0.003317226949896678]},{"name":"camera_3","offset_m":[0.0004178697052313607,0.014975370892631259,0.005032102848017108]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001200875277991499,0.0011679963481533197,0.00032661207741112265],"end_effector_yaw_offset_degrees":-0.018786183018591807},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008794625327277043,-0.0005490713553162384,0.0009241324923907504],"end_effector_yaw_offset_degrees":-0.8817434325227278},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000752283274796126,-0.0007770352113231262,0.0011240064698256778],"end_effector_yaw_offset_degrees":0.934618418546691}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004870508104473711,-0.003341205322304758],"position_m":[0.21702949189552628,0.2640587946776953,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013330633048750287,0.0032179673671471854],"position_m":[0.340666936695125,0.1143179673671472,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004364279149454152,-4.167456803427262e-05],"position_m":[0.30016427914945415,-0.04394167456803427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00031140333889850564,0.002940895799656164],"position_m":[0.27108859666110147,-0.3056591042003438,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3e8f6471dd3ba44503c27f491b14885d621bbf75d6e0ccbd8e01a31a8f50bab8","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4110/tex_ceiling_textures_7867/tex_floor_textures_7578/tex_table_textures_5136/tex_wall_textures_4346","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4185449802529222818,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4185449802529222818,"visual_seed":4185449802529222818,"scene_id":"lab_003","finished_at":"2026-09-02T03:26:19"}
+{"episode_id":"ep_000005","started_at":"2026-09-02T03:26:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.2517036959876377,1.608336855069537,0.71338606911949],"aabb_xy":[[-0.3157036982080447,1.5639637709442487],[-0.18770369376723067,1.6527099391948252]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.23621296531099684,0.3646212949137504,0.71338606911949],"aabb_xy":[[-0.2737129638866176,0.35188499925019234],[-0.19871296673537597,0.3773575905773082]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.53471315860112,0.4522776450096746,0.71338606911949],"aabb_xy":[[0.48474009306860455,0.4022776451971417],[0.5846862241336355,0.5022776448222075]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.5928116486648093,-0.14926080079479087,0.71338606911949],"aabb_xy":[[-0.6728116519288224,-0.1628208331037042],[-0.5128116454007962,-0.13570076848587753]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.22678163073520563,-0.706256221314993,0.71338606911949],"aabb_xy":[[0.17276603445330563,-0.77025622420725],[0.28079722701710563,-0.6422562184227357]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.049674844417371466,-1.8124643768801856,0.71338606911949],"aabb_xy":[[-0.0003251568664684942,-1.8624432312708077],[0.09967484570121143,-1.7624855224895635]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.5511201040199794,0.01722529242861537,0.71338606911949],"aabb_xy":[[0.4911201031591665,-0.034201137577871014],[0.611120104880792,0.06865172243510174]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[0.18612827907774843,1.3233608721982,0.71338606911949],"aabb_xy":[[0.15049912317778866,1.287728205441347],[0.22175743497770814,1.358993538955053]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.2905873186391499,-2.0430130106296405,0.71338606911949],"aabb_xy":[[-0.3405715543473271,-2.0930130094431356],[-0.24060308293097266,-1.9930130118161444]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.5815425633830981,1.6357430147688858,0.71338606911949],"aabb_xy":[[-0.5923941696319737,1.6248837240412346],[-0.5706909571342225,1.6466023054965366]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.28108347625326424,1.0967294575200572,0.71338606911949],"aabb_xy":[[0.19108347391924518,1.0192471029349446],[0.3710834785872833,1.17421181210517]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.023783694350331896,-2.267131300175878,0.71338606911949],"aabb_xy":[[-0.04878369362229418,-2.2834766637720403],[0.0012163049216303808,-2.2507859365797156]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[0.41893260947066313,1.3462669658616728,0.71338606911949],"aabb_xy":[[0.3289326129697913,1.3003553234432144],[0.5089326059715348,1.3921786082801308]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[-0.1311936249425596,-1.8155704511288038,0.71338606911949],"aabb_xy":[[-0.1424386805131774,-1.826812248852899],[-0.11994856937194173,-1.8043286534047085]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.240955226538337,1.749289335255646,0.71338606911949],"aabb_xy":[[0.22316171960342057,1.731489589659848],[0.25874873347325344,1.7670890808514432]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.5631945557501288,-0.6209675099584053,0.71338606911949],"aabb_xy":[[0.4991945554896579,-0.6659763093113333],[0.6271945560105995,-0.5759587106054773]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.12619320361512443,0.561362896624447,0.71338606911949],"aabb_xy":[[-0.13423656354107957,0.4763628955290806],[-0.11814984368916923,0.6463628977198135]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.6223689751955053,-0.05403867266943774,0.71338606911949],"aabb_xy":[[-0.6923689770042506,-0.07539244143362511],[-0.5523689733867597,-0.032684903905250355]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.5818972743134216,0.26055090914112355,0.71338606911949],"aabb_xy":[[-0.6313776955273804,0.19655091122827173],[-0.5324168530994629,0.3245509070539754]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.23122389850897956,-1.5385919305169902,0.71338606911949],"aabb_xy":[[-0.29622389950948,-1.5893782956716649],[-0.16622389750847902,-1.487805565362315]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[0.6013918987064473,-2.04059612870853,0.71338606911949],"aabb_xy":[[0.5933555640051624,-2.048634248012947],[0.6094282334077321,-2.032558009404113]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[0.6560883256327104,1.7015721199109346,0.71338606911949],"aabb_xy":[[0.6060883242718231,1.6515942153355192],[0.7060883269935976,1.7515500244863504]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.06896751736727924,-2.401537635093376,0.71338606911949],"aabb_xy":[[-0.021032486309638953,-2.46297004167048],[0.15896752104419737,-2.340105228516271]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.1529289180019605,-0.47604301656521875,0.71338606911949],"aabb_xy":[[-0.17744254209896637,-0.5003076098672552],[-0.12841529390495465,-0.4517784232631823]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.07124415671717876,-0.4227142034620468,0.71338606911949],"aabb_xy":[[-0.08301234351183628,-0.5077142033672684],[-0.059475969922521243,-0.33771420355682524]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[-0.3557345092818812,0.739853879198717,0.71338606911949],"aabb_xy":[[-0.41085971491147194,0.6798538777574299],[-0.3006093036522904,0.7998538806400042]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.5767092258018242,-0.3295623080514498,0.71338606911949],"aabb_xy":[[-0.6117092240719442,-0.336636435746438],[-0.5417092275317044,-0.32248818035646165]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[-0.4647131602195854,-0.609262891880362,0.71338606911949],"aabb_xy":[[-0.5447131604931923,-0.6822124397060787],[-0.38471315994597843,-0.5363133440546453]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.12149817841400834,-0.8253176640376545,0.71338606911949],"aabb_xy":[[-0.17649817803575418,-0.8803013568251272],[-0.0664981787922625,-0.7703339712501818]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_29","position":[0.5415396589081114,-1.152503637549221,0.71338606911949],"aabb_xy":[[0.4865396607063666,-1.1930256041756584],[0.5965396571098562,-1.1119816709227832]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[0.021990451062775862,-0.9677910150828954,0.71338606911949],"aabb_xy":[[-0.06800954835559503,-1.0011665119270852],[0.11199045048114675,-0.9344155182387056]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_31","position":[0.5262919019760066,-2.441070503484654,0.71338606911949],"aabb_xy":[[0.48101328709485736,-2.505070502832838],[0.5715705168571559,-2.3770705041364706]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_32","position":[-0.40170250604916835,-1.739522929335626,0.71338606911949],"aabb_xy":[[-0.4717025094407304,-1.7748387030390564],[-0.3317025026576064,-1.7042071556321947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668599560815169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2899.png","name":"2899"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2899.png","name":"2899"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3510.png","name":"3510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6308.png","name":"6308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/599.png","name":"599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3605.png","name":"3605"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":586.1976048480426,"rotation_z_degrees":59.20624484636856,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007116798774192464,0.004929682109362069,-0.013572616030613504]},{"name":"camera_2","offset_m":[0.009354288867230599,0.003026108264564051,-0.014973482095058981]},{"name":"camera_3","offset_m":[0.0001588856569962778,0.00671233295736403,-0.000808307221829771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001613005602171,-0.0011317420846875135,0.0017411226169553062],"end_effector_yaw_offset_degrees":0.09285664581046094},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011487419443700882,-0.0016771746730348193,-0.0015599647426551534],"end_effector_yaw_offset_degrees":-0.7716614541642302},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007391721993377041,-0.0018769502624797344,-0.0005024061252592489],"end_effector_yaw_offset_degrees":0.6673220567457319}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004681310136656211,0.0038985943371870396],"position_m":[0.2265813101366562,0.27129859433718706,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003690314376842722,-0.0012788428399942708],"position_m":[0.3423690314376843,0.10982115716000573,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012519684425435973,0.0037355148177458967],"position_m":[0.2945480315574564,-0.04016448518225411,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028738836957030744,0.0008371423972375188],"position_m":[0.2685261163042969,-0.30776285760276245,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1ad73669eaa750f7616c112b64558f5d16874a243b0b9b4ba276ffe7bd1af786","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0005.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2899/tex_ceiling_textures_3605/tex_floor_textures_599/tex_table_textures_3510/tex_wall_textures_6308","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2346888038152145511,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2346888038152145511,"visual_seed":2346888038152145511,"scene_id":"lab_003","finished_at":"2026-09-02T03:29:02"}
+{"episode_id":"ep_000006","started_at":"2026-09-02T03:29:05","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.5022498191225215,-2.3002075300177323,0.71338606911949],"aabb_xy":[[-0.5085619186588599,-2.3059744692709514],[-0.4959377195861831,-2.294440590764514]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.18599501510102745,1.5046663647466176,0.71338606911949],"aabb_xy":[[-0.20386412285548294,1.4908334567694066],[-0.16812590734657196,1.5184992727238287]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.04908024248893539,0.8229599942029995,0.71338606911949],"aabb_xy":[[-0.11408024512672887,0.7714803955035525],[0.015919760148858098,0.8744395929024464]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.6198845270393594,0.1113765475378532,0.71338606911949],"aabb_xy":[[0.5785799839756234,0.047376547969736116],[0.6611890701030954,0.17537654710597028]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.5561614929060874,-0.09080302974734167,0.71338606911949],"aabb_xy":[[0.5256772427790573,-0.1408030295288376],[0.5866457430331176,-0.04080302996584573]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.4099372892385431,1.5836405315579465,0.71338606911949],"aabb_xy":[[0.39731050195134676,1.5740944578563736],[0.42256407652573946,1.5931866052595194]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.5265345877665679,-0.39866705276568437,0.71338606911949],"aabb_xy":[[0.46653458612364607,-0.4506672020576286],[0.5865345894094898,-0.34666690347374024]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[-0.5800664055233054,0.4587517949020228,0.71338606911949],"aabb_xy":[[-0.5969771379596469,0.4452795893094082],[-0.5631556730869633,0.47222400049463725]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.08864457563917216,-0.4279532011510181,0.71338606911949],"aabb_xy":[[-0.16864457591277912,-0.5009027489767348],[-0.008644575365565175,-0.35500365332530137]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.38968955794664406,-0.8115756920978847,0.71338606911949],"aabb_xy":[[-0.42718955829487176,-0.8233670876789682],[-0.35218955759841625,-0.799784296516801]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.29300447384811656,0.8062200728566977,0.71338606911949],"aabb_xy":[[0.22900447217011916,0.7577026813773835],[0.35700447552611386,0.8547374643360119]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.011015350324930062,1.437231415555933,0.71338606911949],"aabb_xy":[[-0.01698188926566585,1.4312702708965688],[-0.005048811384194272,1.443192560215297]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.3469835721603396,-0.799762464395823,0.71338606911949],"aabb_xy":[[0.296988739232398,-0.8497624632910664],[0.3969784050882812,-0.7497624655005793]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.23841017942041914,-1.1668700971380142,0.71338606911949],"aabb_xy":[[-0.2634101793529371,-1.1737527653589375],[-0.21341017948790128,-1.1599874289170908]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[-0.4679992307430775,0.9754945406763289,0.71338606911949],"aabb_xy":[[-0.5140843219978088,0.9114945434237738],[-0.421914139488346,1.039494537928884]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.16368853373966508,-0.06027919185670072,0.71338606911949],"aabb_xy":[[-0.1849665418831373,-0.12527919418277378],[-0.1424105255961928,0.0047208104693723385]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.30871391997763,-2.2173845419679497,0.71338606911949],"aabb_xy":[[-0.31355751473886,-2.222236194446934],[-0.30387032521640006,-2.212532889488966]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.2567707401566045,-1.2968243072727692,0.71338606911949],"aabb_xy":[[-0.33677074122972483,-1.3066023536101536],[-0.17677073908348417,-1.2870462609353848]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.3107296231049206,1.554189338487054,0.71338606911949],"aabb_xy":[[0.30463499521680226,1.5456199439353855],[0.3168242509930389,1.562758733038723]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.49941430351983956,0.779732508575754,0.71338606911949],"aabb_xy":[[-0.5570447724071103,0.7197325096490432],[-0.4417838346325686,0.8397325075024643]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[-0.3783935593863521,0.05872640203953905,0.71338606911949],"aabb_xy":[[-0.39162450492103335,0.04549898301753963],[-0.36516261385167076,0.07195382106153847]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.14549304529471385,-2.1272960196513537,0.71338606911949],"aabb_xy":[[-0.19547185380502974,-2.177296019657072],[-0.09551423678439797,-2.0772960196456345]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[0.026009260463270012,-0.9197734704700542,0.71338606911949],"aabb_xy":[[-0.04399074113900947,-0.9332062636717117],[0.0960092620655495,-0.9063406772683965]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[-0.3665177883581149,-2.0876400310686263,0.71338606911949],"aabb_xy":[[-0.38168995763974817,-2.10280888799683],[-0.3513456190764815,-2.0724711741404236]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[-0.0832805356978592,0.9322250738692577,0.71338606911949],"aabb_xy":[[-0.09131687039914405,0.9241869545648409],[-0.07524420099657436,0.9402631931736745]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.6746886232224458,-1.7761693877724571,0.71338606911949],"aabb_xy":[[0.6319219163430256,-1.8401693911942594],[0.717455330101866,-1.7121693843506545]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.07227940979797898,-1.8138161616143962,0.71338606911949],"aabb_xy":[[-0.1097794099698509,-1.8465168969973031],[-0.034779409626107025,-1.7811154262314888]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.5408622199678867,-0.8219210136891035,0.71338606911949],"aabb_xy":[[0.5183622201539843,-0.8263956300595843],[0.563362219781789,-0.8174463973186228]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[0.2672129892787669,-2.377556934869733,0.71338606911949],"aabb_xy":[[0.21221977794163016,-2.432556935208527],[0.32220620061590366,-2.32255693453094]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.1562267539103671,1.3108253600256177,0.71338606911949],"aabb_xy":[[0.09122675290986659,1.2600389948709427],[0.22122675491086763,1.3616117251802926]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[0.3446995996170297,-1.2162110847064065,0.71338606911949],"aabb_xy":[[0.3221996000933222,-1.238707032157027],[0.367199599140737,-1.1937151372557855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.673965779668493,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5585.png","name":"5585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5585.png","name":"5585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2079.png","name":"2079"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6702.png","name":"6702"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2309.png","name":"2309"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":744.6771382235241,"rotation_z_degrees":197.20647653856227,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013234644690116305,-0.01972877109664859,0.00945457046063268]},{"name":"camera_2","offset_m":[-0.005775781233674006,-0.01693956441941856,-0.01165035640603464]},{"name":"camera_3","offset_m":[0.016324109747172594,-0.0003628284941477357,0.002156170767258915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001165835482098886,0.000942844065153809,0.0013390397447013039],"end_effector_yaw_offset_degrees":0.6810652724203008},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008493562341641856,-0.0009247685103305351,-0.0005723903556176379],"end_effector_yaw_offset_degrees":0.18837605057966145},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000513905266805288,0.0012468582505446024,-0.0010340833632537323],"end_effector_yaw_offset_degrees":-0.3229091213809152}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003443628736905932,0.0032666474033142953],"position_m":[0.22534362873690592,0.2706666474033143,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019220022876368066,0.003761094423643992],"position_m":[0.3439220022876368,0.11486109442364399,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032585769592514144,0.004956728731529458],"position_m":[0.2990585769592514,-0.038943271268470546,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003030874732398538,-0.0032081450767182905],"position_m":[0.2744308747323985,-0.3118081450767183,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"937d8c9b3133c98eed109ea4f3cb51d9f526bf2b969c1fabfafed6f705fb478f","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5585/tex_ceiling_textures_2309/tex_floor_textures_6702/tex_table_textures_9465/tex_wall_textures_2079","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4267318231646377283,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4267318231646377283,"visual_seed":4267318231646377283,"scene_id":"lab_003","finished_at":"2026-09-02T03:32:11"}
+{"episode_id":"ep_000007","started_at":"2026-09-02T03:32:14","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.6329791591274401,-1.193012945224476,0.71338606911949],"aabb_xy":[[-0.6608241959080472,-1.2237974439627877],[-0.605134122346833,-1.1622284464861643]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.4166642469510229,-0.68584354530837,0.71338606911949],"aabb_xy":[[-0.47666424745887576,-0.7426902789942913],[-0.3566642464431699,-0.6289968116224487]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.2762107912621871,-1.9123099620342754,0.71338606911949],"aabb_xy":[[-0.32621079070238274,-1.9622778865185915],[-0.2262107918219915,-1.8623420375499589]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.7033021255086593,-0.5399443373092585,0.71338606911949],"aabb_xy":[[0.6950875803929752,-0.5486209276068997],[0.7115166706243432,-0.531267747011617]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.2798436921761316,1.1962249543606287,0.71338606911949],"aabb_xy":[[0.24234369188395677,1.1921834789600254],[0.3173436924683064,1.2002664297612324]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.5608957684901614,0.18106123005282893,0.71338606911949],"aabb_xy":[[0.5108957689138268,0.131080651100723],[0.6108957680664963,0.2310418090049349]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.28851184068540875,-1.049615219582288,0.71338606911949],"aabb_xy":[[-0.36850566426396697,-1.1296152221751299],[-0.20851801710685053,-0.9696152169894467]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.13351293831048183,-0.3216261786014547,0.71338606911949],"aabb_xy":[[-0.16597463919240923,-0.3517590107163573],[-0.10105123742855433,-0.291493346486552]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.13243054862561332,-0.08508553113734063,0.71338606911949],"aabb_xy":[[-0.16587072382163287,-0.11852915696827068],[-0.09899037342959367,-0.05164190530641053]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.31571570114590003,1.0649062909233598,0.71338606911949],"aabb_xy":[[-0.36571570209643284,1.0333571439198381],[-0.2657157001953672,1.096455437926881]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.47114166618731723,-1.7169948590372401,0.71338606911949],"aabb_xy":[[-0.5351416675953078,-1.7687838105611646],[-0.4071416647793265,-1.6652059075133152]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.0008928046091953856,0.8746423398811651,0.71338606911949],"aabb_xy":[[-0.08089280488280236,0.8016927920554484],[0.07910719566441159,0.9475918877068819]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.5215414726950736,-0.5816194909848269,0.71338606911949],"aabb_xy":[[0.5026570889265634,-0.6005054157651797],[0.5404258564635838,-0.5627335662044741]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.34504482519202395,0.8465282544989545,0.71338606911949],"aabb_xy":[[-0.3625448254370733,0.8290284666593876],[-0.3275448249469745,0.8640280423385213]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.6564913969157794,1.6233525426290698,0.71338606911949],"aabb_xy":[[-0.693991398431411,1.6121257696129245],[-0.6189913954001476,1.6345793156452146]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[0.6063490747724753,-2.2637050556516765,0.71338606911949],"aabb_xy":[[0.5920146496463119,-2.275765271206216],[0.6206834998986388,-2.251644840097138]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.05121789012106559,-1.8593420602365258,0.71338606911949],"aabb_xy":[[-0.14121789245508465,-1.9368244148216383],[0.03878211221295346,-1.781859705651413]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.02863427896155113,1.2883468369617677,0.71338606911949],"aabb_xy":[[-0.0461342123955345,1.2708468370415331],[-0.011134345527567757,1.3058468368820022]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.4362757017624612,-2.448316527929358,0.71338606911949],"aabb_xy":[[0.42828221196717925,-2.456314659869834],[0.4442691915577433,-2.440318395988883]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[0.012151472941767882,-2.053951446351507,0.71338606911949],"aabb_xy":[[0.0041151382404830406,-2.0619895656559235],[0.020187807643052724,-2.0459133270470904]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.4446089182321927,-2.3922752260864475,0.71338606911949],"aabb_xy":[[-0.5346089219091108,-2.453707632663551],[-0.3546089145552745,-2.3308428195093422]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.17376163796492639,-2.373132063823534,0.71338606911949],"aabb_xy":[[-0.2537616366218124,-2.387636922747797],[-0.09376163930804038,-2.358627204899271]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.4147697380565971,0.7396357689636939,0.71338606911949],"aabb_xy":[[-0.43263884581105255,0.725802860986483],[-0.39690063030214157,0.7534686769409048]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.11888697670475079,-0.839039979662199,0.71338606911949],"aabb_xy":[[-0.16019151976848678,-0.9030399792303161],[-0.0775824336410148,-0.7750399800940819]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.5179016723905059,-0.03213072177743603,0.71338606911949],"aabb_xy":[[0.47077229338867,-0.09613072282183799],[0.5650310513923413,0.03186927926696593]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.6107580137156574,-1.7318984204467642,0.71338606911949],"aabb_xy":[[0.5507580120727356,-1.7838985697387086],[0.6707580153585793,-1.6798982711548203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714755921397462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7608.png","name":"7608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7608.png","name":"7608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/418.png","name":"418"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6001.png","name":"6001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3623.png","name":"3623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":640.7488868584222,"rotation_z_degrees":180.34229168285248,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[5.910484280540612e-05,-0.017602671657504985,0.015775431247072157]},{"name":"camera_2","offset_m":[0.013517352130170569,-0.0018284436679915257,-0.009608714647900926]},{"name":"camera_3","offset_m":[-0.014208440379957193,-0.01786034615374851,0.010804421419607958]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004063938826995503,0.0002505509466336378,0.0010875070626692965],"end_effector_yaw_offset_degrees":-0.13037959508809283},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018575504120599481,-0.001249760933849895,0.000380944986893872],"end_effector_yaw_offset_degrees":0.42229945525342516},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005554302056114447,-0.0006484519850484252,0.0011068498145315937],"end_effector_yaw_offset_degrees":0.2620151663377437}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004685980942662774,-0.0027546811701089635],"position_m":[0.22658598094266277,0.26464531882989106,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000900622233654674,-0.0038549837045436883],"position_m":[0.34109937776634536,0.10724501629545631,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003251648185347381,-0.003819838031357059],"position_m":[0.2925483518146526,-0.04771983803135706,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004088794214986588,0.004283204573793637],"position_m":[0.27548879421498657,-0.3043167954262063,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c479614e978b2ffe6bc0e8ad64a41efcdca6d3e13e7b3ad06e44e2795a66dfe0","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7608/tex_ceiling_textures_4570/tex_floor_textures_3623/tex_table_textures_418/tex_wall_textures_6001","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4321273407423830361,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4321273407423830361,"visual_seed":4321273407423830361,"scene_id":"lab_003","finished_at":"2026-09-02T03:34:53"}
+{"episode_id":"ep_000008","started_at":"2026-09-02T03:34:56","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.32188937402392154,0.5816538617348663,0.71338606911949],"aabb_xy":[[-0.326788666330485,0.5539769424322976],[-0.316990081717358,0.6093307810374351]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.008759611842360848,1.7098395594425608,0.71338606911949],"aabb_xy":[[-0.0028093689045757264,1.6848395593256293],[0.020328592589297423,1.7348395595594928]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.12283607353486903,0.7297662336577551,0.71338606911949],"aabb_xy":[[0.05783607242892573,0.7048008605896269],[0.1878360746408123,0.7547316067258835]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.5557661798157149,0.7705671974023729,0.71338606911949],"aabb_xy":[[-0.5708684812767327,0.7554656757713109],[-0.5406638783546965,0.7856687190334345]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.521277533888773,1.0489729026839423,0.71338606911949],"aabb_xy":[[0.45968677466478014,0.9849729045748956],[0.5828682931127658,1.1129729007929894]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[0.1469336086696491,-2.185864416985468,0.71338606911949],"aabb_xy":[[0.14209001390841916,-2.190716069464452],[0.1517772034308791,-2.181012764506484]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.34458803825077466,-1.0713978827292456,0.71338606911949],"aabb_xy":[[-0.35635622504543224,-1.1563978826344674],[-0.3328198514561172,-0.9863978828240243]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[4.266149162290844e-05,-0.8005852408209977,0.71338606911949],"aabb_xy":[[-0.009713328017550982,-0.8103477748802319],[0.009798651000796799,-0.790822706761763]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[-0.16297717692088964,0.33270790938432304,0.71338606911949],"aabb_xy":[[-0.25297717342176135,0.2867962669658648],[-0.07297718042001787,0.3786195518027813]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.5039306709624789,-0.1454644031080372,0.71338606911949],"aabb_xy":[[0.43393066883104925,-0.16822636873373287],[0.5739306730939083,-0.12270243748234155]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.47366829112171716,-1.0386242705056583,0.71338606911949],"aabb_xy":[[-0.495558038710658,-1.1286242677949074],[-0.4517785435327764,-0.9486242732164093]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.48617466220925953,0.8901953022926614,0.71338606911949],"aabb_xy":[[0.43617982928131793,0.8401953033974178],[0.5361694951372011,0.9401953011879048]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.014115577507683441,1.2835355417890377,0.71338606911949],"aabb_xy":[[-0.06911105532834283,1.2285355403551306],[0.04087990031297595,1.3385355432229444]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.4637116055653072,-1.632340118763252,0.71338606911949],"aabb_xy":[[0.41371849345611544,-1.682340119437448],[0.5137047176744992,-1.5823401180890568]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.09353581989768434,-1.8089478770585963,0.71338606911949],"aabb_xy":[[0.029535822595337935,-1.853314304026453],[0.15753581720003074,-1.7645814500907395]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.4388880825634502,-1.6146929643059387,0.71338606911949],"aabb_xy":[[-0.47451723846340993,-1.6503256310627916],[-0.40325892666349045,-1.5790602975490857]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.30084479824332766,1.602740829926819,0.71338606911949],"aabb_xy":[[-0.3358447982198235,1.5932762138792027],[-0.2658447982668318,1.612205445974436]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.2191550792389535,-2.095849928700628,0.71338606911949],"aabb_xy":[[-0.2503019980825366,-2.1658499273874345],[-0.18800816039537038,-2.02584993001382]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.10461104283527523,-0.5419635380428072,0.71338606911949],"aabb_xy":[[-0.1284472604758803,-0.6319635388512936],[-0.08077482519467016,-0.4519635372343207]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.5947534248502413,-2.2693778247640237,0.71338606911949],"aabb_xy":[[-0.6040470430873918,-2.306877823252157],[-0.5854598066130906,-2.2318778262758894]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.22734662580248644,-0.967634216419031,0.71338606911949],"aabb_xy":[[0.2186326567525519,-0.9901342170782191],[0.23606059485242087,-0.9451342157598427]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[-0.38847307794640346,-2.3787728226617615,0.71338606911949],"aabb_xy":[[-0.43844614347891897,-2.428772822474295],[-0.338500012413888,-2.328772822849229]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.17739249889415032,1.0422072616853502,0.71338606911949],"aabb_xy":[[0.15981419670520347,1.0246327721112451],[0.19497080108309717,1.0597817512594552]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.19192930843557932,0.9118616494735599,0.71338606911949],"aabb_xy":[[0.18276942949170272,0.9053304314300228],[0.2010891873794559,0.9183928675170969]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.36711090438437544,-2.529044093359555,0.71338606911949],"aabb_xy":[[-0.3724434190389884,-2.5343684216047913],[-0.36177838972976245,-2.5237197651143197]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[0.2640614651904578,1.657429864163905,0.71338606911949],"aabb_xy":[[0.2531556891028951,1.577429867765076],[0.2749672412780205,1.7374298605627343]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[0.5120538090703672,-1.3307929030693022,0.71338606911949],"aabb_xy":[[0.4620763922051136,-1.3807929045585505],[0.5620312259356207,-1.2807929015800534]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[-0.15729309342961528,-0.05896624176630594,0.71338606911949],"aabb_xy":[[-0.1916093706042332,-0.10896624173948366],[-0.12297681625499732,-0.008966241793128216]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[0.5351744952538982,0.5504391464500396,0.71338606911949],"aabb_xy":[[0.4851902595457208,0.500439147636544],[0.5851587309620753,0.6004391452635351]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701141344917151,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4578.png","name":"4578"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4578.png","name":"4578"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5180.png","name":"5180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3790.png","name":"3790"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/216.png","name":"216"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.5084293699326,"rotation_z_degrees":112.96804041436064,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01566033563523978,-0.018375880959833796,-0.014269938306271056]},{"name":"camera_2","offset_m":[0.01684940352306868,0.004603846971719883,0.009737937874288009]},{"name":"camera_3","offset_m":[-0.0024341564434716897,0.011454999679910632,0.016756741655807577]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016225473869888045,0.0004267473433830411,0.0004973696786958123],"end_effector_yaw_offset_degrees":0.4983043645675773},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000439168315723597,-0.0012595647489898405,0.001458493872608446],"end_effector_yaw_offset_degrees":0.4055401299827561},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0003419519278989691,0.0011794896103735036,-0.001482361669258742],"end_effector_yaw_offset_degrees":0.42025873580812956}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00031829586309115726,0.0005488987373995077],"position_m":[0.22221829586309114,0.2679488987373995,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003417442289407298,0.00467763005110593],"position_m":[0.34234174422894076,0.11577763005110593,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0032229808174443183,-0.002418669649021462],"position_m":[0.29902298081744433,-0.04631866964902146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010430781257004772,-0.002686278474401015],"position_m":[0.2703569218742995,-0.311286278474401,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"aeca88e8a60d3d341dc2d122f76f1dd4e9831160a644308df01ba9a142bc656e","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0008.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4578/tex_ceiling_textures_216/tex_floor_textures_3790/tex_table_textures_5180/tex_wall_textures_2703","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4749688437487930630,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4749688437487930630,"visual_seed":4749688437487930630,"scene_id":"lab_003","finished_at":"2026-09-02T03:37:56"}
+{"episode_id":"ep_000009","started_at":"2026-09-02T03:38:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.19830914653772247,0.9138822540262015,0.71338606911949],"aabb_xy":[[0.1483091455185872,0.8774160382883736],[0.24830914755685776,0.9503484697640294]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.3725998415239711,0.9063413910720377,0.71338606911949],"aabb_xy":[[-0.3822314777444007,0.8967040782923287],[-0.36296820530354146,0.9159787038517465]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.05001613402482319,1.6748135324812137,0.71338606911949],"aabb_xy":[[-0.08751613520961597,1.6703953097851532],[-0.01251613284003039,1.6792317551772742]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.042825116479758285,1.1357431052527995,0.71338606911949],"aabb_xy":[[-0.007174884804081682,1.085764250862177],[0.09282511776359824,1.1857219596434212]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.3476316668752927,-2.334419310602885,0.71338606911949],"aabb_xy":[[-0.41263166787579325,-2.3852056757575606],[-0.2826316658747922,-2.2836329454482107]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[-0.48548140562540165,0.777844306791831,0.71338606911949],"aabb_xy":[[-0.5029814047597687,0.7679646797542432],[-0.4679814064910345,0.7877239338294189]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.12219192823128056,1.1102490038295572,0.71338606911949],"aabb_xy":[[-0.18719192611292834,1.0591253401230163],[-0.05719193034963277,1.161372667536098]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.6338002637412117,-0.6433583050492739,0.71338606911949],"aabb_xy":[[0.5500780382411292,-0.7333583085839699],[0.7175224892412941,-0.553358301514578]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.62783344278283,0.9771033655533263,0.71338606911949],"aabb_xy":[[0.611948949517505,0.9627504252545023],[0.6437179360481553,0.9914563058521504]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.5323030450186652,-0.24703596928671034,0.71338606911949],"aabb_xy":[[-0.5414629239625418,-0.2535671873302473],[-0.5231431660747886,-0.2405047512431733]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.30639466571264085,-0.6953517384973582,0.71338606911949],"aabb_xy":[[0.287282358354662,-0.7144865173746002],[0.3255069730706197,-0.6762169596201162]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.10392324302946021,-0.37623510939266724,0.71338606911949],"aabb_xy":[[-0.10736391926951741,-0.3800965423670318],[-0.10048256678940307,-0.37237367641830277]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.41170985105557434,1.6135795049103066,0.71338606911949],"aabb_xy":[[0.3618930715907396,1.5635795064260032],[0.4615266305204091,1.66357950339461]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[-0.45175251522086635,-0.6783305307390033,0.71338606911949],"aabb_xy":[[-0.50184997920194,-0.7423305312488152],[-0.4016550512397927,-0.6143305302291916]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.24231181598587015,-2.2513017773503954,0.71338606911949],"aabb_xy":[[0.22797739085970667,-2.2633619929049336],[0.2566462411120336,-2.2392415617958563]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.060665055596537565,-2.147391130485354,0.71338606911949],"aabb_xy":[[0.01066505695061637,-2.1973106741448167],[0.11066505424245876,-2.097471586825892]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.5212089745052828,-0.20279521971116132,0.71338606911949],"aabb_xy":[[0.46620897488353696,-0.25777891249863405],[0.5762089741270287,-0.14781152692368862]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.43083109683483034,-1.2968900182346772,0.71338606911949],"aabb_xy":[[0.4235487804581666,-1.386890021844186],[0.4381134132114939,-1.206890014625168]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.5078378145923328,1.0717504195119565,0.71338606911949],"aabb_xy":[[0.48533781506862544,1.0492544720613355],[0.5303378141160402,1.094246366962577]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[-0.11242284650017376,-1.7688355510950298,0.71338606911949],"aabb_xy":[[-0.1357046886983051,-1.8538355523922576],[-0.08914100430204241,-1.6838355497978015]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.20336202961518324,-1.8052101137020173,0.71338606911949],"aabb_xy":[[0.14838830757885035,-1.860210113266251],[0.2583357516515161,-1.7502101141377846]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[-0.6297917839589517,0.8379001680172089,0.71338606911949],"aabb_xy":[[-0.6797650779622122,0.7879001674626613],[-0.5798184899556913,0.887900168571756]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.48622925237320236,0.8897680919782762,0.71338606911949],"aabb_xy":[[0.46122925320756925,0.8828158462729198],[0.5112292515388355,0.8967203376836329]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.4063134444644568,1.2943385496078892,0.71338606911949],"aabb_xy":[[-0.4238917466534036,1.2767640600337842],[-0.3887351422755099,1.3119130391819942]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.5466048534796077,0.6573610882099303,0.71338606911949],"aabb_xy":[[0.5162067423804639,0.6269541862082607],[0.5770029645787511,0.6877679902115997]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[-0.08309326324618804,-0.9131798280035088,0.71338606911949],"aabb_xy":[[-0.13710885952808805,-0.977179830895766],[-0.029077666964288026,-0.8491798251112517]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.2854531954199227,-0.26513471540121447,0.71338606911949],"aabb_xy":[[-0.30295319566497203,-0.28263450324078127],[-0.26795319517487326,-0.2476349275616476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722669007921407,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2494.png","name":"2494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2494.png","name":"2494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1671.png","name":"1671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1338.png","name":"1338"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":550.128091234625,"rotation_z_degrees":8.773190513852853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015719999251698466,0.0023510702168884207,-0.0026977525592737223]},{"name":"camera_2","offset_m":[0.019947603183212415,0.01544407523244683,0.01248021955177384]},{"name":"camera_3","offset_m":[-0.01698531344169118,0.007343878312151327,0.00822446510540022]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007024332197675914,-0.00017572808781991648,0.0005660186458046252],"end_effector_yaw_offset_degrees":-0.8338309240575925},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016358633215382166,0.0015420049754497679,-0.0016743478297312003],"end_effector_yaw_offset_degrees":0.7657611065531149},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018900831656440396,0.0013831176657010035,0.001166268455530711],"end_effector_yaw_offset_degrees":0.813422798882371}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[1.4709006169122407e-05,0.0041667741063565545],"position_m":[0.2219147090061691,0.2715667741063566,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022548603033824806,0.003935098098296764],"position_m":[0.3442548603033825,0.11503509809829676,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00265959976714133,0.0027812083665403643],"position_m":[0.2984595997671413,-0.041118791633459634,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027147897680448764,-0.0001311125209079722],"position_m":[0.2741147897680449,-0.30873111252090796,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"29ea5edc6d30c9700a6c09bfdf8dde5967d11b3178cdfb34e78bbf4153b73c71","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2494/tex_ceiling_textures_9558/tex_floor_textures_4573/tex_table_textures_1671/tex_wall_textures_1338","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1714210868815361703,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1714210868815361703,"visual_seed":1714210868815361703,"scene_id":"lab_003","finished_at":"2026-09-02T03:40:47"}
+{"episode_id":"ep_000010","started_at":"2026-09-02T03:40:49","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[0.588106849818119,-0.13943665175043485,0.71338606911949],"aabb_xy":[[0.5556451489361914,-0.1695694838653374],[0.6205685507000464,-0.10930381963553219]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.5823590189847452,-0.8096988235039873,0.71338606911949],"aabb_xy":[[-0.5927705776652288,-0.8150445568398856],[-0.5719474603042614,-0.8043530901680886]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5227315688786368,0.7106174892310984,0.71338606911949],"aabb_xy":[[-0.5403098710675837,0.6930429996569933],[-0.50515326668969,0.7281919788052031]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.3521831277655585,-2.452601747711302,0.71338606911949],"aabb_xy":[[0.34621658882482265,-2.458562892370666],[0.3581496667062942,-2.4466406030519376]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[-0.13781300311528188,1.0226742274306577,0.71338606911949],"aabb_xy":[[-0.2178130041884022,1.0128961810932733],[-0.057813002042161526,1.0324522737680422]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.4960491410873431,0.6538562366355611,0.71338606911949],"aabb_xy":[[0.49213526789192047,0.6451072212290043],[0.4999630142827655,0.662605252042118]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.6054206290702997,1.5226756996232926,0.71338606911949],"aabb_xy":[[-0.615573644624449,1.486606158050552],[-0.5952676135161502,1.5587452411960325]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.1411794516040059,-2.555599380573268,0.71338606911949],"aabb_xy":[[-0.16367945211604648,-2.5780912389386663],[-0.11867945109196529,-2.5331075222078696]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.5496313905302731,-2.3886655413719526,0.71338606911949],"aabb_xy":[[-0.6296313937942862,-2.402225573680866],[-0.46963138726625997,-2.3751055090630393]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.15863394259988284,-0.8330984058379713,0.71338606911949],"aabb_xy":[[0.07863394558563486,-0.8532329575113826],[0.23863393961413082,-0.8129638541645601]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.10073017901098302,1.389859498973403,0.71338606911949],"aabb_xy":[[0.04573017938923718,1.3348758061859305],[0.15573017863272887,1.444843191760876]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.11464239357594375,-1.8223879064608384,0.71338606911949],"aabb_xy":[[0.0796423952652483,-1.8301029213843838],[0.1496423918866392,-1.8146728915372925]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.4337652872167197,-2.411151796978777,0.71338606911949],"aabb_xy":[[0.41666320925835154,-2.428258602510047],[0.45086736517508785,-2.3940449914475077]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.211385151033451,-1.729426549369654,0.71338606911949],"aabb_xy":[[0.19951306802194987,-1.8144265490633043],[0.2232572340449521,-1.6444265496760035]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.4139527132425246,-0.7429183029526227,0.71338606911949],"aabb_xy":[[-0.4610820922443602,-0.8069183039970246],[-0.36682333424068886,-0.6789183019082207]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.5605386775184136,-2.541384725009985,0.71338606911949],"aabb_xy":[[0.5453758045414765,-2.5565501823051036],[0.5757015504953507,-2.526219267714866]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.4508919780995404,-0.33639782873778357,0.71338606911949],"aabb_xy":[[-0.45532260745438063,-0.3418462004724662],[-0.4464613487447003,-0.330949457003101]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[-0.22964035427278967,0.31866674961214514,0.71338606911949],"aabb_xy":[[-0.2669716307980323,0.2840136948172928],[-0.19230907774754705,0.35331980440699745]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.633686491717592,1.5144056091411664,0.71338606911949],"aabb_xy":[[0.5696864914436136,1.4643395089438782],[0.6976864919915701,1.5644717093384541]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.5993636150615039,-0.6181372771639202,0.71338606911949],"aabb_xy":[[-0.6633636174043054,-0.6630781284080526],[-0.5353636127187023,-0.5731964259197876]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.3223569314382668,1.0395117876774358,0.71338606911949],"aabb_xy":[[0.2573569332823477,1.0132155431275234],[0.38735692959418583,1.0658080322273478]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[-0.04306191718638519,-0.3703240993943351,0.71338606911949],"aabb_xy":[[-0.08056191797838064,-0.3766919403525252],[-0.005561916394389743,-0.363956258436145]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.5431711440781977,-2.349862767118813,0.71338606911949],"aabb_xy":[[0.49317114450186295,-2.3998433460709188],[0.5931711436545324,-2.299882188166707]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.06585422450300704,-1.9709740267183429,0.71338606911949],"aabb_xy":[[-0.07081024468788825,-1.9934740269204652],[-0.060898204318125856,-1.948474026516222]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.3927494982520354,-0.7595003423096998,0.71338606911949],"aabb_xy":[[0.3584525872342948,-0.793797228519641],[0.42704640926977605,-0.7252034560997583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707481740338728,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3864.png","name":"3864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1512.png","name":"1512"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8023.png","name":"8023"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8032.png","name":"8032"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9831.png","name":"9831"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":697.6463545333725,"rotation_z_degrees":107.26303414301567,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010214737028334114,-0.00713020564790213,-0.007589701883932256]},{"name":"camera_2","offset_m":[0.009481280441176486,-0.015441636169607923,0.012190284561178839]},{"name":"camera_3","offset_m":[0.01748881674467227,-0.019926162147312087,-0.00928968751797099]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014887863321545484,0.0001237908558557859,0.0004129874043482594],"end_effector_yaw_offset_degrees":-0.515731724579265},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018721472634330829,-8.022072962997708e-05,0.0005092508727730194],"end_effector_yaw_offset_degrees":-0.7464993733258063},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001207359521837537,0.0002367669611115491,0.0019568159718924873],"end_effector_yaw_offset_degrees":0.09317564494898667}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0033028597083906317,-0.00428836694030699],"position_m":[0.22520285970839063,0.26311163305969304,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016631540226995515,0.0029876703836339185],"position_m":[0.3436631540226996,0.11408767038363392,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004766602620656085,-0.0027118883531688865],"position_m":[0.3005666026206561,-0.04661188835316889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002848350240798581,0.00345127237687048],"position_m":[0.2742483502407986,-0.3051487276231295,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4e238aa189a03c7472e27fdad980ea45f481184d360e8cf6283dbf096ceff6da","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3864/tex_ceiling_textures_9831/tex_floor_textures_8032/tex_table_textures_1512/tex_wall_textures_8023","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2268954155541960941,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2268954155541960941,"visual_seed":2268954155541960941,"scene_id":"lab_003","finished_at":"2026-09-02T03:43:28"}
+{"episode_id":"ep_000011","started_at":"2026-09-02T03:44:55","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.11335752159632706,0.8142968773702344,0.71338606911949],"aabb_xy":[[-0.1489866774962868,0.7786642106133814],[-0.07772836569636733,0.8499295441270873]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.5586656643809506,0.4525929577901935,0.71338606911949],"aabb_xy":[[-0.6386656623617356,0.4449914168283416],[-0.47866566640016556,0.4601944987520455]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.6292536653381305,-1.3313106938363681,0.71338606911949],"aabb_xy":[[-0.6592453280720009,-1.3613106931731687],[-0.5992620026042602,-1.3013106944995676]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[0.48114843267520535,0.48843906704580453,0.71338606911949],"aabb_xy":[[0.43114843139136527,0.43846021265518237],[0.5311484339590451,0.5384179214364265]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.34657891432310195,1.5841041391663269,0.71338606911949],"aabb_xy":[[0.3115789160124065,1.576389124242781],[0.3815789126337974,1.5918191540898723]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.04986417925610165,-0.15777906571318345,0.71338606911949],"aabb_xy":[[-0.05994588633467512,-0.23777906360529807],[-0.039782472177528165,-0.07777906782106878]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.3264445842303983,-0.5995902600025695,0.71338606911949],"aabb_xy":[[-0.3814377955675351,-0.6545902603413633],[-0.27145137289326154,-0.544590259663776]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.4132571278509758,-2.159118300655356,0.71338606911949],"aabb_xy":[[0.4028455691704921,-2.164464033991254],[0.4236686865314595,-2.153772567319457]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.5099151860488622,1.3373402657776752,0.71338606911949],"aabb_xy":[[0.5045776103828576,1.3123402648485354],[0.5152527617148668,1.362340266706815]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.13888816223443123,-1.5298794242120375,0.71338606911949],"aabb_xy":[[0.10388816088294951,-1.5502391601688583],[0.17388816358591297,-1.5095196882552167]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.6066791276220451,-1.6677992049976194,0.71338606911949],"aabb_xy":[[-0.666679128129898,-1.7246459386835407],[-0.5466791271141922,-1.610952471311698]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.14773983112029287,1.6181240831560584,0.71338606911949],"aabb_xy":[[0.1300642005316945,1.6004438668766554],[0.16541546170889118,1.635804299435461]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[-0.45251657408613244,-1.675190861005523,0.71338606911949],"aabb_xy":[[-0.486813485103873,-1.7094877472154641],[-0.41821966306839176,-1.6408939747955815]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.18119599106009865,1.4487946690114746,0.71338606911949],"aabb_xy":[[-0.24519598817220434,1.3997622992170637],[-0.11719599394799296,1.497827038805885]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.5679334496984401,0.31552270163727414,0.71338606911949],"aabb_xy":[[0.5139178534165398,0.2515226987450169],[0.6219490459803398,0.37952270452953124]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.3970672612314874,-1.4322027490796008,0.71338606911949],"aabb_xy":[[0.3781828774629772,-1.4510886738599538],[0.4159516449999976,-1.4133168242992482]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.16050619561868262,1.3107823054402603,0.71338606911949],"aabb_xy":[[0.09650619394068524,1.2622649139609459],[0.22450619729667995,1.3592996969195743]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.17427283441762897,-0.8094300057542567,0.71338606911949],"aabb_xy":[[0.11427283277470712,-0.861430155046201],[0.23427283606055083,-0.7574298564623126]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.3089052037620924,0.9290423325852548,0.71338606911949],"aabb_xy":[[-0.34640520455408785,0.9226744916270647],[-0.27140520297009696,0.9354101735434449]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.6703612433805004,-0.019118857226148034,0.71338606911949],"aabb_xy":[[0.6203824348701844,-0.06911885723186684],[0.7203400518908162,0.030881142779570773]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.042824744057992414,1.2163453790399994,0.71338606911949],"aabb_xy":[[-0.076264919254012,1.1829017532090689],[-0.009384568861972807,1.249789004870929]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.6744217862760076,-2.3880643543999356,0.71338606911949],"aabb_xy":[[0.6697866711237741,-2.391931689477084],[0.6790569014282408,-2.3841970193227864]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.2354595175340929,-2.427275505242538,0.71338606911949],"aabb_xy":[[-0.29945951944643523,-2.4831866545005488],[-0.17145951562175057,-2.371364355984528]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[-0.16371700498646358,-0.4567991183372069,0.71338606911949],"aabb_xy":[[-0.2253077642104564,-0.5207991164462538],[-0.10212624576247076,-0.39279912022816]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.47258764635377837,-0.19572768350015712,0.71338606911949],"aabb_xy":[[0.4298209394743582,-0.2597276869219596],[0.5153543532331986,-0.13172768007835467]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[0.07195059926111635,-2.0525124999245934,0.71338606911949],"aabb_xy":[[0.054372297072169506,-2.070086989498698],[0.0895289014500632,-2.034938010350488]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.5293876900154355,-2.4997670073881086,0.71338606911949],"aabb_xy":[[0.5074790078760845,-2.5216676742081994],[0.5512963721547866,-2.477866340568018]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666119548713597,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2225.png","name":"2225"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2225.png","name":"2225"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8046.png","name":"8046"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/442.png","name":"442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4525.png","name":"4525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2210.png","name":"2210"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":543.4657968286389,"rotation_z_degrees":7.380817118603327,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004989157865507205,-0.0013828293495271801,-0.012047276993079588]},{"name":"camera_2","offset_m":[-0.015717357144209514,-0.004135642379534472,0.004706360342975637]},{"name":"camera_3","offset_m":[0.011136759098276161,-0.008711069945756026,-0.007935375399385936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006808393576897887,-0.00017944115714425466,0.0007705240635277706],"end_effector_yaw_offset_degrees":0.6409335893830588},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001675953263665334,-0.00015438520819459215,-0.00010913032480175172],"end_effector_yaw_offset_degrees":0.35672166624332746},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0019017662789776902,0.0007293297586901852,0.00014319128715307343],"end_effector_yaw_offset_degrees":-0.1201400436350426}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033326294710981697,-0.0032254067369809312],"position_m":[0.21856737052890182,0.2641745932630191,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005528662437970944,-0.0023059090457660182],"position_m":[0.3425528662437971,0.10879409095423398,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0002997974238265373,0.004666953826146754],"position_m":[0.2960997974238265,-0.039233046173853245,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017951480564079624,0.004538191876109329],"position_m":[0.269604851943592,-0.30406180812389066,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"07740eed316d47ff86217776f1432edf7c1fe865018a8ac65b83ade7d94d6e3f","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2225/tex_ceiling_textures_2210/tex_floor_textures_4525/tex_table_textures_8046/tex_wall_textures_442","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1319913195409949678,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1319913195409949678,"visual_seed":1319913195409949678,"scene_id":"lab_003","finished_at":"2026-09-02T03:47:38"}
+{"episode_id":"ep_000012","started_at":"2026-09-02T03:47:42","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.38641544495394586,0.7220972226096318,0.71338606911949],"aabb_xy":[[0.3639190235200818,0.6995972228028844],[0.40891186638781,0.7445972224163793]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.36951882583096995,-0.6839040018584019,0.71338606911949],"aabb_xy":[[-0.3788124440681205,-0.7214040003465357],[-0.3602252075938193,-0.6464040033702679]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.4238861699508888,0.9237152777454272,0.71338606911949],"aabb_xy":[[-0.44146447213983564,0.9061407881713223],[-0.40630786776194194,0.9412897673195321]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.4692822883568064,1.4943941604147546,0.71338606911949],"aabb_xy":[[-0.5592822877751773,1.4610186635705646],[-0.3792822889384356,1.527769657258944]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.25699672227598225,1.797318277567817,0.71338606911949],"aabb_xy":[[0.2514150506418535,1.7848182777500414],[0.262578393910111,1.8098182773855924]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.49240329518300574,1.0437497507698823,0.71338606911949],"aabb_xy":[[-0.5336521062129204,0.9887497512576647],[-0.45115448415309095,1.0987497502820995]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.10779179364933333,-2.3595018339058065,0.71338606911949],"aabb_xy":[[0.043791795062760874,-2.406508797305315],[0.1717917922359058,-2.3124948705062978]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.1891834069734667,-1.9916485573825726,0.71338606911949],"aabb_xy":[[-0.2007523877204033,-2.0166485574995043],[-0.17761442622653015,-1.9666485572656411]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[-0.5496577393042729,-1.743161636082913,0.71338606911949],"aabb_xy":[[-0.6046509506414096,-1.7981616364217068],[-0.4946645279671361,-1.6881616357441196]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.20707036889910235,0.34635479058396257,0.71338606911949],"aabb_xy":[[-0.2710703721177402,0.2996316786849542],[-0.14307036568046452,0.3930779024829709]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[-0.16314185582710528,0.08636594786226093,0.71338606911949],"aabb_xy":[[-0.20415979921347616,0.03636594723130358],[-0.1221239124407344,0.13636594849321826]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.43699162144945974,0.39752835226985095,0.71338606911949],"aabb_xy":[[-0.4478973975370225,0.3175283558710218],[-0.4260858453618971,0.4775283486686801]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.5130475520486826,-0.5056465056352106,0.71338606911949],"aabb_xy":[[-0.5435318021757127,-0.5556465054167066],[-0.4825633019216524,-0.4556465058537147]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.49862040709071426,-0.27434657171719135,0.71338606911949],"aabb_xy":[[-0.5836204055081375,-0.3592208671794763],[-0.4136204086732911,-0.18947227625490637]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.14075698316421925,-1.9956746473552036,0.71338606911949],"aabb_xy":[[0.06075698518343422,-2.003276188317056],[0.2207569811450043,-1.9880731063933519]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.4311200066134153,1.6576368236284664,0.71338606911949],"aabb_xy":[[-0.4412730221675646,1.6215672820557259],[-0.4209669910592658,1.6937063652012065]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.6090840199785372,1.583927345593097,0.71338606911949],"aabb_xy":[[0.572289386853631,1.5470214704965148],[0.6458786531034435,1.6208332206896794]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.12238524211070356,1.2033189632953798,0.71338606911949],"aabb_xy":[[-0.15616080130139653,1.1892804680822147],[-0.0886096829200106,1.2173574585085445]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.4632327592972144,-1.4809674114410676,0.71338606911949],"aabb_xy":[[-0.5017784521224153,-1.5195131824972563],[-0.4246870664720133,-1.4424216403848789]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.30139524138646434,1.458120876193243,0.71338606911949],"aabb_xy":[[0.29318069627078025,1.4494442858956011],[0.3096097865021482,1.4667974664908838]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.6265780796514122,-1.3364555345180016,0.71338606911949],"aabb_xy":[[0.5625780776016802,-1.3765500176073096],[0.6905780817011442,-1.2963610514286936]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.6883708862430455,-2.181984211468255,0.71338606911949],"aabb_xy":[[0.6846676249139066,-2.185686229776972],[0.6920741475721844,-2.1782821931595366]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.03322695237851481,-1.1327485408689513,0.71338606911949],"aabb_xy":[[-0.04363851105899852,-1.1380942742048494],[-0.022815393698031095,-1.1274028075330527]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.3807912117844285,-1.6508464962511702,0.71338606911949],"aabb_xy":[[-0.3999035191424073,-1.669981275128412],[-0.36167890442644957,-1.631711717373928]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.3870669087461953,-1.3863097508819255,0.71338606911949],"aabb_xy":[[0.3648943817695444,-1.4084854180380486],[0.40923943572284605,-1.364134083725802]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[-0.261486139905919,-0.3729623729190883,0.71338606911949],"aabb_xy":[[-0.27395349801565466,-0.38542769755241174],[-0.24901878179618336,-0.36049704828576473]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[-0.4503659389716109,0.015209449351564874,0.71338606911949],"aabb_xy":[[-0.5003659384118064,-0.03475847513275143],[-0.40036593953141525,0.06517737383588118]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[-0.40693675200892454,-1.0257728070823628,0.71338606911949],"aabb_xy":[[-0.4444367525062828,-1.0297414906304811],[-0.3694367515115663,-1.0218041235342445]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718223460605347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7104.png","name":"7104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7104.png","name":"7104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4933.png","name":"4933"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5166.png","name":"5166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2987.png","name":"2987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3258.png","name":"3258"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":645.7150350703548,"rotation_z_degrees":345.80340928943616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00413987830156597,0.007147969795592114,0.012120356231505074]},{"name":"camera_2","offset_m":[0.000996416577986367,-0.018739430889250275,0.01854730666482667]},{"name":"camera_3","offset_m":[-0.007409177726282627,0.0011556540189793449,0.004396526688196057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001127442622767703,-0.000626939133488663,-0.0009032827789456049],"end_effector_yaw_offset_degrees":0.141292786945042},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00015537937151465105,-0.001236259934177744,-0.001097912342705746],"end_effector_yaw_offset_degrees":0.8883761013861258},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008014439769311382,0.0013448560273457803,0.0008273528925559445],"end_effector_yaw_offset_degrees":0.0565746264121465}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0036332171774485804,0.0036558480493403918],"position_m":[0.22553321717744856,0.2710558480493404,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003689089319159229,0.002239105576394702],"position_m":[0.3383109106808408,0.1133391055763947,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003622481412757135,-0.003831155531368393],"position_m":[0.2994224814127571,-0.04773115553136839,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014861905677381283,-0.0015342211466237553],"position_m":[0.2728861905677381,-0.31013422114662376,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"7048b6fe8bf0382eaaf7940d1fcb767e2ece684a47f63302c7962e1f841dd8e6","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7104/tex_ceiling_textures_3258/tex_floor_textures_2987/tex_table_textures_4933/tex_wall_textures_5166","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7966594420191306740,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7966594420191306740,"visual_seed":7966594420191306740,"scene_id":"lab_003","finished_at":"2026-09-02T03:50:21"}
+{"episode_id":"ep_000013","started_at":"2026-09-02T03:50:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[-0.28301949765360856,0.28573687966272887,0.71338606911949],"aabb_xy":[[-0.3470195008722464,0.23901376776372052],[-0.2190194944349707,0.3324599915617372]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.3795053006573042,0.7412016448145256,0.71338606911949],"aabb_xy":[[-0.4168365771825469,0.7065485900196733],[-0.3421740241320616,0.7758546996093778]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.42616019264054944,0.39742053572539593,0.71338606911949],"aabb_xy":[[-0.44866019216425673,0.3749245882747751],[-0.4036601931168419,0.41991648317601665]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.43364859338868356,-1.0802403033632753,0.71338606911949],"aabb_xy":[[-0.4647955122322666,-1.1502403020500824],[-0.4025016745451004,-1.010240304676468]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.11559497966878929,-1.2791081343203523,0.71338606911949],"aabb_xy":[[0.09308128784533208,-1.3491081349213596],[0.13810867149224648,-1.2091081337193446]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.04969657871247657,-1.0486322720724761,0.71338606911949],"aabb_xy":[[0.027196578468961174,-1.0608369067322483],[0.07219657895599196,-1.0364276374127044]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.18164576432492197,-1.005047478841068,0.71338606911949],"aabb_xy":[[-0.21204387542406553,-1.0354543808427372],[-0.15124765322577835,-0.9746405768393983]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.47137867464600064,1.586490302151844,0.71338606911949],"aabb_xy":[[-0.5213717867551926,1.5364903014776488],[-0.4213855625368088,1.63649030282604]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.6846466095286086,-1.5427604232650851,0.71338606911949],"aabb_xy":[[0.6671466092692719,-1.5568519654538582],[0.7021466097879452,-1.528668881076313]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.4375717034464002,0.483019725043794,0.71338606911949],"aabb_xy":[[-0.4600717039584407,0.46052786667839557],[-0.4150717029343595,0.5055115834091923]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.4467678485208525,-1.6327731564788819,0.71338606911949],"aabb_xy":[[-0.4967628594803046,-1.6827731555144736],[-0.3967728375614005,-1.5827731574432902]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[0.6145861117743243,0.7784677806017206,0.71338606911949],"aabb_xy":[[0.6104502554416241,0.7409677811573636],[0.6187219681070245,0.8159677800460776]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.13484442617293524,-0.011864550709092203,0.71338606911949],"aabb_xy":[[-0.1500165954545686,-0.02703340763729556],[-0.11967225689130193,0.0033043062191111527]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.3624758903224352,1.529732302307877,0.71338606911949],"aabb_xy":[[-0.3685705182105536,1.521162907756208],[-0.35638126243431695,1.5383016968595455]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.011309043907936522,-1.7315869401415087,0.71338606911949],"aabb_xy":[[-0.033217726047287566,-1.7534876069615992],[0.010599638231414523,-1.7096862733214178]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.317573825789339,-0.5911017353841592,0.71338606911949],"aabb_xy":[[0.3074208102351895,-0.6271712769568994],[0.3277268413434883,-0.5550321938114188]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.5716049865464992,-2.1297388424127677,0.71338606911949],"aabb_xy":[[-0.6267301921760898,-2.1897388438540544],[-0.5164797809169083,-2.06973884097148]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.27113230805974864,0.5504260347421219,0.71338606911949],"aabb_xy":[[0.2533388011248322,0.5326262891463242],[0.2889258149946651,0.5682257803379195]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.4662829769982708,-0.09633963441593796,0.71338606911949],"aabb_xy":[[0.45039848373294555,-0.11069257471476202],[0.48216747026359585,-0.0819866941171139]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.12808152285279872,-1.7087639854688377,0.71338606911949],"aabb_xy":[[-0.14131246838748,-1.7219914044908369],[-0.1148505773181174,-1.695536566446838]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.15944010489922178,1.3566695278621825,0.71338606911949],"aabb_xy":[[0.15009309731692655,1.3423659056445385],[0.168787112481517,1.3709731500798266]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[0.3799541975197551,-0.8062459363257011,0.71338606911949],"aabb_xy":[[0.3574550617935281,-0.8287459371039639],[0.40245333324598204,-0.783745935547438]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.5185116260288707,0.8738969890406092,0.71338606911949],"aabb_xy":[[-0.5360899282178175,0.8563224994665043],[-0.5009333238399238,0.8914714786147141]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.5447155038651961,-2.2455697650600706,0.71338606911949],"aabb_xy":[[0.47971550286469544,-2.296356130214745],[0.6097155048656965,-2.194783399905395]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.5895795642126709,-2.3226172930307496,0.71338606911949],"aabb_xy":[[-0.6070795644577203,-2.340117080870316],[-0.5720795639676215,-2.3051175051911823]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.06629335916189727,-0.3645628636365461,0.71338606911949],"aabb_xy":[[-0.08297049515499277,-0.38126278761047644],[-0.049616223168801765,-0.3478629396626159]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[0.4840165651273345,0.4442285691869339,0.71338606911949],"aabb_xy":[[0.46395815351409414,0.42416348227777634],[0.5040749767405748,0.4642936560960914]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[0.3836978661261461,0.9980645239298007,0.71338606911949],"aabb_xy":[[0.37811619449201733,0.9855645241120252],[0.38927953776027485,1.010564523747576]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[-0.014634970103004852,1.1496771810335713,0.71338606911949],"aabb_xy":[[-0.025202449761103862,1.1391321509205627],[-0.004067490444905841,1.1602222111465799]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_29","position":[0.3871548263671736,0.7502410428729531,0.71338606911949],"aabb_xy":[[0.3321625757316627,0.6952410411296404],[0.44214707700268463,0.805241044616266]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.49014062968616856,-1.711881644336144,0.71338606911949],"aabb_xy":[[0.47313053239611785,-1.7280161328344181],[0.5071507269762192,-1.6957471558378703]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[0.2629778518593878,-2.0019719992529996,0.71338606911949],"aabb_xy":[[0.1779778534419646,-2.0868462947152846],[0.34797785027681105,-1.9170977037907146]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_32","position":[0.038951800794445934,-1.23969204018251,0.71338606911949],"aabb_xy":[[0.026349101657369485,-1.2522874364073753],[0.0515544999315224,-1.2270966439576443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67289397732669,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7087.png","name":"7087"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7087.png","name":"7087"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9968.png","name":"9968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3471.png","name":"3471"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3667.png","name":"3667"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5116.png","name":"5116"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":709.519491195233,"rotation_z_degrees":34.886243039510205,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005023241028129892,-0.014183418058345141,-0.011956189439636588]},{"name":"camera_2","offset_m":[-0.010307338204796013,0.015018311622341015,0.019006483280040818]},{"name":"camera_3","offset_m":[0.015598702212854507,0.01738470985842185,0.0013821548444504575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005932991903296841,0.0006330390476628261,-0.0006226431023290718],"end_effector_yaw_offset_degrees":-0.8802581846401927},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015948390356470702,-0.000861593258920673,-0.0002326233318851209],"end_effector_yaw_offset_degrees":-0.035096506448653475},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007428592199373203,-0.0011426075381092931,-0.0005510448664713717],"end_effector_yaw_offset_degrees":-0.1308055115286082}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003299522335986956,0.0042082250783796295],"position_m":[0.22222995223359868,0.2716082250783797,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018541929967434666,-0.0038258908180749387],"position_m":[0.3401458070032566,0.10727410918192506,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002010975242488013,0.0045619180068653615],"position_m":[0.297810975242488,-0.03933808199313464,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024790157920348554,-0.0019477955688207106],"position_m":[0.27387901579203483,-0.3105477955688207,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"772cd4397fd1edc9fce70715791e7af05323874703d2fea8375c4d9c33b48244","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7087/tex_ceiling_textures_5116/tex_floor_textures_3667/tex_table_textures_9968/tex_wall_textures_3471","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2149748781536508868,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2149748781536508868,"visual_seed":2149748781536508868,"scene_id":"lab_003","finished_at":"2026-09-02T03:53:09"}
+{"episode_id":"ep_000014","started_at":"2026-09-02T03:53:12","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.6161486402915228,0.5231884961311812,0.71338606911949],"aabb_xy":[[0.5521486417049503,0.47618153273167263],[0.6801486388780952,0.5701954595306901]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.45827840878099235,0.6608802643656784,0.71338606911949],"aabb_xy":[[-0.4656908643223808,0.6550290539440504],[-0.4508659532396039,0.6667314747873063]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.5480828069022594,-0.9339559731736944,0.71338606911949],"aabb_xy":[[0.5112881737773531,-0.9708618482702766],[0.5848774400271657,-0.897050098077112]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.31107306336319374,-2.0045980116167197,0.71338606911949],"aabb_xy":[[-0.3910730666210367,-2.084594519408703],[-0.23107306010535078,-1.9246015038247353]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.021669561612092436,-0.6726118392708169,0.71338606911949],"aabb_xy":[[-0.04621577723484316,-0.7028607358198539],[0.002876654010658282,-0.6423629427217797]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.1599090960149252,0.7166550606888258,0.71338606911949],"aabb_xy":[[0.12490909682210691,0.7056880146911632],[0.19490909520774344,0.7276221066864884]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.6750975787066914,-1.394072983230441,0.71338606911949],"aabb_xy":[[-0.6804300933613042,-1.3993973114756768],[-0.6697650640520784,-1.3887486549852057]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.5732608895270099,1.3144772850295152,0.71338606911949],"aabb_xy":[[0.5652346188963839,1.3057257900521628],[0.5812871601576359,1.323228780006868]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.5759684353671151,-1.2237310663102148,0.71338606911949],"aabb_xy":[[-0.5891196813384044,-1.2487310660669013],[-0.5628171893958257,-1.1987310665535282]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.12609318355075272,-0.38191730618885567,0.71338606911949],"aabb_xy":[[-0.13796526656225383,-0.466917305882506],[-0.11422110053925161,-0.2969173064952053]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.3031748554020286,0.46869787954192565,0.71338606911949],"aabb_xy":[[0.2781748558502901,0.458555395676791],[0.3281748549537671,0.47884036340706043]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.3772654706541345,0.6009037196364644,0.71338606911949],"aabb_xy":[[0.3601633926957664,0.5837969141051946],[0.3943675486125027,0.6180105251677341]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.1580678547279739,-2.214962775205719,0.71338606911949],"aabb_xy":[[-0.21319306035756466,-2.274962776647006],[-0.10294264909838312,-2.154962773764432]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.567216675776344,1.1349734532107503,0.71338606911949],"aabb_xy":[[-0.6248471446636148,1.0749734542840395],[-0.5095862068890731,1.1949734521374606]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.1185498755616965,-1.9437014319269927,0.71338606911949],"aabb_xy":[[0.10104987531664712,-1.9612012197665594],[0.13604987580674588,-1.9262016440874257]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.11120905114874391,0.7113157628231903,0.71338606911949],"aabb_xy":[[-0.20120904974321385,0.6950651765097694],[-0.02120905255427398,0.7275663491366114]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.1442403271345335,-1.211787907388062,0.71338606911949],"aabb_xy":[[-0.19421774399978706,-1.2617879088773103],[-0.0942629102692799,-1.1617879058988132]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.12390044440724646,1.2355912500849522,0.71338606911949],"aabb_xy":[[-0.14890044357287957,1.2286390043795954],[-0.09890044524161333,1.2425434957903085]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[0.1285236751060307,-0.7805846639199596,0.71338606911949],"aabb_xy":[[0.09102367528899713,-0.7852228752311015],[0.16602367492306425,-0.7759464526088178]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.21869161828476968,1.5302098203279955,0.71338606911949],"aabb_xy":[[0.19540977608663831,1.4452098190307674],[0.241973460482901,1.6152098216252235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679559565358352,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3555.png","name":"3555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3555.png","name":"3555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8936.png","name":"8936"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4458.png","name":"4458"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/508.png","name":"508"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6572.png","name":"6572"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":815.3285205620155,"rotation_z_degrees":115.44738901973079,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008176063936667685,0.014735121912282687,0.014022197270022099]},{"name":"camera_2","offset_m":[-0.00018005087165741743,-0.01812129686025672,-0.0012685809232851758]},{"name":"camera_3","offset_m":[-0.007203173657847754,0.004194264814674744,-0.004712691036581722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010108079316701432,0.0010730973400622772,0.0013440173342504657],"end_effector_yaw_offset_degrees":-0.9496401673768959},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008164618498148592,-6.98234423115421e-05,5.0474057051112103e-05],"end_effector_yaw_offset_degrees":-0.29057161519601604},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0002689292580152051,0.0009808365021168816,0.0015231667823830883],"end_effector_yaw_offset_degrees":-0.4388021586845987}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0021851905888406343,-0.004795510104507326],"position_m":[0.21971480941115934,0.2626044898954927,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001753941818200969,-0.004700909169413975],"position_m":[0.343753941818201,0.10639909083058603,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0036942680260062576,-0.0012862742251481428],"position_m":[0.29210573197399375,-0.04518627422514814,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0046745416225706495,-0.004941236880548683],"position_m":[0.26672545837742934,-0.3135412368805487,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2d4cccc1855fdcdc005bcf989ef96467ff040a9db03c2fb0fdfef03049387e17","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3555/tex_ceiling_textures_6572/tex_floor_textures_508/tex_table_textures_8936/tex_wall_textures_4458","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1744226662675885835,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1744226662675885835,"visual_seed":1744226662675885835,"scene_id":"lab_003","finished_at":"2026-09-02T03:55:54"}
+{"episode_id":"ep_000015","started_at":"2026-09-02T03:55:57","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.10492730289469443,-1.152505858937639,0.71338606911949],"aabb_xy":[[0.039927302860391686,-1.1992065356179662],[0.16992730292899716,-1.1058051822573116]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.32663981340769144,-1.277530538768682,0.71338606911949],"aabb_xy":[[-0.34913981365120683,-1.289735173428454],[-0.30413981316417604,-1.26532590410891]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[0.6912029748954522,0.7799073293217504,0.71338606911949],"aabb_xy":[[0.6867723455406122,0.7744589575870678],[0.6956336042502925,0.785355701056433]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.39013412203760095,1.126702291134988,0.71338606911949],"aabb_xy":[[-0.44011707222508023,1.0767022914924274],[-0.34015117185012156,1.1767022907775482]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.47049078518768583,0.28244474207458614,0.71338606911949],"aabb_xy":[[0.43299078367205407,0.2712179690584411],[0.5079907867033175,0.2936715150907312]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.35813275799989963,0.0719633886500115,0.71338606911949],"aabb_xy":[[-0.3689843642487752,0.06110409792236049],[-0.347281151751024,0.08282267937766252]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.6507890173780186,1.338853268559665,0.71338606911949],"aabb_xy":[[-0.6580502649484261,1.3260662582961555],[-0.6435277698076112,1.3516402788231745]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[0.35176426618790324,0.6375518770895225,0.71338606911949],"aabb_xy":[[0.3279280485472981,0.5475518762810362],[0.3756004838285083,0.7275518778980091]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.10654075701797372,-1.4848279243980431,0.71338606911949],"aabb_xy":[[0.05154527919731432,-1.5398279258319498],[0.1615362348386331,-1.429827922964136]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.2585610116904985,1.7467311874167408,0.71338606911949],"aabb_xy":[[-0.2995789550768694,1.6967311867857835],[-0.21754306830412762,1.7967311880476982]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.572282664505169,1.1059205123518683,0.71338606911949],"aabb_xy":[[-0.6522826615194169,1.085785960678457],[-0.492282667490921,1.1260550640252796]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.5807788409276371,-2.495539571836125,0.71338606911949],"aabb_xy":[[-0.603694553812687,-2.5184438689725486],[-0.5578631280425872,-2.4726352746997016]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.07126929701281226,0.7495815579442566,0.71338606911949],"aabb_xy":[[0.0072692978430423235,0.7028148708252943],[0.1352692961825822,0.7963482450632192]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.5986647169818804,-1.1805759105939522,0.71338606911949],"aabb_xy":[[0.5574159059519654,-1.2355759101061696],[0.6399135280117949,-1.1255759110817347]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.5284013352647607,-0.7156483128192113,0.71338606911949],"aabb_xy":[[-0.5628636826629024,-0.7501421952170338],[-0.4939389878666189,-0.6811544304213885]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.5015230285232034,-1.9250052792031398,0.71338606911949],"aabb_xy":[[-0.5383176616481097,-1.961911154299722],[-0.46472839539829713,-1.8880994041065575]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.6016994222547012,0.1278691789610038,0.71338606911949],"aabb_xy":[[0.5517063101455093,0.07786917828680816],[0.6516925343638931,0.17786917963519944]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.35186502713811074,1.4343986747933557,0.71338606911949],"aabb_xy":[[0.2718650260649904,1.424620628455971],[0.4318650282112311,1.44417672113074]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.47712504525919797,1.5222974188132814,0.71338606911949],"aabb_xy":[[0.4426625672461101,1.5156337416303585],[0.5115875232722856,1.528961095996204]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.5089640452592882,-0.3218214473600294,0.71338606911949],"aabb_xy":[[-0.5464640456075158,-0.3336128429411129],[-0.4714640449110603,-0.31003005177894577]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.2460417661113441,-1.692332511347331,0.71338606911949],"aabb_xy":[[0.16604176394858164,-1.7722876949734745],[0.3260417682741066,-1.6123773277211872]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[-0.49980110861291827,0.48087472346705606,0.71338606911949],"aabb_xy":[[-0.549779917123234,0.4308747234613372],[-0.4498223001026023,0.5308747234727749]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.523739851815143,1.0054020759402706,0.71338606911949],"aabb_xy":[[0.459739848525435,0.9620671569363531],[0.5877398551048512,1.0487369949441883]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[-0.11283502813349455,-0.5464736987606305,0.71338606911949],"aabb_xy":[[-0.1246032149281521,-0.6314736986658521],[-0.10106684133883706,-0.461473698855409]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662241203482361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5637.png","name":"5637"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9895.png","name":"9895"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/291.png","name":"291"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8960.png","name":"8960"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":714.3010603804532,"rotation_z_degrees":23.744768103781375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009620310196702994,-0.004387729640827618,-0.00016354663355380716]},{"name":"camera_2","offset_m":[0.005968360709330326,-0.01116524239509784,0.0016846929640680491]},{"name":"camera_3","offset_m":[-0.013431178514617014,0.016990534624514258,-0.004879421190985816]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002484595438331102,0.0014776130982567942,0.0004659477148916567],"end_effector_yaw_offset_degrees":-0.5392165700371323},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013540237620197353,-0.0010084289353810606,-8.673666593527244e-05],"end_effector_yaw_offset_degrees":-0.9022421265886227},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001095835549265085,-0.0008018550543076803,-0.0009072796310967384],"end_effector_yaw_offset_degrees":0.2947190204290657}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002721480158365621,0.0037658004019811174],"position_m":[0.2246214801583656,0.2711658004019811,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011643090440377913,-0.0018195146858308664],"position_m":[0.34316430904403783,0.10928048531416913,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030435458267113963,-0.0012598821979202734],"position_m":[0.2988435458267114,-0.045159882197920276,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001927094705393755,0.004052327258967372],"position_m":[0.2694729052946062,-0.3045476727410326,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"693c6dcc6f20f76c0d8a8dcb9a69a51ea4f608b295f930130edc934fb447dfec","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5947/tex_ceiling_textures_8960/tex_floor_textures_291/tex_table_textures_5637/tex_wall_textures_9895","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4132366741133622132,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4132366741133622132,"visual_seed":4132366741133622132,"scene_id":"lab_003","finished_at":"2026-09-02T03:58:46"}
+{"episode_id":"ep_000016","started_at":"2026-09-02T03:58:49","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.4355508738073531,0.2546617009562522,0.71338606911949],"aabb_xy":[[-0.4415174127480888,0.24870055629688814],[-0.42958433486661723,0.2606228456156162]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.22589872492465513,-1.0067325497173423,0.71338606911949],"aabb_xy":[[0.1831320180452349,-1.0707325531391447],[0.2686654318040753,-0.9427325462955398]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.5459614188938815,1.7470102173976332,0.71338606911949],"aabb_xy":[[0.5300769256285565,1.732657277098809],[0.5618459121592068,1.761363157696457]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[-0.38745452974126193,0.7702654540428622,0.71338606911949],"aabb_xy":[[-0.41744619247513226,0.7402654547060616],[-0.3574628670073916,0.8002654533796627]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.19076562458464275,-1.3442494228426711,0.71338606911949],"aabb_xy":[[-0.19610320025064729,-1.369249423771811],[-0.18542804891863815,-1.3192494219135313]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.6466304522104337,1.3462314486247617,0.71338606911949],"aabb_xy":[[-0.650766308543134,1.308731449180405],[-0.6424945958777336,1.383731448069119]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.5780864487750474,0.5274300993594907,0.71338606911949],"aabb_xy":[[0.570092460197344,0.5194300192644002],[0.5860804373527508,0.5354301794545809]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.1316692164104183,-1.5936312887643684,0.71338606911949],"aabb_xy":[[0.11409091422147144,-1.6112057783384732],[0.14924751859936514,-1.5760567991902636]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.6767752758642593,1.456876031717948,0.71338606911949],"aabb_xy":[[-0.6894020631514556,1.4473299580163752],[-0.6641484885770629,1.466422105419521]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.4157588640689485,0.6791587296790262,0.71338606911949],"aabb_xy":[[-0.4532588644171763,0.6673673340979427],[-0.37825886372072076,0.6909501252601098]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.36220137045486994,-1.0530593133281059,0.71338606911949],"aabb_xy":[[-0.4422013726176324,-1.1330144969542495],[-0.28220136829210746,-0.9731041297019623]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[-0.4413582953841978,-1.4370820369385742,0.71338606911949],"aabb_xy":[[-0.47815292850910396,-1.4739879120351564],[-0.4045636622592914,-1.400176161841992]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.4769428058352886,1.3631695884498218,0.71338606911949],"aabb_xy":[[-0.5269428071191284,1.3131907340591995],[-0.42694280455144856,1.4131484428404437]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.15290722782808686,0.07210400202490508,0.71338606911949],"aabb_xy":[[-0.18668278701877983,0.05806550681174004],[-0.11913166863739388,0.08614249723807009]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[-0.5338706877579346,-2.53638640643708,0.71338606911949],"aabb_xy":[[-0.5713706879298065,-2.569087141819987],[-0.4963706875860626,-2.5036856710541726]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.1918966737306117,-0.4462067987060072,0.71338606911949],"aabb_xy":[[-0.21439667424265227,-0.46869865707140557],[-0.16939667321857108,-0.42371494034060886]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.43785518704773807,1.060471279791098,0.71338606911949],"aabb_xy":[[-0.4597638691870891,1.038570612971007],[-0.415946504908387,1.0823719466111885]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.5307594399938493,-0.894144488908972,0.71338606911949],"aabb_xy":[[0.49484593556885953,-0.9300579971257267],[0.5666729444188389,-0.8582309806922174]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.2852502505864112,-1.8853461454177944,0.71338606911949],"aabb_xy":[[0.2552826936765855,-1.9153461457156804],[0.31521780749623685,-1.855346145119909]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.2304057718042698,1.1688719666194105,0.71338606911949],"aabb_xy":[[0.22219122668858582,1.160195376321769],[0.23862031691995378,1.1775485569170516]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[0.14868564747829816,1.673094346102174,0.71338606911949],"aabb_xy":[[0.1422718338351132,1.6666845258545053],[0.15509946112148307,1.679504166349842]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.08996070548600354,1.6824403791299525,0.71338606911949],"aabb_xy":[[-0.12242240636793097,1.65230754701505],[-0.057499004604076066,1.712573211244855]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[-0.49779272176061595,-2.0631692554042482,0.71338606911949],"aabb_xy":[[-0.5050750381372795,-2.153169259013756],[-0.4905104053839522,-1.9731692517947381]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.12032658652315642,-0.8223905346631557,0.71338606911949],"aabb_xy":[[-0.17030953671063576,-0.872390534305716],[-0.07034363633567708,-0.7723905350205952]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.2703955275159289,-0.5815719607891063,0.71338606911949],"aabb_xy":[[0.25948975142836617,-0.6615719571879354],[0.2813013036034916,-0.5015719643902771]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.6003101283436467,-1.5319411032058052,0.71338606911949],"aabb_xy":[[-0.6703101299459262,-1.5453738964074628],[-0.5303101267413672,-1.5185083100041477]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.43187404653869677,1.3085868805259264,0.71338606911949],"aabb_xy":[[0.41437404627936025,1.2944953383371538],[0.4493740467980335,1.322678422714699]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[0.7019844968617521,-1.7848523233855378,0.71338606911949],"aabb_xy":[[0.682093456981412,-1.7975081346702348],[0.7218755367420925,-1.7721965121008412]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[-0.3685167111796766,1.7757294908366776,0.71338606911949],"aabb_xy":[[-0.4185167121302094,1.7441803438331562],[-0.3185167102291438,1.807278637840199]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[0.08298715077939489,0.8028471836016804,0.71338606911949],"aabb_xy":[[0.07335551455896529,0.7932098708219714],[0.09261878699982452,0.8124844963813892]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[0.20828288684177787,-1.3763589240809957,0.71338606911949],"aabb_xy":[[0.19651470004712038,-1.4613589239862175],[0.22005107363643542,-1.2913589241757744]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_31","position":[-0.5131394726208485,-1.6885535460173682,0.71338606911949],"aabb_xy":[[-0.5781394707767675,-1.7148497905672802],[-0.4481394744649294,-1.6622573014674558]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6742752239034382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4237.png","name":"4237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1503.png","name":"1503"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4587.png","name":"4587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8861.png","name":"8861"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":652.8660696013962,"rotation_z_degrees":55.07615480137358,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010301012499085986,-0.016685117987879125,0.0007678083110267062]},{"name":"camera_2","offset_m":[-0.013577680481736874,-0.011204145252501933,0.010800840127253193]},{"name":"camera_3","offset_m":[-0.0063951338061309666,0.014493264104210753,0.010658831715933119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012838209516638143,-0.0007636487672319054,0.0012936558589763578],"end_effector_yaw_offset_degrees":0.4294906333545052},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013378312217385436,-0.0002692825213483276,-0.0015330857040903414],"end_effector_yaw_offset_degrees":-0.573092239834823},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011533664766169706,-0.0005071121180331613,0.00027685291850833727],"end_effector_yaw_offset_degrees":0.2698705555990919}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0037647193016884404,-0.004492215346683129],"position_m":[0.22566471930168844,0.2629077846533169,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039046099665750464,0.0046767358148289825],"position_m":[0.34590460996657507,0.11577673581482899,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018827363920349092,0.0046830841093005076],"position_m":[0.2976827363920349,-0.03921691589069949,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030372934530293024,-0.0038641485628473017],"position_m":[0.27443729345302925,-0.31246414856284727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d1423c38a9a577edcf95dd285c85ffb564876726b77811fb0ba12a672b09d9ab","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6743/tex_ceiling_textures_8861/tex_floor_textures_4587/tex_table_textures_4237/tex_wall_textures_1503","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4770917283839125748,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4770917283839125748,"visual_seed":4770917283839125748,"scene_id":"lab_003","finished_at":"2026-09-02T04:01:33"}
+{"episode_id":"ep_000017","started_at":"2026-09-02T04:01:36","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.25155595264415825,-0.35806851700378406,0.71338606911949],"aabb_xy":[[-0.26910264756027713,-0.39556851856803527],[-0.23400925772803927,-0.32056851543953274]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.44698564953024134,0.32370271253205907,0.71338606911949],"aabb_xy":[[0.3829856474805094,0.2836082294427511],[0.5109856515799733,0.36379719562136703]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.040916802680819986,1.1771628003518426,0.71338606911949],"aabb_xy":[[-0.0909168021210156,1.127194875867526],[0.009083196759375634,1.2271307248361587]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.6969350786706872,-0.2795749430452137,0.71338606911949],"aabb_xy":[[0.6744350784271719,-0.29177957770498564],[0.7194350789142027,-0.26737030838544174]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.5589616431255866,-1.5421645063839602,0.71338606911949],"aabb_xy":[[0.5528670152374683,-1.5507339009356291],[0.5650562710137049,-1.5335951118322917]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.051808977394650735,-2.53329923851171,0.71338606911949],"aabb_xy":[[-0.12180897899693022,-2.5467320317133675],[0.018191024207628748,-2.5198664453100523]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[0.09162589030126578,-0.7333032992604926,0.71338606911949],"aabb_xy":[[0.04164165459308855,-0.7833032980739881],[0.141610126009443,-0.6833033004469969]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.40218646596571905,-0.1737440797615517,0.71338606911949],"aabb_xy":[[0.3796873302394921,-0.19624408053981465],[0.424685601691946,-0.1512440789832887]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[-0.04936558579668504,-1.6343531020596658,0.71338606911949],"aabb_xy":[[-0.1133655843832575,-1.6813600654591745],[0.014634412789887419,-1.587346138660157]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.0733609764667188,-0.2213890477485334,0.71338606911949],"aabb_xy":[[-0.08623287996765892,-0.30138904816236955],[-0.06048907296577865,-0.14138904733469726]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.4465765887711042,0.5238113288317603,0.71338606911949],"aabb_xy":[[0.42529858062763193,0.45881132650568723],[0.4678545969145764,0.5888113311578334]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.306732088698098,0.4602235797618719,0.71338606911949],"aabb_xy":[[0.29910782060791974,0.4525903562253283],[0.3143563567882762,0.4678568032984157]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.2452022412971525,1.6994811187923315,0.71338606911949],"aabb_xy":[[0.18120224102317428,1.6494150185950436],[0.30920224157113074,1.7495472189896195]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.5372293050809973,-0.45113257958039465,0.71338606911949],"aabb_xy":[[0.5153206229416462,-0.47303324640048533],[0.5591379872203482,-0.42923191276030387]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.1808325567868021,-0.09954240098894163,0.71338606911949],"aabb_xy":[[-0.1881148731634657,-0.18954240459845056],[-0.1735502404101384,-0.009542397379432617]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.5765062015963976,-1.1700998309848791,0.71338606911949],"aabb_xy":[[-0.6140062022609762,-1.185786888985101],[-0.5390062009318188,-1.1544127729846567]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.16779632016458135,-1.0846637780839692,0.71338606911949],"aabb_xy":[[-0.21278890688303176,-1.129663777358418],[-0.12280373344613094,-1.0396637788095204]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.1874848190080033,1.1891267318490426,0.71338606911949],"aabb_xy":[[0.17142289154948562,1.1041267300364508],[0.2035467464665209,1.2741267336616344]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.5476564631688607,1.4057062714242963,0.71338606911949],"aabb_xy":[[0.48365646290839,1.3606974720713683],[0.6116564634293316,1.4507150707772243]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.16925329803142064,-1.958422214103996,0.71338606911949],"aabb_xy":[[0.09925329589999107,-1.9811841797296912],[0.23925330016285015,-1.9356602484782999]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.40296834647847324,-1.260895911760038,0.71338606911949],"aabb_xy":[[0.3938084675345967,-1.267427129803575],[0.4121282254223499,-1.254364693716501]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.5102828879456626,-2.482198161370751,0.71338606911949],"aabb_xy":[[-0.5440584471363555,-2.496236656583916],[-0.4765073287549696,-2.468159666157586]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[-0.012677047379712869,-0.47447675043929705,0.71338606911949],"aabb_xy":[[-0.02071338208099771,-0.4825148697437138],[-0.004640712678428027,-0.46643863113488027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650581405925621,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3434.png","name":"3434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3434.png","name":"3434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2223.png","name":"2223"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/405.png","name":"405"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7892.png","name":"7892"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":764.8248443190406,"rotation_z_degrees":255.5306549729909,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004262242787850912,-0.010953402412827603,0.013767926359550004]},{"name":"camera_2","offset_m":[-0.0024803459398111995,0.004174894624521284,-0.01163077731095461]},{"name":"camera_3","offset_m":[-0.01566555566463144,-0.00023650230804758698,0.00040049391882267596]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011133854614288766,0.0009569010371097545,0.0017640416685382452],"end_effector_yaw_offset_degrees":-0.2496518745734162},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008019810229688206,5.5547588350631644e-05,-0.0002641372547899472],"end_effector_yaw_offset_degrees":-0.05249488320459039},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000956053461258502,-0.0016324907793072736,0.0015937721471449983],"end_effector_yaw_offset_degrees":0.01986342619308412}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0014776405329113276,-0.002830545106842879],"position_m":[0.22042235946708866,0.26456945489315714,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006718713524034295,-0.001306387138159264],"position_m":[0.3413281286475966,0.10979361286184074,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0035275559339401656,0.0017938600244555092],"position_m":[0.29932755593394017,-0.04210613997554449,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029841008931507217,0.004546454389332546],"position_m":[0.26841589910684927,-0.30405354561066744,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2639bd619aa7f77db04db1dc3a1957a18e0c0363c6055c47d3f0f1814b8cfb1c","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3434/tex_ceiling_textures_7892/tex_floor_textures_405/tex_table_textures_2223/tex_wall_textures_2317","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6224004415180164381,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6224004415180164381,"visual_seed":6224004415180164381,"scene_id":"lab_003","finished_at":"2026-09-02T04:03:57"}
+{"episode_id":"ep_000018","started_at":"2026-09-02T04:04:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.3342907804533419,1.0635415182151151,0.71338606911949],"aabb_xy":[[-0.34689347959041833,1.0509461219902496],[-0.3216880813162654,1.0761369144399806]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.6029039207711253,0.7988766468477699,0.71338606911949],"aabb_xy":[[-0.6669039214745948,0.7528582643748492],[-0.5389039200676561,0.8448950293206912]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.30496932863828674,-0.06425817888735041,0.71338606911949],"aabb_xy":[[-0.3220714065966549,-0.08136498441862017],[-0.2878672506799186,-0.04715137335608066]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.4398973680836025,-0.11883963173811996,0.71338606911949],"aabb_xy":[[-0.4769314775116622,-0.1532168390718294],[-0.40286325865554273,-0.08446242440441051]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.11280236591862414,-1.0797749650440258,0.71338606911949],"aabb_xy":[[0.0763065452913454,-1.1162589074707832],[0.14929818654590288,-1.043291022617268]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.2652624309973767,0.7104789696176814,0.71338606911949],"aabb_xy":[[0.26062731584514326,0.7066116345405327],[0.26989754614961,0.71434630469483]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.6269820779497761,0.3751828845513905,0.71338606911949],"aabb_xy":[[-0.6378878540373387,0.29518288815256133],[-0.6160763018622133,0.45518288095021964]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.26368811813007215,1.3314233153641921,0.71338606911949],"aabb_xy":[[-0.2709318841763175,1.2514233171605897],[-0.2564443520838268,1.4114233135677945]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.057670601066702964,-2.3942198227053195,0.71338606911949],"aabb_xy":[[0.04017060193233579,-2.4040994497429065],[0.07517060020107014,-2.384340195667731]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.17836725113458474,1.282518212107015,0.71338606911949],"aabb_xy":[[0.1559024811631796,1.2600182112281544],[0.20083202110598983,1.3050182129858754]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.3810682727532896,0.34684142281049457,0.71338606911949],"aabb_xy":[[-0.4155306201514313,0.3123475404126718],[-0.34660592535514767,0.3813353052083172]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.1159533273506328,-1.735219812791365,0.71338606911949],"aabb_xy":[[0.03595332688041685,-1.7435305204057139],[0.1959533278208488,-1.726909105177017]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.4701150333757904,-1.3871989886970435,0.71338606911949],"aabb_xy":[[-0.5301150342366031,-1.4386254187035294],[-0.41011503251497755,-1.3357725586905567]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.12577994393363623,0.6110939657672492,0.71338606911949],"aabb_xy":[[0.05577994233135675,0.5976611725655917],[0.1957799455359157,0.6245267589689069]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[0.39834619220178946,-0.49712310227193557,0.71338606911949],"aabb_xy":[[0.31334619378436623,-0.5819973977342205],[0.4833461906192127,-0.4122488068096506]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[0.6996245777800272,1.0233491745948187,0.71338606911949],"aabb_xy":[[0.6923633302096197,1.0105621643313094],[0.7068858253504346,1.0361361848583284]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[0.05340097612845851,-1.5733394516058963,0.71338606911949],"aabb_xy":[[-0.006599024379394413,-1.6301861852918176],[0.11340097663631142,-1.516492717919975]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.6863814780450452,-1.2483493335579905,0.71338606911949],"aabb_xy":[[0.6681756543837976,-1.259374734139982],[0.7045873017062929,-1.2373239329759986]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.35178761342938036,-0.6192928759409935,0.71338606911949],"aabb_xy":[[-0.4017650302946339,-0.6692928774302419],[-0.3018101965641267,-0.5692928744517448]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.4781430187103386,-0.008728135896882705,0.71338606911949],"aabb_xy":[[0.4701490301326351,-0.01672821599197305],[0.4861370072880419,-0.00072805580179236]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.05916635777442836,-1.9459826948346484,0.71338606911949],"aabb_xy":[[-0.1091663590582683,-1.9959615492252705],[-0.009166356490588381,-1.8960038404440263]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.6189568944078969,-1.1655622530604952,0.71338606911949],"aabb_xy":[[-0.6366325249964953,-1.1832424693398977],[-0.6012812638192986,-1.1478820367810922]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.2840419480294454,1.634759841841205,0.71338606911949],"aabb_xy":[[0.266248441094529,1.6169600962454074],[0.30183545496436187,1.6525595874370027]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.15529987756848818,0.5022705699236818,0.71338606911949],"aabb_xy":[[-0.24529987729166233,0.4791972173885019],[-0.06529987784531398,0.5253439224588615]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.3128138585934086,1.6093755566434278,0.71338606911949],"aabb_xy":[[-0.3778138595939091,1.5585891914887526],[-0.24781385759290808,1.6601619217981025]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[-0.35088498484145564,0.6464937291672355,0.71338606911949],"aabb_xy":[[-0.4158849859473989,0.6215283560991072],[-0.28588498373551235,0.6714591022353638]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[0.3991955802847813,-1.8437389661519528,0.71338606911949],"aabb_xy":[[0.34931288340708516,-1.8937389653982275],[0.4490782771624776,-1.793738966905678]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6735227490205237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/730.png","name":"730"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/730.png","name":"730"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6503.png","name":"6503"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5172.png","name":"5172"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/385.png","name":"385"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.0878256932118,"rotation_z_degrees":142.4605159190902,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016892140437102098,-0.016344570067436965,0.0030792915780478436]},{"name":"camera_2","offset_m":[0.012536889250257335,0.013547368100597364,0.00019913872921954734]},{"name":"camera_3","offset_m":[-0.018985274463684258,-0.013066620390911457,0.018572918196629675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014253381534911282,-0.0015499905453541052,-0.0006316444500982566],"end_effector_yaw_offset_degrees":0.48698690708982073},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011686568531755306,0.00012179549209982189,0.0007003838452172696],"end_effector_yaw_offset_degrees":-0.9644007221919282},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00013968776499585236,-0.0007705230781130622,-0.0014831997530916105],"end_effector_yaw_offset_degrees":-0.212024846091601}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0003970604725779111,-0.0028103057722568513],"position_m":[0.22229706047257788,0.2645896942277432,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002740307220216882,0.00315176036315878],"position_m":[0.33925969277978313,0.11425176036315879,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035807275208670354,-0.0025093843043703747],"position_m":[0.292219272479133,-0.046409384304370374,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016135222712111985,-0.004958650576835924],"position_m":[0.2730135222712112,-0.3135586505768359,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c0d10e1f0f15c139fa3666c259fd8ffa869e974ba6e4234e0a9d6ead8f9b3797","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0019.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_730/tex_ceiling_textures_5650/tex_floor_textures_385/tex_table_textures_6503/tex_wall_textures_5172","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3146642675682849180,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3146642675682849180,"visual_seed":3146642675682849180,"scene_id":"lab_003","finished_at":"2026-09-02T04:06:20"}
+{"episode_id":"ep_000019","started_at":"2026-09-02T04:06:23","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.15213249738881973,1.7072053638599853,0.71338606911949],"aabb_xy":[[0.14056351664188318,1.6822053637430536],[0.16370147813575633,1.732205363976917]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.40449303720061325,1.519754484826239,0.71338606911949],"aabb_xy":[[0.3344930407906514,1.499316549174557],[0.474493033610575,1.5401924204779205]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.41946551425811784,-1.3239476875163834,0.71338606911949],"aabb_xy":[[0.381965513073325,-1.3283659102124437],[0.4569655154429106,-1.3195294648203226]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.5272463271075376,-0.1789133597338619,0.71338606911949],"aabb_xy":[[0.5103355946711957,-0.1923855653264764],[0.5441570595438793,-0.16544115414124735]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.5522646637876262,-0.050005127382378944,0.71338606911949],"aabb_xy":[[-0.5747783556110833,-0.12000512798338647],[-0.5297509719641689,0.019994873218628577]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.2725284216445121,-0.4125408923506382,0.71338606911949],"aabb_xy":[[-0.28770059092614547,-0.4277097492788415],[-0.2573562523628788,-0.39737203542243477]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.42204194000936207,-0.21716977063743315,0.71338606911949],"aabb_xy":[[-0.47204193958569685,-0.2671503495895391],[-0.3720419404330274,-0.16718919168532723]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.019131148408124465,1.702044105891639,0.71338606911949],"aabb_xy":[[-0.0831311503204668,1.6461329566336285],[0.044868853504217876,1.7579552551496493]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[0.6313768280724124,0.35057297888115446,0.71338606911949],"aabb_xy":[[0.6138301331562934,0.31307297731690314],[0.6489235229885313,0.38807298044540567]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.5776490428927987,1.429608551134859,0.71338606911949],"aabb_xy":[[0.52816862167884,1.3656085532220075],[0.6271294641067576,1.4936085490477111]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[0.07154154970789217,0.9081746102070496,0.71338606911949],"aabb_xy":[[0.011541549456490996,0.8538932851705849],[0.13154154995929335,0.9624559352435142]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.44981611155161333,0.6156506698879207,0.71338606911949],"aabb_xy":[[-0.5138161122550826,0.5696322874149998],[-0.385816110848144,0.6616690523608418]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.3371438281675312,-1.8568274092474306,0.71338606911949],"aabb_xy":[[0.32537564137287367,-1.9418274091526524],[0.3489120149621887,-1.7718274093422093]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.4958350058969628,-2.475430398526117,0.71338606911949],"aabb_xy":[[-0.5136285128318792,-2.4932301441219145],[-0.47804149896204634,-2.457630652930319]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.009746740460499503,-1.3711131116438549,0.71338606911949],"aabb_xy":[[-0.031024748603971752,-1.436113113969928],[0.011531267682972747,-1.3061131093177818]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.3991189032982485,-1.0567693786121035,0.71338606911949],"aabb_xy":[[0.3918365869215847,-1.146769382221612],[0.406401219674912,-0.9667693750025942]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.06179570702157744,-0.7250298285029602,0.71338606911949],"aabb_xy":[[-0.11176900102483789,-0.7750298290575074],[-0.01182241301831699,-0.6750298279484127]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.5652409747719241,-0.5885825663666151,0.71338606911949],"aabb_xy":[[-0.5877409742956313,-0.6110785138172358],[-0.5427409752482165,-0.5660866189159942]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[0.28883809645561176,0.8167169809480526,0.71338606911949],"aabb_xy":[[0.2435594815744625,0.7527169815998689],[0.334116711336761,0.8807169802962362]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.3805686021558688,-1.2500605893924488,0.71338606911949],"aabb_xy":[[-0.4178998786811115,-1.284713644187301],[-0.3432373256306262,-1.2154075345975965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672030950705388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6647.png","name":"6647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6647.png","name":"6647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8355.png","name":"8355"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8165.png","name":"8165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3209.png","name":"3209"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9393.png","name":"9393"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.7685065108808,"rotation_z_degrees":74.50149479322297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004911126948302208,0.00672516788380435,-0.002977389623836934]},{"name":"camera_2","offset_m":[-0.01847827398594602,0.004726764441873883,0.0020254096634104053]},{"name":"camera_3","offset_m":[-0.01599098113876292,-0.009296682725581951,0.006228174873861011]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007515683143066673,0.0019460655526972667,0.0009676731186995025],"end_effector_yaw_offset_degrees":0.4929003104772669},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00018221783736847765,-0.0006577040941171753,0.0017769814867490425],"end_effector_yaw_offset_degrees":0.4592720459050821},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000898096732331772,-0.0006851407510687917,-0.00035675584991376485],"end_effector_yaw_offset_degrees":-0.7244159051238261}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0033590734553893753,0.003912154925465885],"position_m":[0.2185409265446106,0.2713121549254659,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009059144804316015,0.004520088914475521],"position_m":[0.34109408551956844,0.11562008891447552,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018601055165401769,-0.004049478520214232],"position_m":[0.2976601055165402,-0.047949478520214237,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022358450184182532,0.0013209237656211844],"position_m":[0.26916415498158175,-0.3072790762343788,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fe4eae27e4dfeaade8b9674cc896944ef68157648e720fc6fd11d98ddfbb5e3a","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6647/tex_ceiling_textures_9393/tex_floor_textures_3209/tex_table_textures_8355/tex_wall_textures_8165","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7681885933745043663,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7681885933745043663,"visual_seed":7681885933745043663,"scene_id":"lab_003","finished_at":"2026-09-02T04:09:05"}
+{"episode_id":"ep_000020","started_at":"2026-09-02T04:09:09","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.47003490791094127,0.08068809350592154,0.71338606911949],"aabb_xy":[[-0.527665376798212,0.020688094579210944],[-0.41240443902367024,0.1406880924326321]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.16200773733510732,0.40400690754173496,0.71338606911949],"aabb_xy":[[-0.17000122713038937,0.3960087756012593],[-0.15401424753982532,0.4120050394822106]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.06662862271415537,-2.3185733294052007,0.71338606911949],"aabb_xy":[[0.05074412944883022,-2.332926269704025],[0.08251311597948052,-2.3042203891063764]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.10850364172110383,1.4402039745047426,0.71338606911949],"aabb_xy":[[0.04850364007818196,1.3882038252127984],[0.16850364336402568,1.4922041237966868]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.5225455204975519,0.7466354943818749,0.71338606911949],"aabb_xy":[[-0.6125455241744698,0.6852030878047703],[-0.43254551682063347,0.808067900958979]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.48500271916468485,0.5082239122820851,0.71338606911949],"aabb_xy":[[0.44750271922091844,0.4999308222472485],[0.5225027191084513,0.5165170023169217]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.33362383791526073,1.5017175565005378,0.71338606911949],"aabb_xy":[[0.29682920479035446,1.4648116814039558],[0.370418471040167,1.5386234315971203]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.4335928433308208,-1.2941378996879849,0.71338606911949],"aabb_xy":[[-0.468592842523639,-1.3051049456856474],[-0.39859284413800244,-1.283170853690322]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.18469516495043736,1.5451060763037012,0.71338606911949],"aabb_xy":[[-0.2646951635377568,1.4657904743655403],[-0.10469516636311794,1.6244216782418621]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[-0.32621631418359653,-0.3824985628667785,0.71338606911949],"aabb_xy":[[-0.34400982111851297,-0.40029830846257625],[-0.3084228072486801,-0.3646988172709809]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[0.07036764917142957,-2.4201755854213904,0.71338606911949],"aabb_xy":[[0.0003676527614677599,-2.4406135210730713],[0.1403676455813913,-2.399737649769708]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.09434525730875865,-2.5170651421375974,0.71338606911949],"aabb_xy":[[-0.12880773532184642,-2.5237288193205196],[-0.05988277929567086,-2.510401464954674]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.22446104240470655,0.6168084972482215,0.71338606911949],"aabb_xy":[[-0.2794542537418433,0.5618084969094279],[-0.16946783106756977,0.6718084975870151]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.34253176315624656,-2.065005222848874,0.71338606911949],"aabb_xy":[[0.29253176179535934,-2.114983127424289],[0.3925317645171338,-2.0150273182734577]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.46432826496978685,-2.521892219673349,0.71338606911949],"aabb_xy":[[0.4027375057457941,-2.585892217782396],[0.5259190241937797,-2.457892221564302]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.10056085122327685,-2.120534413365754,0.71338606911949],"aabb_xy":[[0.04056085071542393,-2.177381147051675],[0.16056085173112977,-2.0636876796798327]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.5254312004867443,-1.271114614314478,0.71338606911949],"aabb_xy":[[0.5075620927322887,-1.2849475222916886],[0.5433003082411997,-1.257281706337267]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.5591531693743677,-2.2650388107617827,0.71338606911949],"aabb_xy":[[0.5415203337808401,-2.2826617567774057],[0.5767860049678952,-2.2474158647461597]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.09617551922947432,0.7729441670241344,0.71338606911949],"aabb_xy":[[0.03217552194382567,0.7314374480712904],[0.16017551651512296,0.8144508859769783]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.23608285229124104,-2.372855680023843,0.71338606911949],"aabb_xy":[[-0.3060828538935205,-2.3862884732255005],[-0.1660828506889616,-2.3594228868221854]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.4689685923311783,-2.2276570010512367,0.71338606911949],"aabb_xy":[[-0.47709628052449155,-2.2365706094619444],[-0.4608409041378651,-2.218743392640529]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.1726306564159148,0.8559626120530197,0.71338606911949],"aabb_xy":[[-0.21790927129706406,0.791962612704836],[-0.12735204153476554,0.9199626114012034]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.6707816906683917,-0.18548400475772953,0.71338606911949],"aabb_xy":[[-0.6859445636453287,-0.2006494620528483],[-0.6556188176914546,-0.17031854746261077]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[0.008106008674173104,1.3116965786947015,0.71338606911949],"aabb_xy":[[-0.016407615422832755,1.2874319853926652],[0.032619632771178964,1.3359611719967381]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.5944870485615147,-1.507358553279277,0.71338606911949],"aabb_xy":[[-0.6169518185329197,-1.5298585541581375],[-0.5720222785901095,-1.4848585524004165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667503565239348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/710.png","name":"710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7057.png","name":"7057"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4204.png","name":"4204"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3140.png","name":"3140"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":601.2772700410524,"rotation_z_degrees":319.0288436328321,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009787892767171388,0.012681899183211828,0.0052676928992446]},{"name":"camera_2","offset_m":[0.005658581239213086,0.009872978980983004,0.006892585552328717]},{"name":"camera_3","offset_m":[0.017522105521749088,-0.0026619961421919316,-0.008126245760733878]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008127385127811226,-0.0010076360752583483,0.0011413566343086213],"end_effector_yaw_offset_degrees":-0.31859740637344514},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016899499008948614,6.263234522939365e-05,-0.0008038314576705203],"end_effector_yaw_offset_degrees":-0.16790434681527233},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00019950274328907986,-0.000889791409982163,-0.0011173634913173168],"end_effector_yaw_offset_degrees":-0.20292776139578694}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002411239680232607,0.00348261494841486],"position_m":[0.2243112396802326,0.27088261494841487,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034547779796142318,-0.0021684517952706528],"position_m":[0.3385452220203858,0.10893154820472935,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004575474773445296,-6.17849159371079e-05],"position_m":[0.3003754747734453,-0.04396178491593711,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026117661322668886,-5.283074109361727e-05],"position_m":[0.2687882338677331,-0.3086528307410936,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0b03c25456cfe776d66c1d272880014981c0f8f56030bee5a232fdbade104b67","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5049/tex_ceiling_textures_3140/tex_floor_textures_4204/tex_table_textures_710/tex_wall_textures_7057","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1105975479751951844,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1105975479751951844,"visual_seed":1105975479751951844,"scene_id":"lab_003","finished_at":"2026-09-02T04:11:52"}
+{"episode_id":"ep_000021","started_at":"2026-09-02T04:11:54","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[-0.528492877581104,-1.7759458970739972,0.71338606911949],"aabb_xy":[[-0.5381245138015335,-1.785583209853706],[-0.5188612413606742,-1.7663085842942883]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.5736535661655976,0.6421334584716791,0.71338606911949],"aabb_xy":[[-0.5912318683545444,0.6245589688975742],[-0.5560752639766507,0.659707948045784]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.3575610410981697,1.0050872067254457,0.71338606911949],"aabb_xy":[[-0.3950610410419361,0.9967941166906091],[-0.3200610411544033,1.0133802967602823]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.5264681511417948,0.6696762389517597,0.71338606911949],"aabb_xy":[[0.5156276729152799,0.6524899576611107],[0.5373086293683097,0.6868625202424083]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.5415077744371163,0.7934044469143688,0.71338606911949],"aabb_xy":[[-0.5502057367278317,0.7812794726068942],[-0.5328098121464011,0.8055294212218437]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.7095912062326699,-0.8220467513804621,0.71338606911949],"aabb_xy":[[0.7046919139261064,-0.8497236706830307],[0.7144904985392334,-0.7943698320778931]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[-0.5949242776991502,-1.0014534590128599,0.71338606911949],"aabb_xy":[[-0.6749242798619126,-1.0814086426390035],[-0.5149242755363876,-0.9214982753867162]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.13095480724257236,1.3065537441958361,0.71338606911949],"aabb_xy":[[0.11750828060852903,1.293083892542745],[0.1444013338766157,1.3200235958489277]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[0.00268331268223565,-2.271274679854674,0.71338606911949],"aabb_xy":[[-0.08103891281784681,-2.36127468338937],[0.08640553818231811,-2.181274676319978]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.6682057398079866,-1.4402262410924223,0.71338606911949],"aabb_xy":[[-0.6761992296032687,-1.4482243730328979],[-0.6602122500127047,-1.4322281091519466]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.5890869318505236,0.0932103804589639,0.71338606911949],"aabb_xy":[[-0.6368930994642922,0.028210377751904943],[-0.5412807642367549,0.15821038316602287]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.5705512255214313,-1.1902502814995557,0.71338606911949],"aabb_xy":[[-0.6355512234030791,-1.2413739452060968],[-0.5055512276397836,-1.139126617793015]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[-0.4259469825008477,-1.0642816596521731,0.71338606911949],"aabb_xy":[[-0.4434469817789346,-1.081619759718519],[-0.40844698322276085,-1.0469435595858272]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.06647858040051524,0.745557277382153,0.71338606911949],"aabb_xy":[[-0.07372234644676057,0.6655572791785507],[-0.059234814354269916,0.8255572755857554]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.30344544889841735,0.3813934724962871,0.71338606911949],"aabb_xy":[[-0.36844544985554456,0.3294452605625815],[-0.23844544794129016,0.43334168442999266]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.2664561503894159,-2.203613942411763,0.71338606911949],"aabb_xy":[[-0.3039561515742086,-2.208032165107823],[-0.228956149204623,-2.199195719715702]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.45095897483863,0.7155798454836511,0.71338606911949],"aabb_xy":[[0.4429649862609266,0.7075797653885606],[0.4589529634163334,0.7235799255787413]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.5972095611538929,-0.6535350922167413,0.71338606911949],"aabb_xy":[[-0.6472026732630849,-0.703535092890937],[-0.5472164490447011,-0.6035350915425457]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.4032010918864233,0.4372396184253957,0.71338606911949],"aabb_xy":[[0.32320109161281624,0.36429007059967905],[0.4832010921600302,0.5101891662511124]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.1911970842416687,-2.4429534617775204,0.71338606911949],"aabb_xy":[[-0.25619708427597143,-2.489654138457847],[-0.12619708420736594,-2.3962527850971926]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.24453702512647013,1.1668371135399478,0.71338606911949],"aabb_xy":[[0.227434947168102,1.149730308008678],[0.2616391030848383,1.1839439190712175]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.68517115946459,-0.6758452135688704,0.71338606911949],"aabb_xy":[[0.6476711610411896,-0.6890094275367008],[0.7226711578879903,-0.6626809996010395]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.15757954151245634,-0.667371267118533,0.71338606911949],"aabb_xy":[[-0.18086138371058766,-0.7523712684157611],[-0.13429769931432498,-0.5823712658213049]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.3409804952526845,-1.8876867649231512,0.71338606911949],"aabb_xy":[[0.27698049303227745,-1.9320598490484395],[0.4049804974730915,-1.843313680797863]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.40103414993349173,1.6814999864497495,0.71338606911949],"aabb_xy":[[-0.4353504271081096,1.6314999864765718],[-0.36671787275887374,1.7314999864229272]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687419021448485,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5402.png","name":"5402"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5402.png","name":"5402"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8205.png","name":"8205"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4362.png","name":"4362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2406.png","name":"2406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7404.png","name":"7404"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":757.552068441007,"rotation_z_degrees":38.53644940712401,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012358725939309794,0.008772807017206462,-0.004530051449799028]},{"name":"camera_2","offset_m":[0.013020215146699352,-0.00547054638695188,-0.002728019993970085]},{"name":"camera_3","offset_m":[-0.012202718494801736,-0.01192809573656167,0.008007142648075786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0003329415336638889,0.0012179739705002013,-0.000925583075802043],"end_effector_yaw_offset_degrees":0.3812469624743806},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013409827514604899,-0.0006090719056909739,0.0011967104756753616],"end_effector_yaw_offset_degrees":0.6565600638695159},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006280518588028365,-0.0016884583929512936,-0.001774568966469448],"end_effector_yaw_offset_degrees":-0.13139245653273157}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021531344503653146,0.003961596147112208],"position_m":[0.2240531344503653,0.27136159614711225,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008129132502504169,-0.0004186819027443235],"position_m":[0.34281291325025043,0.11068131809725568,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0027907458874732328,0.004678198819833492],"position_m":[0.29859074588747325,-0.03922180118016651,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013387527852388222,0.004906877987238018],"position_m":[0.2727387527852388,-0.30369312201276194,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8a49a2e534203a9e683bcff9e2b8755a018a2d13b99f2d2451564ee7112b385f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5402/tex_ceiling_textures_7404/tex_floor_textures_2406/tex_table_textures_8205/tex_wall_textures_4362","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3858150116390777626,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3858150116390777626,"visual_seed":3858150116390777626,"scene_id":"lab_003","finished_at":"2026-09-02T04:14:38"}
+{"episode_id":"ep_000022","started_at":"2026-09-02T04:14:41","dimensions":{"distractor":{"count":32,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.4561125770790638,-0.1081894834207513,0.71338606911949],"aabb_xy":[[-0.5361125775492797,-0.11650019103509969],[-0.3761125766088479,-0.09987877580640293]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.28089989561748485,-1.8587727485870151,0.71338606911949],"aabb_xy":[[-0.28533052497232503,-1.8642211203216976],[-0.2764692662626447,-1.8533243768523326]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.1194416248771808,1.6319120851101903,0.71338606911949],"aabb_xy":[[0.08194162470530884,1.5992113497272828],[0.15694162504905274,1.6646128204930972]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.19577057029006278,0.9397210623273389,0.71338606911949],"aabb_xy":[[-0.27577056887738216,0.8604054603891779],[-0.11577057170274334,1.0190366642654995]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.3184803462796457,1.1360086747887062,0.71338606911949],"aabb_xy":[[0.31314783162503274,1.1306843465434706],[0.3238128609342587,1.1413330030339417]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.3013250866738372,-2.1764482029115255,0.71338606911949],"aabb_xy":[[0.25135179267057667,-2.2264482034660724],[0.35129838067709757,-2.1264482023569777]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.03137911894795831,0.7149281899909292,0.71338606911949],"aabb_xy":[[-0.09637912158575179,0.6634485912914823],[0.03362088368983518,0.7664077886903762]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.1862331016183153,0.26607130569705983,0.71338606911949],"aabb_xy":[[-0.20333517957668346,0.24896450016579008],[-0.16913102365994714,0.2831781112283296]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.20381318504141488,-2.3623576300073483,0.71338606911949],"aabb_xy":[[0.13881318715976707,-2.4134812937138896],[0.26881318292306267,-2.311233966300808]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.532506678688517,0.19248333217239066,0.71338606911949],"aabb_xy":[[-0.5824840955537706,0.14248333068314212],[-0.48252926182326344,0.2424833336616392]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.5938963251546693,0.8308933350999319,0.71338606911949],"aabb_xy":[[-0.6011786415313327,0.7408933314904227],[-0.5866140087780054,0.9208933387094407]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.10388299189236139,-2.2772723357932314,0.71338606911949],"aabb_xy":[[-0.1102968055355463,-2.2836821560409],[-0.09746917824917642,-2.270862515545563]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.4972466788422878,-0.8067658919263023,0.71338606911949],"aabb_xy":[[-0.5310222380329808,-0.8208043871394672],[-0.4634711196515948,-0.7927273967131372]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.5797284513411118,-0.5181705035634483,0.71338606911949],"aabb_xy":[[0.5197284508332589,-0.5750172372493695],[0.6397284518489648,-0.46132376987752693]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.37432533228937803,0.3097140909149769,0.71338606911949],"aabb_xy":[[-0.38231932086708137,0.3017140108198866],[-0.3663313437116746,0.31771417101006727]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.06528985533258425,1.5905493570453468,0.71338606911949],"aabb_xy":[[-0.1490120808326667,1.5005493535106509],[0.018432370167498213,1.6805493605800428]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.6042432419471686,-1.776609587314415,0.71338606911949],"aabb_xy":[[0.5796970263244178,-1.8068584838634518],[0.6287894575699192,-1.7463606907653777]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.5199603000504596,0.737137213716347,0.71338606911949],"aabb_xy":[[0.5080275656886314,0.7247550609084876],[0.5318930344122875,0.7495193665242064]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.3540829236027119,0.9162061822809471,0.71338606911949],"aabb_xy":[[0.3365829233576625,0.8987063944413801],[0.37158292384776126,0.9337059701205138]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.459420663074508,-1.0509758442841635,0.71338606911949],"aabb_xy":[[-0.4769206622088752,-1.060855471321751],[-0.44192066394014085,-1.0410962172465754]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.6163754966666521,1.3696104124095134,0.71338606911949],"aabb_xy":[[0.5813754975366965,1.3638651913338493],[0.6513754957966078,1.3753556334851775]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.5477323840221892,1.088759720245982,0.71338606911949],"aabb_xy":[[-0.6117323859345316,1.0328485709879718],[-0.4837323821098469,1.1446708695039927]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.47807201034097324,-0.6512282697262191,0.71338606911949],"aabb_xy":[[-0.5280720113601085,-0.687694485464047],[-0.42807200932183803,-0.6147620539883911]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.27202751147815896,-0.6424866221181524,0.71338606911949],"aabb_xy":[[-0.3360275128861496,-0.694275573642077],[-0.20802751007016831,-0.5906976705942276]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[0.5254455727899012,-0.17631426648956738,0.71338606911949],"aabb_xy":[[0.4404455740978266,-0.2083001298844462],[0.6104455714819759,-0.1443284030946885]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.3269525711179734,-0.4443256137760656,0.71338606911949],"aabb_xy":[[-0.37676935058280814,-0.494325612260369],[-0.2771357916531386,-0.39432561529176224]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.17568261119051187,1.1994782420892252,0.71338606911949],"aabb_xy":[[0.15316891936705465,1.1294782414882174],[0.19819630301396904,1.2694782426902325]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[0.08246830282021234,-1.8346256771007914,0.71338606911949],"aabb_xy":[[0.018468305534563675,-1.8761323960536354],[0.14646830010586098,-1.7931189581479474]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[0.6256943951067169,0.9238825179581132,0.71338606911949],"aabb_xy":[[0.5616943947291831,0.8741372511073009],[0.6896943954842504,0.9736277848089254]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.3243835986895025,-1.0212354721747903,0.71338606911949],"aabb_xy":[[0.3083216712309848,-1.1062354739873819],[0.3404455261480201,-0.9362354703621983]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_30","position":[-0.1189952203954725,-0.8678516068364253,0.71338606911949],"aabb_xy":[[-0.1281550993393491,-0.8743828248799623],[-0.1098353414515959,-0.8613203887928882]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_31","position":[-0.1252428140452977,-0.6742638293153811,0.71338606911949],"aabb_xy":[[-0.13082448567942645,-0.6867638291331565],[-0.11966114241116894,-0.6617638294976055]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723720476647533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8797.png","name":"8797"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8797.png","name":"8797"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7927.png","name":"7927"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1706.png","name":"1706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9723.png","name":"9723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9179.png","name":"9179"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":765.6831440839283,"rotation_z_degrees":222.44981868547583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0039370492013229355,0.008743288386728342,0.019228263397562565]},{"name":"camera_2","offset_m":[0.016902027726811934,-0.013871910217908425,-0.004156229493963059]},{"name":"camera_3","offset_m":[-0.007355022004115664,0.017432320585935957,-0.011385764616851377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.423075688326109e-05,-0.0012302458966385625,-0.0009266208644601965],"end_effector_yaw_offset_degrees":-0.05709569675003734},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012917638037895566,-0.0004248977927493187,-0.0019645214132892525],"end_effector_yaw_offset_degrees":-0.016206919029837286},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00011061826004897914,-0.00013494293972644172,-0.0007839548507393701],"end_effector_yaw_offset_degrees":0.44165776036679727}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018369511449353925,-0.0036111501133926785],"position_m":[0.22006304885506459,0.26378884988660734,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033363535574377776,0.0020095076482547084],"position_m":[0.3453363535574378,0.11310950764825471,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0005076857099219059,0.0003263734675903497],"position_m":[0.29529231429007813,-0.04357362653240965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00428001841003878,0.0026842692273897073],"position_m":[0.27568001841003875,-0.30591573077261025,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93a4e8fd427d3557ccbea6b14b2bd04b712ca5da09861a2fe7f3e2991b572816","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8797/tex_ceiling_textures_9179/tex_floor_textures_9723/tex_table_textures_7927/tex_wall_textures_1706","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3557618061773267489,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3557618061773267489,"visual_seed":3557618061773267489,"scene_id":"lab_003","finished_at":"2026-09-02T04:17:15"}
+{"episode_id":"ep_000023","started_at":"2026-09-02T04:17:18","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.3286785182688545,-0.6118327213227592,0.71338606911949],"aabb_xy":[[0.2864941041080238,-0.6758327215999704],[0.37086293242968527,-0.547832721045548]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.07768191852792661,0.7303817558308348,0.71338606911949],"aabb_xy":[[-0.14268191708499944,0.7006292224169521],[-0.012681919970853786,0.7601342892447174]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.10738067934044437,0.8743709882927457,0.71338606911949],"aabb_xy":[[-0.1115165356731446,0.8368709888483887],[-0.10324482300774421,0.9118709877371027]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.28514087190004733,0.8961263755791999,0.71338606911949],"aabb_xy":[[0.2051408748857993,0.8759918239057886],[0.36514086891429526,0.9162609272526111]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[0.04529649958217297,1.5578751741849177,0.71338606911949],"aabb_xy":[[0.007796499638406569,1.5495820841500811],[0.08279649952593937,1.5661682642197543]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.3145330564146349,-0.42313696411166957,0.71338606911949],"aabb_xy":[[-0.34237809319524204,-0.45392146284998125],[-0.2866880196340278,-0.3923524653733579]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.19604532813723735,-1.080675737434742,0.71338606911949],"aabb_xy":[[-0.20094462044380082,-1.1083526567373108],[-0.19114603583067383,-1.0529988181321732]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.5128029212582174,-0.5803338682920698,0.71338606911949],"aabb_xy":[[-0.5928029234209797,-0.6602890519182134],[-0.43280291909545476,-0.5003786846659262]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.26128807632978157,0.7758435977070142,0.71338606911949],"aabb_xy":[[0.22378807603760675,0.7718021223064105],[0.2987880766219564,0.7798850731076178]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.5849548770103299,-1.2749843138866286,0.71338606911949],"aabb_xy":[[-0.600117749987267,-1.2901497711817476],[-0.5697920040333928,-1.25981885659151]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[0.17438440599793492,-1.6146491343819105,0.71338606911949],"aabb_xy":[[0.11438440513712207,-1.6660755643883967],[0.23438440685874767,-1.5632227043754239]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.18337673485720785,1.2854958990653618,0.71338606911949],"aabb_xy":[[0.11937673280747585,1.2454014159760538],[0.24737673690693984,1.3255903821546697]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[0.5383516319640487,-0.3956617433520089,0.71338606911949],"aabb_xy":[[0.47435163126057944,-0.44168012582492994],[0.6023516326675181,-0.34964336087908787]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.20833815430980884,1.6967259805444281,0.71338606911949],"aabb_xy":[[-0.23161999650794018,1.6117259792472],[-0.1850563121116775,1.7817259818416562]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.47305293911926327,1.5287019801436261,0.71338606911949],"aabb_xy":[[0.4230755222540096,1.4787019786543774],[0.5230303559845166,1.5787019816328745]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.1431539103918279,-2.4190902474000597,0.71338606911949],"aabb_xy":[[0.0960245313899922,-2.4830902484444612],[0.19028328939366354,-2.3550902463556573]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.00904168390602822,-1.0534788849926848,0.71338606911949],"aabb_xy":[[-0.022272629440709513,-1.066706304014684],[0.0041892616286530755,-1.0402514659706852]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.48151799040110177,0.517122214229996,0.71338606911949],"aabb_xy":[[-0.5040179906446172,0.5049175795702241],[-0.45901799015758643,0.529326848889768]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.11775154166878232,-2.2736661860221643,0.71338606911949],"aabb_xy":[[-0.1587694850551532,-2.3236661866531216],[-0.07673359828241144,-2.223666185391207]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.23683015505465105,0.978843800853836,0.71338606911949],"aabb_xy":[[-0.26041527851854585,0.9138437986084043],[-0.21324503159075617,1.0438438030992678]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.10526626837774822,-1.8157371207545336,0.71338606911949],"aabb_xy":[[0.0677662671929554,-1.820155343450594],[0.142766269562541,-1.811318898058473]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.6446853687868546,-1.5755654229902443,0.71338606911949],"aabb_xy":[[0.5806853696170846,-1.6223321101092065],[0.7086853679566245,-1.5287987358712816]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[-0.5446747014444787,-2.356668149582749,0.71338606911949],"aabb_xy":[[-0.6096747014787814,-2.4033688262630757],[-0.479674701410176,-2.309967472902421]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.31840369184437645,-0.7721583100790224,0.71338606911949],"aabb_xy":[[0.31428774173230367,-0.7762738651118678],[0.322519641956449,-0.7680427550461767]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[-0.664342725562471,-0.47371489569081904,0.71338606911949],"aabb_xy":[[-0.6906315498829114,-0.49998632934547027],[-0.6380539012420301,-0.4474434620361678]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[0.02265681439871481,-2.4411792181654834,0.71338606911949],"aabb_xy":[[0.010784731387213697,-2.526179217859134],[0.03452889741021592,-2.356179218471833]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[0.18963804013989938,1.0376395531726903,0.71338606911949],"aabb_xy":[[0.17453573867888122,1.0225380315416281],[0.20474034160091742,1.052741074803752]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[-0.3485648729696009,0.5070894233727357,0.71338606911949],"aabb_xy":[[-0.36444936623492613,0.4927364830739116],[-0.33268037970427583,0.5214423636715597]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.03379735730222633,-0.6572830104881582,0.71338606911949],"aabb_xy":[[-0.0032367521258333948,-0.6916602178218675],[0.07083146673028604,-0.6229058031544487]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[-0.5265439883307035,-0.3427439872976201,0.71338606911949],"aabb_xy":[[-0.5640439898463351,-0.3539707603137652],[-0.48904398681507166,-0.33151721428147507]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.0826594299820328,0.3274498160716428,0.71338606911949],"aabb_xy":[[-0.09144065712926902,0.31867006878311277],[-0.07387820283479657,0.33622956336017307]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[0.6812929438717361,1.0666881000154746,0.71338606911949],"aabb_xy":[[0.6712112367931625,0.9866881021233598],[0.6913746509503095,1.146688097907589]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_32","position":[-0.2927901392055697,0.6646462681580338,0.71338606911949],"aabb_xy":[[-0.29920395284875456,0.6582364479103654],[-0.2863763255623847,0.6710560884057021]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_33","position":[-0.0668837214788659,-2.485082221696364,0.71338606911949],"aabb_xy":[[-0.10421499800410852,-2.519735276491217],[-0.029552444953623275,-2.4504291669015124]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_34","position":[-0.6631645540106758,-1.2074713079033241,0.71338606911949],"aabb_xy":[[-0.6822768613686546,-1.226606086780566],[-0.6440522466526969,-1.188336529026082]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6724605512790238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3047.png","name":"3047"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3047.png","name":"3047"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/896.png","name":"896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2655.png","name":"2655"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4136.png","name":"4136"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":639.7285259269921,"rotation_z_degrees":15.339652786046148,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01964477724069259,-0.01491667117928306,0.01573318593827362]},{"name":"camera_2","offset_m":[-0.0039071483513219325,0.01827850196459165,-0.005240240508581486]},{"name":"camera_3","offset_m":[-0.010763625261433667,-0.0017678764164531825,0.019671511099844895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014194466056436656,-0.001547120257106117,0.0012790905731638038],"end_effector_yaw_offset_degrees":0.8016303351902965},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008760615039502197,0.0007782938338045621,-0.0011655359493724289],"end_effector_yaw_offset_degrees":-0.78975539428628},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000893054712137702,0.0013168434325631687,-4.859488002727599e-05],"end_effector_yaw_offset_degrees":-0.7940896485316664}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026240495033834346,0.004853154526554688],"position_m":[0.21927595049661655,0.27225315452655474,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004231867843443078,-0.0030272563431440382],"position_m":[0.33776813215655693,0.10807274365685597,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015884031645533882,0.004744065642213685],"position_m":[0.2942115968354466,-0.03915593435778632,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038211891481190518,0.0015940191232807323],"position_m":[0.27522118914811905,-0.30700598087671926,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"23485815f5a321f3fc47bd1d862a28f75a62616d4fe6ac4ccc74d4e4d0ca126a","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3047/tex_ceiling_textures_4136/tex_floor_textures_1592/tex_table_textures_896/tex_wall_textures_2655","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1631577244844180687,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1631577244844180687,"visual_seed":1631577244844180687,"scene_id":"lab_003","finished_at":"2026-09-02T04:20:01"}
+{"episode_id":"ep_000024","started_at":"2026-09-02T04:20:05","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.06328687231136765,-0.8554445634441405,0.71338606911949],"aabb_xy":[[-0.1132868735952076,-0.9054234178347625],[-0.013286871027527678,-0.8054657090535183]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.2117287040049266,-0.24431383502008108,0.71338606911949],"aabb_xy":[[-0.21776571700559136,-0.2503405360890293],[-0.2056916910042619,-0.2382871339511329]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.39737187337569324,-1.2348374077980393,0.71338606911949],"aabb_xy":[[-0.46137186977126626,-1.2988006962167729],[-0.3333718769801201,-1.1708741193793057]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.0787575426736068,-1.25438437870486,0.71338606911949],"aabb_xy":[[-0.11375754265010263,-1.2638489947524767],[-0.04375754269711096,-1.2449197626572435]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.5335148121925906,1.5077893025001923,0.71338606911949],"aabb_xy":[[0.46951481181505694,1.45804403564938],[0.5975148125701242,1.5575345693510045]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[-0.5352755364422145,-0.6578118778761743,0.71338606911949],"aabb_xy":[[-0.5727755366140863,-0.6905126132590814],[-0.49777553627034243,-0.625111142493267]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.6426107670590624,-0.2346559027458257,0.71338606911949],"aabb_xy":[[0.6320432874009633,-0.24520093285883426],[0.6531782467171613,-0.22411087263281715]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.28373403438283573,-2.504276927512372,0.71338606911949],"aabb_xy":[[0.2197340336793664,-2.5502953099852936],[0.34773403508630507,-2.4582585450394516]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.5938778099618127,0.6395544683388708,0.71338606911949],"aabb_xy":[[-0.6538778116047346,0.5875543190469267],[-0.5338778083188909,0.691554617630815]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.5927312676747136,-0.8254012298976638,0.71338606911949],"aabb_xy":[[-0.6827312670930845,-0.8587767267418536],[-0.5027312682563427,-0.7920257330534741]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.4821133717367483,-1.4738927849851033,0.71338606911949],"aabb_xy":[[0.40211336847273516,-1.4874528172940167],[0.5621133750007614,-1.46033275267619]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.22865082570045625,-1.529091411742054,0.71338606911949],"aabb_xy":[[0.15865082389171078,-1.5504451805062411],[0.2986508275092017,-1.5077376429778664]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.5144206779993838,-1.7704589362169145,0.71338606911949],"aabb_xy":[[0.50713836162272,-1.860458939826423],[0.5217029943760473,-1.680458932607405]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.3410935937829678,0.5656209982023195,0.71338606911949],"aabb_xy":[[0.32330008684805134,0.5478212526065218],[0.3588871007178842,0.5834207437981171]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.5343306618358852,-0.9897422765085471,0.71338606911949],"aabb_xy":[[-0.571830661941478,-0.9965644383615282],[-0.49683066173029217,-0.982920114655566]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.505129032366959,-0.8179467557710716,0.71338606911949],"aabb_xy":[[0.4764797000065427,-0.8465923150481472],[0.5337783647273752,-0.7893011964939957]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[-0.11617980928141658,-2.3795429547000384,0.71338606911949],"aabb_xy":[[-0.12547342751856716,-2.4170429531881723],[-0.106886191044266,-2.3420429562119045]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.21503207623328713,1.1298758278678491,0.71338606911949],"aabb_xy":[[0.192567306261882,1.1073758269889886],[0.23749684620469225,1.1523758287467096]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.18899216275356534,-1.0238064475185937,0.71338606911949],"aabb_xy":[[-0.2689921597166045,-1.100882089162367],[-0.10899216579052615,-0.9467308058748201]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.19861632994341438,1.2702618881945376,0.71338606911949],"aabb_xy":[[-0.24361633140964328,1.2252620313330571],[-0.15361632847718557,1.3152617450560184]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.6142924573188393,0.13458847617092307,0.71338606911949],"aabb_xy":[[0.5664862897050705,0.06958847346386411],[0.6620986249326078,0.199588478877982]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.6489672093351788,-0.8542822645388413,0.71338606911949],"aabb_xy":[[0.6419268994016418,-0.9342822639385129],[0.6560075192687158,-0.7742822651391701]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.6051634341185448,-1.7251016808817448,0.71338606911949],"aabb_xy":[[-0.6426634339355783,-1.7297398921928866],[-0.5676634343015112,-1.720463469570603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695677419024065,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7081.png","name":"7081"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7081.png","name":"7081"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1548.png","name":"1548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6860.png","name":"6860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8641.png","name":"8641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":610.8566751992958,"rotation_z_degrees":99.4306823804837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01398376093669439,0.00022919115460571376,0.015033095496883368]},{"name":"camera_2","offset_m":[-0.015837363621258024,-0.013462666741449239,0.015103449732413562]},{"name":"camera_3","offset_m":[0.00984367572916986,0.007751515781425064,0.019279688434810042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007903627609117593,-0.0005735170469532128,-0.0010888590575732272],"end_effector_yaw_offset_degrees":-0.7161479627091831},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003351536445248824,-0.0007083624201887392,-0.0019274704529848568],"end_effector_yaw_offset_degrees":0.5431300614660657},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003745309440677481,0.0016537083297792667,-0.0017383780190826244],"end_effector_yaw_offset_degrees":0.1969410231297004}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004276330862296341,0.0036970877359055214],"position_m":[0.22617633086229633,0.2710970877359056,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022808851700232436,-0.0022551825242734446],"position_m":[0.3397191148299768,0.10884481747572657,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0010109713612333707,0.002128224591442387],"position_m":[0.29681097136123336,-0.041771775408557615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00010553798067739276,0.0002923456296006297],"position_m":[0.27129446201932256,-0.30830765437039936,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9995c3ba45d717a2959b7e15ed0f74d39367ed75bdf7a2d912bcd988252271a1","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7081/tex_ceiling_textures_1091/tex_floor_textures_8641/tex_table_textures_1548/tex_wall_textures_6860","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5354145176307303310,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5354145176307303310,"visual_seed":5354145176307303310,"scene_id":"lab_003","finished_at":"2026-09-02T04:22:56"}
+{"episode_id":"ep_000025","started_at":"2026-09-02T04:22:58","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[0.1842643800605458,-1.1514366766616053,0.71338606911949],"aabb_xy":[[0.13426438062035015,-1.2014046011459214],[0.2342643795007414,-1.1014687521772888]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.6506260615131239,1.271941228122643,0.71338606911949],"aabb_xy":[[0.6336159642230731,1.255806739624369],[0.6676361588031744,1.288075716620917]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.5531232178767064,-2.378667873045661,0.71338606911949],"aabb_xy":[[-0.5941411612630773,-2.4286678736766185],[-0.5121052744903355,-2.328667872414704]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.5093002400210503,-0.8310685685449288,0.71338606911949],"aabb_xy":[[-0.5251847332863754,-0.845421508843753],[-0.4934157467557251,-0.8167156282461049]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.6505726226812976,0.5836767339676587,0.71338606911949],"aabb_xy":[[0.63293978708777,0.5660537879520356],[0.6682054582748251,0.6012996799832816]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.6474932454912397,-2.488856494044866,0.71338606911949],"aabb_xy":[[0.583493248379134,-2.5378888638392767],[0.7114932426033453,-2.4398241242504555]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.23657824415394846,-1.8874118914433065,0.71338606911949],"aabb_xy":[[0.2066106872441228,-1.9174118917411924],[0.2665458010637741,-1.857411891145421]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.18325955744590328,-2.0393659340109522,0.71338606911949],"aabb_xy":[[-0.1961314609468434,-2.1193659344247884],[-0.1703876539449631,-1.9593659335971163]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.3177689665534422,0.35751855439332925,0.71338606911949],"aabb_xy":[[0.3097749779757388,0.34951847429823885],[0.32576295513114556,0.36551863448841954]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.18052054350945368,0.6587880079885395,0.71338606911949],"aabb_xy":[[-0.23049796037470724,0.6087880064992909],[-0.13054312664420006,0.708788009477788]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.5338040038127438,-2.561650402191901,0.71338606911949],"aabb_xy":[[0.5256903491393667,-2.5697562186459293],[0.541917658486121,-2.5535445857378716]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.0890154199133687,-1.6533106601230476,0.71338606911949],"aabb_xy":[[0.019015423503406886,-1.6737485957747293],[0.15901541632333044,-1.6328727244713659]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.40484274442880586,0.9182916342141549,0.71338606911949],"aabb_xy":[[0.3765130344802657,0.9138308920204379],[0.43317245437734614,0.922752376407872]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.18202536160445515,-1.0898463055741847,0.71338606911949],"aabb_xy":[[-0.21632227262219572,-1.1241431917841258],[-0.14772845058671447,-1.0555494193642432]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.47782024039735327,0.4879433366682875,0.71338606911949],"aabb_xy":[[0.4403202405803197,0.4833051253571456],[0.5153202402143868,0.49258154797942927]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.27603182830817113,0.11306944324380419,0.71338606911949],"aabb_xy":[[-0.29382533524308757,0.09526969764800654],[-0.2582383213732547,0.13086918883960186]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.1289145457325861,1.067888995523175,0.71338606911949],"aabb_xy":[[-0.1939145468385294,1.0429236224550467],[-0.06391454462664284,1.0928543685913032]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.2076726849455683,-1.6027932397637799,0.71338606911949],"aabb_xy":[[-0.23396150926600892,-1.6290646734184309],[-0.1813838606251276,-1.5765218061091284]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.24799532342721853,1.023440301115004,0.71338606911949],"aabb_xy":[[0.23995196350126335,0.9384403000196373],[0.2560386833531737,1.1084403022103702]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.42663913782317453,-1.0298250345856124,0.71338606911949],"aabb_xy":[[-0.4766391364690957,-1.0797445782450747],[-0.37663913917725333,-0.97990549092615]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[-0.19370520828095517,-0.3365923496819132,0.71338606911949],"aabb_xy":[[-0.2637052116725171,-0.37190812338534407],[-0.12370520488939317,-0.30127657597848234]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[0.4588175041803346,1.6248924435225827,0.71338606911949],"aabb_xy":[[0.42533833691929374,1.5914133301514757],[0.4922966714413756,1.6583715568936896]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[0.6315925653268708,0.7215981354718735,0.71338606911949],"aabb_xy":[[0.567592562108233,0.6748750235728651],[0.6955925685455087,0.7683212473708818]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.6117911535513342,1.7360479411686902,0.71338606911949],"aabb_xy":[[-0.6194943442254112,1.728338570469952],[-0.604087962877257,1.7437573118674283]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.4063987525888628,-1.3319833031677886,0.71338606911949],"aabb_xy":[[0.3888987523295263,-1.3460748453565612],[0.42389875284819956,-1.317891760979016]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.07243349946594324,1.3574538508412246,0.71338606911949],"aabb_xy":[[-0.13642919686103983,1.293453852540516],[-0.008437802070846642,1.4214538491419333]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.4696631048735862,-1.502598798238318,0.71338606911949],"aabb_xy":[[-0.5596631034680563,-1.5188493845517388],[-0.37966310627911637,-1.4863482119248967]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670515762599245,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1162.png","name":"1162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/52.png","name":"52"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7160.png","name":"7160"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5351.png","name":"5351"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":512.7339243255749,"rotation_z_degrees":228.3612035657634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002013317869633425,0.007885659044644614,-0.013135495282494084]},{"name":"camera_2","offset_m":[0.0076652900238694185,-0.010075155989815161,0.01840795963550489]},{"name":"camera_3","offset_m":[0.01541520186321783,0.009681927576107835,0.019266699290824727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011382836127638344,0.0007597024957474129,0.0003354764726166636],"end_effector_yaw_offset_degrees":0.4391981316106728},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001691064812819914,0.0006687878652574075,-0.0003986030182401175],"end_effector_yaw_offset_degrees":-0.7804175422710624},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012809297087331786,-0.0011189501852578942,-0.0006355326044713392],"end_effector_yaw_offset_degrees":-0.17157325058652195}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0002184942012733223,0.0007624603133299709],"position_m":[0.2221184942012733,0.26816246031333,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023100512247655647,-0.002507610631515391],"position_m":[0.33968994877523445,0.10859238936848462,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007328049753689567,0.00270473692089697],"position_m":[0.295067195024631,-0.04119526307910303,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001747579274811071,-0.004885539088978589],"position_m":[0.2696524207251889,-0.3134855390889786,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b06d1c372ba9e09241083e9038df790fe561aedf4c42c5c3beb66ae41e88b31a","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1162/tex_ceiling_textures_4370/tex_floor_textures_5351/tex_table_textures_52/tex_wall_textures_7160","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6218641694517836503,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6218641694517836503,"visual_seed":6218641694517836503,"scene_id":"lab_003","finished_at":"2026-09-02T04:25:41"}
+{"episode_id":"ep_000026","started_at":"2026-09-02T04:25:44","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.6470414274775966,-0.0018233773890869998,0.71338606911949],"aabb_xy":[[0.624541426965556,-0.024315235754485354],[0.6695414279896372,0.020668480976311354]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.33205523065922793,1.7222177456575882,0.71338606911949],"aabb_xy":[[0.2680552333735793,1.6807110267047443],[0.3960552279448766,1.7637244646104322]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[-0.06675306653475599,-2.56314878053573,0.71338606911949],"aabb_xy":[[-0.13675306294471773,-2.5835867161874106],[0.0032469298752058197,-2.542710844884047]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.6318882410953361,-0.501560700480014,0.71338606911949],"aabb_xy":[[-0.6693882418873315,-0.5079285414382041],[-0.5943882403033406,-0.4951928595218239]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.40132680041050545,1.3497387677741854,0.71338606911949],"aabb_xy":[[-0.4054427505225781,1.3456232127413397],[-0.3972108502984328,1.3538543228070308]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[-0.34221153966345275,0.36125074947916147,0.71338606911949],"aabb_xy":[[-0.35184317588388236,0.35161343669945255],[-0.33257990344302313,0.3708880622588704]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.512280892334773,-0.5715139044640756,0.71338606911949],"aabb_xy":[[0.4482808909267823,-0.6233028559880002],[0.5762808937427636,-0.5197249529401508]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.5612860543079374,0.8787163048028988,0.71338606911949],"aabb_xy":[[0.5239547777826948,0.8440632500080465],[0.59861733083318,0.913369359597751]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.5343087805786804,0.5241306080607542,0.71338606911949],"aabb_xy":[[0.48430878113848475,0.47416268357643776],[0.584308780018876,0.5740985325450704]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.4408199944158624,-1.826594198346521,0.71338606911949],"aabb_xy":[[0.3558199959984391,-1.911468493808806],[0.5258199928332856,-1.741719902884236]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.32796795617920527,-0.8444870186823825,0.71338606911949],"aabb_xy":[[-0.33239858553404544,-0.8499353904170653],[-0.3235373268243651,-0.8390386469477001]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.2890918077851111,-0.843013760623021,0.71338606911949],"aabb_xy":[[0.22909180614218927,-0.8950139099149652],[0.349091809428033,-0.7910136113310768]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.19142064133732373,-1.3691148716735375,0.71338606911949],"aabb_xy":[[-0.19870295771398735,-1.459114875283046],[-0.18413832496066004,-1.279114868064028]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.07534344413814731,-1.9864311122105462,0.71338606911949],"aabb_xy":[[-0.0905063171150844,-2.001596569505665],[-0.06018057116121024,-1.9712656549154275]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.07602147725736075,0.48813423720056814,0.71338606911949],"aabb_xy":[[-0.08328272482776816,0.47534722693705866],[-0.06876022968695333,0.5009212474640776]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.22634612715745372,0.4100785932953497,0.71338606911949],"aabb_xy":[[-0.24068055228361715,0.3980183777408108],[-0.21201170203129024,0.42213880884988847]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.034008512038222305,1.256364889744177,0.71338606911949],"aabb_xy":[[0.02579396692253832,1.2476882994465353],[0.04222305715390628,1.265041480041818]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.3054426394023133,0.27250153563380763,0.71338606911949],"aabb_xy":[[-0.31867358493699455,0.2592741166118081],[-0.29221169386763196,0.28572895465580694]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[-0.6462974302968337,1.4932482045296767,0.71338606911949],"aabb_xy":[[-0.6502113034922562,1.48449918912312],[-0.642383557101411,1.5019972199362337]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.1823427996870316,0.5273941781475981,0.71338606911949],"aabb_xy":[[-0.22842789094176308,0.4633941808950431],[-0.13625770843230012,0.5913941754001533]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.3079480822788376,1.3101537847647236,0.71338606911949],"aabb_xy":[[-0.33791563918866324,1.2801537844668378],[-0.2779805253690119,1.3401537850626093]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.021534479778439253,-2.3821778216275913,0.71338606911949],"aabb_xy":[[-0.10152830335699747,-2.462177824220433],[0.05845934380011897,-2.3021778190347497]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[0.10665633506607763,-2.137508225664045,0.71338606911949],"aabb_xy":[[0.04665633521951083,-2.194326847857084],[0.16665633491264442,-2.0806896034710065]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.09387317322286148,-0.38206097571985165,0.71338606911949],"aabb_xy":[[-0.15787317490085884,-0.4305783671991658],[-0.029873171544864116,-0.33354358424053737]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.013770333433535176,1.4868939295862211,0.71338606911949],"aabb_xy":[[-0.06157650104730382,1.421893926879162],[0.034035834180233475,1.5518939322932797]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[-0.30733418206316065,1.0876371959769577,0.71338606911949],"aabb_xy":[[-0.3407743572591802,1.0541935701460272],[-0.273894006867141,1.1210808218078874]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[-0.3163806707876038,1.454180890200361,0.71338606911949],"aabb_xy":[[-0.36638066943352504,1.4042613465408986],[-0.26638067214168265,1.5041004338598234]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.15083906529710822,-2.0972479016168126,0.71338606911949],"aabb_xy":[[-0.2308390624566835,-2.1087955025746297],[-0.07083906813753293,-2.0857003006589956]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[0.6553397548165276,-2.2735901922910764,0.71338606911949],"aabb_xy":[[0.6473457662388241,-2.281590272386166],[0.6633337433942309,-2.265590112195986]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[-0.6126826754311989,1.7361460686529955,0.71338606911949],"aabb_xy":[[-0.6355983883162488,1.7132417715165724],[-0.589766962546149,1.7590503657894194]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_30","position":[0.2749749498355346,1.5146053736712033,0.71338606911949],"aabb_xy":[[0.2560905660670244,1.4957194488908505],[0.2938593336040448,1.533491298451556]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[0.5638504736130174,-0.8034278308978275,0.71338606911949],"aabb_xy":[[0.5456446499517698,-0.8144532314798193],[0.5820562972742651,-0.792402430315836]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_32","position":[-0.03415404070260508,-0.564500742191842,0.71338606911949],"aabb_xy":[[-0.045059816790167795,-0.6445007385906711],[-0.02324826461504237,-0.48450074579301283]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6752460295370201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8663.png","name":"8663"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8663.png","name":"8663"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/303.png","name":"303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3613.png","name":"3613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7525.png","name":"7525"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6644.png","name":"6644"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":632.9116136242728,"rotation_z_degrees":96.47051772899538,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010973688191655593,0.0056725725980169665,0.017403962452558475]},{"name":"camera_2","offset_m":[-0.019200851102921294,-0.010413370385672756,-0.009270401903318102]},{"name":"camera_3","offset_m":[-0.0023188683496777017,-0.016083550540564692,-0.019693062553166888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009372763730621909,0.0015983048763136428,0.00038020196366983896],"end_effector_yaw_offset_degrees":-0.02389949499738786},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00037605720448336205,0.0014113102646930238,-0.0015956105874093875],"end_effector_yaw_offset_degrees":-0.9909959068284644},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012003604847703143,0.0006432372021482826,0.0013257353309547725],"end_effector_yaw_offset_degrees":0.09446045954741411}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006899164177749861,0.003407942285948308],"position_m":[0.22258991641777498,0.27080794228594834,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000734594385610402,-0.0035383080010149073],"position_m":[0.34273459438561044,0.1075616919989851,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002220771185898707,-0.004287266387848738],"position_m":[0.2935792288141013,-0.04818726638784874,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004664598846626123,-0.002842930799977853],"position_m":[0.2760645988466261,-0.3114429307999778,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"b82d4ad1db21ad7c81b583edc4625e8789a38f9f3fead1955baf1d821c45ebff","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8663/tex_ceiling_textures_6644/tex_floor_textures_7525/tex_table_textures_303/tex_wall_textures_3613","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6969124946607507916,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6969124946607507916,"visual_seed":6969124946607507916,"scene_id":"lab_003","finished_at":"2026-09-02T04:28:32"}
+{"episode_id":"ep_000027","started_at":"2026-09-02T04:28:35","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[-0.2708989679920414,-2.229918588016932,0.71338606911949],"aabb_xy":[[-0.3208832037002186,-2.2799185868304277],[-0.22091473228386416,-2.1799185892034365]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.0004444747580187869,1.7811110701577504,0.71338606911949],"aabb_xy":[[-0.002996201482038386,1.777249637183386],[0.00388515099807596,1.7849725031321149]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.4069037002789685,-0.7091668591289926,0.71338606911949],"aabb_xy":[[-0.44440370022273495,-0.717459949163829],[-0.36940370033520215,-0.7008737690941559]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.45040616191783844,0.018144562959796495,0.71338606911949],"aabb_xy":[[-0.45681997556102333,0.011734742712128156],[-0.44399234827465345,0.024554383207464836]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.11877875945786776,0.6551257684212244,0.71338606911949],"aabb_xy":[[0.0547787562392299,0.608402656522216],[0.1827787626765056,0.7018488803202327]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.29261404954389625,-2.372159181049527,0.71338606911949],"aabb_xy":[[0.27350174218591733,-2.391293959926769],[0.31172635690187506,-2.353024402172285]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.4875458324151434,1.3031042957433003,0.71338606911949],"aabb_xy":[[-0.5675458356729863,1.2231077879513164],[-0.4075458291573005,1.3831008035352843]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.5100022705558541,1.5438378860502993,0.71338606911949],"aabb_xy":[[-0.5456314264558139,1.5082052192934465],[-0.4743731146558944,1.5794705528071524]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.38983990804277163,-0.13844148225821007,0.71338606911949],"aabb_xy":[[-0.3935431693719105,-0.14214350056692793],[-0.3861366467136328,-0.1347394639494922]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.11400157330157279,1.634978232817455,0.71338606911949],"aabb_xy":[[-0.1940015719584588,1.620473373893192],[-0.03400157464468678,1.6494830917417178]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.31060648793604606,0.757228949326866,0.71338606911949],"aabb_xy":[[-0.4006064873544169,0.7238534524826764],[-0.22060648851767511,0.7906044461710559]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.271603806990675,-1.1246824735761887,0.71338606911949],"aabb_xy":[[-0.2755176801860975,-1.1334314889827455],[-0.26768993379525247,-1.1159334581696319]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.2961561438351974,1.3844187367562086,0.71338606911949],"aabb_xy":[[0.28491108826457956,1.3731769390321134],[0.30740119940581523,1.395660534480304]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.05368668194253312,-0.20202462913963126,0.71338606911949],"aabb_xy":[[-0.09499122500626911,-0.26602462870774835],[-0.012382138878797133,-0.13802462957151418]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.6354038172365184,-1.196909059135324,0.71338606911949],"aabb_xy":[[0.6281600511902731,-1.2769090573389266],[0.6426475832827637,-1.1169090609317218]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.5467417655723401,0.6792107181924782,0.71338606911949],"aabb_xy":[[0.49174176737059533,0.6386887515660405],[0.601741763774085,0.7197326848189157]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.21660724543091492,-2.0460977335169535,0.71338606911949],"aabb_xy":[[-0.2766072456823161,-2.100379058553418],[-0.15660724517951372,-1.9918164084804884]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.3683968478575423,-1.3379065961397345,0.71338606911949],"aabb_xy":[[-0.3812687513584824,-1.4179065965535704],[-0.35552494435660215,-1.2579065957258981]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.3623999633830117,-1.0646458878812362,0.71338606911949],"aabb_xy":[[0.3423415517697714,-1.0847109747903938],[0.38245837499625196,-1.044580800972079]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.661801164687748,-0.9348087798895075,0.71338606911949],"aabb_xy":[[0.6118011660418268,-0.9847283235489698],[0.7118011633336692,-0.884889236230045]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.2127826749765791,-2.410579999258411,0.71338606911949],"aabb_xy":[[0.1952826747172425,-2.424671541447184],[0.23028267523591575,-2.3964884570696388]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.1697564684062648,-2.279865712608366,0.71338606911949],"aabb_xy":[[0.15284573596992299,-2.2933379182009803],[0.18666720084260655,-2.266393507015751]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[0.44953441655985404,1.0442956070030625,0.71338606911949],"aabb_xy":[[0.3995613510273387,0.9942956071905298],[0.4995074820923696,1.0942956068155956]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[0.52177265951902,-1.6441043295471762,0.71338606911949],"aabb_xy":[[0.5042726603846527,-1.6539839565847638],[0.539272658653387,-1.6342247025095882]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.20497831223727675,0.8884972159329863,0.71338606911949],"aabb_xy":[[-0.2599737900579361,0.8334972144990792],[-0.1499828344166173,0.9434972173668931]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.13186959833843426,0.872277507359152,0.71338606911949],"aabb_xy":[[0.0768773477029233,0.8172775056158395],[0.1868618489739452,0.927277509102465]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[0.5407900256764688,-0.5311920372483874,0.71338606911949],"aabb_xy":[[0.4607900246033485,-0.5409700835857718],[0.6207900267495892,-0.5214139909110029]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.2550316874038368,0.5057274328052546,0.71338606911949],"aabb_xy":[[-0.31903168810730614,0.45970905033233356],[-0.19103168670036746,0.5517458152781756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718607163823324,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4580.png","name":"4580"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4580.png","name":"4580"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8580.png","name":"8580"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2114.png","name":"2114"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3396.png","name":"3396"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":840.7283922256483,"rotation_z_degrees":39.86654233585221,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009188607597758473,-0.00810752566412913,-0.005666469093662427]},{"name":"camera_2","offset_m":[-0.0009103473127421539,0.016345675619922378,0.00603286416950892]},{"name":"camera_3","offset_m":[0.007726353655134018,-0.00010793196214165315,-0.0008364355218366433]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015871321991171796,-0.0015454657554742845,-0.0012257990384018749],"end_effector_yaw_offset_degrees":0.2026479930034364},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002876806862231805,0.001249523043418601,0.0010764564333004194],"end_effector_yaw_offset_degrees":0.39094058235655016},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0019297440365823055,0.00038966963233279034,0.0010179806740853556],"end_effector_yaw_offset_degrees":0.49143823764169237}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004035346691797261,0.004945561314677361],"position_m":[0.21786465330820273,0.2723455613146774,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034469709751031976,-0.0032547070096900976],"position_m":[0.3385530290248968,0.10784529299030991,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0007962498188060193,0.00396931255657136],"position_m":[0.295003750181194,-0.03993068744342864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029962546577175222,0.001300944797008318],"position_m":[0.2743962546577175,-0.30729905520299167,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"af64444a523c06280843e981d6f6e96617d04a366b5acd50e49981389405d9fa","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4580/tex_ceiling_textures_3396/tex_floor_textures_2731/tex_table_textures_8580/tex_wall_textures_2114","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4809040651932753646,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4809040651932753646,"visual_seed":4809040651932753646,"scene_id":"lab_003","finished_at":"2026-09-02T04:30:54"}
+{"episode_id":"ep_000028","started_at":"2026-09-02T04:30:56","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.5137290126458445,-0.5385934360494571,0.71338606911949],"aabb_xy":[[0.4955231889845968,-0.5496188366314487],[0.5319348363070922,-0.5275680354674654]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.13028021391476818,0.5390990991162186,0.71338606911949],"aabb_xy":[[-0.21028021250208762,0.4597834971780577],[-0.05028021532744877,0.6184147010543795]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.4988569208632237,-2.1376817838567357,0.71338606911949],"aabb_xy":[[-0.5338569191739191,-2.1453967987802813],[-0.4638569225525282,-2.12996676893319]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[0.2108851433641633,-0.9558172625417065,0.71338606911949],"aabb_xy":[[0.15088514250335047,-1.0072436925481927],[0.27088514422497606,-0.90439083253522]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.6344944956517284,-0.5831211607429592,0.71338606911949],"aabb_xy":[[0.611994495408213,-0.5953257954027312],[0.6569944958952438,-0.5709165260831873]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.48268961805257615,-1.4839703558129071,0.71338606911949],"aabb_xy":[[0.4574687811927365,-1.5091941066657937],[0.5079104549124158,-1.4587466049600202]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.5822710578118331,-1.2452358463707451,0.71338606911949],"aabb_xy":[[0.5645954272232346,-1.2629160626501477],[0.5999466884004313,-1.2275556300913422]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.5421154366090577,0.14728599650452612,0.71338606911949],"aabb_xy":[[-0.5645802065804628,0.12478599562566559],[-0.5196506666376526,0.1697859973833866]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.30545671351501613,-2.188459266088761,0.71338606911949],"aabb_xy":[[0.2604641267965657,-2.23345926536321],[0.35044930023346654,-2.1434592668143124]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.10071373655006832,0.5858948513278657,0.71338606911949],"aabb_xy":[[0.08082269666972809,0.573239040043169],[0.1206047764304086,0.5985506626125626]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.49658462676177706,-1.9346578737975202,0.71338606911949],"aabb_xy":[[0.4465846257426419,-1.9711240895353483],[0.5465846277809124,-1.8981916580596925]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.6510237782289603,0.8743980919733536,0.71338606911949],"aabb_xy":[[0.6430302884336783,0.8663999600328781],[0.6590172680242423,0.8823962239138293]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[0.36199241225446355,-0.42097623634807757,0.71338606911949],"aabb_xy":[[0.35269879401731297,-0.4584762348362114],[0.3712860304916141,-0.3834762378599436]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.3394147922837469,-1.6230760338252121,0.71338606911949],"aabb_xy":[[-0.3731903514744398,-1.6371145290383768],[-0.30563923309305385,-1.609037538612047]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.6902727132952906,0.13304445455861558,0.71338606911949],"aabb_xy":[[0.6811128343514139,0.12651323651507856],[0.6994325922391671,0.1395756726021526]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.5435093132326685,0.34135281242248006,0.71338606911949],"aabb_xy":[[-0.5718390231812087,0.336892070228763],[-0.5151796032841283,0.3458135546161971]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.5301425747758279,0.4312174047300177,0.71338606911949],"aabb_xy":[[0.4931084653477682,0.39684019739630816],[0.5671766842038877,0.4655946120637271]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.23259813887454606,1.0833370752798306,0.71338606911949],"aabb_xy":[[-0.23863515187521087,1.0773103742108827],[-0.2265611258738814,1.089363776348779]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.2478646822889745,-1.6405265256479493,0.71338606911949],"aabb_xy":[[0.23028638010002764,-1.6581010152220539],[0.26544298447792136,-1.6229520360738443]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.040321078924481,-1.9900162272723865,0.71338606911949],"aabb_xy":[[0.025148909642847654,-2.0051850842005896],[0.055493248206114336,-1.9748473703441831]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[0.6219666522429415,1.4931128388976016,0.71338606911949],"aabb_xy":[[0.6122106627337676,1.483350304838367],[0.6317226417521153,1.5028753729568358]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.14745001333266872,1.2934326030191432,0.71338606911949],"aabb_xy":[[-0.15901899407960532,1.2684326029022115],[-0.13588103258573217,1.318432603136075]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.5109349339174831,0.06370948943684818,0.71338606911949],"aabb_xy":[[-0.5191494790331669,0.05503289913920687],[-0.5027203888017989,0.07238607973448943]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.3773720919309976,-1.9322261044267206,0.71338606911949],"aabb_xy":[[-0.45737209518884053,-2.0122226122187046],[-0.2973720886731546,-1.8522295966347364]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.3934260106544436,0.8187347169697761,0.71338606911949],"aabb_xy":[[-0.4534260109058448,0.7644533919333114],[-0.3334260104030424,0.8730160420062407]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.3764103185149788,-0.748180933691923,0.71338606911949],"aabb_xy":[[-0.4464103201172583,-0.7616137268935806],[-0.3064103169126993,-0.7347481404902655]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[0.47939432814629224,-1.7226028841893917,0.71338606911949],"aabb_xy":[[0.46814927257567435,-1.733844681913487],[0.49063938371691,-1.7113610864652964]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[-0.35919501797967374,1.2231792872642897,0.71338606911949],"aabb_xy":[[-0.3966950181515456,1.1904785518813823],[-0.32169501780780174,1.2558800226471967]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[0.6543721751205176,-0.7316901451202693,0.71338606911949],"aabb_xy":[[0.5967417062332466,-0.7916901440469796],[0.7120026440077883,-0.6716901461935585]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[-0.4347724213305941,-1.474212037671038,0.71338606911949],"aabb_xy":[[-0.4997724224365374,-1.4991774107391664],[-0.36977242022465084,-1.4492466646029099]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_30","position":[0.028449646144908525,-0.7053537172124842,0.71338606911949],"aabb_xy":[[-0.026543565192228235,-0.760353717551278],[0.08344285748204529,-0.6503537168736907]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[-0.0025506598924514012,-1.4622980848319551,0.71338606911949],"aabb_xy":[[-0.02638687753305647,-1.5522980856404418],[0.021285557748153664,-1.3722980840234686]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_32","position":[-0.12152666814139046,-2.0940379727086333,0.71338606911949],"aabb_xy":[[-0.13902666838643982,-2.1115377605481997],[-0.10402666789634106,-2.076538184869066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681220171860615,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8698.png","name":"8698"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8698.png","name":"8698"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4448.png","name":"4448"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9384.png","name":"9384"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6013.png","name":"6013"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":654.836786588958,"rotation_z_degrees":137.98454851409602,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002134724889224917,-0.0024579914739249024,0.011236526281686202]},{"name":"camera_2","offset_m":[0.01192684708432062,-0.011937324565042148,0.004746024564088982]},{"name":"camera_3","offset_m":[-0.014612429169812261,-0.008479197652124092,0.01742732643284883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007490803241227701,-0.00022405847184682188,-0.0019659899371055694],"end_effector_yaw_offset_degrees":0.22514584459853237},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014420175225231878,-0.0018589454225477337,0.0012087748544895183],"end_effector_yaw_offset_degrees":-0.6210466536244799},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015688055085228856,0.0008499099065697019,-0.0015238755562741587],"end_effector_yaw_offset_degrees":-0.007451434811527768}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0036844374590350283,-0.003571051514710393],"position_m":[0.21821556254096497,0.26382894848528965,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012542163013244756,-0.00043199216152449253],"position_m":[0.34074578369867553,0.11066800783847551,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0009604026258391071,0.002993576593356602],"position_m":[0.2948395973741609,-0.0409064234066434,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004660823076508523,0.002743542833685446],"position_m":[0.27093391769234915,-0.30585645716631454,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"059cee4f928241775b727791717562ee5c8be93aff356e0e06e2f61ee5d352c5","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8698/tex_ceiling_textures_6013/tex_floor_textures_4886/tex_table_textures_4448/tex_wall_textures_9384","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3739244060192259668,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3739244060192259668,"visual_seed":3739244060192259668,"scene_id":"lab_003","finished_at":"2026-09-02T04:33:18"}
+{"episode_id":"ep_000029","started_at":"2026-09-02T04:33:21","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.5061458665539387,0.14933464629208615,0.71338606911949],"aabb_xy":[[-0.5436458663709722,0.14469643498094426],[-0.4686458667369051,0.15397285760322799]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.15394584128645594,-1.112415036265931,0.71338606911949],"aabb_xy":[[-0.16025794082279438,-1.11818197551915],[-0.1476337417501175,-1.1066480970127122]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.24608949324986606,0.9846689719521757,0.71338606911949],"aabb_xy":[[0.20478495018613005,0.9206689723840585],[0.28739403631360205,1.0486689715202928]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[-0.3574083455847829,-0.08995098939248436,0.71338606911949],"aabb_xy":[[-0.379873115556188,-0.11245099027134486],[-0.3349435756133778,-0.06745098851362386]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.21621745882993992,-1.4588723121348048,0.71338606911949],"aabb_xy":[[0.16841129121617127,-1.5238723148418634],[0.2640236264437086,-1.3938723094277456]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.6809087560555959,0.39605636404155753,0.71338606911949],"aabb_xy":[[-0.6909904631341692,0.31605636614944277],[-0.6708270489770223,0.47605636193367207]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.5255006648571332,-1.7174770756435853,0.71338606911949],"aabb_xy":[[0.5215401810873989,-1.725144940229106],[0.5294611486268676,-1.7098092110580647]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.16860941026448817,0.42303084746981723,0.71338606911949],"aabb_xy":[[-0.19244562790509329,0.3330308466613307],[-0.14477319262388313,0.5130308482783037]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.6085969153930828,-2.398314953120443,0.71338606911949],"aabb_xy":[[0.5786052526592125,-2.4283149524572436],[0.6385885781269531,-2.3683149537836425]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.19003156285877698,-2.0706009204582934,0.71338606911949],"aabb_xy":[[-0.25403156607741484,-2.117324032357302],[-0.1260315596401391,-2.0238778085592855]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[-0.5916852830580349,-1.4070503551495792,0.71338606911949],"aabb_xy":[[-0.5955991562534575,-1.415799370556136],[-0.5877714098626123,-1.3983013397430224]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.13773723049442643,-2.263700141312085,0.71338606911949],"aabb_xy":[[0.12831975592456368,-2.273116318449804],[0.14715470506428918,-2.254283964174366]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.25806758198321766,0.6567759422474246,0.71338606911949],"aabb_xy":[[0.223067582853262,0.6510307211717604],[0.2930675811131733,0.6625211633230886]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.5141950884681437,-0.27815455418197654,0.71338606911949],"aabb_xy":[[0.48790626414770294,-0.3044259878366277],[0.5404839127885842,-0.25188312052732525]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.15914286348785944,-0.7758724472054037,0.71338606911949],"aabb_xy":[[-0.2191428651307813,-0.8278725964973479],[-0.09914286184493759,-0.7238722979134595]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.3870321739421791,1.083259876547825,0.71338606911949],"aabb_xy":[[-0.4370164096503563,1.0332598777343294],[-0.33704793823400186,1.1332598753613206]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.679962041256466,-0.16796208796115186,0.71338606911949],"aabb_xy":[[0.6691104350075904,-0.17882137868880285],[0.6908136475053416,-0.15710279723350082]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.43597984707614296,-1.5209206622817757,0.71338606911949],"aabb_xy":[[-0.49095356911247584,-1.575920661846009],[-0.3810061250398101,-1.4659206627175427]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.5698830021774279,1.398826806012369,0.71338606911949],"aabb_xy":[[-0.6298830026852807,1.3419800723264477],[-0.5098830016695749,1.4556735396982903]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.16245138077898202,-2.2760277952248837,0.71338606911949],"aabb_xy":[[-0.2124463917384341,-2.326027794260476],[-0.11245636981953003,-2.2260277961892925]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.5129902392397692,0.5531267553643584,0.71338606911949],"aabb_xy":[[0.4630169452365087,0.503126754809811],[0.5629635332430296,0.6031267559189056]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.13962475019650555,-0.8430249621004073,0.71338606911949],"aabb_xy":[[0.12986876068733164,-0.8527874961596418],[0.14938073970567942,-0.8332624280411729]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[0.5433869778583957,1.321818727557841,0.71338606911949],"aabb_xy":[[0.4793869771549264,1.2758003450849202],[0.6073869785618651,1.3678371100307622]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[0.5349002074921865,-2.179678489206925,0.71338606911949],"aabb_xy":[[0.5003091246381413,-2.244678489491956],[0.5694912903462317,-2.1146784889218937]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.5056098325377568,-0.7167030006557082,0.71338606911949],"aabb_xy":[[-0.5431098327096288,-0.7494037360386153],[-0.4681098323658849,-0.684002265272801]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.25775343064661405,-1.0905983562216033,0.71338606911949],"aabb_xy":[[0.18775343423665217,-1.1110362918732846],[0.32775342705657573,-1.0701604205699211]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[-0.14969528720641723,-0.4474190664964741,0.71338606911949],"aabb_xy":[[-0.17297712940454854,-0.5324190677937022],[-0.12641344500828586,-0.36241906519924605]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.6020440572540234,1.111861428242097,0.71338606911949],"aabb_xy":[[-0.6520440589155181,1.061862985986394],[-0.5520440555925286,1.1618598704977994]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[-0.17409403872329865,1.1566575145847047,0.71338606911949],"aabb_xy":[[-0.2239108181881334,1.1066575161004013],[-0.12427725925846389,1.206657513069008]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_29","position":[0.5507824411585405,0.8103843368244932,0.71338606911949],"aabb_xy":[[0.542788452580837,0.8023842567294027],[0.5587764297362438,0.8183844169195834]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[-0.12423023457528282,1.7497013966371067,0.71338606911949],"aabb_xy":[[-0.16072605520256156,1.7132174542103489],[-0.08773441394800406,1.786185339063864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6730792699765112,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2224.png","name":"2224"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2224.png","name":"2224"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6992.png","name":"6992"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1867.png","name":"1867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9871.png","name":"9871"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8462.png","name":"8462"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":843.8201244553954,"rotation_z_degrees":248.02720169265783,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00870519519095028,0.013000584596023022,0.004188178789031931]},{"name":"camera_2","offset_m":[0.01831310870906142,-0.016201751885522118,-0.017369884432376068]},{"name":"camera_3","offset_m":[0.01113125717609392,0.0013141889002855935,0.009984691171267723]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001382794751970025,-0.0015133255673450928,-0.0005424648608301111],"end_effector_yaw_offset_degrees":-0.8347389204066966},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007581333643923837,7.270866615938362e-05,3.5517710399063894e-05],"end_effector_yaw_offset_degrees":0.1871693450094083},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008763245503436998,0.0019853351613729675,0.0017532697100710328],"end_effector_yaw_offset_degrees":0.8460213758976107}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.001531224390306969,-0.0040765659983801415],"position_m":[0.220368775609693,0.2633234340016199,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038410071801465396,0.0033038841885331986],"position_m":[0.3381589928198535,0.1144038841885332,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002798538249684701,0.0019851257195386152],"position_m":[0.29300146175031533,-0.04191487428046139,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018128198904924352,-0.0036246384539175415],"position_m":[0.2732128198904924,-0.3122246384539175,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"814f57ae219d590839657f40244a5c96784c894c3c3e5ca720c8f1fd6a4a466b","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2224/tex_ceiling_textures_8462/tex_floor_textures_9871/tex_table_textures_6992/tex_wall_textures_1867","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5015324209566240003,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5015324209566240003,"visual_seed":5015324209566240003,"scene_id":"lab_003","finished_at":"2026-09-02T04:36:07"}
+{"episode_id":"ep_000030","started_at":"2026-09-02T04:36:12","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.3097870951044328,-1.6272298918156252,0.71338606911949],"aabb_xy":[[-0.3897870925080262,-1.707222463013808],[-0.22978709770083935,-1.5472373206174423]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.536962392663388,-1.1172431337231292,0.71338606911949],"aabb_xy":[[-0.5588710748027389,-1.1391438005432197],[-0.5150537105240368,-1.0953424669030383]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.5788454050307897,1.6728811376103443,0.71338606911949],"aabb_xy":[[-0.6038454049633076,1.6659984693894212],[-0.5538454050982718,1.6797638058312678]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.3268929836013487,0.48698784827334096,0.71338606911949],"aabb_xy":[[-0.36189298279416693,0.4760208022756782],[-0.2918929844085304,0.4979548942710035]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[-0.4366040993276328,0.5658606739776655,0.71338606911949],"aabb_xy":[[-0.4466858064062062,0.4858606760855507],[-0.42652239224905925,0.64586067186978]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.08365510305354673,1.415251674042922,0.71338606911949],"aabb_xy":[[-0.13364993598148833,1.3652516751476786],[-0.03366027012560513,1.4652516729381657]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.38487554005907,-1.158935604569681,0.71338606911949],"aabb_xy":[[0.3473755397108422,-1.1707270001507646],[0.4223755404072977,-1.1471442089885975]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[-0.5589867124607903,-0.28550241165083046,0.71338606911949],"aabb_xy":[[-0.5764867117388772,-0.3028405117171764],[-0.5414867131827035,-0.2681643115844845]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.5733553112471639,-0.4706691750377039,0.71338606911949],"aabb_xy":[[-0.653355308406739,-0.4822167759955209],[-0.4933553140875885,-0.4591215740798868]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.587160349101234,-0.5540398551486705,0.71338606911949],"aabb_xy":[[-0.6158096814616502,-0.5826854144257461],[-0.5585110167408177,-0.5253942958715945]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.5808862288378009,0.4948724771973736,0.71338606911949],"aabb_xy":[[-0.6158862279677566,0.48912725612170943],[-0.5458862297078453,0.5006176982730377]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.4053510661267024,-1.4172803794337583,0.71338606911949],"aabb_xy":[[-0.4092649393221249,-1.4260293948403149],[-0.40143719293127983,-1.4085313640272012]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.42890471348130843,-1.4528146193598859,0.71338606911949],"aabb_xy":[[0.4043910893843026,-1.4770792126619223],[0.45341833757831435,-1.4285500260578494]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.032329610091018646,-1.274644292079287,0.71338606911949],"aabb_xy":[[-0.11232961036462563,-1.3475938399050038],[0.047670390182588326,-1.2016947442535704]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[-0.3639568113408585,1.7005444892040473,0.71338606911949],"aabb_xy":[[-0.45364388764897395,1.610544488949597],[-0.27426973503274305,1.790544489458498]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[0.43890207010341786,1.0482278616851626,0.71338606911949],"aabb_xy":[[0.37490206788301084,1.0038547775598743],[0.5029020723238249,1.0926009458104509]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.25513083193672403,-2.16780071118596,0.71338606911949],"aabb_xy":[[-0.2894277429544646,-2.202097597395901],[-0.22083392091898335,-2.1335038249760183]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.19007457406263584,-1.9281028932601718,0.71338606911949],"aabb_xy":[[0.18366076041945087,-1.9345127135078402],[0.19648838770582075,-1.9216930730125035]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.4111225175058808,0.26911037362862267,0.71338606911949],"aabb_xy":[[0.39925043449437964,0.18411037393497232],[0.42299460051738186,0.354110373322273]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.5413404539855804,1.599546589031498,0.71338606911949],"aabb_xy":[[-0.5494541086589575,1.5914407725774689],[-0.5332267993122033,1.607652405485527]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[0.5461790994946121,-1.062765329226009,0.71338606911949],"aabb_xy":[[0.49620168262935843,-1.1127653307152574],[0.5961565163598656,-1.0127653277367603]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.6211273712801859,-1.2759119686502467,0.71338606911949],"aabb_xy":[[0.5571273705767167,-1.321930351123168],[0.6851273719836554,-1.229893586177326]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[0.1537845246050592,-1.7326134652958576,0.71338606911949],"aabb_xy":[[0.08978452319706852,-1.7844024168197823],[0.21778452601304985,-1.6808245137719329]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.05877089313006367,-0.9251896339825378,0.71338606911949],"aabb_xy":[[-0.02122910794305665,-0.9349676803199223],[0.138770894203184,-0.9154115876451534]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737940166490143,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7522.png","name":"7522"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7522.png","name":"7522"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8995.png","name":"8995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3094.png","name":"3094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2459.png","name":"2459"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":779.3944811982282,"rotation_z_degrees":344.2799197660077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008772314629722916,0.0012336231017079369,-0.01793344996011435]},{"name":"camera_2","offset_m":[0.005125762970198244,0.013078005469279102,-0.01192573820143771]},{"name":"camera_3","offset_m":[-0.011899446305571245,-0.013948013275133647,0.016105404137427438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009917610665739407,0.000811407597791032,-0.001011566425998275],"end_effector_yaw_offset_degrees":-0.0019656851121303553},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002662659649986768,-0.0013704266411054444,-0.00043278444993666374],"end_effector_yaw_offset_degrees":0.8977832140508317},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001559321220312998,0.001450248936294799,-0.0014522856617863434],"end_effector_yaw_offset_degrees":-0.328468129864131}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0031396979139689477,-0.001467572852869514],"position_m":[0.21876030208603103,0.2659324271471305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001101348467158072,-0.0004428323038055673],"position_m":[0.3431013484671581,0.11065716769619444,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003583473167391692,0.0027419734961580513],"position_m":[0.2993834731673917,-0.04115802650384195,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029701193382101086,-0.0029532482034989906],"position_m":[0.2743701193382101,-0.311553248203499,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"83c3c068218551c44f86503eed2605b3276aa4174cd8f239e952f8109a3918eb","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7522/tex_ceiling_textures_2459/tex_floor_textures_3094/tex_table_textures_8995/tex_wall_textures_9366","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6721399802140826044,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6721399802140826044,"visual_seed":6721399802140826044,"scene_id":"lab_003","finished_at":"2026-09-02T04:39:14"}
+{"episode_id":"ep_000031","started_at":"2026-09-02T04:39:19","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.13499296232444347,-1.026515678803074,0.71338606911949],"aabb_xy":[[0.09222625544502328,-1.0905156822248763],[0.17775966920386366,-0.9625156753812714]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.5500402725176188,0.1865585044202911,0.71338606911949],"aabb_xy":[[0.49504802188210784,0.13155850267697833],[0.6050325231531297,0.2415585061636039]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.4332093116167193,-0.8997952113736702,0.71338606911949],"aabb_xy":[[0.3780841059871285,-0.9597952128149573],[0.48833451724631005,-0.839795209932383]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.6417865110991892,1.6764174962534848,0.71338606911949],"aabb_xy":[[0.5917865101486564,1.6448683492499634],[0.691786512049722,1.7079666432570062]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.5968154781040431,0.8941753655146325,0.71338606911949],"aabb_xy":[[0.5912338064699142,0.8816753656968569],[0.6023971497381718,0.9066753653324079]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[-0.30450411447660375,-2.0541985724622798,0.71338606911949],"aabb_xy":[[-0.3395041143726226,-2.06257280797422],[-0.2695041145805849,-2.0458243369503397]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[-0.628478595524766,-0.2335064789313499,0.71338606911949],"aabb_xy":[[-0.6784785968856532,-0.2834843835067655],[-0.5784785941638787,-0.18352857435593428]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.13948778003071227,0.72185250675262,0.71338606911949],"aabb_xy":[[-0.19448099136784905,0.6668525064138264],[-0.08449456869357551,0.7768525070914137]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.24948441258660525,-0.5554997918148987,0.71338606911949],"aabb_xy":[[0.20846646920023434,-0.605499792445856],[0.29050235597297613,-0.5054997911839414]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.3435438995152534,-0.8587610773395615,0.71338606911949],"aabb_xy":[[-0.41354390290681536,-0.8940768510429924],[-0.2735438961236914,-0.8234453036361307]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[0.364317059508926,-2.061067681437219,0.71338606911949],"aabb_xy":[[0.3343495025991004,-2.0910676817351046],[0.39428461641875173,-2.0310676811393336]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.4320591767807079,-2.007140855039681,0.71338606911949],"aabb_xy":[[-0.44716147824172586,-2.022242376670742],[-0.41695687531968967,-1.9920393334086184]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.6751310458724619,0.9912595992731874,0.71338606911949],"aabb_xy":[[-0.69223312383083,0.9741527937419177],[-0.6580289679140937,1.0083664048044572]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[-0.31235430991092655,-1.1864797169392955,0.71338606911949],"aabb_xy":[[-0.3428385600379567,-1.2364797167207915],[-0.2818700597838964,-1.1364797171577996]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.02900461005277688,-0.8102904647968219,0.71338606911949],"aabb_xy":[[-0.0702534210826916,-0.8652904643090392],[0.012244200977137848,-0.7552904652846043]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.23228823277185806,0.8141539405153524,0.71338606911949],"aabb_xy":[[0.19525412334379832,0.7797767331816429],[0.2693223421999178,0.8485311478490617]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.3656916016741264,-1.3528017320366024,0.71338606911949],"aabb_xy":[[-0.3906916009460886,-1.3691470956327647],[-0.34069160240216406,-1.33645636844044]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[0.43077150991318236,-0.366378034527167,0.71338606911949],"aabb_xy":[[0.38077151033684775,-0.416358613479273],[0.4807715094895172,-0.3163974555750611]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.5752304394958003,-0.9634341064159002,0.71338606911949],"aabb_xy":[[-0.6328609083830711,-1.0234341053426106],[-0.5175999706085294,-0.9034341074891894]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.43429413890230967,0.8960926574284405,0.71338606911949],"aabb_xy":[[-0.49429413949832585,0.8412801848832171],[-0.3742941383062935,0.950905129973664]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.5561824256111725,-2.506521924961417,0.71338606911949],"aabb_xy":[[-0.6022675168659039,-2.5705219222139717],[-0.5100973343564409,-2.4425219277088615]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.4414061009587674,-0.9822305121596633,0.71338606911949],"aabb_xy":[[-0.4455220510708401,-0.9863460671925087],[-0.43729015084669476,-0.9781149571268176]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.09530835206002419,-0.8907179482122116,0.71338606911949],"aabb_xy":[[0.07751484512510777,-0.9085176938080092],[0.11310185899494064,-0.8729182026164138]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.7069716268797039,-2.1492605537307727,0.71338606911949],"aabb_xy":[[0.6894716934457206,-2.166760553651007],[0.7244715603136873,-2.1317605538105378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662262389678603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4513.png","name":"4513"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4513.png","name":"4513"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7616.png","name":"7616"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2772.png","name":"2772"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/93.png","name":"93"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":621.1804704779383,"rotation_z_degrees":353.439432891635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014340492502633766,-0.0013001705454934141,0.0006804370348606308]},{"name":"camera_2","offset_m":[0.003055556183784419,0.005410524576761163,-0.005034993730724349]},{"name":"camera_3","offset_m":[0.008409482273716396,0.011919219311022775,0.018181446450090778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001254125490511499,-0.00032464092963784756,0.00021700228031788739],"end_effector_yaw_offset_degrees":0.5777065619136341},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007789715002383946,-0.0005632549298296965,-0.0014039193521994055],"end_effector_yaw_offset_degrees":-0.8439817329966721},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012813446313759361,0.000950485267923672,-0.0013464593140670243],"end_effector_yaw_offset_degrees":-0.43131601598702285}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003563031136794498,-0.002578534883413163],"position_m":[0.2183369688632055,0.2648214651165869,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011948211858370328,0.002646297311358737],"position_m":[0.340805178814163,0.11374629731135874,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0024031917922681155,0.004281845933220187],"position_m":[0.2933968082077319,-0.039618154066779813,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003817738127021666,0.0003970960118288066],"position_m":[0.2675822618729783,-0.3082029039881712,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f65ed43b5a61d892e8c459ccaf062365915d2ba0bb54f53279a39eb2e1296162","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4513/tex_ceiling_textures_93/tex_floor_textures_50/tex_table_textures_7616/tex_wall_textures_2772","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2177465132944909417,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2177465132944909417,"visual_seed":2177465132944909417,"scene_id":"lab_003","finished_at":"2026-09-02T04:42:28"}
+{"episode_id":"ep_000032","started_at":"2026-09-02T04:43:58","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.25672351787559633,0.8914508314145744,0.71338606911949],"aabb_xy":[[0.226731855141726,0.8614508320777738],[0.28671518060946666,0.9214508307513749]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.1416799246149395,1.3591418862911322,0.71338606911949],"aabb_xy":[[0.10667992326345775,1.3387821503343114],[0.1766799259664212,1.379501622247953]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.5324484551383137,-0.03134438770726655,0.71338606911949],"aabb_xy":[[0.48246550495083435,-0.08134438734982694],[0.582431405325793,0.018655611935293862]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.04788633919570451,-1.7539490407166283,0.71338606911949],"aabb_xy":[[-0.06489643648575516,-1.7700835292149022],[-0.030876241905653856,-1.7378145522183543]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.5948507135860602,1.6053998454746945,0.71338606911949],"aabb_xy":[[-0.6041443318232108,1.5678998469865604],[-0.5855570953489097,1.6428998439628282]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.19136829458820648,-0.7795867640416401,0.71338606911949],"aabb_xy":[[0.10136829599373659,-0.7958373503550611],[0.2813682931826765,-0.763336177728219]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.3539531409447192,-2.367774370374348,0.71338606911949],"aabb_xy":[[0.34952251158987907,-2.3732227421090304],[0.3583837702995594,-2.3623259986396654]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.42044464356967487,-1.7066602318253252,0.71338606911949],"aabb_xy":[[-0.5004446422265609,-1.721165090749588],[-0.34044464491278886,-1.6921553729010625]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.14301803225785925,0.18974157629594268,0.71338606911949],"aabb_xy":[[-0.1506423003480375,0.18210835275939896],[-0.135393764167681,0.19737479983248643]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.13079795673133765,1.40878525805892,0.71338606911949],"aabb_xy":[[-0.13995783567521422,1.402254040015383],[-0.12163807778746102,1.415316476102457]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.6230331634344297,-0.44329118637602427,0.71338606911949],"aabb_xy":[[0.6142519362871934,-0.4520709336645546],[0.631814390581666,-0.4345114390874943]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[0.23887456634535542,-1.457130786384292,0.71338606911949],"aabb_xy":[[0.21640979637395028,-1.4796307872631524],[0.26133933631676054,-1.4346307855054314]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.6445065830316633,-1.3480053602135293,0.71338606911949],"aabb_xy":[[-0.6728362929802035,-1.3524661024072466],[-0.6161768730831231,-1.3435446180198125]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.31612600108481953,-0.19464365344216983,0.71338606911949],"aabb_xy":[[-0.3207611162370529,-0.19851098851931845],[-0.31149088593258606,-0.19077631836502115]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.3430739397702873,0.9856317992930288,0.71338606911949],"aabb_xy":[[-0.36557394028232787,0.9631399409276304],[-0.3205739392582467,1.0081236576584272]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.6324101789761303,0.27363653374222396,0.71338606911949],"aabb_xy":[[0.5486879534760478,0.18363653020752796],[0.7161324044762127,0.36363653727691986]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.4236860696860538,-1.1623381976354696,0.71338606911949],"aabb_xy":[[0.3686938190505429,-1.2173381993787824],[0.4786783203215648,-1.1073381958921569]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.23683852869083677,-1.2281212534312131,0.71338606911949],"aabb_xy":[[0.19829283586563573,-1.2666670244874016],[0.2753842215160378,-1.1895754823750242]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.29193676261670154,1.2090857175709244,0.71338606911949],"aabb_xy":[[0.2787058170820202,1.1958582985489248],[0.3051677081513828,1.2223131365929236]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.22144116990911322,-2.514570088444428,0.71338606911949],"aabb_xy":[[-0.2714342820183051,-2.564570089118624],[-0.1714480577999213,-2.4645700877702326]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.005560335137309358,-0.8584994030234252,0.71338606911949],"aabb_xy":[[-0.015191971357738976,-0.868136715803134],[0.00407130108312026,-0.8488620902437162]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.1145287744448874,-0.944699916148136,0.71338606911949],"aabb_xy":[[-0.13216161003841498,-0.962322862163759],[-0.09689593885135983,-0.927076970132513]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.5589601136028481,0.7997011838023127,0.71338606911949],"aabb_xy":[[-0.6229601159456497,0.7547603325581803],[-0.49496011126004663,0.8446420350464453]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.48703035022371854,1.2567004452031698,0.71338606911949],"aabb_xy":[[-0.5370303512428538,1.2202342294653419],[-0.43703034920458333,1.2931666609409977]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.5574370937601678,1.488684124344028,0.71338606911949],"aabb_xy":[[-0.5613975775299022,1.4810162597585075],[-0.5534766099904335,1.4963519889295487]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_25","position":[0.284441687664556,1.5932642575027924,0.71338606911949],"aabb_xy":[[0.220441685444149,1.5488911733775041],[0.34844168988496305,1.6376373416280807]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.40999311557528295,-1.5033679090710013,0.71338606911949],"aabb_xy":[[0.3924931162971961,-1.5207060091373472],[0.4274931148533698,-1.4860298090046553]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_27","position":[-0.15668881015163905,0.7138225992546361,0.71338606911949],"aabb_xy":[[-0.16549086546061173,0.7060112730997069],[-0.1478867548426663,0.7216339254095651]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[-0.26879611465330766,1.127991988964523,0.71338606911949],"aabb_xy":[[-0.28637441684225445,1.1104174993904177],[-0.25121781246436076,1.1455664785386277]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[0.5905470793009049,-0.24678118202272747,0.71338606911949],"aabb_xy":[[0.5405470806549837,-0.29670072568218986],[0.6405470779468261,-0.19686163836326512]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_30","position":[0.14973089596858746,1.657475186470132,0.71338606911949],"aabb_xy":[[0.135396470842424,1.6454149709155932],[0.16406532109475092,1.6695354020246709]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[-0.10753524657049951,-1.3459214443946743,0.71338606911949],"aabb_xy":[[-0.1875352439740929,-1.425914015592857],[-0.02753524916690608,-1.2659288731964913]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_32","position":[-0.4685477574600443,-2.165735836660864,0.71338606911949],"aabb_xy":[[-0.4726836137927445,-2.203235836105221],[-0.4644119011273441,-2.128235837216507]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_33","position":[0.069155655154709,-1.9911179317966041,0.71338606911949],"aabb_xy":[[0.014160177334049603,-2.046117933230511],[0.12415113297536838,-1.9361179303626967]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_34","position":[-0.6138571720807658,-1.5564886984896134,0.71338606911949],"aabb_xy":[[-0.6473363393418069,-1.5899678118607201],[-0.580378004819725,-1.5230095851185061]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6708186608276775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3266.png","name":"3266"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3893.png","name":"3893"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1795.png","name":"1795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5397.png","name":"5397"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":682.8574161961553,"rotation_z_degrees":18.685713164481335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006235702324673426,-0.015202218292381633,0.009597369650974793]},{"name":"camera_2","offset_m":[-0.01629685678106515,-0.006436544750457723,-0.001071698876233474]},{"name":"camera_3","offset_m":[0.008392972559312303,0.01191978885885515,0.005883124242842062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019841279680389064,-0.0003306195836984447,0.0004560119172086277],"end_effector_yaw_offset_degrees":0.38596977587369796},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006552495808477827,-1.2019706566814871e-05,-0.0013323482320445174],"end_effector_yaw_offset_degrees":0.18386533519764603},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008067517480777205,-0.00119250057049316,-0.0004930635970867789],"end_effector_yaw_offset_degrees":-0.1799578856325712}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0015765503686326395,0.0001913966456652651],"position_m":[0.22347655036863262,0.2675913966456653,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030933772485911538,-0.0008631818866994857],"position_m":[0.33890662275140887,0.11023681811330052,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00453661500524132,-0.0005093143306410062],"position_m":[0.2912633849947587,-0.044409314330641006,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009113995762818653,-0.0004637905906971461],"position_m":[0.27231139957628187,-0.3090637905906971,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2345c89b53b11b87bd8e3f0c5ff0281421f7618ded2e8430fde86c925f6621d1","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6183/tex_ceiling_textures_5397/tex_floor_textures_1795/tex_table_textures_3266/tex_wall_textures_3893","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7057418277324490549,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7057418277324490549,"visual_seed":7057418277324490549,"scene_id":"lab_003","finished_at":"2026-09-02T04:46:41"}
+{"episode_id":"ep_000033","started_at":"2026-09-02T04:46:45","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.052842147405581685,-1.5601136016918236,0.71338606911949],"aabb_xy":[[-0.03215785101184154,-1.644987897154109],[0.1378421458230049,-1.475239306229539]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.30384792995973575,-2.303317213213008,0.71338606911949],"aabb_xy":[[-0.3403437505870145,-2.3398011556397655],[-0.267352109332457,-2.2668332707862504]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.22045611359713846,1.3484882460467875,0.71338606911949],"aabb_xy":[[0.18545611362064268,1.339023629999171],[0.25545611357363435,1.3579528620944041]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.20351443827315963,0.6605703728337029,0.71338606911949],"aabb_xy":[[0.12351444125891159,0.6404358211602915],[0.28351443528740755,0.6807049245071141]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.3859057299448372,-0.6316784371765876,0.71338606911949],"aabb_xy":[[-0.4310770477930062,-0.6956784343211261],[-0.3407344120966682,-0.5676784400320493]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.6056134217330739,-1.9953154665206485,0.71338606911949],"aabb_xy":[[-0.6147733006769505,-2.0018466845641854],[-0.5964535427891973,-1.9887842484771114]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[0.05517591957370427,1.6726497814539907,0.71338606911949],"aabb_xy":[[-0.014824083062882083,1.6525449164581252],[0.1251759222102906,1.6927546464498562]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.17263724331512575,-1.971143387428314,0.71338606911949],"aabb_xy":[[-0.22263724289146047,-2.0211239663804204],[-0.12263724373879104,-1.9211628084762085]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.2673263227602426,-1.027295730474766,0.71338606911949],"aabb_xy":[[-0.34732631972328176,-1.1043713721185393],[-0.18732632579720343,-0.9502200888309924]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.2224355800329445,1.487140137338582,0.71338606911949],"aabb_xy":[[0.17243558059274885,1.4371722128542654],[0.2724355794731401,1.537108061822898]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.1664500033816747,-2.215227358042814,0.71338606911949],"aabb_xy":[[-0.18161287635861179,-2.2303928153379333],[-0.15128713040473762,-2.200061900747696]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.1463566712966916,-1.8869740925542557,0.71338606911949],"aabb_xy":[[0.1288566721623244,-1.8968537195918436],[0.16385667043105875,-1.877094465516668]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.04797978897085553,0.43364199306571916,0.71338606911949],"aabb_xy":[[-0.05407441685897386,0.42507259851405044],[-0.04188516108273722,0.4422113876173879]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.4554283226462086,1.086666203191644,0.71338606911949],"aabb_xy":[[0.3717060971461262,0.9966661996569481],[0.539150548146291,1.17666620672634]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.15660045599292105,-2.111671814150732,0.71338606911949],"aabb_xy":[[0.14535540042230322,-2.1229136118748273],[0.16784551156353889,-2.1004300164266367]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.40427135499147493,-0.15135910668630803,0.71338606911949],"aabb_xy":[[-0.4113128059422225,-0.15838585842410255],[-0.39722990404072733,-0.14433235494851346]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.16155821313841945,0.5855610218240379,0.71338606911949],"aabb_xy":[[-0.25155820987402966,0.5323775585067434],[-0.07155821640280921,0.6387444851413324]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[-0.09241276854474612,1.6090981874916568,0.71338606911949],"aabb_xy":[[-0.11491276905678668,1.5866063291262584],[-0.06991276803270549,1.6315900458570551]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.0779240810645695,1.3015031036661626,0.71338606911949],"aabb_xy":[[-0.12780677794226572,1.251503104419888],[-0.028041384186873304,1.3515031029124376]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.6419954167563446,1.3517300457977157,0.71338606911949],"aabb_xy":[[0.6285488901223013,1.3382601941446244],[0.655441943390388,1.365199897450807]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.3724584689203982,0.21959111098979278,0.71338606911949],"aabb_xy":[[-0.3943671510597492,0.19769044416970205],[-0.3505497867810471,0.2414917778098835]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.20307405211534446,-2.051181151752415,0.71338606911949],"aabb_xy":[[0.19494636392203124,-2.0600947601631234],[0.21120174030865768,-2.042267543341708]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.5843774559496799,-0.04934807110394557,0.71338606911949],"aabb_xy":[[0.5538932058226498,-0.09934807088544151],[0.6148617060767101,0.000651928677550373]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[0.6830089166245015,-2.265242899271794,0.71338606911949],"aabb_xy":[[0.6638966092665226,-2.2843776781490357],[0.7021212239824803,-2.2461081203945517]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.5301754836606267,-2.060325959039683,0.71338606911949],"aabb_xy":[[0.4501816600820685,-2.1403259616325245],[0.6101693072391849,-1.9803259564468414]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.25493489751762116,1.544569374500703,0.71338606911949],"aabb_xy":[[-0.26263808819169815,1.5368600038019649],[-0.24723170684354406,1.552278745199441]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[-0.2966513442288623,-1.8200466452896666,0.71338606911949],"aabb_xy":[[-0.306068818798725,-1.8294628224273857],[-0.2872338696589995,-1.8106304681519476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700991219013417,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6808.png","name":"6808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4760.png","name":"4760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6873.png","name":"6873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2540.png","name":"2540"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":783.7345008698686,"rotation_z_degrees":181.14479539042122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009448521400435526,-0.010737305770675195,-0.009031306820391586]},{"name":"camera_2","offset_m":[0.010546342866124873,-0.019610656566112338,0.013762756566716713]},{"name":"camera_3","offset_m":[-0.003760707734955449,-0.004995185462429844,-0.009768783479090146]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013582567960386603,-0.0015301237890842057,0.0012273630458126774],"end_effector_yaw_offset_degrees":-0.9755937222740791},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004762450298763743,0.001453122356590471,-0.0010551520472615846],"end_effector_yaw_offset_degrees":0.5264084525908603},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006645039842777265,0.001999614373469123,-0.0005640970842820789],"end_effector_yaw_offset_degrees":-0.8875903006962231}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003931501939370812,-0.00012203299586072483],"position_m":[0.21796849806062918,0.2672779670041393,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00027164866288877706,-0.00463027573901727],"position_m":[0.3422716486628888,0.10646972426098274,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003214518733772268,0.00011793340889259402],"position_m":[0.29258548126622774,-0.04378206659110741,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024774692550423773,0.004152297582751019],"position_m":[0.27387746925504236,-0.30444770241724894,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5b6ec7b22116636398544da2a1ab9065d7fffc9768b2a62203051d00b78a24c3","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1998/tex_ceiling_textures_2540/tex_floor_textures_6873/tex_table_textures_6808/tex_wall_textures_4760","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5255955298605183581,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5255955298605183581,"visual_seed":5255955298605183581,"scene_id":"lab_003","finished_at":"2026-09-02T04:49:29"}
+{"episode_id":"ep_000034","started_at":"2026-09-02T04:49:32","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.5272659769039862,0.45998277288978207,0.71338606911949],"aabb_xy":[[-0.5822614547246455,0.404982771455875],[-0.47227049908332674,0.5149827743236889]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.24377912504814375,-0.4717804858072929,0.71338606911949],"aabb_xy":[[-0.273770787782014,-0.5017804851440935],[-0.2137874623142734,-0.44178048647049234]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.1527452555164729,-2.4999498546032046,0.71338606911949],"aabb_xy":[[-0.16078159021775773,-2.5079879739076207],[-0.14470892081518805,-2.4919117352987876]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[-0.07147832723420511,-0.8805124436377398,0.71338606911949],"aabb_xy":[[-0.08408102637128156,-0.8931078398626054],[-0.05887562809712865,-0.8679170474128745]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6457959304122329,-2.305835603334168,0.71338606911949],"aabb_xy":[[0.6225140882141016,-2.390835604631396],[0.6690777726103643,-2.22083560203694]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.10008199360400338,1.4124386933649662,0.71338606911949],"aabb_xy":[[0.06258199343213144,1.3797379579820588],[0.13758199377587532,1.4451394287478732]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.512808172980797,-2.203567911780657,0.71338606911949],"aabb_xy":[[-0.5503081734781552,-2.207536595328775],[-0.4753081724834387,-2.199599228232538]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.2761531843884507,-2.047943062805669,0.71338606911949],"aabb_xy":[[0.25424450224909967,-2.0698437296257595],[0.29806186652780176,-2.026042395985578]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.49212501256967756,-0.31987593042078544,0.71338606911949],"aabb_xy":[[-0.5296250133616729,-0.3262437713789755],[-0.45462501177768205,-0.3135080894625953]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.17886442788412193,-1.009897411850397,0.71338606911949],"aabb_xy":[[0.11486443059847329,-1.051404130803241],[0.24286442516977058,-0.968390692897553]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.16408710649215286,-1.9277020522262314,0.71338606911949],"aabb_xy":[[-0.16904312667703408,-1.9502020524283534],[-0.15913108630727169,-1.9052020520241102]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.2939839071865672,-0.9284023945725863,0.71338606911949],"aabb_xy":[[-0.3489839063631566,-0.9833920693475439],[-0.23898390800997765,-0.8734127197976286]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.38104710733122515,1.6960318184805083,0.71338606911949],"aabb_xy":[[0.3755891616942051,1.616031815172849],[0.3865050529682452,1.7760318217881672]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.6331699418626289,0.16431019234239308,0.71338606911949],"aabb_xy":[[0.5831699422862943,0.11432961339028713],[0.6831699414389637,0.21429077129449903]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.4154522696427242,-2.167277183086127,0.71338606911949],"aabb_xy":[[-0.42425432495169696,-2.175088509241056],[-0.40665021433375154,-2.159465856931198]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.6178817689776537,-1.2202588958290324,0.71338606911949],"aabb_xy":[[0.5478817671689081,-1.2416126645932197],[0.687881770786399,-1.198905127064845]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.6103335281719003,-1.9287752118402617,0.71338606911949],"aabb_xy":[[-0.6277642432509066,-1.9460473265041123],[-0.5929028130928936,-1.9115030971764106]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.35740093474671153,-2.504668997088665,0.71338606911949],"aabb_xy":[[0.30758415528187677,-2.554668995572969],[0.4072177142115463,-2.454668998604362]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.5823522523127569,-1.8204590191425545,0.71338606911949],"aabb_xy":[[0.5023522501499944,-1.9004142027686979],[0.6623522544755194,-1.7405038355164106]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.26514410910715647,-0.6596400331562291,0.71338606911949],"aabb_xy":[[-0.3251441099679692,-0.7110664631627154],[-0.20514410824634363,-0.6082136031497426]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.5373143264475024,-0.8038371411948988,0.71338606911949],"aabb_xy":[[0.5198143271694156,-0.8211752412612445],[0.5548143257255893,-0.7864990411285526]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.4000350982698513,0.8456959357456015,0.71338606911949],"aabb_xy":[[-0.4350350965399712,0.8386218080506134],[-0.3650350999997314,0.8527700634405897]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.01780891877526436,1.0779776881752974,0.71338606911949],"aabb_xy":[[-0.015966640415428612,1.0639391929621325],[0.05158447796595733,1.0920161833884623]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.5933489337141622,0.913922234258985,0.71338606911949],"aabb_xy":[[0.5646996013537459,0.8852766749819092],[0.6219982660745783,0.9425677935360608]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[-0.6288783109209812,-0.8337353256482221,0.71338606911949],"aabb_xy":[[-0.6444340803312465,-0.8492857588926295],[-0.613322541510716,-0.8181848924038151]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[0.06805027184164447,-2.00023846024658,0.71338606911949],"aabb_xy":[[0.033050272711688825,-2.005983681322244],[0.10305027097160015,-1.9944932391709158]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[0.6123511743417862,1.207811311100925,0.71338606911949],"aabb_xy":[[0.5812042554982031,1.1378113124141178],[0.6434980931853693,1.2778113097877322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686718625109243,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8867.png","name":"8867"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8867.png","name":"8867"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/548.png","name":"548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4569.png","name":"4569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9396.png","name":"9396"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":513.94497779903,"rotation_z_degrees":21.221964930078975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003611806023412392,-0.013240425227885311,-0.004966964327828158]},{"name":"camera_2","offset_m":[-0.007127707741095467,-0.004535702310227379,0.01991411896160686]},{"name":"camera_3","offset_m":[-0.011668806403702577,-0.014248358834066957,0.010286715537106514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003837400223313278,5.871042432289324e-05,6.450387400942737e-05],"end_effector_yaw_offset_degrees":0.968388129012681},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0018554831204742551,0.0011260795595773752,0.0002056803372030955],"end_effector_yaw_offset_degrees":0.5220011024250251},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004204144454627028,0.0010432116515856943,0.001340732064219859],"end_effector_yaw_offset_degrees":0.631837617539649}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0038339050499349965,-0.004939175763931738],"position_m":[0.22573390504993499,0.2624608242360683,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004314138988283576,-0.0008430451129611176],"position_m":[0.3463141389882836,0.11025695488703889,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00484179261925419,0.0014376115050322713],"position_m":[0.3006417926192542,-0.04246238849496773,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002992726762324579,-0.003294804999541907],"position_m":[0.2684072732376754,-0.3118948049995419,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"5d645945b3b014a65fc29623e3927a44c20beb19de70273ea0d6cc82c2e7b450","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8867/tex_ceiling_textures_9396/tex_floor_textures_5347/tex_table_textures_548/tex_wall_textures_4569","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1075047949736637575,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1075047949736637575,"visual_seed":1075047949736637575,"scene_id":"lab_003","finished_at":"2026-09-02T04:52:38"}
+{"episode_id":"ep_000035","started_at":"2026-09-02T04:52:41","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.1865261698757238,-1.8922843034819143,0.71338606911949],"aabb_xy":[[0.14902616869093097,-1.8967025261779746],[0.22402617106051656,-1.8878660807858536]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.6457737075825579,0.09480384456349533,0.71338606911949],"aabb_xy":[[-0.6639795312438057,0.08377844398150369],[-0.6275678839213104,0.10582924514548697]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.12549018904401332,-1.9515450177258948,0.71338606911949],"aabb_xy":[[0.11492270938591431,-1.9620900478389036],[0.13605766870211233,-1.9409999876128865]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.2072072342213238,0.9675009688051244,0.71338606911949],"aabb_xy":[[-0.24424134364938352,0.933123761471415],[-0.1701731247932641,1.0018781761388338]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.39716785681458555,0.14479845572691596,0.71338606911949],"aabb_xy":[[0.3894646661405085,0.13708908502817796],[0.4048710474886626,0.15250782642565397]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.5566268797928986,-1.1762449895081986,0.71338606911949],"aabb_xy":[[0.5066318688334466,-1.2262449885437903],[0.6066218907523506,-1.1262449904726068]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.010337459642402513,1.44825004160684,0.71338606911949],"aabb_xy":[[-0.01404072097154138,1.444548023298122],[-0.006634198313263644,1.4519520599155575]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.5493979073687449,1.0726795321757714,0.71338606911949],"aabb_xy":[[0.5072134932079143,1.00867953189856],[0.5915823215295758,1.1366795324529824]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.5108133433392592,-2.4396525312626705,0.71338606911949],"aabb_xy":[[0.47331334299103145,-2.451443926843754],[0.548313343687487,-2.427861135681587]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.33729017539462536,-0.6669557165092737,0.71338606911949],"aabb_xy":[[0.31479017538447707,-0.6810519361488769],[0.35979017540477365,-0.6528594968696704]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.6795922833142027,0.3425050457550265,0.71338606911949],"aabb_xy":[[0.6471305824322751,0.3123722136401238],[0.71205398419613,0.3726378778699291]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.5474238009431616,-1.9967648418224768,0.71338606911949],"aabb_xy":[[0.4974463840779079,-2.046764843311725],[0.597401217808415,-1.946764840333228]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.3214915782689464,1.4017668960178216,0.71338606911949],"aabb_xy":[[-0.3319031369494301,1.396421162681923],[-0.31108001958846265,1.4071126293537197]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.43218178952743314,-0.970290955566361,0.71338606911949],"aabb_xy":[[-0.4621493464372588,-1.0002909558642468],[-0.40221423261760747,-0.9402909552684753]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.38674579125797237,1.6701283686125037,0.71338606911949],"aabb_xy":[[0.36483710911862127,1.648227701792413],[0.40865447339732336,1.6920290354325944]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.34274927339095784,-0.386276707164968,0.71338606911949],"aabb_xy":[[0.32024927357705546,-0.39075132353544867],[0.3652492732048602,-0.3818020907944873]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[0.5328034258002319,-0.9099690668440028,0.71338606911949],"aabb_xy":[[0.5158926933638901,-0.9234412724366173],[0.5497141582365737,-0.8964968612513883]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.2115813245984437,-0.8852782384670506,0.71338606911949],"aabb_xy":[[0.16158132357930846,-0.9217444542048787],[0.261581325617579,-0.8488120227292228]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[-0.5365308642178694,-1.935826971063057,0.71338606911949],"aabb_xy":[[-0.6265308628123394,-1.9520775573764781],[-0.4465308656233995,-1.919576384749636]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.001395232981587724,-0.792745476770808,0.71338606911949],"aabb_xy":[[-0.006732808647592292,-0.8177454776999479],[0.003942342684416844,-0.7677454758416683]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[-0.13759799857070065,-0.3327845209267912,0.71338606911949],"aabb_xy":[[-0.17509799699410097,-0.34594873489462186],[-0.10009800014730028,-0.3196203069589606]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.21509897833721153,-1.7168033452535845,0.71338606911949],"aabb_xy":[[-0.2650989779135463,-1.7667839242056902],[-0.16509897876087684,-1.6668227663014783]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.192545600965217,1.4884884177816118,0.71338606911949],"aabb_xy":[[0.15504560030063827,1.4728013597813894],[0.23004560162979568,1.5041754757818337]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.6412770286450602,-0.5101031503570663,0.71338606911949],"aabb_xy":[[-0.6571615219103855,-0.5244560906558904],[-0.6253925353797352,-0.49575021005824227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712160759109148,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3566.png","name":"3566"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3566.png","name":"3566"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1.png","name":"1"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8643.png","name":"8643"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7625.png","name":"7625"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":706.2512467300648,"rotation_z_degrees":313.6536948647522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008875443497678184,0.008503079684181968,0.003925780440827243]},{"name":"camera_2","offset_m":[-0.017848053787657102,0.01480204576722757,-0.0017319343370502914]},{"name":"camera_3","offset_m":[0.011970648772273832,-0.014739975963036257,-0.016479480406553802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015369863642575444,-0.0016040552722409022,0.0008411035921220287],"end_effector_yaw_offset_degrees":0.8636876105315836},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001529115659478531,0.0017698183415329775,0.0017040302936408582],"end_effector_yaw_offset_degrees":0.34918853108295833},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.000539469255188569,0.0017283321772116268,-0.0009672718147126123],"end_effector_yaw_offset_degrees":0.5751018569396364}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0009104301605031033,-0.0006625426961193977],"position_m":[0.22098956983949689,0.26673745730388065,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004832334793076531,0.002179597577385173],"position_m":[0.3371676652069235,0.11327959757738518,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004249624213981679,-0.0012905483250663387],"position_m":[0.3000496242139817,-0.04519054832506634,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003587546960691825,-0.00375323784561699],"position_m":[0.2710412453039308,-0.31235323784561697,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3479beca8cdb54ca25631cdd59f64c8428d5a3ae509d7949c739209591009760","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3566/tex_ceiling_textures_7625/tex_floor_textures_2493/tex_table_textures_1/tex_wall_textures_8643","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5028291500713985468,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5028291500713985468,"visual_seed":5028291500713985468,"scene_id":"lab_003","finished_at":"2026-09-02T04:55:23"}
+{"episode_id":"ep_000036","started_at":"2026-09-02T04:55:26","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.4793910996806736,-0.37890782817813173,0.71338606911949],"aabb_xy":[[0.4740585850260606,-0.3842321564233674],[0.48472361433528655,-0.3735834999328962]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.46757481687668,-0.5551795016391199,0.71338606911949],"aabb_xy":[[0.4075748162806638,-0.6099919741843434],[0.5275748174726962,-0.5003670290938964]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.18717554644041035,0.8002346507828273,0.71338606911949],"aabb_xy":[[0.1728411213142469,0.7881744352282883],[0.2015099715665738,0.812294866337366]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.45662815337211626,-1.7514567389521631,0.71338606911949],"aabb_xy":[[-0.506622986300058,-1.8014567378474067],[-0.4066333204441747,-1.7014567400569196]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.40541501601388324,0.5935025283593656,0.71338606911949],"aabb_xy":[[-0.4115096439020015,0.584933133807697],[-0.39932038812576487,0.6020719229110344]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.10850974247866196,-1.860012898837073,0.71338606911949],"aabb_xy":[[0.02850974200844602,-1.8683236064514215],[0.18850974294887796,-1.851702191222725]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.06949936718571204,-0.907419340501141,0.71338606911949],"aabb_xy":[[0.005499370758390146,-0.9545889643232376],[0.13349936361303394,-0.8602497166790447]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[0.05619269512897018,-1.5309926674894456,0.71338606911949],"aabb_xy":[[0.00637591566413543,-1.580992665973749],[0.10600947459380494,-1.4809926690051423]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.3834699605767504,-1.7450564846954468,0.71338606911949],"aabb_xy":[[0.3615612784373993,-1.7669571515155373],[0.4053786427161014,-1.7231558178753559]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.45082314450777805,0.883587174847789,0.71338606911949],"aabb_xy":[[-0.4578634544413151,0.803587175448118],[-0.4437828345742411,0.9635871742474608]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.5409791832788262,-0.031566482615285274,0.71338606911949],"aabb_xy":[[0.4509791835556521,-0.0546398351504651],[0.6309791830020004,-0.008493130080105436]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.3517726579985723,-0.5144662810370271,0.71338606911949],"aabb_xy":[[-0.3610662762357229,-0.551966279525161],[-0.34247903976142174,-0.4769662825488932]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.39288064296991987,1.6306976071264212,0.71338606911949],"aabb_xy":[[0.3128806458103446,1.6191500061686037],[0.47288064012949516,1.6422452080842378]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.15287199150944186,1.7415529525888886,0.71338606911949],"aabb_xy":[[0.14475833683606476,1.7334471361348596],[0.16098564618281896,1.7496587690429177]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.19072878409616645,1.0131118821306595,0.71338606911949],"aabb_xy":[[-0.2407237950556185,0.9631118830950678],[-0.14073377313671442,1.0631118811662512]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[0.1528945998179012,1.252399551003999,0.71338606911949],"aabb_xy":[[0.06789460112582657,1.22041368760912],[0.23789459850997585,1.2843854143988778]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.030092136012833115,-1.4060841208673422,0.71338606911949],"aabb_xy":[[0.02205580131154827,-1.4141222401717586],[0.03812847071411796,-1.398046001562925]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.2190228876810844,-1.3304145347600342,0.71338606911949],"aabb_xy":[[-0.2536139705351296,-1.3954145350450653],[-0.18443180482703916,-1.2654145344750032]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.6181979234750711,0.8413629349794824,0.71338606911949],"aabb_xy":[[-0.682197925695478,0.7969898508541943],[-0.5541979212546639,0.8857360191047708]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.08225232743979483,-1.2277432094578176,0.71338606911949],"aabb_xy":[[-0.0868874425920282,-1.231610544534966],[-0.07761721228756142,-1.2238758743806686]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.13748587341126484,-0.5894615568792898,0.71338606911949],"aabb_xy":[[-0.18248587487749368,-0.6344614137407705],[-0.09248587194503598,-0.5444617000178091]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.488057141268133,0.4220271282092125,0.71338606911949],"aabb_xy":[[-0.5580571439047193,0.40192226321334695],[-0.41805713863154664,0.44213199320507796]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.39490231975237045,-0.9890102229612212,0.71338606911949],"aabb_xy":[[0.34088672347047044,-1.0530102258534781],[0.44891791603427045,-0.9250102200689638]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.1396079399532868,0.6196682550416477,0.71338606911949],"aabb_xy":[[-0.229607936688897,0.5664847917243531],[-0.04960794321767659,0.6728517183589421]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.4290521105052711,-1.4100052871804492,0.71338606911949],"aabb_xy":[[-0.49405211150577155,-1.4607916523351243],[-0.3640521095047705,-1.3592189220257744]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.2899468602050121,0.4095104325504142,0.71338606911949],"aabb_xy":[[-0.3124468604485275,0.39730579789064224],[-0.2674468599614967,0.42171506721018615]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.23503178792743407,1.0154418275863466,0.71338606911949],"aabb_xy":[[0.20003178965731416,1.0083676998913584],[0.27003178619755397,1.0225159552813348]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.5496129570219392,0.04948481584226894,0.71338606911949],"aabb_xy":[[0.4696129559488189,0.039706769504884505],[0.6296129580950596,0.05926286217965338]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[-0.6769576827493391,-0.7184914088510879,0.71338606911949],"aabb_xy":[[-0.6848809629880874,-0.7409914090890912],[-0.6690344025105908,-0.6959914086130845]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[0.13405846509341868,0.6192176737367379,0.71338606911949],"aabb_xy":[[0.10061828989739906,0.5857740479058077],[0.16749864028943826,0.6526612995676678]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668933346770237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6407.png","name":"6407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6407.png","name":"6407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3184.png","name":"3184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8910.png","name":"8910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2958.png","name":"2958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/587.png","name":"587"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":759.1634710457527,"rotation_z_degrees":248.4173748735633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011604030592321934,-0.0031658061371188755,-0.012264109079891257]},{"name":"camera_2","offset_m":[0.01661375568207424,0.007823911230647913,-0.008620035205683139]},{"name":"camera_3","offset_m":[-0.0003145736909872972,-0.0015257483590164003,-0.018124963152875]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018920586130535893,-0.0006925589713925651,0.001643864903760531],"end_effector_yaw_offset_degrees":0.7546496481759271},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004486646845337243,0.000343724945090339,0.0009083673397446736],"end_effector_yaw_offset_degrees":-0.1577856689561663},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00021178192547033304,0.0009167158959922507,0.0006989742943642858],"end_effector_yaw_offset_degrees":0.805481421084616}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026574874472366696,0.00290256221330371],"position_m":[0.22455748744723666,0.27030256221330373,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018530763018701525,0.000378237828722712],"position_m":[0.3401469236981299,0.11147823782872271,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004848063987040645,0.0029081675983960225],"position_m":[0.2909519360129594,-0.04099183240160398,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00048640774676450907,0.0028214791029316467],"position_m":[0.2718864077467645,-0.30577852089706836,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"398e02cfa061983b681cf57e913ff53a66d1fbcf89124d73d091b1b5c6052f56","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6407/tex_ceiling_textures_587/tex_floor_textures_2958/tex_table_textures_3184/tex_wall_textures_8910","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3265522738103529298,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3265522738103529298,"visual_seed":3265522738103529298,"scene_id":"lab_003","finished_at":"2026-09-02T04:58:11"}
+{"episode_id":"ep_000037","started_at":"2026-09-02T04:58:15","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.4335205038680441,-2.149552090108206,0.71338606911949],"aabb_xy":[[0.3435205052735742,-2.1658026764216274],[0.523520502462514,-2.133301503794785]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.41728069705139303,-1.3398038434091188,0.71338606911949],"aabb_xy":[[-0.48128069775486243,-1.3858222258820398],[-0.3532806963479237,-1.2937854609361978]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.22833050355674217,-1.110554557301737,0.71338606911949],"aabb_xy":[[-0.24177703019078547,-1.124024408954828],[-0.2148839769226988,-1.0970847056486457]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.4066858578915108,0.29174382266493604,0.71338606911949],"aabb_xy":[[-0.4371701080185409,0.2417438228834401],[-0.3762016077644806,0.341743822446432]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.2562458057210485,1.3091598877781419,0.71338606911949],"aabb_xy":[[0.2340732787443976,1.2869842206220186],[0.2784183326976993,1.3313355549342647]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.6445052259485178,-1.7908538666459597,0.71338606911949],"aabb_xy":[[0.5645114023699596,-1.8708538692388015],[0.724499049527076,-1.7108538640531183]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[-0.45187972556179445,-1.5693639512618653,0.71338606911949],"aabb_xy":[[-0.4868797254578134,-1.5777381867738054],[-0.41687972566577564,-1.5609897157499253]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.375053539668815,-0.5546064174225793,0.71338606911949],"aabb_xy":[[-0.4300467510059518,-0.609606417761373],[-0.32006032833167825,-0.49960641708378584]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.6108461344568574,-0.08326806797091102,0.71338606911949],"aabb_xy":[[0.5765298572822395,-0.13326806794408874],[0.6451624116314754,-0.0332680679977333]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.4587603006637519,0.9647437005104091,0.71338606911949],"aabb_xy":[[-0.46851629017292573,0.9549811664511746],[-0.44900431115457795,0.9745062345696435]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[0.5207350439715683,1.583119926229863,0.71338606911949],"aabb_xy":[[0.48394041084666206,1.546214051133281],[0.5575296770964746,1.6200258013264455]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.45411020568946125,-0.4591116692030024,0.71338606911949],"aabb_xy":[[0.42296328684587814,-0.5291116678898095],[0.48525712453304437,-0.3891116705161951]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.02269039701006148,-1.4138982610754596,0.71338606911949],"aabb_xy":[[-0.027309604273778484,-1.4638771154660817],[0.07269039829390143,-1.3639194066848375]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.29266239100749225,0.9126927743861173,0.71338606911949],"aabb_xy":[[0.2561665703802135,0.8762088319593597],[0.329158211634771,0.9491767168128749]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.3945015102352545,-1.5641404341411522,0.71338606911949],"aabb_xy":[[0.3305015138396814,-1.6281037225598858],[0.45850150663082756,-1.5001771457224187]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[-0.2622611231097582,-2.0428238388047877,0.71338606911949],"aabb_xy":[[-0.3262611251594902,-2.0829183218940956],[-0.1982611210600262,-2.0027293557154797]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.299204308162366,-1.6976270943974514,0.71338606911949],"aabb_xy":[[-0.30561812180555087,-1.7040369146451195],[-0.292790494519181,-1.6912172741497828]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.06478696121886651,-0.7625977244832403,0.71338606911949],"aabb_xy":[[-0.07088158910698483,-0.771167119034909],[-0.05869233333074819,-0.7540283299315715]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.10459934142496607,-2.3217721737032475,0.71338606911949],"aabb_xy":[[0.04059934104743246,-2.3715174405540593],[0.1685993418024997,-2.272026906852435]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.4818554263346431,-0.8046827853403304,0.71338606911949],"aabb_xy":[[-0.49448221362183953,-0.8142288590419032],[-0.4692286390474468,-0.7951367116387574]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.032523125774302164,-2.115618527913189,0.71338606911949],"aabb_xy":[[-0.01747687380203255,-2.165599106865295],[0.08252312535063688,-2.065637948961083]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.5196912306599798,-1.2138342062044787,0.71338606911949],"aabb_xy":[[-0.5571912311573379,-1.217802889752597],[-0.48219123016262144,-1.20986552265636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658139679661851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1643.png","name":"1643"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1643.png","name":"1643"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6964.png","name":"6964"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3706.png","name":"3706"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":629.1342103172599,"rotation_z_degrees":325.16665506674246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018196470829737733,-0.006827551085561804,0.015686768248684275]},{"name":"camera_2","offset_m":[0.010470566180072267,-0.008289574937625157,-0.01408450811494336]},{"name":"camera_3","offset_m":[-0.01607510367866375,0.011766918015982116,0.01463493620929789]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008849948363704226,-0.0004659672243503708,0.0018300484607277332],"end_effector_yaw_offset_degrees":0.10331462376425926},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00018373978989257998,0.001843791325776879,-0.0015198510208504184],"end_effector_yaw_offset_degrees":-0.14832065089906732},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001131358462910471,0.001326697155343806,-0.0009257713037176961],"end_effector_yaw_offset_degrees":-0.6399629186164657}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004513757923750059,3.146613055506932e-05],"position_m":[0.21738624207624993,0.2674314661305551,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004321797986817535,-0.004376499090847311],"position_m":[0.34632179798681756,0.1067235009091527,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001361281997739606,-0.003115472396283282],"position_m":[0.2971612819977396,-0.04701547239628329,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019888797276439597,0.0048300630679421535],"position_m":[0.26941112027235603,-0.30376993693205784,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9118392f89f559ffc53233d3897ff1e1454609569f68882097fdccc7ebb2feee","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1643/tex_ceiling_textures_3706/tex_floor_textures_6982/tex_table_textures_6964/tex_wall_textures_3906","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5530706660932189728,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5530706660932189728,"visual_seed":5530706660932189728,"scene_id":"lab_003","finished_at":"2026-09-02T05:01:13"}
+{"episode_id":"ep_000038","started_at":"2026-09-02T05:01:19","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.3423371692754269,-1.713148718922997,0.71338606911949],"aabb_xy":[[0.3173371697236884,-1.7232912027881317],[0.3673371688271654,-1.7030062350578623]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.6002747504146929,0.6908752634986848,0.71338606911949],"aabb_xy":[[-0.6177746838486763,0.6733752635784502],[-0.5827748169807095,0.7083752634189193]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.10906945117500799,0.919821017733546,0.71338606911949],"aabb_xy":[[0.05906945015587273,0.8833548019957181],[0.15906945219414326,0.956287233471374]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.30108030220350135,0.8593196591211734,0.71338606911949],"aabb_xy":[[0.29238233991278606,0.8471946848136988],[0.30977826449421664,0.8714446334286482]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.11660149375403395,1.313363097163065,0.71338606911949],"aabb_xy":[[-0.16373087275586962,1.2493630961186626],[-0.06947211475219826,1.3773630982074665]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.5964583600946792,1.2012627501911708,0.71338606911949],"aabb_xy":[[-0.632087515994639,1.1656300834343178],[-0.5608292041947195,1.2368954169480237]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.4301520717940521,-0.9071276607808807,0.71338606911949],"aabb_xy":[[0.3801691216065727,-0.957127660423441],[0.48013502198153135,-0.8571276611383202]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.6327795738128033,-1.5876342823732505,0.71338606911949],"aabb_xy":[[0.542779570135885,-1.6490666889503545],[0.7227795774897213,-1.5262018757961457]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.30523285163919045,-0.7328979219954459,0.71338606911949],"aabb_xy":[[-0.31659458629247655,-0.7442663884017339],[-0.29387111698590423,-0.7215294555891577]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.5485144352737286,-2.2741430389338446,0.71338606911949],"aabb_xy":[[0.46852061169517034,-2.354143041526686],[0.6285082588522868,-2.194143036341003]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.046770619296792604,-1.1984651057529108,0.71338606911949],"aabb_xy":[[-0.08123309730988038,-1.2051287829358333],[-0.012308141283704832,-1.1918014285699874]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.28193015061543025,0.886440640135477,0.71338606911949],"aabb_xy":[[-0.3619301476296782,0.8663060884620658],[-0.20193015360118222,0.9065751918088883]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.45647958693248536,0.679741053887835,0.71338606911949],"aabb_xy":[[-0.4613788792390488,0.6520641345852661],[-0.4515802946259218,0.7074179731904037]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.28351373305315825,-0.43792728619071575,0.71338606911949],"aabb_xy":[[-0.3313199006669269,-0.5029272888977747],[-0.2357075654393896,-0.3729272834836568]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[0.3205226609099059,0.5541075416530732,0.71338606911949],"aabb_xy":[[0.24052266394686672,0.47703190000929974],[0.40052265787294505,0.6311831832968466]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.12284693437659566,-1.1737004525480355,0.71338606911949],"aabb_xy":[[0.07296423749889946,-1.2237004517943102],[0.17272963125429186,-1.1237004533017607]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.310833997706556,-0.30449631797674215,0.71338606911949],"aabb_xy":[[-0.3169286255946744,-0.31306571252841087],[-0.30473936981843774,-0.29592692342507343]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.5161448496118592,0.9277728292172425,0.71338606911949],"aabb_xy":[[-0.5205754789666995,0.9223244574825601],[-0.5117142202570192,0.9332212009519253]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.6268029866044744,1.598985289792473,0.71338606911949],"aabb_xy":[[0.613572041069793,1.5857578707704736],[0.6400339321391556,1.6122127088144724]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.2816452010686803,-1.5954521133622122,0.71338606911949],"aabb_xy":[[0.2704001454980624,-1.6066939110863077],[0.2928902566392981,-1.584210315638117]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.2974823044820962,-2.237145213220917,0.71338606911949],"aabb_xy":[[0.2398518355948253,-2.2971452121476266],[0.35511277336936703,-2.1771452142942054]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.2733271102874439,1.3921000012578575,0.71338606911949],"aabb_xy":[[-0.27703037161658267,1.3883979829491397],[-0.269623848958305,1.3958020195665752]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.4268963347006954,-1.5155974971419788,0.71338606911949],"aabb_xy":[[-0.48689633556150813,-1.5670239271484652],[-0.3668963338398825,-1.4641710671354924]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[-0.32089968524901785,-2.520996865446299,0.71338606911949],"aabb_xy":[[-0.4108996838434878,-2.53724745175972],[-0.2308996866545479,-2.5047462791328776]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[-0.4794666858601365,0.053270273075269436,0.71338606911949],"aabb_xy":[[-0.5163172337971241,0.0157702722522357],[-0.4426161379231489,0.09077027389830317]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.3182934457875392,0.2672809432132035,0.71338606911949],"aabb_xy":[[-0.39829344686065954,0.25750289687581907],[-0.23829344471441888,0.27705898955058794]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[-0.29064997271467524,1.7265216490398791,0.71338606911949],"aabb_xy":[[-0.3506499729660764,1.672240324003414],[-0.23064997246327407,1.7808029740763434]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.2882305287188609,-2.1100639617436627,0.71338606911949],"aabb_xy":[[0.27389610359269745,-2.1221241772982014],[0.30256495384502435,-2.098003746189124]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_28","position":[0.20262095048150708,-1.4812915129056363,0.71338606911949],"aabb_xy":[[0.190748867470006,-1.566291512599287],[0.21449303349300822,-1.3962915132119862]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[-0.3426977471696584,0.6574087038114307,0.71338606911949],"aabb_xy":[[-0.34665823093939274,0.6497408392259101],[-0.33873726339992405,0.6650765683969513]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[0.4548497671435501,1.6399245037742358,0.71338606911949],"aabb_xy":[[0.44673611247017303,1.6318186873202067],[0.46296342181692723,1.648030320228265]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_31","position":[0.476312967584372,-1.2366680742699232,0.71338606911949],"aabb_xy":[[0.47167785243213867,-1.2405354093470715],[0.4809480827366054,-1.2328007391927744]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_32","position":[0.5734145680917937,0.4875353275047849,0.71338606911949],"aabb_xy":[[0.5094145687976255,0.42354918713593065],[0.6374145673859619,0.5515214678736391]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743974927234078,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/262.png","name":"262"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/262.png","name":"262"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3886.png","name":"3886"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1072.png","name":"1072"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2533.png","name":"2533"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3746.png","name":"3746"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":577.2508482329768,"rotation_z_degrees":313.78758683004315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013195777154208287,-0.003792587038595273,-0.002504445793274527]},{"name":"camera_2","offset_m":[0.007758628258158189,-0.0015891776345852565,0.006965017497457357]},{"name":"camera_3","offset_m":[-0.0044337386006086995,0.01894624690736989,-0.008568304363686946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001830042680718724,0.0010326662681379292,1.4714298968447528e-05],"end_effector_yaw_offset_degrees":0.18221191956208926},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00183058936803419,-0.0019212056841382413,-0.001977883082613386],"end_effector_yaw_offset_degrees":-0.9142833043218301},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011269327818157187,0.0002324535305845009,0.0016136847378972318],"end_effector_yaw_offset_degrees":0.5562201717239099}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0017247732382116255,-0.0025872931275419376],"position_m":[0.22362477323821162,0.2648127068724581,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004027631556761409,0.0030286040557643583],"position_m":[0.3460276315567614,0.11412860405576436,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016665490532786409,-0.0006498678542293931],"position_m":[0.2941334509467214,-0.044549867854229395,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002861039787841126,-0.0044644151949473675],"position_m":[0.2742610397878411,-0.3130644151949474,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e33903184ede77d83c7e9b4e5370053e4090674b10f806400eeeed39ae506d06","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_262/tex_ceiling_textures_3746/tex_floor_textures_2533/tex_table_textures_3886/tex_wall_textures_1072","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":576762091801312632,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":576762091801312632,"visual_seed":576762091801312632,"scene_id":"lab_003","finished_at":"2026-09-02T05:04:05"}
+{"episode_id":"ep_000039","started_at":"2026-09-02T05:04:10","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.579490357903149,1.321224234650153,0.71338606911949],"aabb_xy":[[0.5419903563875172,1.3099974616340078],[0.6169903594187807,1.3324510076662979]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.5306041239898487,-0.13775225751905795,0.71338606911949],"aabb_xy":[[0.49945720514626546,-0.20775225620586513],[0.5617510428334317,-0.06775225883225078]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.6712348599806794,-1.5296736067788703,0.71338606911949],"aabb_xy":[[0.6641934090299318,-1.536700358516665],[0.678276310931427,-1.5226468550410757]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[0.621541544508019,-2.107246150805724,0.71338606911949],"aabb_xy":[[0.5575415431000282,-2.1590351023296486],[0.6855415459160096,-2.055457199281799]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.6128537498525553,0.0622503779727408,0.71338606911949],"aabb_xy":[[0.5676824320043863,-0.001749619171797633],[0.6580250677007242,0.1262503751172792]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[-0.4954673118165388,-0.8629386570426729,0.71338606911949],"aabb_xy":[[-0.5594673125200083,-0.9089570395155941],[-0.4314673111130695,-0.8169202745697521]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.041996103227921466,0.7377263763581157,0.71338606911949],"aabb_xy":[[0.02489402526955331,0.7206195708268459],[0.05909818118628962,0.7548331818893854]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.07502891070825068,1.747081514653496,0.71338606911949],"aabb_xy":[[-0.13902890782035637,1.6980491448590853],[-0.011028913596144996,1.7961138844479065]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.6128518591212897,0.4625389076546256,0.71338606911949],"aabb_xy":[[0.5228518626204178,0.4166272652361672],[0.7028518556221613,0.5084505500730836]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.14423122176324676,1.6699048400953473,0.71338606911949],"aabb_xy":[[0.09423122047940678,1.6199259857047252],[0.1942312230470867,1.7198836944859694]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.13712657466621803,1.1089257465637385,0.71338606911949],"aabb_xy":[[0.1269735591120686,1.0728562049909978],[0.14727959022036735,1.1449952881364784]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.6152592673423065,1.4656757342724176,0.71338606911949],"aabb_xy":[[0.5902592677905679,1.4555332504072829],[0.6402592668940449,1.4758182181375523]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.10876452401864911,-2.231679378403969,0.71338606911949],"aabb_xy":[[-0.1687645248794619,-2.2831058084104545],[-0.0487645231578363,-2.180252948397482]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.42867589705012055,1.154177397107924,0.71338606911949],"aabb_xy":[[0.4003461871015804,1.149716654914207],[0.45700560699866083,1.1586381393016412]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.30058215629454044,0.49419908173288496,0.71338606911949],"aabb_xy":[[-0.3085761448722438,0.48619900163779456],[-0.292588167716837,0.5021991618279753]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.5612668685602291,-1.9181788746159945,0.71338606911949],"aabb_xy":[[0.5423824847917189,-1.937064799396347],[0.5801512523287393,-1.8992929498356415]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.10787370536141816,-2.1541972300854466,0.71338606911949],"aabb_xy":[[0.0579006398289027,-2.20419722989798],[0.15784677089393362,-2.104197230272914]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.5863721920860252,0.9724207252790986,0.71338606911949],"aabb_xy":[[-0.6209632749400703,0.9074207249940676],[-0.5517811092319799,1.0374207255641297]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.04212542405689923,-0.4860886978044707,0.71338606911949],"aabb_xy":[[-0.07962542416249217,-0.4929108596574518],[-0.0046254239513062725,-0.47926653595148955]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.0026922562963902497,-1.2809900134524093,0.71338606911949],"aabb_xy":[[-0.03613243149240985,-1.3144336392833391],[0.030747918899629353,-1.247546387621479]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.14338247975305518,1.3252635792571383,0.71338606911949],"aabb_xy":[[-0.1515970248687391,1.3165869889594966],[-0.13516793463737115,1.3339401695547792]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.21134987628475893,-0.28549408791300745,0.71338606911949],"aabb_xy":[[-0.27534987950339684,-0.33221719981201586],[-0.1473498730661211,-0.23877097601399916]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[-0.07254979143420914,-1.6863972376561533,0.71338606911949],"aabb_xy":[[-0.13654979365461617,-1.7307703217814416],[-0.008549789213802117,-1.642024153530865]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.010510158309566586,1.1026161259932565,0.71338606911949],"aabb_xy":[[-0.03301015783327398,1.0801201785426355],[0.011989841214140816,1.125112073443877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722196598582889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5189.png","name":"5189"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5189.png","name":"5189"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9928.png","name":"9928"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1587.png","name":"1587"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2299.png","name":"2299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":842.210064224283,"rotation_z_degrees":229.09858906496012,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016250836360587103,-0.0055420640710068005,0.013973830437903966]},{"name":"camera_2","offset_m":[-0.015098500639099517,-0.01898123900708627,-0.010012695913468752]},{"name":"camera_3","offset_m":[0.007043857341481354,0.008748453719477352,-0.011959211583589693]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012162980424889019,0.00032791215978912255,0.0016157042611614713],"end_effector_yaw_offset_degrees":-0.12442708843215633},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00015890436970190675,0.0009819746732390058,-0.0004495865690481663],"end_effector_yaw_offset_degrees":0.6932466533618269},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0017939194817980426,0.0008321104341387471,-0.00026037416835659804],"end_effector_yaw_offset_degrees":-0.08922051378497287}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0032223265745144284,0.0016423492244815397],"position_m":[0.21867767342548555,0.26904234922448156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001490659849752554,-0.003154073372088362],"position_m":[0.3434906598497526,0.10794592662791164,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0015351214956356484,-0.0017214986985462253],"position_m":[0.29426487850436434,-0.045621498698546224,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006992173045594838,-0.003897327609857588],"position_m":[0.27209921730455944,-0.3124973276098576,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cd5237d54be440f69a39012e1d248cdfa05b3126e238b0f95ac848f4e8f9c131","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5189/tex_ceiling_textures_9970/tex_floor_textures_2299/tex_table_textures_9928/tex_wall_textures_1587","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6665699903375647889,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6665699903375647889,"visual_seed":6665699903375647889,"scene_id":"lab_003","finished_at":"2026-09-02T05:06:55"}
+{"episode_id":"ep_000040","started_at":"2026-09-02T05:06:57","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.6400624641983286,-0.0073352280001648396,0.71338606911949],"aabb_xy":[[-0.6574931792773349,-0.02460734266401565],[-0.6226317491193218,0.00993688666368597]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.3897782735179302,0.24927114066294465,0.71338606911949],"aabb_xy":[[-0.4058402009764478,0.1642711388503528],[-0.3737163460594125,0.3342711424755364]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.011333595653343687,-1.50508050330187,0.71338606911949],"aabb_xy":[[-0.10133359537651786,-1.5281538558370495],[0.07866640406983048,-1.4820071507666899]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[0.6496439947688437,-2.4346105906995095,0.71338606911949],"aabb_xy":[[0.6209946624084274,-2.4632561499765844],[0.6782933271292598,-2.405965031422433]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.5692883714355657,-0.5212291618501075,0.71338606911949],"aabb_xy":[[0.4892883744213177,-0.5413637135235188],[0.6492883684498136,-0.5010946101766962]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.24515210747237415,-2.145969624016711,0.71338606911949],"aabb_xy":[[0.18115210676890484,-2.191988006489632],[0.30915210817584354,-2.09995124154379]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.40745662242061426,1.1341936574504898,0.71338606911949],"aabb_xy":[[-0.4353016592012214,1.103409158712178],[-0.37961158564000713,1.1649781561888013]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[-0.18217924503425686,-0.820930977128129,0.71338606911949],"aabb_xy":[[-0.1870785373408203,-0.8486078964306977],[-0.1772799527276933,-0.7932540578255601]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[0.020924719850150764,-1.7103436271611483,0.71338606911949],"aabb_xy":[[0.0033780249340318314,-1.7478436287253996],[0.038471414766269696,-1.672843625596897]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.16329654643062907,0.08254814266873511,0.71338606911949],"aabb_xy":[[-0.1746582810839152,0.07117967626244702],[-0.1519348117773429,0.09391660907502318]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.4252902164276189,-2.2666420960445404,0.71338606911949],"aabb_xy":[[0.4027902166137165,-2.2711167124150213],[0.44779021624152127,-2.2621674796740603]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[0.47594630859741827,1.474386028181891,0.71338606911949],"aabb_xy":[[0.40594630699513873,1.4609532349802334],[0.5459463101996977,1.4878188213835486]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.4388255987061127,-1.895523915104531,0.71338606911949],"aabb_xy":[[-0.4763255990543404,-1.9073153106856144],[-0.4013255983578849,-1.8837325195234473]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.4243595094967602,0.6228538546519853,0.71338606911949],"aabb_xy":[[-0.47433280350002055,0.5728538540974378],[-0.37438621549349965,0.6728538552065325]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.1139267174618811,0.6789190446558604,0.71338606911949],"aabb_xy":[[-0.12204037213525822,0.6708132282018313],[-0.10581306278850401,0.6870248611098895]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.5406908366213243,1.5533569953677904,0.71338606911949],"aabb_xy":[[0.518190836611176,1.5392607757281869],[0.5631908366314726,1.5674532150073934]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.4370762760646254,1.5800297907679028,0.71338606911949],"aabb_xy":[[0.41944344047109783,1.5624068447522799],[0.454709111658153,1.5976527367835258]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.020718066419127323,1.391485542929225,0.71338606911949],"aabb_xy":[[-0.056631570844117005,1.3555720347124702],[0.015195438005862358,1.4273990511459793]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.5069953389292624,1.5706024623054984,0.71338606911949],"aabb_xy":[[-0.566995339790075,1.5191760322990118],[-0.44699533806844943,1.6220288923119845]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[-0.513615561156588,1.060981633783698,0.71338606911949],"aabb_xy":[[-0.524183040814687,1.0504366036706891],[-0.503048081498489,1.0715266638967063]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.08811511713464859,0.2892159530344225,0.71338606911949],"aabb_xy":[[-0.09624280532796181,0.28030234462371484],[-0.07998742894133537,0.29812956144513014]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.405330833020223,-0.9968992200639406,0.71338606911949],"aabb_xy":[[-0.4112973719609587,-1.0028603647233043],[-0.39936429407948715,-0.9909380754045763]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.4443442325449132,-2.426476877129052,0.71338606911949],"aabb_xy":[[0.4221717055682623,-2.448652544285175],[0.46651675952156396,-2.404301209972929]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.27341799268368394,-2.2657183308969016,0.71338606911949],"aabb_xy":[[-0.363417995017703,-2.3432006854820147],[-0.18341799034966488,-2.1882359763117893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666132493633246,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8270.png","name":"8270"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8270.png","name":"8270"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1108.png","name":"1108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1310.png","name":"1310"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7474.png","name":"7474"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6558.png","name":"6558"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":556.2147695251592,"rotation_z_degrees":359.1368893849857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017247633121204635,0.014777871836255684,0.019472111272330162]},{"name":"camera_2","offset_m":[-0.009831817885798481,-0.017439241848213008,-0.0037960428729802084]},{"name":"camera_3","offset_m":[0.01475451839018711,-0.017547890333924756,0.017179696090405063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007887923806755956,-0.0005917230989129015,0.001331919470815937],"end_effector_yaw_offset_degrees":0.32514835581703294},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019757923978190924,0.0006971780796382935,-0.0007228587355495679],"end_effector_yaw_offset_degrees":-0.1511938997862392},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005972671502761143,0.0015645095703570736,-0.00047705649414182317],"end_effector_yaw_offset_degrees":-0.5369200200454824}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0026306120319768258,0.003886170713844444],"position_m":[0.2245306120319768,0.2712861707138445,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023562528893248547,0.0008581529950505351],"position_m":[0.34435625288932487,0.11195815299505053,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002773293048358417,0.0037085335995336805],"position_m":[0.29302670695164157,-0.04019146640046632,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021686133380743678,0.002733902893887731],"position_m":[0.2692313866619256,-0.30586609710611223,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"741d53ae06bdeee70990dcf5e71f4e6a9163238be468836a7b295e430729bdf9","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8270/tex_ceiling_textures_6558/tex_floor_textures_7474/tex_table_textures_1108/tex_wall_textures_1310","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7515313560103293675,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7515313560103293675,"visual_seed":7515313560103293675,"scene_id":"lab_003","finished_at":"2026-09-02T05:09:54"}
+{"episode_id":"ep_000041","started_at":"2026-09-02T05:09:57","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.3997226897551358,-1.887570990090245,0.71338606911949],"aabb_xy":[[0.38281195731879397,-1.9010431956828595],[0.41663342219147753,-1.8740987844976302]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.2847942976382155,0.7987488494212149,0.71338606911949],"aabb_xy":[[0.27219159850113905,0.7861534531963494],[0.29739699677529197,0.8113442456460804]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.5617220550237112,0.26486667843655676,0.71338606911949],"aabb_xy":[[-0.5671800006607312,0.1848666751288976],[-0.556264109386691,0.3448666817442158]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.06864251995144033,-2.4940244340539675,0.71338606911949],"aabb_xy":[[-0.07675617462481743,-2.5021302505079968],[-0.060528865278063226,-2.485918617599938]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.37155515056137034,0.6942285089779632,0.71338606911949],"aabb_xy":[[0.3215551495422351,0.6577622932401352],[0.42155515158050566,0.7306947247157911]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.07717228027627221,-0.9574072517982004,0.71338606911949],"aabb_xy":[[-0.12717228156011218,-1.0073861061888225],[-0.027172278992432252,-0.9074283974075783]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.2647950628731812,-0.6467612157467948,0.71338606911949],"aabb_xy":[[0.25156411733849987,-0.6599886347687941],[0.27802600840786246,-0.6335337967247953]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.1218246517670657,-1.3185141282888417,0.71338606911949],"aabb_xy":[[0.11791077857164316,-1.3272631436953986],[0.12573852496248822,-1.309765112882285]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.13974277689008074,-0.6453243010040846,0.71338606911949],"aabb_xy":[[-0.16002707961347948,-0.6656069261467932],[-0.11945847416668197,-0.6250416758613755]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.4427614083832241,-2.5071659174437797,0.71338606911949],"aabb_xy":[[0.40526140821135215,-2.5398666528266864],[0.480261408555096,-2.474465182060872]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.46499405222551704,-2.457113435719553,0.71338606911949],"aabb_xy":[[-0.5149940508714382,-2.5070329793790154],[-0.41499405357959585,-2.4071938920600906]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.14491203113365103,-2.174734407265845,0.71338606911949],"aabb_xy":[[0.09493873713039055,-2.2247344078203923],[0.19488532513691145,-2.1247344067112977]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.6339059523964631,-0.7350798069223166,0.71338606911949],"aabb_xy":[[-0.6521117760577106,-0.7461052075043082],[-0.6157001287352153,-0.7240544063403249]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.5937471676491242,1.653615071053531,0.71338606911949],"aabb_xy":[[-0.6062145257588598,1.6411497464202076],[-0.5812798095393885,1.6660803956868546]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[0.1467885603130502,1.7409430316403403,0.71338606911949],"aabb_xy":[[0.08279286291795362,1.6769430333396314],[0.2107842577081468,1.8049430299410487]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.6340723704535417,-1.2872531237501275,0.71338606911949],"aabb_xy":[[-0.6565371404249467,-1.309753124628988],[-0.6116076004821365,-1.264753122871267]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.3438610596597095,-1.5543650883620748,0.71338606911949],"aabb_xy":[[-0.3674461831236044,-1.6193650906075066],[-0.3202759361958147,-1.489365086116643]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.36373105975413783,-0.1512339214124827,0.71338606911949],"aabb_xy":[[-0.4537310562550095,-0.19714556383094092],[-0.27373106325326596,-0.10532227899402445]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.21219483359779756,-1.6197004737444831,0.71338606911949],"aabb_xy":[[0.14819483137739056,-1.6640735578697714],[0.2761948358182046,-1.5753273896191948]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.32122411856126454,-1.0540543282207913,0.71338606911949],"aabb_xy":[[0.3077775919272212,-1.0675241798738826],[0.33467064519530787,-1.0405844765677]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[-0.34420819661980673,-1.0931901646848843,0.71338606911949],"aabb_xy":[[-0.43420819895382573,-1.170672519269997],[-0.2542081942857876,-1.0157078100997716]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.2661885907233671,1.5246776644747153,0.71338606911949],"aabb_xy":[[0.2315975078693218,1.459677664189684],[0.3007796735774122,1.5896776647597461]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.25404190505163127,0.20100170946110651,0.71338606911949],"aabb_xy":[[-0.2990419065178601,0.15600185259962585],[-0.20904190358540242,0.2460015663225872]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[-0.4903348154511693,-0.8170417581112488,0.71338606911949],"aabb_xy":[[-0.4999664516715989,-0.8266790708909576],[-0.4807031792307397,-0.8074044453315398]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.026288020770923737,1.2722845366216347,0.71338606911949],"aabb_xy":[[-0.033711980089889064,1.220858106615148],[0.08628802163173653,1.3237109666281208]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.18672856756785117,-2.5179860793351603,0.71338606911949],"aabb_xy":[[0.13173308974719178,-2.572986080769067],[0.24172404538851056,-2.4629860779012533]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.4849751140686819,-2.0500107972397266,0.71338606911949],"aabb_xy":[[-0.5028442218231374,-2.0638437052169376],[-0.4671060063142264,-2.0361778892625155]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.6244848631103579,1.5108951162881916,0.71338606911949],"aabb_xy":[[0.574506054600042,1.4608951162824726],[0.6744636716206738,1.5608951162939102]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.18592717580202422,0.5007409912002112,0.71338606911949],"aabb_xy":[[-0.19392116437972762,0.49274091110512086],[-0.17793318722432083,0.5087410712953016]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[0.4225316528479093,1.3688681971741086,0.71338606911949],"aabb_xy":[[0.406975883437644,1.3533177639297016],[0.43808742225817454,1.384418630418516]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_30","position":[-0.6618095076222947,-2.1097548412349596,0.71338606911949],"aabb_xy":[[-0.6793878098112416,-2.1273293308090646],[-0.6442312054333479,-2.0921803516608546]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_31","position":[-0.32893314838177307,-1.2329117109919219,0.71338606911949],"aabb_xy":[[-0.34656598397530064,-1.2505346570075448],[-0.3113003127882455,-1.215288764976299]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[0.3286270338261943,-1.1439452640805612,0.71338606911949],"aabb_xy":[[0.29299787792623455,-1.1795779308374141],[0.36425618972615403,-1.1083125973237082]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_33","position":[-0.18240210101320353,-1.9784623229296983,0.71338606911949],"aabb_xy":[[-0.23240210058953828,-2.028442901881804],[-0.13240210143686884,-1.9284817439775925]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_34","position":[-0.40979947147619306,0.35839789956270973,0.71338606911949],"aabb_xy":[[-0.4558845627309245,0.2943979023101546],[-0.3637143802214615,0.42239789681526485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725873525014153,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7613.png","name":"7613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7613.png","name":"7613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2169.png","name":"2169"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7170.png","name":"7170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9432.png","name":"9432"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3660.png","name":"3660"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":524.2709954515565,"rotation_z_degrees":219.00885191052777,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017523848825855302,-0.013074763736973014,-0.01952132447616521]},{"name":"camera_2","offset_m":[-0.009086288866549115,0.011344024676951007,-0.008056964585775787]},{"name":"camera_3","offset_m":[0.004569357359180525,0.007556624454805382,-0.012546724227161908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006859431542719134,-0.0017180785568804403,-0.0010962933819682052],"end_effector_yaw_offset_degrees":0.8549588441460707},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001174562346047714,0.001985969417983958,0.0014864278372710895],"end_effector_yaw_offset_degrees":0.2541515372220222},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013066855050628185,-0.00011421987672876818,-0.0012573666313195249],"end_effector_yaw_offset_degrees":-0.52225367699934}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021865869674665217,-0.0021121765629478905],"position_m":[0.2240865869674665,0.26528782343705215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00020101784666197962,-0.0012535216406452877],"position_m":[0.34179898215333804,0.10984647835935471,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.000456047120424451,0.003954677380348525],"position_m":[0.29625604712042447,-0.039945322619651474,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018414663701926638,-0.002507894584466149],"position_m":[0.27324146637019264,-0.31110789458446614,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"585cba47d007806954d185c0ba1b5d175e784d0c57663046cd84991c86ecd1eb","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7613/tex_ceiling_textures_3660/tex_floor_textures_9432/tex_table_textures_2169/tex_wall_textures_7170","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7269226969536307282,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7269226969536307282,"visual_seed":7269226969536307282,"scene_id":"lab_003","finished_at":"2026-09-02T05:12:38"}
+{"episode_id":"ep_000042","started_at":"2026-09-02T05:15:53","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.21583389679350545,0.6433513567150624,0.71338606911949],"aabb_xy":[[-0.2798338987058478,0.5874402074570519],[-0.1518338948811631,0.6992625059730728]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.25551940639033754,-1.9816000449263693,0.71338606911949],"aabb_xy":[[0.2495528674496017,-1.9875611895857335],[0.2614859453310733,-1.9756389002670056]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.08945268188501432,-0.7395245799931396,0.71338606911949],"aabb_xy":[[-0.1494526821364155,-0.7938059050296042],[-0.02945268163361313,-0.6852432549566749]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[0.43604501923973227,-0.9509213425968503,0.71338606911949],"aabb_xy":[[0.3560450206524127,-1.030236944535011],[0.5160450178270515,-0.8716057406586893]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.5383780414382143,1.7056686011268458,0.71338606911949],"aabb_xy":[[-0.575878040013835,1.6929323054632879],[-0.5008780428625934,1.7184048967904038]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.20938269872545273,-2.0293896299672634,0.71338606911949],"aabb_xy":[[-0.21547732661357108,-2.037959024518932],[-0.20328807083733444,-2.0208202354155946]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[-0.2917386565896306,1.202913343137964,0.71338606911949],"aabb_xy":[[-0.35573865517620307,1.1559063797384554],[-0.22773865800305815,1.2499203065374729]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.45177539179941983,-0.9791290387707601,0.71338606911949],"aabb_xy":[[-0.4930799348631558,-1.043129038338877],[-0.41047084873568385,-0.9151290392026429]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.6181264340122645,0.04668420712161847,0.71338606911949],"aabb_xy":[[0.5703202663984958,-0.018315795585440487],[0.6659326016260331,0.11168420982867741]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.03834195989455136,-2.088435648757183,0.71338606911949],"aabb_xy":[[-0.10334196100049464,-2.1134010218253114],[0.026658041211391925,-2.063470275689055]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.41710512504165087,0.3401686471156067,0.71338606911949],"aabb_xy":[[0.36710584987321476,0.2901686458396595],[0.4671044002100871,0.39016864839155385]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.6555330426285328,-1.0035320914277925,0.71338606911949],"aabb_xy":[[0.6055330439826117,-1.053451635087255],[0.705533041274454,-0.9536125477683302]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.06212259095964001,-2.2095090224409026,0.71338606911949],"aabb_xy":[[0.012149525427124542,-2.259509022253436],[0.11209565649215548,-2.15950902262837]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.2628199842107258,-0.8496778915570344,0.71338606911949],"aabb_xy":[[-0.3428199874747389,-0.8632379238659476],[-0.18281998094671265,-0.8361178592481209]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.03914568429118026,1.515354696458974,0.71338606911949],"aabb_xy":[[-0.07360816230426803,1.508691019276051],[-0.004683206278092489,1.5220183736418964]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.44522473969216325,-1.3808041982475665,0.71338606911949],"aabb_xy":[[-0.4677247392158706,-1.403300145698187],[-0.4227247401684558,-1.3583082507969455]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.42762469490140065,-0.698315279386964,0.71338606911949],"aabb_xy":[[0.4227811001401707,-0.7031669318659483],[0.4324682896626306,-0.69346362690798]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.16780802086707236,-0.6571336223496806,0.71338606911949],"aabb_xy":[[0.14258718400723266,-0.6823573732025673],[0.193028857726912,-0.6319098714967938]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.17446137479669543,1.5283154988182743,0.71338606911949],"aabb_xy":[[0.10446137216010906,1.5082106338224088],[0.24446137743328175,1.5484203638141398]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.46305245012541973,1.584633429490974,0.71338606911949],"aabb_xy":[[-0.5181776557550104,1.5246334280496867],[-0.4079272444958289,1.644633430932261]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[0.05783619877761226,-1.746099657585487,0.71338606911949],"aabb_xy":[[0.05320108362537887,-1.749966992662636],[0.062471313929845645,-1.7422323225083385]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.6041370669867488,-1.6646634079424707,0.71338606911949],"aabb_xy":[[-0.639137066179567,-1.675630453940133],[-0.5691370677939305,-1.6536963619448075]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[-0.021227099648218895,-1.5188989888065392,0.71338606911949],"aabb_xy":[[-0.08622710228601238,-1.570378587505986],[0.04377290298957459,-1.467419390107092]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.513113491002116,0.5356371830211883,0.71338606911949],"aabb_xy":[[-0.5356271828255731,0.4656371824201808],[-0.4905997991786587,0.6056371836221959]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686238820863933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1849.png","name":"1849"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1849.png","name":"1849"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3452.png","name":"3452"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1306.png","name":"1306"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1705.png","name":"1705"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5053.png","name":"5053"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":524.6252009225045,"rotation_z_degrees":177.79164571144887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012489577025458401,-0.016257098113052763,0.014307791181926145]},{"name":"camera_2","offset_m":[0.006074402671757146,-0.015079591875394609,0.0030780363831361957]},{"name":"camera_3","offset_m":[-0.01725191936010448,0.018542278899754013,-0.013069515367295007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015862963083710202,-0.0010261054068699176,-0.0001401025057334816],"end_effector_yaw_offset_degrees":0.8474668112354156},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011704430033141326,-0.0014941334242755113,-0.0012338638925540905],"end_effector_yaw_offset_degrees":-0.6086848214936529},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014745853487505589,0.0011398221478938508,-0.0007088920712410047],"end_effector_yaw_offset_degrees":-0.18964492060997484}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003686523429191427,0.004693297911144816],"position_m":[0.22558652342919142,0.27209329791114484,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016154771833894986,0.0012423016544426332],"position_m":[0.3403845228166105,0.11234230165444264,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004842433455037483,-0.00222336524519588],"position_m":[0.3006424334550375,-0.046123365245195884,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002705613285225378,-0.002646677169848358],"position_m":[0.2686943867147746,-0.31124667716984833,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"93550b9019567fe1604b6e62ca99bad4aceacbab9760ffb25b0459accc8882f6","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1849/tex_ceiling_textures_5053/tex_floor_textures_1705/tex_table_textures_3452/tex_wall_textures_1306","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5801327943512773211,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5801327943512773211,"visual_seed":5801327943512773211,"scene_id":"lab_003","finished_at":"2026-09-02T05:18:45"}
+{"episode_id":"ep_000043","started_at":"2026-09-02T05:18:48","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.397519586433595,-1.7149806722260097,0.71338606911949],"aabb_xy":[[0.34752475350565337,-1.7649806711212532],[0.4475144193615366,-1.6649806733307662]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.4236685098313808,-1.504009167745562,0.71338606911949],"aabb_xy":[[0.41190032303672336,-1.589009167650784],[0.4354366966260384,-1.4190091678403407]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[-0.5408398350246758,-2.1296072895456,0.71338606911949],"aabb_xy":[[-0.5751367460424163,-2.163904175755541],[-0.5065429240069351,-2.095310403335658]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.5335781495472194,1.716497484615108,0.71338606911949],"aabb_xy":[[0.5263169019768118,1.703710474351599],[0.5408393971176267,1.729284494878618]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.42300120767097726,-2.184072703792997,0.71338606911949],"aabb_xy":[[0.41886535133827707,-2.221572703237354],[0.42713706400367746,-2.14657270434864]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.6385540857658758,-1.585998498924153,0.71338606911949],"aabb_xy":[[0.5745540864717077,-1.6499846392930069],[0.7025540850600441,-1.5220123585552985]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.4605718932267753,-0.05210450986301618,0.71338606911949],"aabb_xy":[[0.45328957685011145,-0.14210451347252512],[0.46785420960343876,0.03789549374649282]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.2412604442927011,-0.32029591290051895,0.71338606911949],"aabb_xy":[[-0.2588932798862287,-0.3379188589161419],[-0.22362760869917356,-0.3026729668848959]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.4621002402903479,-1.5659694470362315,0.71338606911949],"aabb_xy":[[-0.5421002424531104,-1.645924630662375],[-0.3821002381275854,-1.4860142634100877]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.5192735095338783,1.150546933519177,0.71338606911949],"aabb_xy":[[-0.5363755874922466,1.1334401279879074],[-0.5021714315755103,1.167653739050447]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.3744872067766184,1.1893797756668336,0.71338606911949],"aabb_xy":[[-0.3779278830166756,1.1855183426924694],[-0.3710465305365612,1.1932412086411983]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.32995089198191174,-1.044150082156962,0.71338606911949],"aabb_xy":[[-0.3524508922254272,-1.056354716816734],[-0.3074508917383964,-1.03194544749719]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.28396413053124836,-1.0439031643557053,0.71338606911949],"aabb_xy":[[0.2751620752222756,-1.0517144905106341],[0.292766185840221,-1.036091838200776]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.24835542460893367,-1.328709550681577,0.71338606911949],"aabb_xy":[[-0.31235542665866567,-1.368804033770885],[-0.1843554225592017,-1.2886150675922692]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.1896932754740358,0.5033001739665806,0.71338606911949],"aabb_xy":[[-0.22719327529106936,0.4986619626554386],[-0.15219327565700225,0.5079383852777223]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.45088760135178874,-0.7549733243374825,0.71338606911949],"aabb_xy":[[-0.46172807957830364,-0.7721596056281315],[-0.44004712312527383,-0.7377870430468338]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.17699754001378853,-0.7033442545785211,0.71338606911949],"aabb_xy":[[0.15510779242484776,-0.7933442518677704],[0.19888728760272936,-0.6133442572892721]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.5354614069415136,-0.9729286013625731,0.71338606911949],"aabb_xy":[[-0.5486923524761946,-0.9861560203845725],[-0.522230461406832,-0.9597011823405737]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.3708001891830548,-2.07420571122824,0.71338606911949],"aabb_xy":[[0.36104419967388085,-2.0839682452874744],[0.38055617869222863,-2.0644431771690055]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.2918931196454938,-0.7767642805153698,0.71338606911949],"aabb_xy":[[-0.3418862317546857,-0.8267642811895656],[-0.24190000753630192,-0.7267642798411742]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.4572592313755356,0.7224091980705123,0.71338606911949],"aabb_xy":[[-0.5072592323260684,0.6908600510669908],[-0.4072592304250028,0.7539583450740336]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.45360534300353794,0.4346578604836582,0.71338606911949],"aabb_xy":[[-0.5432924193116535,0.34465786022920764],[-0.3639182666954226,0.5246578607381087]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[0.3136739249319116,-0.6688204001195783,0.71338606911949],"aabb_xy":[[0.2969967889388161,-0.6855203240935086],[0.3303510609250071,-0.652120476145648]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.5211349455089133,1.5090423302481484,0.71338606911949],"aabb_xy":[[-0.538045677945255,1.4955701246555335],[-0.5042242130725715,1.5225145358407628]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.28879728145240946,0.9290894380782362,0.71338606911949],"aabb_xy":[[0.19879728471679925,0.8759059747609416],[0.37879727818801967,0.9822729013955306]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[-0.3931425235250828,1.0433492588028543,0.71338606911949],"aabb_xy":[[-0.44314252310141755,0.9933686798507484],[-0.3431425239487481,1.0933298377549603]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.02106635849230043,-1.7474504414171144,0.71338606911949],"aabb_xy":[[-0.08506636171093829,-1.7941735533161225],[0.04293364472633743,-1.7007273295181058]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[0.608607997572385,-2.2253812889812066,0.71338606911949],"aabb_xy":[[0.5286080006093459,-2.30245693062498],[0.6886079945354242,-2.148305647337433]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[-0.3163246747123539,-0.599025393251502,0.71338606911949],"aabb_xy":[[-0.38032467508988754,-0.6487706601023142],[-0.2523246743348203,-0.5492801264006897]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.1770022874784185,0.7787822393587827,0.71338606911949],"aabb_xy":[[0.1271195906007223,0.7287822401125078],[0.22688498435611473,0.8287822386050574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657050835788774,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3177.png","name":"3177"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3177.png","name":"3177"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2699.png","name":"2699"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8976.png","name":"8976"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3516.png","name":"3516"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":606.8228884796406,"rotation_z_degrees":228.67114517420814,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015573736644898781,-0.0017271537201513053,0.017694772328123786]},{"name":"camera_2","offset_m":[0.007011122890961716,0.004663700118946127,0.01801013665117353]},{"name":"camera_3","offset_m":[0.0022258389789558478,-0.013588722503798275,0.016959166645884993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001692267788352242,0.001099464778061215,-0.0009154052600588122],"end_effector_yaw_offset_degrees":0.5871167537882387},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001562789357805339,-0.0017665506552704548,-0.00038877078348746033],"end_effector_yaw_offset_degrees":0.4109952051562582},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0019664876019337054,0.0017209642818368353,0.0011212392207119821],"end_effector_yaw_offset_degrees":-0.45745667290430325}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004202319032191898,0.0033699870460535417],"position_m":[0.2176976809678081,0.2707699870460536,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004173480889158406,0.0002033874977992881],"position_m":[0.34617348088915845,0.11130338749779929,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002372410144295122,-0.004445736085302408],"position_m":[0.29817241014429513,-0.04834573608530241,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004983538849857353,-0.0007067462196009367],"position_m":[0.2664164611501426,-0.3093067462196009,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"0ff829d5048b80d8efa4d7db990c22d71f8cdc41af7815f04bc68982a8331448","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3177/tex_ceiling_textures_3516/tex_floor_textures_8976/tex_table_textures_2110/tex_wall_textures_2699","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2385371346499204818,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2385371346499204818,"visual_seed":2385371346499204818,"scene_id":"lab_003","finished_at":"2026-09-02T05:21:31"}
+{"episode_id":"ep_000044","started_at":"2026-09-02T05:21:34","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.6306866871064383,-1.2195380807204403,0.71338606911949],"aabb_xy":[[-0.660654244016264,-1.2495380810183263],[-0.6007191301966127,-1.1895380804225548]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.02277558993241302,-1.9035167652223628,0.71338606911949],"aabb_xy":[[-0.027197475600102446,-1.953516765034896],[0.0727486554649285,-1.8535167654098301]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.5747310461346193,1.6734282137833048,0.71338606911949],"aabb_xy":[[0.5247310465582846,1.6234476348311988],[0.6247310457109541,1.7234087927354107]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.3634831710955415,-1.0443799133356388,0.71338606911949],"aabb_xy":[[0.34098403536931454,-1.066879914113902],[0.3859823068217685,-1.021879912557376]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.16311595732448203,1.5720353565094185,0.71338606911949],"aabb_xy":[[0.15441799503376671,1.559910382201944],[0.1718139196151973,1.5841603308168934]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.13821790553542312,0.7101770894764412,0.71338606911949],"aabb_xy":[[-0.22194013103550558,0.6201770859417451],[-0.054495680035340666,0.800177093011137]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.6533244809363288,-0.43463720188368926,0.71338606911949],"aabb_xy":[[0.6358937658573222,-0.4519093165475401],[0.6707551960153352,-0.41736508721983845]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.4861475591944513,-0.6841961382532038,0.71338606911949],"aabb_xy":[[-0.49671503885255036,-0.6947411683662122],[-0.47558007953635234,-0.6736511081401951]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.017901939710851633,1.389997525605097,0.71338606911949],"aabb_xy":[[-0.052098062097893805,1.3686437568409096],[0.08790194151959707,1.4113512943692843]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.5425202506441424,1.1890013079247743,0.71338606911949],"aabb_xy":[[-0.6065202529869439,1.1440604566806416],[-0.4785202483013408,1.2339421591689066]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.39554098085935663,1.41956913569067,0.71338606911949],"aabb_xy":[[0.37799428594323775,1.3820691341264186],[0.4130876757754756,1.4570691372549212]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.1625096631754026,-2.204335270845066,0.71338606911949],"aabb_xy":[[0.1458325271823071,-2.221035194818996],[0.1791867991684981,-2.1876353468711356]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.49137295539409676,-1.2099850724453798,0.71338606911949],"aabb_xy":[[-0.50887288882808,-1.227485072365614],[-0.47387302196011327,-1.192485072525145]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.5373222490918554,-2.3829329057067667,0.71338606911949],"aabb_xy":[[-0.5826008639730046,-2.44693290505495],[-0.49204363421070607,-2.3189329063585826]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.3530523745371877,0.7638344267223691,0.71338606911949],"aabb_xy":[[-0.4330523759673149,0.6843172717097595],[-0.2730523731070605,0.8433515817349785]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[0.7018006117320053,-1.600495674482115,0.71338606911949],"aabb_xy":[[0.6947591607812578,-1.6075224262199097],[0.708842062682753,-1.5934689227443208]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.27640159243942786,-0.7630919395592868,0.71338606911949],"aabb_xy":[[0.19140159374735316,-0.7950778029541657],[0.36140159113150244,-0.731106076164408]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.6506571069127031,-0.9599628971410288,0.71338606911949],"aabb_xy":[[-0.6588716520283868,-0.96863948743867],[-0.6424425617970189,-0.9512863068433873]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.3812652070769005,-0.5382972192768944,0.71338606911949],"aabb_xy":[[0.36538071381157533,-0.5526501595757185],[0.39714970034222563,-0.5239442789780704]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[-0.022392565975533518,-2.2791516035708805,0.71338606911949],"aabb_xy":[[-0.09239256861211986,-2.299256468566746],[0.04760743666105283,-2.259046738575015]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[0.4505258854484666,0.9815396104095817,0.71338606911949],"aabb_xy":[[0.4005258837869718,0.931541168153879],[0.5005258871099613,1.0315380526652844]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[-0.16975968409935094,-1.229982451574817,0.71338606911949],"aabb_xy":[[-0.20090660294293403,-1.2999824502616242],[-0.1386127652557678,-1.1599824528880098]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.502337000779487,-2.1115317573355457,0.71338606911949],"aabb_xy":[[-0.56633699717506,-2.175495045754279],[-0.4383370043839139,-2.047568468916812]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.01156079617999517,-1.459613911774999,0.71338606911949],"aabb_xy":[[-0.029060796425044548,-1.477113699614566],[0.005939204065054216,-1.4421141239354323]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.38674648574343734,-0.011899922062377666,0.71338606911949],"aabb_xy":[[-0.43684394972451096,-0.07589992257218947],[-0.3366490217623637,0.05210007844743414]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[0.5200768472356196,0.7491955286450982,0.71338606911949],"aabb_xy":[[0.5124525791454415,0.7415623051085545],[0.527701115325798,0.756828752181642]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[0.397543534265171,-1.210540911506278,0.71338606911949],"aabb_xy":[[0.33354353104653317,-1.2572640234052863],[0.4615435374838089,-1.1638177996072696]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[-0.5466749143984595,-0.8598656458614518,0.71338606911949],"aabb_xy":[[-0.6106749108257815,-0.9070352696835482],[-0.4826749179711377,-0.8126960220393553]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[-0.177744363187322,-2.3935390906729954,0.71338606911949],"aabb_xy":[[-0.24274436174439484,-2.423291624086878],[-0.11274436463024917,-2.363786557259113]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[-0.4291000409400156,1.6751732338428744,0.71338606911949],"aabb_xy":[[-0.47907884945033136,1.6251732338371554],[-0.3791212324296996,1.725173233848593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6719615315214778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/69.png","name":"69"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/69.png","name":"69"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9719.png","name":"9719"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5728.png","name":"5728"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8881.png","name":"8881"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1105.png","name":"1105"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":613.1722590675449,"rotation_z_degrees":279.0240499419286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00639937937711017,-0.0024915921623396495,-0.0021049438421697764]},{"name":"camera_2","offset_m":[-0.015827686591723303,0.015723459466303855,0.01852787850440338]},{"name":"camera_3","offset_m":[0.0014278710559816367,0.015229346638209313,-0.01109650909936312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013506503107454668,-0.0004607024192782858,0.00045056553471635626],"end_effector_yaw_offset_degrees":-0.3010418209658241},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011958897843492651,-0.0002968768923523558,-0.0008993290243526663],"end_effector_yaw_offset_degrees":0.965421471578602},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016645477778200967,-0.0017516957850056288,0.0001447672106411821],"end_effector_yaw_offset_degrees":-0.9420890821614853}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.000200726537802726,0.002124775891126492],"position_m":[0.22210072653780272,0.2695247758911265,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008635767514440854,0.0019459591258589115],"position_m":[0.3411364232485559,0.11304595912585892,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00472542464351819,0.002006652719652312],"position_m":[0.3005254246435182,-0.04189334728034769,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014945100068197723,-0.0018196350498138826],"position_m":[0.27289451000681975,-0.31041963504981385,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"256d1e5f7ab15a9c699640e9454fed4792bacbd9b6f30265fc8797e3c8d5f013","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_69/tex_ceiling_textures_1105/tex_floor_textures_8881/tex_table_textures_9719/tex_wall_textures_5728","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7605145646178027789,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7605145646178027789,"visual_seed":7605145646178027789,"scene_id":"lab_003","finished_at":"2026-09-02T05:24:30"}
+{"episode_id":"ep_000045","started_at":"2026-09-02T05:24:32","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.29202189568679976,0.9648379760154144,0.71338606911949],"aabb_xy":[[-0.32702189487961797,0.9538709300177515],[-0.25702189649398144,0.9758050220130767]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.16795734373727123,-1.0687286102812117,0.71338606911949],"aabb_xy":[[-0.18824164646066993,-1.0890112354239203],[-0.1476730410138724,-1.0484459851385026]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.6644194626340674,0.18726057847477096,0.71338606911949],"aabb_xy":[[0.6563931920034415,0.17850908349741834],[0.6724457332646935,0.19601207345212357]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.6858799215454439,-1.9535690683692088,0.71338606911949],"aabb_xy":[[0.6633799213019285,-1.965773703028981],[0.7083799217889593,-1.9413644337094371]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.5718274591871868,0.28979085568132934,0.71338606911949],"aabb_xy":[[0.5218274582366539,0.2582417086778079],[0.6218274601377195,0.3213400026848507]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[-0.030791193929177063,-0.8320798666704272,0.71338606911949],"aabb_xy":[[-0.06764174186616467,-0.869579867493461],[0.006059354007810547,-0.7945798658473935]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.07607989249207059,0.8734563986909203,0.71338606911949],"aabb_xy":[[-0.0869856685796333,0.7934564022920911],[-0.06517411640450788,0.9534563950897494]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[0.08257584994792289,-1.7783362867009964,0.71338606911949],"aabb_xy":[[-0.007424146787687325,-1.8315197500182907],[0.1725758466835331,-1.7251528233837017]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[-0.4386260794517214,1.483909385337299,0.71338606911949],"aabb_xy":[[-0.4761260801163001,1.4682223273370765],[-0.4011260787871427,1.4995964433375208]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.146125737452517,-0.8644032640646866,0.71338606911949],"aabb_xy":[[-0.15541935568966758,-0.9019032625528206],[-0.13683211921536642,-0.8269032655765528]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[0.45649955112928864,0.8450340435614456,0.71338606911949],"aabb_xy":[[0.3664995517109178,0.8116585467172559],[0.5464995505476595,0.8784095404056353]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.44287547463702026,1.3487970971318202,0.71338606911949],"aabb_xy":[[0.4018575312506495,1.2987970965008628],[0.48389341802339125,1.3987970977627775]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.13278883299912203,1.193605081167414,0.71338606911949],"aabb_xy":[[0.11032406302771688,1.1711050802885534],[0.15525360297052712,1.2161050820462744]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.2722117647176669,-0.5275106838233663,0.71338606911949],"aabb_xy":[[-0.3622117612185386,-0.5734223262418245],[-0.1822117682167951,-0.4815990414049081]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_14","position":[0.4021882600328186,-2.434886600282582,0.71338606911949],"aabb_xy":[[0.36485698350757595,-2.4695396550774342],[0.43951953655806114,-2.4002335454877297]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[-0.2123579064906303,-1.3504228174781214,0.71338606911949],"aabb_xy":[[-0.30204498279874575,-1.4404228177325717],[-0.12267083018251485,-1.2604228172236707]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.580829513442636,-0.5974972774621272,0.71338606911949],"aabb_xy":[[0.5257043078130452,-0.6574972789034144],[0.6359547190722268,-0.5374972760208401]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.665789675922352,-0.32744545110020784,0.71338606911949],"aabb_xy":[[0.6569876206133792,-0.3352567772551369],[0.6745917312313247,-0.31963412494527876]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.45502829869534467,1.032909316046363,0.71338606911949],"aabb_xy":[[-0.5150282992913608,0.9780968435011395],[-0.3950282980993285,1.0877217885915864]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.12840742586914933,-1.882996358661924,0.71338606911949],"aabb_xy":[[-0.1416383714038306,-1.8962237776839233],[-0.115176480334468,-1.8697689396399244]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.23555341075161118,-1.4040751311469377,0.71338606911949],"aabb_xy":[[0.18555341131141556,-1.4540430556312538],[0.2855534101918068,-1.3541072066626212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66833660741947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2282.png","name":"2282"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9029.png","name":"9029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1610.png","name":"1610"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7338.png","name":"7338"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":610.2371535581955,"rotation_z_degrees":340.79207741955724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017697936950045942,-0.00693798184021757,0.012802234695867252]},{"name":"camera_2","offset_m":[-0.012816603604333485,0.015608149336630562,-0.011698170352526396]},{"name":"camera_3","offset_m":[0.017760227505681746,0.007269992665344418,-0.00439676166878456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017135088448099066,-0.0013105181889155153,0.000677425536315869],"end_effector_yaw_offset_degrees":-0.2488320547291556},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001355392104094325,0.0015712000435626236,-0.0008670322322216375],"end_effector_yaw_offset_degrees":-0.4504622508968863},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0012939545384887067,0.0007709788755149113,0.0015106017143176917],"end_effector_yaw_offset_degrees":0.8427790972461029}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004603083993322978,-0.0019109827127585279],"position_m":[0.217296916006677,0.2654890172872415,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001976933511360332,-0.0030889099008861477],"position_m":[0.3439769335113604,0.10801109009911386,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-5.770789251247424e-05,7.273271949743889e-05],"position_m":[0.29574229210748754,-0.04382726728050256,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012417194095523942,0.0007757232483532909],"position_m":[0.27015828059044755,-0.3078242767516467,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"212f4610b044c5df2b33cfebc7abbad7f683087de7d648dbe6eae56d9c1eb7f0","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8581/tex_ceiling_textures_7338/tex_floor_textures_1610/tex_table_textures_2282/tex_wall_textures_9029","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6618870804462939577,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6618870804462939577,"visual_seed":6618870804462939577,"scene_id":"lab_003","finished_at":"2026-09-02T05:27:17"}
+{"episode_id":"ep_000046","started_at":"2026-09-02T05:27:20","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[-0.4153590316170998,0.8259087959493527,0.71338606911949],"aabb_xy":[[-0.4704842372466906,0.7659087945080655],[-0.360233825987509,0.8859087973906398]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.5756792507784141,-0.41610135889966715,0.71338606911949],"aabb_xy":[[-0.5844813060873868,-0.42391268505459617],[-0.5668771954694414,-0.408290032744738]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[-0.39255940578128096,-1.1414998775786176,0.71338606911949],"aabb_xy":[[-0.47755940419870424,-1.2263741730409026],[-0.3075594073638578,-1.0566255821163326]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[0.7168482520828849,1.5362693447431233,0.71338606911949],"aabb_xy":[[0.7113903064458648,1.456269341435464],[0.7223061977199049,1.6162693480507822]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.3310373540286251,0.8191625187549527,0.71338606911949],"aabb_xy":[[0.2670373516858235,0.7742216675108202],[0.3950373563714266,0.8641033699990852]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.11810116772861146,1.5668541611366043,0.71338606911949],"aabb_xy":[[-0.1681011690124514,1.516875306745982],[-0.06810116644477147,1.6168330155272261]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.6295413569272846,1.194264934954338,0.71338606911949],"aabb_xy":[[-0.637669045120598,1.1853513265436302],[-0.6214136687339715,1.2031785433650457]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.6162083006856052,-0.15614818954443965,0.71338606911949],"aabb_xy":[[-0.6242446353868899,-0.16418630884885643],[-0.6081719659843202,-0.14811007024002287]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[-0.169697040982836,-1.7189374222368627,0.71338606911949],"aabb_xy":[[-0.214868358831005,-1.7829374193814014],[-0.12452572313466703,-1.6549374250923246]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.626902602687039,0.7217224055309592,0.71338606911949],"aabb_xy":[[0.6177427237431625,0.7151911874874222],[0.6360624816309157,0.7282536235744963]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.24176483855493647,-0.2313874832087106,0.71338606911949],"aabb_xy":[[-0.26426397428116344,-0.2538874839869736],[-0.2192657028287095,-0.20888748243044766]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.41286536770611026,0.42133604467155283,0.71338606911949],"aabb_xy":[[0.40878720979906047,0.4172550644232895],[0.41694352561315995,0.42541702491981614]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.14866566436381157,1.4895000886299656,0.71338606911949],"aabb_xy":[[0.08366566336331105,1.4387137234752907],[0.21366566536431209,1.5402864537846406]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.5582503964358039,-2.1821164314661883,0.71338606911949],"aabb_xy":[[-0.5932503963318226,-2.1904906669781283],[-0.5232503965397849,-2.1737421959542482]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.159589356063364,0.8238826816499851,0.71338606911949],"aabb_xy":[[-0.223589358113096,0.7837881985606773],[-0.095589354013632,0.8639771647392932]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.5272852327327557,-1.355292887327395,0.71338606911949],"aabb_xy":[[-0.5497852332447963,-1.3777847456927932],[-0.5047852322207151,-1.3328010289619965]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.4190316161144214,1.6106048407533007,0.71338606911949],"aabb_xy":[[0.35503161470643074,1.558815889229376],[0.4830316175224121,1.6623937922772254]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.35053406844225354,0.5488004175170023,0.71338606911949],"aabb_xy":[[0.3005340670813663,0.4988225129415866],[0.40053406980314077,0.5987783220924178]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.32155731807878,-1.8031869639111722,0.71338606911949],"aabb_xy":[[-0.35840786601576763,-1.840686964734206],[-0.2847067701417924,-1.7656869630881384]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.28633085994485236,-0.34216248415967154,0.71338606911949],"aabb_xy":[[-0.323662136470095,-0.3768155389545239],[-0.24899958341960973,-0.3075094293648193]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.2672450153877245,-2.3540259853924637,0.71338606911949],"aabb_xy":[[-0.2752385051830065,-2.3620241173329397],[-0.25925152559244247,-2.3460278534519885]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.15589029899940487,-1.586028997895349,0.71338606911949],"aabb_xy":[[0.10589718689021302,-1.636028998569545],[0.20588341110859681,-1.5360289972211538]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.5849658602724883,1.3870952282925133,0.71338606911949],"aabb_xy":[[-0.6449658607803412,1.330248494606592],[-0.5249658597646354,1.4439419619784346]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[0.1697802225114533,-0.6925415994949045,0.71338606911949],"aabb_xy":[[0.13600466332076033,-0.7065800947080694],[0.20355578170214628,-0.6785031042817393]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.5805269372396823,-2.107397008957029,0.71338606911949],"aabb_xy":[[-0.5884502174784306,-2.129897009195033],[-0.572603657000934,-2.084897008719026]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.15090441606653826,-1.0837071404961403,0.71338606911949],"aabb_xy":[[-0.21490441928517612,-1.1304302523951486],[-0.0869044128479004,-1.036984028597132]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[0.5575250992879124,-1.2192286274659185,0.71338606911949],"aabb_xy":[[0.47752509821479205,-1.2290066738033032],[0.6375251003610327,-1.2094505811285343]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.22095670847592386,0.6954587088923709,0.71338606911949],"aabb_xy":[[-0.23179718670243876,0.6782724276017221],[-0.21011623024940895,0.7126449901830197]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.0847026976540356,-1.281114588233821,0.71338606911949],"aabb_xy":[[-0.14870269791450638,-1.3261233875867489],[-0.02070269739356478,-1.2361057888808928]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[-0.14649926713555717,0.9981681864102976,0.71338606911949],"aabb_xy":[[-0.19649926808608997,0.9666190394067761],[-0.09649926618502436,1.029717333413819]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660102513509005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2935.png","name":"2935"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2935.png","name":"2935"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8627.png","name":"8627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1769.png","name":"1769"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3569.png","name":"3569"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1008.png","name":"1008"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":638.2931654380936,"rotation_z_degrees":284.9498590024338,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019205997919240946,0.00934093063365293,0.014009939658513337]},{"name":"camera_2","offset_m":[0.011306679751776818,0.006686365835321242,-0.007181763235158791]},{"name":"camera_3","offset_m":[0.005347521276111086,0.01568024751095513,-0.014045196212728808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005451042420031066,0.0015717539958453402,-0.001688888864849066],"end_effector_yaw_offset_degrees":-0.42214589021994886},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[6.889224336521912e-05,-0.0006617690752636052,-0.0014913482646194552],"end_effector_yaw_offset_degrees":-0.43038737895258317},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0016644689356534294,-0.0008410571995773343,0.0018486362495106342],"end_effector_yaw_offset_degrees":-0.7356995088823501}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004069572317635154,0.003095030707062939],"position_m":[0.21783042768236482,0.270495030707063,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004229104479165733,-0.00019650887044290414],"position_m":[0.3377708955208343,0.1109034911295571,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00030107212410954935,-0.0012472079474424246],"position_m":[0.29549892787589044,-0.045147207947442425,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038584755357665324,0.0007860778069522564],"position_m":[0.26754152446423346,-0.3078139221930477,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"59f5b266f260ac0ef2596f1046fc558c2a7f9e4d86bbfb979917a421ca2c6bc3","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2935/tex_ceiling_textures_1008/tex_floor_textures_3569/tex_table_textures_8627/tex_wall_textures_1769","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2608706151760144296,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2608706151760144296,"visual_seed":2608706151760144296,"scene_id":"lab_003","finished_at":"2026-09-02T05:30:03"}
+{"episode_id":"ep_000047","started_at":"2026-09-02T05:30:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.48635491020051935,-2.305270129282608,0.71338606911949],"aabb_xy":[[-0.5141999469811265,-2.3360546280209196],[-0.45850987341991223,-2.274485630544296]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.2489130965756472,0.24803037291642926,0.71338606911949],"aabb_xy":[[-0.31891309870707674,0.22526840729073355],[-0.17891309444421763,0.27079233854212487]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.14625931138538462,-2.1988797017897896,0.71338606911949],"aabb_xy":[[0.12882859630637808,-2.2161518164536402],[0.1636900264643911,-2.181607587125938]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.39891541432789795,-1.3659675931395108,0.71338606911949],"aabb_xy":[[-0.4030313644399706,-1.370083148172356],[-0.3947994642158253,-1.361852038106665]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.5978711547356136,-0.4052889081871802,0.71338606911949],"aabb_xy":[[-0.6200436817122643,-0.42746457534330334],[-0.5756986277589626,-0.383113241031057]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.5619465680525848,-2.171254719215712,0.71338606911949],"aabb_xy":[[-0.5969465680290805,-2.1807193352633294],[-0.5269465680760889,-2.1617901031680957]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.17031286868002327,0.8361891686680116,0.71338606911949],"aabb_xy":[[0.1559784435538598,0.8241289531134728],[0.18464729380618672,0.8482493842225505]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.047762839378604593,0.8107008690106956,0.71338606911949],"aabb_xy":[[0.022762840106642316,0.7943555054145333],[0.07276283865056687,0.827046232606858]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.34333948232139044,-1.1889991778385955,0.71338606911949],"aabb_xy":[[0.3373729433806546,-1.1949603224979595],[0.3493060212621262,-1.1830380331792316]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.06438701323329354,-1.4508255036750866,0.71338606911949],"aabb_xy":[[-0.08766885543142487,-1.5358255049723144],[-0.041105171035162195,-1.3658255023778583]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.04703361779788995,-1.862488727779354,0.71338606911949],"aabb_xy":[[0.039621162256501474,-1.868339938200982],[0.05444607333927842,-1.856637517357726]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.2621947323664432,-0.8286826408527679,0.71338606911949],"aabb_xy":[[0.1981947303167112,-0.868777123942076],[0.3261947344161752,-0.78858815776346]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.5692229513699497,-0.5438276436063014,0.71338606911949],"aabb_xy":[[-0.5756367650131345,-0.5502374638539697],[-0.5628091377267647,-0.537417823358633]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.5596744885791198,-2.071859046725885,0.71338606911949],"aabb_xy":[[0.49567449127677343,-2.1162254736937416],[0.6236744858814662,-2.027492619758028]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.6741104212573268,-1.339083474633646,0.71338606911949],"aabb_xy":[[0.636610420592748,-1.354770532633868],[0.7116104219219054,-1.3233964166334236]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.314732116490247,1.537316689283911,0.71338606911949],"aabb_xy":[[0.2980549804971515,1.5206167653099807],[0.3314092524833425,1.5540166132578412]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.17080217937997133,-0.2388173316822364,0.71338606911949],"aabb_xy":[[-0.2508021763942193,-0.25895188335564767],[-0.09080218236572332,-0.2186827800088251]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.4324183965318945,-1.6166968891894118,0.71338606911949],"aabb_xy":[[-0.49641839381754316,-1.6582036081422558],[-0.36841839924624586,-1.5751901702365678]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.3901058432405912,0.7467770532021119,0.71338606911949],"aabb_xy":[[-0.4009463214671061,0.7295907719114629],[-0.3792653650140763,0.7639633344927605]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.21169508244720536,-1.1283981276909867,0.71338606911949],"aabb_xy":[[0.19478435001086356,-1.1418703332836009],[0.22860581488354711,-1.114925922098372]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.04876020028152417,-1.965503858701069,0.71338606911949],"aabb_xy":[[0.01429772226843639,-1.9721675358839916],[0.08322267829461194,-1.9588401815181462]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.5761590535571774,-1.1564703699718493,0.71338606911949],"aabb_xy":[[0.5261590531966113,-1.2064503571814522],[0.6261590539177434,-1.1064903827622463]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.2882591117926094,-0.5410808874300188,0.71338606911949],"aabb_xy":[[-0.29706116710158204,-0.5488922135849478],[-0.2794570564836366,-0.5332695612750896]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.46608890875412445,-2.287057293897153,0.71338606911949],"aabb_xy":[[0.4060889078933116,-2.338483723903639],[0.5260889096149372,-2.2356308638906666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674504288786414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7591.png","name":"7591"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7591.png","name":"7591"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4259.png","name":"4259"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/10.png","name":"10"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5903.png","name":"5903"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9781.png","name":"9781"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":774.8323869288065,"rotation_z_degrees":203.95084206670398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005622007871129292,0.004619500180102862,0.0048811177259742294]},{"name":"camera_2","offset_m":[-0.01563112645910362,0.018963707773795527,-0.006202764412016401]},{"name":"camera_3","offset_m":[-0.014944645727393869,0.010891669035116066,0.004047883599359672]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011914052288500565,-7.877925618861152e-05,0.0011585199258488652],"end_effector_yaw_offset_degrees":0.030671653297856816},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017174036756625924,0.0019916679834682685,5.0381079391628204e-05],"end_effector_yaw_offset_degrees":-0.4592469858933994},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0015934495927918736,-0.0014519649784256537,-0.0005356842345877744],"end_effector_yaw_offset_degrees":0.8525774020910344}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00366446517474132,0.0012979248427298319],"position_m":[0.2255644651747413,0.26869792484272986,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027954358422612826,-0.0024129022528495913],"position_m":[0.33920456415773875,0.10868709774715041,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004411027662089609,0.001617458093749742],"position_m":[0.3002110276620896,-0.04228254190625026,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004265514132717251,-0.0020019876085526113],"position_m":[0.2756655141327172,-0.3106019876085526,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"4a55c5fa5288ab40d0b4d459101b847b4bcde4154911d5618af42f1b526990c1","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7591/tex_ceiling_textures_9781/tex_floor_textures_5903/tex_table_textures_4259/tex_wall_textures_10","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2554112485172009281,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2554112485172009281,"visual_seed":2554112485172009281,"scene_id":"lab_003","finished_at":"2026-09-02T05:33:06"}
+{"episode_id":"ep_000048","started_at":"2026-09-02T05:33:10","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.4506565521351181,-0.6945952221184879,0.71338606911949],"aabb_xy":[[-0.4556125723199994,-0.7170952223206096],[-0.44570053195023707,-0.6720952219163664]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.2443186472954363,-2.413712325729828,0.71338606911949],"aabb_xy":[[0.2380065477590978,-2.4194792649830466],[0.25063074683177466,-2.407945386476609]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.16320656283646862,-0.5842732769047987,0.71338606911949],"aabb_xy":[[-0.1857029842703327,-0.6067732767115461],[-0.1407101414026045,-0.5617732770980512]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.06532838714046574,1.7171961519999202,0.71338606911949],"aabb_xy":[[-0.13032838717476847,1.6704954753195929],[-0.0003283871061629945,1.7638968286802474]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.06299450650281369,1.4254520508713253,0.71338606911949],"aabb_xy":[[-0.0010054920837587744,1.3784450874718164],[0.12699450508938614,1.4724590142708338]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.3501482974657186,-2.3504863499947857,0.71338606911949],"aabb_xy":[[0.32723258458066873,-2.3733906471312096],[0.3730640103507685,-2.3275820528583626]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.48830265697241493,0.17519487575748816,0.71338606911949],"aabb_xy":[[0.42830265646456206,0.11834814207156684],[0.5483026574802679,0.23204160944340943]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.6895980899946585,-1.608933219223209,0.71338606911949],"aabb_xy":[[0.6841401443576386,-1.688933222530868],[0.6950560356316787,-1.5289332159155498]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.25236205961001545,-1.3392171220473763,0.71338606911949],"aabb_xy":[[0.22736205967749756,-1.3460997902682998],[0.27736205954253335,-1.3323344538264532]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.19139497772185776,0.8727717728082145,0.71338606911949],"aabb_xy":[[0.1614274208120321,0.8427717725103288],[0.22136253463168343,0.9027717731061002]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[0.10406464982824992,-0.6581545951824441,0.71338606911949],"aabb_xy":[[0.09636145915417285,-0.6658639658811821],[0.11176784050232694,-0.6504452244837061]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[-0.4802699825153116,1.1310596942503333,0.71338606911949],"aabb_xy":[[-0.5602699829855275,1.122748986635985],[-0.40026998204509573,1.1393704018646815]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.2571605558066862,0.5535280385845609,0.71338606911949],"aabb_xy":[[0.24800067686280958,0.5469968205410239],[0.2663204347505628,0.5600592566280981]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.6330381136042234,1.2184857966468106,0.71338606911949],"aabb_xy":[[0.6129797019909831,1.1984207097376534],[0.6530965252174636,1.2385508835559682]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.35572371683107296,-1.8226036604740805,0.71338606911949],"aabb_xy":[[0.3252394667040428,-1.8726036602555765],[0.3862079669581031,-1.7726036606925846]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.6573885053700735,-0.6467019519822081,0.71338606911949],"aabb_xy":[[-0.6917047825446914,-0.6967019519553859],[-0.6230722281954555,-0.5967019520090304]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.18801201281634994,0.7482753037352761,0.71338606911949],"aabb_xy":[[0.13802906262887055,0.6982753040927154],[0.23799496300382922,0.7982753033778363]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.25199189027257174,-2.347112243378367,0.71338606911949],"aabb_xy":[[-0.2741644172492225,-2.36928791053449],[-0.22981936329592084,-2.324936576222244]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.5794201003426456,1.4699745363783303,0.71338606911949],"aabb_xy":[[0.567651913547988,1.384974536473109],[0.5911882871373031,1.5549745362835523]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.45576026061863145,-1.6083962104497416,0.71338606911949],"aabb_xy":[[-0.5357602592755175,-1.6229010693740045],[-0.3757602619617455,-1.5938913515254787]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[0.5093079037616484,-2.132028949288251,0.71338606911949],"aabb_xy":[[0.41930790702603815,-2.185212412605545],[0.5993079004972586,-2.078845485970956]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.653939748204849,1.6677873195134496,0.71338606911949],"aabb_xy":[[0.5899397517775271,1.6206176956913532],[0.7179397446321709,1.714956943335546]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.5508603471455835,0.16380806248295388,0.71338606911949],"aabb_xy":[[-0.5596624024545561,0.15599673632802477],[-0.5420582918366107,0.17161938863788292]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.4624010001622285,1.530484245481373,0.71338606911949],"aabb_xy":[[0.4249009986465968,1.5192574724652275],[0.4999010016778602,1.5417110184975176]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.16700458198776036,-1.7522335493698713,0.71338606911949],"aabb_xy":[[0.10300457993802839,-1.7923280324591793],[0.23100458403749238,-1.7121390662805633]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[0.21203642315170756,1.732804349071348,0.71338606911949],"aabb_xy":[[0.13203642098894505,1.6528491654452044],[0.29203642531447005,1.8127595326974917]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[-0.3808051942176215,-0.1124855716563875,0.71338606911949],"aabb_xy":[[-0.4158051941136403,-0.12085980716832743],[-0.34580519432160256,-0.10411133614444755]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[-0.4747074367292913,-0.8019563688545037,0.71338606911949],"aabb_xy":[[-0.5122074373938699,-0.8176434268547258],[-0.4372074360647125,-0.7862693108542814]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[0.449320421461062,-2.0144865423980085,0.71338606911949],"aabb_xy":[[0.4318204221829751,-2.031824642464355],[0.46682042073914887,-1.997148442331663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662646353026033,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3221.png","name":"3221"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3221.png","name":"3221"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3276.png","name":"3276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/834.png","name":"834"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2911.png","name":"2911"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":662.4252479245862,"rotation_z_degrees":255.40169448352086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00033928484122274644,-0.0015983972688449095,-0.004966721850950817]},{"name":"camera_2","offset_m":[0.014131828716690786,-0.01106577521390308,0.01987522283748488]},{"name":"camera_3","offset_m":[0.017290593075109346,-0.006498468575108576,-0.014939589643703873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012937863266195802,0.0012966290975797638,0.001871683763816391],"end_effector_yaw_offset_degrees":-0.06058548338277148},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017618968039023277,-0.0006620872330366759,0.0016914591019044256],"end_effector_yaw_offset_degrees":0.3331958191630964},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007973563834035237,0.0005490983155023573,0.0014931272509890472],"end_effector_yaw_offset_degrees":-0.025930761712455563}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003989510168263543,-0.0027408075662296496],"position_m":[0.21791048983173644,0.2646591924337704,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009371024971236708,0.004080106237042411],"position_m":[0.3429371024971237,0.11518010623704242,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00243320413275527,0.003897445822965243],"position_m":[0.2982332041327553,-0.04000255417703476,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001959205610686068,0.0039012616965137656],"position_m":[0.2694407943893139,-0.3046987383034862,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"70fa1df83eeda8e4f147625b4e07008721fbf4fadb866f907342b6f11006f037","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3221/tex_ceiling_textures_2911/tex_floor_textures_834/tex_table_textures_3276/tex_wall_textures_8379","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5480944930848323520,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5480944930848323520,"visual_seed":5480944930848323520,"scene_id":"lab_003","finished_at":"2026-09-02T05:35:54"}
+{"episode_id":"ep_000049","started_at":"2026-09-02T05:35:58","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.6123169705965668,1.732887777506574,0.71338606911949],"aabb_xy":[[0.5748169721731663,1.7197235635387431],[0.649816969019967,1.7460519914744046]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.30120794560516495,1.2130550143097132,0.71338606911949],"aabb_xy":[[0.2971297876981152,1.2089740340614499],[0.3052861035122147,1.2171359945579765]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[0.18456997507521422,-0.7790677260376957,0.71338606911949],"aabb_xy":[[0.10456997806096627,-0.7992022777111069],[0.2645699720894622,-0.7589331743642843]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.005580670882539884,0.8695411229229997,0.71338606911949],"aabb_xy":[[-0.0744193312802226,0.7895859392968559],[0.08558067304530237,0.9494963065491432]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.49993838860529893,-2.017244929263252,0.71338606911949],"aabb_xy":[[-0.5799383918631418,-2.097241437055236],[-0.4199383853474559,-1.937248421471268]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.46283503477353544,-0.5465329645596588,0.71338606911949],"aabb_xy":[[-0.5244257939975283,-0.6105329626687058],[-0.4012442755495427,-0.48253296645061206]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.4655760330601143,0.23837185369712,0.71338606911949],"aabb_xy":[[-0.48468834041809317,0.21923707481987795],[-0.44646372570213544,0.257506632574362]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.08009654528856935,-1.6613295929729714,0.71338606911949],"aabb_xy":[[-0.09764324020468829,-1.6988295945372227],[-0.06254985037245042,-1.6238295914087202]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.5484717725028562,-0.3404996807189118,0.71338606911949],"aabb_xy":[[-0.5687560752262548,-0.3607823058616206],[-0.5281874697794573,-0.3202170555762029]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.5001692506004615,0.8316063528711695,0.71338606911949],"aabb_xy":[[-0.5601692511083143,0.7747596191852482],[-0.4401692500926085,0.8884530865570908]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[-0.06489965294244071,-0.5275886807884929,0.71338606911949],"aabb_xy":[[-0.0873996524661481,-0.5500846282391136],[-0.0423996534187333,-0.5050927333378721]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.2647020696990734,-0.1554739298184904,0.71338606911949],"aabb_xy":[[-0.328702070076607,-0.20521919666930266],[-0.20070206932153978,-0.10572866296767813]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.18362714280144765,1.008911403210762,0.71338606911949],"aabb_xy":[[0.13649776379961195,0.9449114021663598],[0.2307565218032833,1.0729114042551637]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.5117687977939736,-1.7702068327677258,0.71338606911949],"aabb_xy":[[-0.5198121577199287,-1.8552068338630925],[-0.5037254378680184,-1.6852068316723596]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.14280797679391521,1.1929615444402946,0.71338606911949],"aabb_xy":[[-0.20680797847191257,1.1444441529609801],[-0.07880797511591786,1.2414789359196086]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.2753210813558016,-1.1125823614188255,0.71338606911949],"aabb_xy":[[-0.2847385559256643,-1.1219985385565445],[-0.26590360678593883,-1.1031661842811065]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.14742672700873083,1.3991564820405649,0.71338606911949],"aabb_xy":[[-0.197426725654652,1.3492369383811025],[-0.0974267283628096,1.4490760257000272]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.5190444859369475,1.4855682150154457,0.71338606911949],"aabb_xy":[[-0.5278257130841838,1.4767884677269156],[-0.5102632587897115,1.4943479623039762]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.48973560646268677,1.3389151036993256,0.71338606911949],"aabb_xy":[[0.4257356071685185,1.2749289633304715],[0.553735605756855,1.4029012440681798]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.06163404124949323,-0.3553521209133428,0.71338606911949],"aabb_xy":[[-0.09913404191407194,-0.37103917891356486],[-0.024134040584914532,-0.3396650629131205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668585567705628,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9544.png","name":"9544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9544.png","name":"9544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5476.png","name":"5476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7978.png","name":"7978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":520.4115492046226,"rotation_z_degrees":279.1304986879332,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015481034105702281,0.0002449368159242321,0.016828392493919358]},{"name":"camera_2","offset_m":[0.0176965114610665,-0.01992750662277904,-0.014171351469669441]},{"name":"camera_3","offset_m":[0.017782609575789043,0.016589029411886547,0.01641407990478361]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016789116111197685,-0.0015639426814720342,-0.001604793082130556],"end_effector_yaw_offset_degrees":-0.8475257890884074},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008906161692941868,0.0006523827183809497,-0.001040692826213325],"end_effector_yaw_offset_degrees":-0.07108617689532526},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0010719089225716622,0.0009180770267661906,0.0003695746467139169],"end_effector_yaw_offset_degrees":0.8948549186350163}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0018096477713511962,0.003166884518223902],"position_m":[0.22009035222864878,0.2705668845182239,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003839040599936402,-0.004332290027982168],"position_m":[0.33816095940006363,0.10676770997201784,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0035431421504736184,-0.000262333700805137],"position_m":[0.2922568578495264,-0.04416233370080514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001595524339006115,0.0033100002118024137],"position_m":[0.26980447566099386,-0.3052899997881976,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1b2a43e01f9c5910c626b0ed0221b5894481e487a8611602fbefaec8e2c5545d","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9544/tex_ceiling_textures_289/tex_floor_textures_7978/tex_table_textures_2493/tex_wall_textures_5476","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6498500356093049851,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6498500356093049851,"visual_seed":6498500356093049851,"scene_id":"lab_003","finished_at":"2026-09-02T05:38:42"}
+{"episode_id":"ep_000050","started_at":"2026-09-02T05:38:46","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.12131238598969551,-1.0499136953687287,0.71338606911949],"aabb_xy":[[0.056312385032568295,-1.101861907302434],[0.1863123869468227,-0.997965483435023]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.4786294601149488,-2.5211376390452434,0.71338606911949],"aabb_xy":[[-0.4905621944767769,-2.5335197918531027],[-0.46669672575312077,-2.508755486237384]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.030793785594590783,0.9743389176184358,0.71338606911949],"aabb_xy":[[-0.12048086190270624,0.8843389173639853],[0.05889329071352467,1.0643389178728864]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.5715116294917449,-2.2024096434704097,0.71338606911949],"aabb_xy":[[-0.6355116301952143,-2.248428025943331],[-0.5075116287882756,-2.156391260997489]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.6505011657249089,-0.01251517387031642,0.71338606911949],"aabb_xy":[[-0.6674118981612505,-0.025987379462930945],[-0.6335904332885669,0.0009570317222981072]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.1842814328211133,-2.0338407443085402,0.71338606911949],"aabb_xy":[[0.10428143174799301,-2.0436187906459247],[0.26428143389423364,-2.024062697971156]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[-0.48831912888357387,1.7388012140501696,0.71338606911949],"aabb_xy":[[-0.4936516435381869,1.733476885804934],[-0.48298661422896094,1.7441255422954052]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.13706658575060193,-2.5509301418279344,0.71338606911949],"aabb_xy":[[0.11252037012785122,-2.581179038376971],[0.16161280137335265,-2.520681245278897]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.42799262062301735,0.5491355479052786,0.71338606911949],"aabb_xy":[[0.3904926198310219,0.5427677069470885],[0.4654926214150128,0.5555033888634687]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.3300551149687718,-1.7127329208126065,0.71338606911949],"aabb_xy":[[0.2801724180910757,-1.7627329200588815],[0.37993781184646813,-1.662732921566332]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.3230229825392996,-2.443207035669316,0.71338606911949],"aabb_xy":[[0.2885605045262118,-2.449870712852239],[0.35748546055238734,-2.4365433584863934]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.5125046215732458,-1.9465460446950895,0.71338606911949],"aabb_xy":[[0.4625046212126797,-1.9965260319046925],[0.5625046219338118,-1.8965660574854866]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.05967816518664204,1.546058252829813,0.71338606911949],"aabb_xy":[[-0.07312469182068536,1.5325884011767215],[-0.046231638552598694,1.5595281044829041]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.5285663243364549,1.027051170780715,0.71338606911949],"aabb_xy":[[-0.5985663264678843,1.0042892051550192],[-0.45856632220502525,1.0498131364064105]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.12726360957651983,-1.8497132949264439,0.71338606911949],"aabb_xy":[[0.08601479854660508,-1.9047132944386613],[0.16851242060643454,-1.7947132954142264]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.0464898004543145,-2.214338619223541,0.71338606911949],"aabb_xy":[[-0.008510198722274993,-2.2693282939984982],[0.10148979963090399,-2.159348944448583]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.055034087280013244,1.5901808991222741,0.71338606911949],"aabb_xy":[[0.020737176262272616,1.5558840129123328],[0.08933099829775387,1.6244777853322154]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.5751443125482265,-0.01418695667607972,0.71338606911949],"aabb_xy":[[-0.5827685806384048,-0.02182018021262344],[-0.5675200444580483,-0.006553733139536]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.13083811443720827,-1.4966362826054127,0.71338606911949],"aabb_xy":[[0.11263229077596063,-1.5076616831874046],[0.14904393809845598,-1.4856108820234213]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.2250029963755491,0.9905673599647344,0.71338606911949],"aabb_xy":[[0.20799289908549842,0.9744328714664605],[0.24201309366559973,1.0067018484630084]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.6067038680233439,-0.2937656163522142,0.71338606911949],"aabb_xy":[[-0.6179489235939617,-0.3050074140763095],[-0.595458812452726,-0.28252381862811893]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.03537219548464576,-0.7176301501985793,0.71338606911949],"aabb_xy":[[-0.06585644561167592,-0.7676301499800753],[-0.0048879453576156084,-0.6676301504170834]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[0.5011762856788988,0.9659613799120099,0.71338606911949],"aabb_xy":[[0.43717628362916683,0.9258668968227021],[0.5651762877286308,1.0060558630013179]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.42490083934685496,0.653240606666639,0.71338606911949],"aabb_xy":[[0.391421672085814,0.6197614932955321],[0.4583800066078959,0.6867197200377461]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.1822417152710245,-1.6423171317787035,0.71338606911949],"aabb_xy":[[-0.23172213648498333,-1.7063171296915556],[-0.13276129405706574,-1.578317133865852]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.07189608202250375,0.7544150396593894,0.71338606911949],"aabb_xy":[[-0.07988957181778579,0.7464169077189139],[-0.06390259222722174,0.7624131715998652]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.312130802376986,-2.3069714622921365,0.71338606911949],"aabb_xy":[[0.24713080234268325,-2.3536721389724637],[0.3771308024112887,-2.260270785611809]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655562772538252,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6688.png","name":"6688"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6688.png","name":"6688"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6858.png","name":"6858"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/163.png","name":"163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4239.png","name":"4239"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":579.7674190160832,"rotation_z_degrees":105.74887020237158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0050434605211594485,1.5159201180049015e-05,0.010876504766589273]},{"name":"camera_2","offset_m":[-0.003934484535680384,-0.017809816205171827,-0.006742496386303346]},{"name":"camera_3","offset_m":[-0.006480149479761872,-0.010893862320469738,0.00844885120022627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007271011009583783,0.0017762847284480362,-0.0013183187549432765],"end_effector_yaw_offset_degrees":0.11409460174182673},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00028329449019402764,-0.0008289523067396564,-0.0008517386325036199],"end_effector_yaw_offset_degrees":-0.07722058183801717},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005406224557123348,0.0011037133560509301,0.001105914131828748],"end_effector_yaw_offset_degrees":-0.8564659215494095}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002495326121912631,0.003445739493003994],"position_m":[0.21940467387808735,0.270845739493004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00030292744383780823,-0.00467234409516484],"position_m":[0.3416970725561622,0.10642765590483516,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012341279680735773,0.004841366547705064],"position_m":[0.2945658720319264,-0.03905863345229494,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004038864517334596,0.0014225773005737243],"position_m":[0.2673611354826654,-0.3071774226994263,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f5de251ac8929dfb964fb19c1c056b141bea157b21df8fa1c68c722190b690fd","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6688/tex_ceiling_textures_1963/tex_floor_textures_4239/tex_table_textures_6858/tex_wall_textures_163","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5953455401945612376,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5953455401945612376,"visual_seed":5953455401945612376,"scene_id":"lab_003","finished_at":"2026-09-02T05:41:26"}
+{"episode_id":"ep_000051","started_at":"2026-09-02T05:41:29","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.20532909496979113,-2.469465823388705,0.71338606911949],"aabb_xy":[[-0.24282909526196592,-2.4735072987893085],[-0.16782909467761628,-2.465424347988101]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.34970263176721345,0.8810201825288728,0.71338606911949],"aabb_xy":[[-0.3576259120059618,0.8585201822908693],[-0.3417793515284651,0.9035201827668761]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[-0.1964480597947671,-2.323194936302743,0.71338606911949],"aabb_xy":[[-0.23394805961180065,-2.3278331476138843],[-0.15894805997773354,-2.3185567249916006]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.35844559534691,-2.4225056207722586,0.71338606911949],"aabb_xy":[[-0.42244559393348247,-2.469512584171767],[-0.29444559676033755,-2.3754986573727495]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[-0.4325107982969192,-0.17283844157455075,0.71338606911949],"aabb_xy":[[-0.5125046218754775,-0.2528384441673924],[-0.3525169747183611,-0.09283843898170924]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.016337064518505806,1.6054763163848311,0.71338606911949],"aabb_xy":[[0.0002751370599881654,1.5204763145722393],[0.03239899197702345,1.690476318197423]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.4611456628642514,-0.6698254622953832,0.71338606911949],"aabb_xy":[[-0.4698436251549667,-0.6819504366028579],[-0.4524477005735361,-0.6577004879879085]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.5263872912780873,1.5400167498298605,0.71338606911949],"aabb_xy":[[-0.5351893465870599,1.5322054236749312],[-0.5175852359691144,1.5478280759847893]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.141367980314276,1.2083863159566142,0.71338606911949],"aabb_xy":[[0.07136797767768965,1.1882814509607487],[0.21136798295086234,1.2284911809524797]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.1969294934913568,-0.566384658141692,0.71338606911949],"aabb_xy":[[0.17192949421939452,-0.5827300217378544],[0.22192949276331908,-0.5500392945455297]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.41955746817263184,1.208893190588944,0.71338606911949],"aabb_xy":[[-0.4735730644545318,1.1448931876966866],[-0.3655418718907318,1.272893193481201]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.41621998893167245,-1.3050045155403014,0.71338606911949],"aabb_xy":[[0.37871998858344463,-1.316795911121385],[0.45371998927990015,-1.2932131199592178]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.6154578924412115,-0.32422965363784684,0.71338606911949],"aabb_xy":[[0.5654578937952903,-0.3741491972973092],[0.6654578910871327,-0.27431010997838445]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.372476630525132,1.4573002107537643,0.71338606911949],"aabb_xy":[[-0.38494398863486773,1.444834886120441],[-0.36000927241539643,1.469765535387088]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.5660412567951274,0.5753771924104116,0.71338606911949],"aabb_xy":[[0.4860412597808794,0.5552426407370004],[0.6460412538093754,0.5955117440838229]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.4887024463638501,0.08813087216223447,0.71338606911949],"aabb_xy":[[-0.5487024472246628,0.03670444215574808],[-0.4287024455030372,0.13955730216872084]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.626611248655657,0.25883574205450666,0.71338606911949],"aabb_xy":[[-0.6765843141881726,0.20883574224197382],[-0.5766381831231416,0.3088357418670396]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[-0.25916967733619894,0.5115729754942455,0.71338606911949],"aabb_xy":[[-0.3291696789384784,0.49814018229258805],[-0.18916967573391946,0.5250057686959032]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.31033861069132135,0.7321826973926577,0.71338606911949],"aabb_xy":[[-0.31975608526118404,0.7227665202549387],[-0.30092113612145854,0.7415988745303768]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.5931723169867769,0.9237543675564996,0.71338606911949],"aabb_xy":[[0.5231723148553473,0.9009924019308039],[0.6631723191182064,0.9465163331821952]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.6030642427006909,-0.03173626514036787,0.71338606911949],"aabb_xy":[[0.5655642425288189,-0.06443700052327506],[0.6405642428725628,0.000964470242539324]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.44120858980620836,-1.7062428709445836,0.71338606911949],"aabb_xy":[[0.4037085893088501,-1.7102115544927017],[0.4787085903035666,-1.7022741873964646]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.2831499758084731,-1.8878778385557706,0.71338606911949],"aabb_xy":[[0.24460428298327208,-1.9264236096119594],[0.32169566863367416,-1.849332067499582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716085226349189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8331.png","name":"8331"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8331.png","name":"8331"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3146.png","name":"3146"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2800.png","name":"2800"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":698.4601004325496,"rotation_z_degrees":128.68364643729203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013103200432523974,0.0037639481149490325,0.008419795679879018]},{"name":"camera_2","offset_m":[-0.012027043898332025,0.007454684919198155,0.0190086045974313]},{"name":"camera_3","offset_m":[-0.018773868978276743,0.006270354670668863,0.012026812747359467]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00025424354593198617,0.00020618056668945907,-0.0003490915221414147],"end_effector_yaw_offset_degrees":-0.11592323647797032},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010271791204756924,-0.0011642656358612404,-0.0009838017086176306],"end_effector_yaw_offset_degrees":0.5606421981925072},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0013333349836618155,-0.0016365093505878486,0.0015835033983493721],"end_effector_yaw_offset_degrees":0.9097310896956019}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003167122032147103,-0.0008337047712498472],"position_m":[0.2250671220321471,0.2665662952287502,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003064268373068041,-0.00342465089018703],"position_m":[0.33893573162693197,0.10767534910981297,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014875996629484644,-0.003459465771033443],"position_m":[0.2972875996629485,-0.04735946577103344,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021096495984124688,0.00013198895095716933],"position_m":[0.27350964959841245,-0.3084680110490428,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"daab117a286b2d12511bc998dfe56d4acf2456ce63b68905573bb40544bf1268","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8331/tex_ceiling_textures_2800/tex_floor_textures_1607/tex_table_textures_7157/tex_wall_textures_3146","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1057897003294624843,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1057897003294624843,"visual_seed":1057897003294624843,"scene_id":"lab_003","finished_at":"2026-09-02T05:44:21"}
+{"episode_id":"ep_000052","started_at":"2026-09-02T05:44:24","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.6077619863186954,-0.22481059203264486,0.71338606911949],"aabb_xy":[[0.5902620528847119,-0.2423105919528794],[0.6252619197526786,-0.20731059211241032]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.38225459727761546,1.4410667817810325,0.71338606911949],"aabb_xy":[[0.34475459576198375,1.4298400087648875],[0.41975459879324717,1.4522935547971776]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.29652697276902407,-0.8108133243912117,0.71338606911949],"aabb_xy":[[0.25902697259715207,-0.8435140597741189],[0.33402697294089595,-0.7781125890083045]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.4516770466329252,0.17298355263445098,0.71338606911949],"aabb_xy":[[-0.5016701587421171,0.12298355196025537],[-0.4016839345237333,0.22298355330864666]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.27822657993759636,-1.1800780401327087,0.71338606911949],"aabb_xy":[[-0.31200213912828934,-1.1941165353458734],[-0.2444510207469034,-1.1660395449195435]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.030728635700708606,-1.1204064752562923,0.71338606911949],"aabb_xy":[[-0.03814109124209708,-1.1262576856779203],[-0.02331618015932013,-1.1145552648346644]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.5731756816804014,-1.2681803558182314,0.71338606911949],"aabb_xy":[[-0.5808788723544784,-1.2758897265169693],[-0.5654724910063245,-1.260470985119493]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.5575931930048701,0.8140007582715443,0.71338606911949],"aabb_xy":[[-0.60759319428871,0.7640219038809222],[-0.50759319172103,0.8639796126621664]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.5723929918127735,0.743972769084452,0.71338606911949],"aabb_xy":[[0.5224087561045963,0.6939727702709564],[0.6223772275209507,0.7939727678979476]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.14616738902679283,-1.71119722234826,0.71338606911949],"aabb_xy":[[-0.16744539717026505,-1.776197224674333],[-0.12488938088332055,-1.6461972200221868]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[-0.19829649178676467,0.9401760863415856,0.71338606911949],"aabb_xy":[[-0.213468661068398,0.9250072294133823],[-0.18312432250513133,0.955344943269789]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.14675218578660243,-1.978926048672241,0.71338606911949],"aabb_xy":[[-0.17459722256720958,-2.0097105474105526],[-0.11890714900599533,-1.9481415499339292]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.4028476008782922,1.5510356913097536,0.71338606911949],"aabb_xy":[[-0.437847600854788,1.541571075262137],[-0.36784760090179636,1.5605003073573702]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.05657871518590385,-1.6231740233417935,0.71338606911949],"aabb_xy":[[-0.07168101664692192,-1.638275544972855],[-0.04147641372488574,-1.6080725017107311]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.4976622255960792,-1.010519646803869,0.71338606911949],"aabb_xy":[[-0.5063601878867945,-1.0226446211113438],[-0.4889642633053639,-0.9983946724963944]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.1743071469180858,-2.0969525211553153,0.71338606911949],"aabb_xy":[[-0.1917378619970923,-2.1142246358191654],[-0.1568764318390793,-2.0796804064914634]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.19410176043071503,0.3611227559606327,0.71338606911949],"aabb_xy":[[-0.2166154522541722,0.2911227553596252],[-0.1715880686072578,0.43112275656164023]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.487263756051683,-0.8523740174257208,0.71338606911949],"aabb_xy":[[-0.5118099716744338,-0.8826229139747579],[-0.4627175404289323,-0.8221251208766838]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.20687711501764394,-1.1090297031746825,0.71338606911949],"aabb_xy":[[0.1879927312491337,-1.1279156279550353],[0.22576149878615412,-1.0901437783943297]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[-0.3687109137639839,0.9749284150155169,0.71338606911949],"aabb_xy":[[-0.44871091092355914,0.9633808140576997],[-0.28871091660440856,0.9864760159733338]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.4909468672752926,1.2121692240529582,0.71338606911949],"aabb_xy":[[0.45750669207927297,1.178725598222028],[0.5243870424713122,1.245612849883888]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.018690900246539077,-1.6980633397110587,0.71338606911949],"aabb_xy":[[0.0142602708916989,-1.703511711445741],[0.023121529601379254,-1.692614967976376]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.6229234327011364,-1.7217301527356348,0.71338606911949],"aabb_xy":[[0.6175858570351318,-1.7467301536647748],[0.6282610083671409,-1.6967301518064952]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.1964314689697002,1.3882990763222471,0.71338606911949],"aabb_xy":[[0.16143146907368133,1.3799248408103069],[0.23143146886571908,1.396673311834187]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.06642576105619913,-0.5171311013191264,0.71338606911949],"aabb_xy":[[-0.11141834777464955,-0.5621311005935752],[-0.02143317433774873,-0.4721311020446777]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[-0.3134160117296017,0.36361623817634703,0.71338606911949],"aabb_xy":[[-0.326042799016798,0.35407016447477413],[-0.3007892244424053,0.3731623118779199]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[-0.5854304204132947,-2.426493454766207,0.71338606911949],"aabb_xy":[[-0.6654304183940798,-2.434094995728059],[-0.5054304224325097,-2.418891913804355]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[0.15886975042047313,-2.255165164021343,0.71338606911949],"aabb_xy":[[0.15075609574709603,-2.2632709804753723],[0.16698340509385023,-2.2470593475673137]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6716783379001016,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6192.png","name":"6192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9004.png","name":"9004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6037.png","name":"6037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8225.png","name":"8225"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":715.1313862133404,"rotation_z_degrees":135.83130146890437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012787374522532261,0.006378929090571094,0.017452452862944254]},{"name":"camera_2","offset_m":[0.011892374339971996,-0.01837631330294225,-0.006837346019830454]},{"name":"camera_3","offset_m":[-0.007398169475219048,-0.013023740518902326,0.006440678484730681]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001840367609075353,-0.0013095797677907836,0.0016147175404145355],"end_effector_yaw_offset_degrees":0.7653638938248768},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013855264381622697,8.750467486330973e-06,-0.00015138078979768342],"end_effector_yaw_offset_degrees":-0.21492178335172052},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016481487085992725,0.0004353808866334064,0.000532784793397148],"end_effector_yaw_offset_degrees":-0.3577838115327465}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.00485718659894913,0.0018351645974312488],"position_m":[0.21704281340105086,0.2692351645974313,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002136378827390594,0.0021435200236864724],"position_m":[0.33986362117260943,0.11324352002368648,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003597869319601572,-0.003116888955130892],"position_m":[0.2993978693196016,-0.04701688895513089,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002226685504762905,0.0002063521251088529],"position_m":[0.2736266855047629,-0.30839364787489115,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9fc7dbb6a9805a98d95257851d070736738854ec1c2b29c07df13fa75cae8a55","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_547/tex_ceiling_textures_8225/tex_floor_textures_6037/tex_table_textures_6192/tex_wall_textures_9004","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":235804573816093015,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":235804573816093015,"visual_seed":235804573816093015,"scene_id":"lab_003","finished_at":"2026-09-02T05:47:07"}
+{"episode_id":"ep_000053","started_at":"2026-09-02T05:47:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[-0.19879731369183384,-0.4859692764618959,0.71338606911949],"aabb_xy":[[-0.20223798993189102,-0.48983070943626045],[-0.19535663745177667,-0.4821078434875315]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.2681362086976238,-2.457455042331033,0.71338606911949],"aabb_xy":[[-0.3159423763113924,-2.522455045038092],[-0.22033004108385507,-2.392455039623974]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.3210426495447816,0.744225630696167,0.71338606911949],"aabb_xy":[[-0.3488876863253888,0.7134411319578553],[-0.29319761276417455,0.7750101294344787]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.10840633416533785,-0.1438601358096423,0.71338606911949],"aabb_xy":[[-0.11997531491227442,-0.16886013592657403],[-0.09683735341840127,-0.11886013569271062]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.6098311180501085,-0.16240292435532577,0.71338606911949],"aabb_xy":[[-0.6273311173281952,-0.1797410244216717],[-0.5923311187720215,-0.1450648242889798]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.15631416633700312,-2.167760765641715,0.71338606911949],"aabb_xy":[[-0.18746108518058624,-2.2377607643285216],[-0.12516724749342,-2.097760766954907]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.6003372801424165,-0.016494249718070897,0.71338606911949],"aabb_xy":[[-0.66433728051995,-0.06623951656888316],[-0.5363372797648828,0.03325101713274137]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.6654497802364734,-0.8092945798096871,0.71338606911949],"aabb_xy":[[0.647656273301557,-0.8270943254054848],[0.6832432871713898,-0.7914948342138894]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.2828426816172055,-0.27517534615054906,0.71338606911949],"aabb_xy":[[-0.3328419567856416,-0.32517534742649623],[-0.23284340644876927,-0.2251753448746019]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.5382653192242033,-2.565215553802837,0.71338606911949],"aabb_xy":[[-0.5463016539254881,-2.5732536731072533],[-0.5302289845229184,-2.55717743449842]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.6493398407881392,0.6862546250203527,0.71338606911949],"aabb_xy":[[0.5943443629674797,0.6312546235864458],[0.7043353186087985,0.7412546264542597]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[-0.4560825784621885,-1.848048093464692,0.71338606911949],"aabb_xy":[[-0.47375820905078686,-1.8657283097440942],[-0.4384069478735902,-1.8303678771852887]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.5147610922288464,-2.0912784181578834,0.71338606911949],"aabb_xy":[[0.46476109358292517,-2.141197961817346],[0.5647610908747676,-2.041358874498421]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.02687664271475132,0.942414923093537,0.71338606911949],"aabb_xy":[[-0.09687664452349676,0.9210611543293495],[0.04312335909399412,0.9637686918577243]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.5630200800103844,-1.5457362396802135,0.71338606911949],"aabb_xy":[[0.5078948743807936,-1.6057362411215004],[0.6181452856399752,-1.485736238238926]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.4917542967315718,0.8723332339001733,0.71338606911949],"aabb_xy":[[-0.5417275907348322,0.8223332333456257],[-0.44178100272831133,0.9223332344547204]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.6459566154540259,0.29324652270547125,0.71338606911949],"aabb_xy":[[0.5960739185763299,0.24324652345919656],[0.6958393123317222,0.34324652195174604]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.03576713171779988,1.0526236516981076,0.71338606911949],"aabb_xy":[[-0.009232869748428971,1.0076237948366271],[0.08076713318402873,1.0976235085595885]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.7004404230832078,0.5657885362223358,0.71338606911949],"aabb_xy":[[0.6829404896492243,0.5482885363021012],[0.717940356517191,0.5832885361425703]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.35378656940346564,-0.0764281820888284,0.71338606911949],"aabb_xy":[[-0.39128656969564046,-0.08046965748943198],[-0.3162865691112908,-0.07238670668822479]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.23447060754364435,1.0788402992827812,0.71338606911949],"aabb_xy":[[0.21197147181741738,1.056340298504518],[0.2569697432698713,1.101340300061044]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.21190384526862255,-1.5253998203934782,0.71338606911949],"aabb_xy":[[-0.3019038449917967,-1.5484731729286578],[-0.12190384554544835,-1.5023264678582982]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.013383394688147643,-1.6391796880395981,0.71338606911949],"aabb_xy":[[-0.020095772572893293,-1.672658801410705],[0.04686256194918858,-1.6057005746684911]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.3662250099251423,0.4983392509010436,0.71338606911949],"aabb_xy":[[0.33993618560470157,0.47206781724639224],[0.3925138342455829,0.5246106845556946]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[0.3200149318067682,-1.8576552746469366,0.71338606911949],"aabb_xy":[[0.2955013077097623,-1.881919867948973],[0.344528555903774,-1.8333906813449001]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.17176054264095109,0.4165287496094683,0.71338606911949],"aabb_xy":[[-0.1797868132715771,0.40777725463211567],[-0.16373427201032512,0.4252802445868209]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677953381037313,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8228.png","name":"8228"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8228.png","name":"8228"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5402.png","name":"5402"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3691.png","name":"3691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3324.png","name":"3324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5359.png","name":"5359"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":550.5430607190228,"rotation_z_degrees":268.6250635966997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016030691594764696,-0.006949645652322697,0.016158890441993198]},{"name":"camera_2","offset_m":[0.018428167280450974,0.01898928404643278,0.006707896566535448]},{"name":"camera_3","offset_m":[-0.012277122068648724,0.0005856637262095649,-0.01830349473828437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00023158998913738412,-0.0012919404564390455,-0.0008271795000916544],"end_effector_yaw_offset_degrees":-0.009149044430079245},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017648844530024062,0.0017804902841842586,-0.00027497866189072316],"end_effector_yaw_offset_degrees":0.760280388375101},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016393016123041608,-0.0007804004615827606,0.0007987747265478101],"end_effector_yaw_offset_degrees":-0.41873206752374426}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0001592367182438369,0.003044181603037964],"position_m":[0.22174076328175615,0.270444181603038,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006256607843266801,0.0009264730829769419],"position_m":[0.34137433921567334,0.11202647308297695,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0016763186533625884,-0.0041598588795556946],"position_m":[0.2974763186533626,-0.048059858879555696,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042135142715993765,-0.0037292313741665983],"position_m":[0.2671864857284006,-0.31232923137416657,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"341fddc90f932eca7367a78dd219c0a979785dddc5e60c4769a99a92d5e3f7f5","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8228/tex_ceiling_textures_5359/tex_floor_textures_3324/tex_table_textures_5402/tex_wall_textures_3691","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":111113261479414737,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":111113261479414737,"visual_seed":111113261479414737,"scene_id":"lab_003","finished_at":"2026-09-02T05:50:01"}
+{"episode_id":"ep_000054","started_at":"2026-09-02T05:50:04","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.3723327633842821,-2.159590266144802,0.71338606911949],"aabb_xy":[[0.2823327597073638,-2.2210226727219053],[0.46233276706120013,-2.0981578595676966]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.4333805320613293,-1.2603626750397212,0.71338606911949],"aabb_xy":[[0.3433805355604575,-1.3062743174581795],[0.523380528562201,-1.214451032621263]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.1744642613413756,-0.1310361770202415,0.71338606911949],"aabb_xy":[[-0.20790443653739515,-0.16447980285117156],[-0.14102408614535594,-0.09759255118931141]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.2854434085271259,-0.8071995383102211,0.71338606911949],"aabb_xy":[[0.19544341179151564,-0.8603830016275155],[0.37544340526273606,-0.7540160749929264]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.6046450366827119,1.433002476193772,0.71338606911949],"aabb_xy":[[0.5406450346329797,1.3929079931044641],[0.6686450387324437,1.47309695928308]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.06184551020361351,-1.516024610042317,0.71338606911949],"aabb_xy":[[0.02059669917369877,-1.5710246095545344],[0.10309432123352823,-1.4610246105300995]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.32686432426102174,0.71133309280214,0.71338606911949],"aabb_xy":[[-0.3606398834517147,0.6972945975889749],[-0.29308876507032877,0.725371588015305]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.3110022051530941,-2.023645143746408,0.71338606911949],"aabb_xy":[[-0.4010022037475641,-2.039895730059829],[-0.22100220655862424,-2.0073945574329866]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.4759740322559183,0.41534656762922273,0.71338606911949],"aabb_xy":[[0.4259740328157226,0.3653786431449063],[0.5259740316961139,0.4653144921135389]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.22213143882380681,1.5434463724035044,0.71338606911949],"aabb_xy":[[0.20463150538982341,1.5259463724832698],[0.23963137225779016,1.560946372323739]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.48021157359915034,-0.5383464710102288,0.71338606911949],"aabb_xy":[[0.4701298665205768,-0.6183464689023433],[0.49029328067772376,-0.45834647311811405]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.13653085127132158,1.4863817235940906,0.71338606911949],"aabb_xy":[[-0.15903085178336215,1.4638898652286922],[-0.11403085075928096,1.508873581959489]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.0019963521522318173,0.9626562298873989,0.71338606911949],"aabb_xy":[[-0.06358711137622464,0.8986562317783521],[0.059594407071761,1.0266562279964457]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.2908099294564419,-1.2197239995712894,0.71338606911949],"aabb_xy":[[0.28209596040650736,-1.2422240002304772],[0.29952389850637634,-1.1972239989121007]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.6737520123454388,-1.340512202349504,0.71338606911949],"aabb_xy":[[0.6237677766372616,-1.3905122011629996],[0.723736248053616,-1.2905122035360084]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.18372370003749294,1.3030365251885496,0.71338606911949],"aabb_xy":[[0.17838612437148837,1.2780365242594098],[0.1890612757034975,1.3280365261176894]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[-0.422331352150491,-0.9997349280463499,0.71338606911949],"aabb_xy":[[-0.4302546323892393,-1.0222349282843533],[-0.4144080719117426,-0.9772349278083465]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.28186770366221,-0.37473770054262934,0.71338606911949],"aabb_xy":[[-0.3168677035582288,-0.3831119360545693],[-0.24686770376619108,-0.3663634650306894]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.024214914992377046,-0.3259942797168498,0.71338606911949],"aabb_xy":[[-0.04332722235035591,-0.3451290585940918],[-0.005102607634398182,-0.3068595008396078]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.6385179395240405,1.4026386431945315,0.71338606911949],"aabb_xy":[[-0.6635179390757789,1.3924961593293967],[-0.613517939972302,1.4127811270596662]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.6487025533585435,1.2335014987277662,0.71338606911949],"aabb_xy":[[0.6405888986851663,1.225395682273737],[0.6568162080319205,1.2416073151817952]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.49584166457163387,-1.9595974495409334,0.71338606911949],"aabb_xy":[[-0.5177314121605747,-2.049597446830182],[-0.47395191698269307,-1.8695974522516843]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.6033146697740046,-0.812441390003624,0.71338606911949],"aabb_xy":[[0.5483409477376717,-0.8674413895678573],[0.6582883918103375,-0.757441390439391]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[-0.5345289363281677,1.6915807482312206,0.71338606911949],"aabb_xy":[[-0.5427434814438515,1.6829041579335786],[-0.5263143912124836,1.7002573385288613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6747786268009974,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8100.png","name":"8100"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8100.png","name":"8100"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1396.png","name":"1396"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2279.png","name":"2279"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3873.png","name":"3873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5248.png","name":"5248"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":637.4239629140318,"rotation_z_degrees":13.699366730664654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00908768276210239,0.015235399998714174,0.00349332196120054]},{"name":"camera_2","offset_m":[0.006618628982776653,0.0067791673410483935,0.00892009785136453]},{"name":"camera_3","offset_m":[0.0012615599793999385,-0.007180094677260511,0.01823575980679117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018670314382267543,0.0009188910156929628,-0.0011874749517863852],"end_effector_yaw_offset_degrees":0.8342552754357013},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009067049430607583,0.0009413785350607805,-0.0014205564775531952],"end_effector_yaw_offset_degrees":-0.10386588015134057},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009603250002538108,0.0002388616238948875,0.0012468558675849915],"end_effector_yaw_offset_degrees":-0.0779168984807943}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0019049668391402565,-0.004859851893360519],"position_m":[0.21999503316085972,0.2625401481066395,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.8934311023188532e-05,0.0019953522373157007],"position_m":[0.3420289343110232,0.1130953522373157,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008733578064382885,-0.003934954890797211],"position_m":[0.2966733578064383,-0.04783495489079721,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004612713912050543,-0.0019283836829166825],"position_m":[0.2760127139120505,-0.3105283836829167,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"99f575f061b62a4c1074384974fd8702966fcd89c4f3d850a5d85c327725d0f6","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8100/tex_ceiling_textures_5248/tex_floor_textures_3873/tex_table_textures_1396/tex_wall_textures_2279","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4338024357250162552,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4338024357250162552,"visual_seed":4338024357250162552,"scene_id":"lab_003","finished_at":"2026-09-02T05:52:52"}
+{"episode_id":"ep_000055","started_at":"2026-09-02T05:52:55","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.45037894597417727,-0.29840596964025234,0.71338606911949],"aabb_xy":[[-0.5003522399774377,-0.34840597019479963],[-0.4004056519709168,-0.24840596908570495]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.4782959273756033,1.262097195873964,0.71338606911949],"aabb_xy":[[-0.5382959278834561,1.2052504621880424],[-0.4182959268677503,1.318943929559885]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.3174630196548367,1.2011446293230472,0.71338606911949],"aabb_xy":[[0.2949982496834316,1.1786446284441865],[0.3399277896262418,1.2236446302019075]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.1850693808856606,1.251072589006343,0.71338606911949],"aabb_xy":[[0.16052316526290988,1.2208236924573057],[0.20961559650841133,1.2813214855553798]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.13853183184366058,-0.697420188478107,0.71338606911949],"aabb_xy":[[0.13053834204837855,-0.7054183204185828],[0.1465253216389426,-0.6894220565376316]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[-0.4614197871023974,-1.896680949323874,0.71338606911949],"aabb_xy":[[-0.4789197873474467,-1.914180737163441],[-0.44391978685734795,-1.8791811614843072]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.33326536751560853,1.3804404946160402,0.71338606911949],"aabb_xy":[[0.2732653672642073,1.3261591695795754],[0.39326536776700965,1.4347218196525047]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.5840175309042743,-2.1353148707232115,0.71338606911949],"aabb_xy":[[-0.5894754765412943,-2.21531487403087],[-0.5785595852672542,-2.055314867415552]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.05492152938858763,-0.46876500457069303,0.71338606911949],"aabb_xy":[[-0.09242152920562119,-0.4734032158818349],[-0.017421529571554073,-0.46412679325955125]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.1275647276324149,0.6897346505706721,0.71338606911949],"aabb_xy":[[0.11827110939526428,0.6522346520825382],[0.13685834586956544,0.727234649058806]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.06616215726377117,-1.4580621338223168,0.71338606911949],"aabb_xy":[[-0.1036621556871715,-1.4712263477901475],[-0.028662158840370808,-1.444897919854486]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.5421800590047914,1.5358889473076194,0.71338606911949],"aabb_xy":[[0.5056842383775125,1.4994050048808618],[0.57867587963207,1.572372889734377]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.10016415059573536,1.6122990442963938,0.71338606911949],"aabb_xy":[[0.07766415058558705,1.5982028246567903],[0.12266415060588363,1.6263952639359969]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.016214543693231054,-1.3813467522074023,0.71338606911949],"aabb_xy":[[-0.09621454070747903,-1.4014813038808136],[0.06378545332101693,-1.361212200533991]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.44670930888116234,0.02410400222549658,0.71338606911949],"aabb_xy":[[-0.49670930832135796,-0.02586392225881973],[-0.3967093094409667,0.07407192670981289]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.4698715127425319,-1.4445246530113285,0.71338606911949],"aabb_xy":[[-0.5338715146548743,-1.5004358022693391],[-0.40587151083018963,-1.3886135037533183]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[0.28860307725471135,-1.6625346665477,0.71338606911949],"aabb_xy":[[0.2757311737537712,-1.742534666961536],[0.3014749807556515,-1.5825346661338637]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.5828365017418338,-0.7068972905629547,0.71338606911949],"aabb_xy":[[0.565826404451783,-0.7230317790612285],[0.5998465990318843,-0.6907628020646807]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.6771021847201073,-0.47349135030715317,0.71338606911949],"aabb_xy":[[0.6683209575728711,-0.4822710975956834],[0.6858834118673437,-0.4647116030186231]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.39013350402781355,-0.4794155038460288,0.71338606911949],"aabb_xy":[[-0.43726288302964916,-0.5434155048904307],[-0.3430041250259778,-0.41541550280162676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696355827040305,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6950.png","name":"6950"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6950.png","name":"6950"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7509.png","name":"7509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6232.png","name":"6232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1582.png","name":"1582"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":818.8276219832775,"rotation_z_degrees":174.7554393819359,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023893118400383703,0.019934109566718507,-0.005351109002798608]},{"name":"camera_2","offset_m":[0.01304393795629043,-0.011063432338609815,0.005889618263219605]},{"name":"camera_3","offset_m":[-0.016028348467355267,0.008227351531642474,0.01998138930902001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009598149731169271,-0.0018799574682823068,0.0012477422994508292],"end_effector_yaw_offset_degrees":0.008441921603058677},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001998719772376044,-0.0009737881298478971,-0.0009934345899901245],"end_effector_yaw_offset_degrees":-0.9771716424849997},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0004458684668402176,-0.0008644293329964064,0.0017844584690469242],"end_effector_yaw_offset_degrees":-0.5941694237272619}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0034896035459059697,-0.001549486251803971],"position_m":[0.21841039645409402,0.26585051374819607,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002556565585923624,0.0009049895372047114],"position_m":[0.3445565655859236,0.11200498953720471,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003378906316098643,-0.0034015928968646027],"position_m":[0.29242109368390135,-0.04730159289686461,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018386704638914853,-0.003171727399654124],"position_m":[0.2695613295361085,-0.3117717273996541,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d7259dc667fdcc77497a4afc6e3cb4546cf17e840ab4cf6c90dc4b8b7e59c098","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6950/tex_ceiling_textures_1582/tex_floor_textures_6232/tex_table_textures_488/tex_wall_textures_7509","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6291383954202752167,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6291383954202752167,"visual_seed":6291383954202752167,"scene_id":"lab_003","finished_at":"2026-09-02T05:55:36"}
+{"episode_id":"ep_000056","started_at":"2026-09-02T05:55:40","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.23034831678428186,1.2958151327678884,0.71338606911949],"aabb_xy":[[-0.26784831757627725,1.2894472918096982],[-0.19284831599228638,1.3021829737260786]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[0.6155832022725858,-0.8043822082754852,0.71338606911949],"aabb_xy":[[0.5455831988810238,-0.8396979819789161],[0.6855832056641478,-0.7690664345720544]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.5629579492148664,-1.553149383137854,0.71338606911949],"aabb_xy":[[0.5129579475533715,-1.6031478253935563],[0.6129579508763611,-1.5031509408821508]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[0.3576813965659309,-0.7006100966090874,0.71338606911949],"aabb_xy":[[0.34964506186464606,-0.7086482159135041],[0.36571773126721574,-0.6925719773046706]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.006608090137524059,-0.7192027378605832,0.71338606911949],"aabb_xy":[[-0.012504217220454805,-0.7383375167378252],[0.025720397495502922,-0.7000679589833412]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.013721069335371094,-1.3852889857098065,0.71338606911949],"aabb_xy":[[-0.05027893234262626,-1.4338063771891205],[0.07772107101336845,-1.336771594230492]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.22447992278565904,-1.2499425662049346,0.71338606911949],"aabb_xy":[[-0.24947992271817696,-1.256825234425858],[-0.19947992285314117,-1.2430598979840113]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.6541933315574595,0.5261446250141901,0.71338606911949],"aabb_xy":[[0.6166933329818386,0.5134083293506321],[0.6916933301330802,0.538880920677748]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.08426041221741254,1.6004847337852879,0.71338606911949],"aabb_xy":[[0.06682969713840602,1.5832126191214368],[0.10169112729641903,1.6177568484491385]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.37737588611441397,-1.2701058533879546,0.71338606911949],"aabb_xy":[[-0.39500872170794155,-1.2877287994035773],[-0.3597430505208864,-1.2524829073723314]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[-0.6582426614516871,-0.716781248220091,0.71338606911949],"aabb_xy":[[-0.6646564750948719,-0.7231910684677593],[-0.651828847808502,-0.7103714279724226]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.4161626916993597,-0.5473324303340448,0.71338606911949],"aabb_xy":[[0.3961042800861194,-0.5673975172432023],[0.4362211033126,-0.5272673434248872]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.17248643895627203,-0.9991310268582516,0.71338606911949],"aabb_xy":[[0.0924864378831517,-1.0089090731956363],[0.25248644002939236,-0.9893529805208673]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[-0.12426389985199437,-1.7324502989876298,0.71338606911949],"aabb_xy":[[-0.1281777730474169,-1.7411993143941866],[-0.12035002665657184,-1.723701283581073]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.6620060317558303,-0.1701095743567702,0.71338606911949],"aabb_xy":[[0.6444593368397113,-0.2076095759210215],[0.6795527266719492,-0.13260957279251898]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.592792655347504,-1.9733011909276144,0.71338606911949],"aabb_xy":[[-0.6102926555925534,-1.990800978767181],[-0.5752926551024546,-1.9558014030880473]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.5168170885867776,-0.334441501245597,0.71338606911949],"aabb_xy":[[-0.5505926477774705,-0.34847999645876204],[-0.4830415293960846,-0.320403006032432]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[0.36221291460360217,-2.1867098958156705,0.71338606911949],"aabb_xy":[[0.35590081506726373,-2.1924768350688892],[0.3685250141399406,-2.180942956562452]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.6601861944773589,0.48525252578094946,0.71338606911949],"aabb_xy":[[-0.6655187091319721,0.4799281975357139],[-0.6548536798227462,0.4905768540261851]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.4364673031695907,-0.7287375854230971,0.71338606911949],"aabb_xy":[[-0.4914673027913366,-0.7837212782105697],[-0.3814673035478449,-0.6737538926356242]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.4177675889354293,-0.7298951854299565,0.71338606911949],"aabb_xy":[[0.4136516388233566,-0.7340107404628019],[0.4218835390475019,-0.7257796303971108]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.0676960150241539,-2.305940831654867,0.71338606911949],"aabb_xy":[[0.05163408756563625,-2.3909408334674582],[0.08375794248267153,-2.2209408298422746]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[0.03192101271157555,-1.5807584861179294,0.71338606911949],"aabb_xy":[[0.02541937620357093,-1.5905263081442396],[0.03842264921958016,-1.57099066409162]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[-0.34230150505688406,0.12171554892621739,0.71338606911949],"aabb_xy":[[-0.37730150503337984,0.11225093287860079],[-0.30730150508038817,0.131180164973834]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[-0.3871409188077204,-2.4551134281399642,0.71338606911949],"aabb_xy":[[-0.417539029906864,-2.485520330141633],[-0.3567428077085768,-2.424706526138294]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[-0.23088253950849152,1.016629196967369,0.71338606911949],"aabb_xy":[[-0.28088253908482624,0.9666486180152631],[-0.1808825399321568,1.066609775919475]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.2076181103435818,-1.3135935592790442,0.71338606911949],"aabb_xy":[[0.16543369618275108,-1.3775935595562556],[0.24980252450441257,-1.2495935590018332]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6720397765195276,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6025.png","name":"6025"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8547.png","name":"8547"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":621.636261057093,"rotation_z_degrees":219.0170761983143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00805187397365012,0.013454218204759453,0.01800331125506637]},{"name":"camera_2","offset_m":[-0.018958824236821686,0.015229982561233469,0.007956022533381821]},{"name":"camera_3","offset_m":[0.010771982481131166,-0.004761588893696805,0.010505285895595871]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00011308367989905409,0.0018698837358992145,-0.00091757335775609],"end_effector_yaw_offset_degrees":-0.354307562813986},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017160173695981173,0.0019610253461047897,-0.00016361901499325256],"end_effector_yaw_offset_degrees":0.46586556733392515},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0011631958403534206,-0.00193554126845322,0.0013651985839637768],"end_effector_yaw_offset_degrees":-0.015458408006210123}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00024160487899510096,-0.0039944915508768756],"position_m":[0.2221416048789951,0.26340550844912314,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00016032425937222324,-0.0015987402850199672],"position_m":[0.3418396757406278,0.10950125971498004,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-3.271897163664803e-05,0.001227329729865759],"position_m":[0.29576728102836336,-0.042672670270134244,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003606362352894376,0.002097214067101524],"position_m":[0.27500636235289433,-0.3065027859328985,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9405a2761a5b449bf6fdbb875a5021272d12a98714f7fefb7d3bdc05cbfd944f","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_327/tex_ceiling_textures_8547/tex_floor_textures_3292/tex_table_textures_6025/tex_wall_textures_6619","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":286843340126556373,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":286843340126556373,"visual_seed":286843340126556373,"scene_id":"lab_003","finished_at":"2026-09-02T05:58:31"}
+{"episode_id":"ep_000057","started_at":"2026-09-02T05:58:34","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.0460513184277489,-0.7105761156937875,0.71338606911949],"aabb_xy":[[-0.06160708783801417,-0.7261265489381947],[-0.030495549017483636,-0.6950256824493803]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.5711415729807894,-1.2000766744592881,0.71338606911949],"aabb_xy":[[0.5111415724729365,-1.2569234081452094],[0.6311415734886423,-1.1432299407733668]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[0.2821560675203758,-2.3079904830692115,0.71338606911949],"aabb_xy":[[0.2660941400618581,-2.3929904848818033],[0.2982179949788934,-2.2229904812566197]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.6008825634714665,-1.8671547382441056,0.71338606911949],"aabb_xy":[[-0.6648825658142682,-1.912095589488238],[-0.5368825611286651,-1.822213886999973]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.5369870197029349,0.05464189743691872,0.71338606911949],"aabb_xy":[[-0.6009870200804686,0.004896630586106454],[-0.4729870193254013,0.10438716428773098]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.1253678618711137,-1.194346483958454,0.71338606911949],"aabb_xy":[[-0.13512385138028757,-1.2041090180176883],[-0.11561187236193979,-1.1845839498992194]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.1495862327022891,-0.6821903373886415,0.71338606911949],"aabb_xy":[[-0.16987053542568786,-0.7024729625313503],[-0.12930192997889034,-0.6619077122459326]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[0.17458808708897444,-2.3108725624359674,0.71338606911949],"aabb_xy":[[0.1711474108489173,-2.314733995410332],[0.17802876332903164,-2.307011129461603]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.5079655941018741,1.017521286101212,0.71338606911949],"aabb_xy":[[0.4579655928180341,0.9675424317105895],[0.557965595385714,1.0675001404918336]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.043336908641323224,-0.6155596229299922,0.71338606911949],"aabb_xy":[[0.03692309499813827,-0.6219694431776605],[0.04975072228450815,-0.6091498026823238]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.2675510004511968,-1.3833377949446406,0.71338606911949],"aabb_xy":[[-0.27684461868834737,-1.4208377934327743],[-0.2582573822140462,-1.3458377964565065]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.2479136453970055,-0.41917432914953423,0.71338606911949],"aabb_xy":[[-0.3029058960325165,-0.47417433089284705],[-0.19292139476149459,-0.36417432740622147]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.1599578583300978,0.6297741679367177,0.71338606911949],"aabb_xy":[[-0.20272456520951798,0.5657741645149152],[-0.1171911514506776,0.6937741713585202]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[-0.5895667918028636,-0.8050294740743864,0.71338606911949],"aabb_xy":[[-0.6695667950607065,-0.8850259818663703],[-0.5095667885450206,-0.7250329662824023]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.49577294712792674,-0.5574698110522802,0.71338606911949],"aabb_xy":[[-0.512875025086295,-0.57457661658355],[-0.47867086916955864,-0.5403630055210105]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.29130235007196725,1.7736724066286755,0.71338606911949],"aabb_xy":[[0.21130234899884692,1.763894360291291],[0.3713023511450876,1.78345045296606]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.695185401716242,0.47073413696426547,0.71338606911949],"aabb_xy":[[0.684344923489727,0.45354785567361666],[0.7060258799427568,0.4879204182549143]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.28740012992168806,1.636077588308582,0.71338606911949],"aabb_xy":[[0.27969693924761097,1.6283682176098437],[0.29510332059576505,1.64378695900732]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.5297416353584614,0.5873588342257525,0.71338606911949],"aabb_xy":[[0.4397416316815431,0.525926427648648],[0.6197416390353795,0.6487912408028568]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.11106418191985512,1.4633758966578658,0.71338606911949],"aabb_xy":[[0.021064182501484216,1.4300003998136757],[0.201064181338226,1.496751393502055]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.5854018152825908,1.1431493037400031,0.71338606911949],"aabb_xy":[[-0.6029018145606776,1.1258112036736572],[-0.5679018160045038,1.160487403806349]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.4615897303584704,1.5046303511284207,0.71338606911949],"aabb_xy":[[0.4545482794077228,1.4976035993906263],[0.468631181309218,1.5116571028662151]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.5576429641659333,1.7141918109270065,0.71338606911949],"aabb_xy":[[0.4926429660100141,1.6878955663770945],[0.6226429623218522,1.7404880554769189]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.4705642215154937,1.3800216392989433,0.71338606911949],"aabb_xy":[[-0.4814699976030564,1.300021642900114],[-0.459658445427931,1.4600216356977722]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.4275562966277064,-0.343040651164654,0.71338606911949],"aabb_xy":[[-0.4520699207247123,-0.3673052444666904],[-0.4030426725307006,-0.3187760578626175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663194688043411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9693.png","name":"9693"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9693.png","name":"9693"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3060.png","name":"3060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3291.png","name":"3291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1890.png","name":"1890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":645.0652615446472,"rotation_z_degrees":14.509757340446123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01718543530634407,-0.00127914413425732,0.017360226885143593]},{"name":"camera_2","offset_m":[0.009247804522779374,0.017550774963484516,0.006453532303249066]},{"name":"camera_3","offset_m":[0.0008519521382049783,-0.0062481642924804345,0.012366568240963643]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013055086067165237,0.0006445908359871875,-0.00022338347243826295],"end_effector_yaw_offset_degrees":-0.0919184678691094},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005252749209389261,0.0002249932833723457,-0.00012929764303829753],"end_effector_yaw_offset_degrees":-0.9963540834796087},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0001237870258841648,0.00026513378831515607,0.001829089814322634],"end_effector_yaw_offset_degrees":0.7298555114164329}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0010779292761679705,-0.0013470090089864172],"position_m":[0.22297792927616797,0.2660529909910136,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019266257580151155,0.0034004183802968666],"position_m":[0.34392662575801514,0.11450041838029687,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002014488808948913,0.0024170867694273653],"position_m":[0.2937855111910511,-0.041482913230572634,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002690302323490864,0.0023644858125411597],"position_m":[0.2687096976765091,-0.3062355141874588,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"667b21703377abe8fbb971c693634e1796b30d636969f1edce904918479ac33a","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9693/tex_ceiling_textures_3865/tex_floor_textures_1890/tex_table_textures_3060/tex_wall_textures_3291","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6652620771864799215,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6652620771864799215,"visual_seed":6652620771864799215,"scene_id":"lab_003","finished_at":"2026-09-02T06:01:17"}
+{"episode_id":"ep_000058","started_at":"2026-09-02T06:01:19","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.5896788863998579,-2.1137647686712056,0.71338606911949],"aabb_xy":[[0.5096788849697307,-2.1932819236838146],[0.6696788878299851,-2.0342476136585956]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.07919411253414355,-0.9148518612182772,0.71338606911949],"aabb_xy":[[-0.11598874565904982,-0.9517577363148594],[-0.04239947940923727,-0.8779459861216948]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.4353840953621448,-2.084872462694266,0.71338606911949],"aabb_xy":[[-0.4440820576528601,-2.0969974370017406],[-0.4266861330714295,-2.072747488386791]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[-0.3930072990864501,1.6912663683511568,0.71338606911949],"aabb_xy":[[-0.4213370090349904,1.6868056261574398],[-0.36467758913790993,1.695727110544874]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.3858156160389363,-0.6165510804907757,0.71338606911949],"aabb_xy":[[0.34831561586706433,-0.6492518158736827],[0.4233156162108082,-0.5838503451078684]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.5402899160433939,-1.6161480212276287,0.71338606911949],"aabb_xy":[[-0.5563518435019115,-1.7011480230402203],[-0.5242279885848762,-1.5311480194150366]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.4248413542904401,0.033354348632570474,0.71338606911949],"aabb_xy":[[-0.4282820305304974,0.029492915658206005],[-0.42140067805038306,0.03721578160693496]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.24470060562114704,-1.0983440877248112,0.71338606911949],"aabb_xy":[[0.23936302995514247,-1.123344088653951],[0.2500381812871516,-1.0733440867956714]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.11019026720356107,1.7939240481862968,0.71338606911949],"aabb_xy":[[0.0856766431065552,1.76965945488426],[0.13470389130056692,1.8181886414883328]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.5905324253564678,-2.183806076984925,0.71338606911949],"aabb_xy":[[-0.6023006121511254,-2.2688060768901464],[-0.5787642385618104,-2.0988060770797032]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.10666021854986829,-1.4335521426926108,0.71338606911949],"aabb_xy":[[0.036660216418438724,-1.4563141083183062],[0.1766602206812978,-1.410790177066915]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.1164140354167531,-1.0514407979822225,0.71338606911949],"aabb_xy":[[-0.1663871009492686,-1.1014407977947556],[-0.06644096988423766,-1.0014407981696898]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[-0.34344872755129985,0.19705110588247665,0.71338606911949],"aabb_xy":[[-0.4234487280215159,0.1887403982681283],[-0.26344872708108397,0.20536181349682506]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.26786235842769557,-2.550377383699597,0.71338606911949],"aabb_xy":[[0.2178623574085603,-2.586843599437425],[0.31786235944683083,-2.513911167961769]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[0.32696045893259984,-1.9805434922379508,0.71338606911949],"aabb_xy":[[0.3199190079818523,-1.9875702439757452],[0.3340019098833475,-1.9735167405001564]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.3203993445613096,-2.114117662686353,0.71338606911949],"aabb_xy":[[0.30289934431626014,-2.13161745052592],[0.3378993448063589,-2.0966178748467863]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.17874154578686008,-2.300722081436547,0.71338606911949],"aabb_xy":[[-0.18676781641748608,-2.3094735764139],[-0.17071527515623408,-2.2919705864591946]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.31124078344286404,0.27598553296587003,0.71338606911949],"aabb_xy":[[-0.3153189413499138,0.2719045527176067],[-0.3071626255358143,0.28006651321413334]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.1372964607983439,-2.30665891413508,0.71338606911949],"aabb_xy":[[0.07329646162857396,-2.353425601254042],[0.20129645996811385,-2.2598922270161172]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.34917000403719944,-2.3680279823542434,0.71338606911949],"aabb_xy":[[0.34546674270806055,-2.3717300006629607],[0.35287326536633834,-2.364325964045525]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.6442614420216621,-2.4642471594299025,0.71338606911949],"aabb_xy":[[0.6266831398327152,-2.4818216490040075],[0.6618397442106089,-2.4466726698557975]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.06620641358498969,1.3837219062762496,0.71338606911949],"aabb_xy":[[0.006206413333588498,1.329440581239785],[0.12620641383639086,1.4380032313127142]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.4783128011239227,-1.1294699724273833,0.71338606911949],"aabb_xy":[[-0.5633127998159974,-1.1614558358222622],[-0.3933128024318481,-1.0974841090325045]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.3768807656506279,1.3209758356813728,0.71338606911949],"aabb_xy":[[-0.3832945792938128,1.3145660154337042],[-0.3704669520074429,1.327385655929041]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[0.347234681359855,-0.996540274264228,0.71338606911949],"aabb_xy":[[0.33055754536675946,-1.013240198238158],[0.3639118173529505,-0.9798403502902976]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.4417599895819295,-0.02788242354417303,0.71338606911949],"aabb_xy":[[0.41817486611803467,-0.09288242578960482],[0.4653451130458244,0.03711757870125876]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_26","position":[-0.592013773979714,-0.17112117700469698,0.71338606911949],"aabb_xy":[[-0.6290478834077737,-0.2054983843384064],[-0.5549796645516543,-0.1367439696709875]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.1519187832940333,1.4425551046185627,0.71338606911949],"aabb_xy":[[-0.1892500598192759,1.4079020498237105],[-0.11458750676879065,1.477208159413415]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.357989130123586,-2.2895168333758353,0.71338606911949],"aabb_xy":[[-0.43798912728316125,-2.3010644343336524],[-0.2779891329640107,-2.2779692324180183]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[0.6573726060253269,1.6956523117084026,0.71338606911949],"aabb_xy":[[0.5933726041129845,1.6397411624503921],[0.7213726079376692,1.751563460966413]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[-0.37295943523466707,-0.45208107743523085,0.71338606911949],"aabb_xy":[[-0.43795943787246056,-0.5035606761346778],[-0.3079594325968736,-0.4006014787357839]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_31","position":[-0.2719662096087687,-2.434601572206792,0.71338606911949],"aabb_xy":[[-0.3619662119427878,-2.5120839267919046],[-0.18196620727474966,-2.3571192176216793]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[0.3725524536806677,-0.8239493184073585,0.71338606911949],"aabb_xy":[[0.33911227848464803,-0.8573929442382885],[0.40599262887668724,-0.7905056925764283]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_33","position":[0.5549688909671451,-0.20975656667078812,0.71338606911949],"aabb_xy":[[0.5199688926564496,-0.21747158159433375],[0.5899688892778405,-0.20204155174724245]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_34","position":[0.6656124637697938,0.34065661992621576,0.71338606911949],"aabb_xy":[[0.6115968674878937,0.2766566170339586],[0.7196280600516937,0.4046566228184729]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714254758241579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9985.png","name":"9985"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9985.png","name":"9985"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9623.png","name":"9623"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6659.png","name":"6659"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5077.png","name":"5077"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":793.0404594012396,"rotation_z_degrees":20.77146457437579,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00986819570178449,-0.005769688934602377,0.014392855757710456]},{"name":"camera_2","offset_m":[-0.007172871273401809,0.006069065786580556,0.01264991229898577]},{"name":"camera_3","offset_m":[0.015206360792849611,0.008529294107749216,0.0029078552302474053]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005522022709943532,0.0007502283127439197,0.001823026373297825],"end_effector_yaw_offset_degrees":-0.13532114773969872},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016819084975049471,1.0272744911716484e-05,-0.0003318554240637091],"end_effector_yaw_offset_degrees":-0.20868561264762997},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007098533117039598,-0.0019486282949032368,0.0003675146385332963],"end_effector_yaw_offset_degrees":-0.4172364158810553}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0020673921320569443,0.001201450872301636],"position_m":[0.21983260786794304,0.26860145087230164,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004916562635285049,-0.003398586007262389],"position_m":[0.33708343736471497,0.10770141399273761,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010258940533162822,-0.0030716371855604666],"position_m":[0.29477410594668374,-0.046971637185560466,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003348236531410655,0.0029410924702599787],"position_m":[0.2747482365314106,-0.30565890752974,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"052f0afcb38149624c4d56363725c59baa5c769687b22090ca0fe57b435fcc4a","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9985/tex_ceiling_textures_8569/tex_floor_textures_5077/tex_table_textures_9623/tex_wall_textures_6659","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7624856965713388882,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7624856965713388882,"visual_seed":7624856965713388882,"scene_id":"lab_003","finished_at":"2026-09-02T06:04:08"}
+{"episode_id":"ep_000059","started_at":"2026-09-02T06:04:12","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[-0.4653864781609117,-0.47307756683935187,0.71338606911949],"aabb_xy":[[-0.50288647865827,-0.4770462503874703],[-0.4278864776635535,-0.46910888329123346]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.22029198817604045,-1.8013796898799463,0.71338606911949],"aabb_xy":[[0.18570090532199524,-1.866379690164977],[0.2548830710300857,-1.7363796895949148]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.44742661770724906,-1.9787543020198881,0.71338606911949],"aabb_xy":[[-0.47242661725898755,-1.9888967858850226],[-0.4224266181555106,-1.9686118181547532]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.5217551718053881,-1.374005915759138,0.71338606911949],"aabb_xy":[[0.48425517322976736,-1.386742211422696],[0.5592551703810089,-1.36126962009558]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.3485491542970838,-0.7253423092970852,0.71338606911949],"aabb_xy":[[0.312053333669805,-0.7618262517238426],[0.38504497492436246,-0.6888583668703274]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.5049108596981262,-0.3432620887099085,0.71338606911949],"aabb_xy":[[0.4409108625860205,-0.39229445850431915],[0.5689108568102319,-0.29422971891549793]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.5369864766432643,1.7193195538354646,0.71338606911949],"aabb_xy":[[-0.5560987840012431,1.7001847749582226],[-0.5178741692852854,1.7384543327127067]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.42212666698279044,1.7074831815172975,0.71338606911949],"aabb_xy":[[-0.4571266661756087,1.6965161355196345],[-0.3871266677899722,1.7184502275149596]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.1184139940395944,0.7725066316849998,0.71338606911949],"aabb_xy":[[-0.1684139926855156,0.7225870880255374],[-0.06841399539367321,0.8224261753444622]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.2667396140540199,1.4789587207878196,0.71338606911949],"aabb_xy":[[0.20673961380261874,1.4246773957513548],[0.3267396143054211,1.533240045824284]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.6778729470905954,1.151718257336778,0.71338606911949],"aabb_xy":[[-0.688778723178158,1.0717182609379485],[-0.6669671710030326,1.2317182537356068]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.6217361454283847,0.4185152693757477,0.71338606911949],"aabb_xy":[[-0.685736144722553,0.3545291290068935],[-0.5577361461342165,0.4825014097446019]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.5162059711716395,0.9057942296238766,0.71338606911949],"aabb_xy":[[-0.5466040822707829,0.875387327622207],[-0.4858078600724958,0.936201131625546]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.35908677550615287,0.768380118765458,0.71338606911949],"aabb_xy":[[0.27908677854311364,0.6913044771216844],[0.439086772469192,0.8454557604092313]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.3623290772618461,0.2862804926078,0.71338606911949],"aabb_xy":[[-0.38421882485078684,0.19628049531855088],[-0.34043932967290524,0.3762804898970491]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.4450399316933633,0.5355432150607444,0.71338606911949],"aabb_xy":[[0.41719489491275624,0.5047587163224329],[0.4728849684739705,0.5663277137990562]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.2581027340086089,0.8847933044838667,0.71338606911949],"aabb_xy":[[-0.27568103619755574,0.8672188149097618],[-0.24052443181966204,0.9023677940579716]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.5606491078309772,-1.4826284755637897,0.71338606911949],"aabb_xy":[[-0.6246491082085109,-1.5323737424146018],[-0.4966491074534437,-1.4328832087129773]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.28714249883135856,1.5900280652195815,0.71338606911949],"aabb_xy":[[-0.3041525961214092,1.5738935767213074],[-0.2701324015413079,1.6061625537178552]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.11170263632462096,-2.0896022642128655,0.71338606911949],"aabb_xy":[[-0.11894640237086629,-2.169602262416468],[-0.10445887027837564,-2.009602266009263]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.29460595099694786,1.2905541868160633,0.71338606911949],"aabb_xy":[[-0.32706765187887527,1.2604213547011602],[-0.26214425011502035,1.3206870189309654]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.5450104542355245,-0.17730167528105412,0.71338606911949],"aabb_xy":[[-0.5948272337003593,-0.22730167376535748],[-0.49519367477068976,-0.12730167679675075]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[0.15983839077562778,-2.388124038842046,0.71338606911949],"aabb_xy":[[0.14204488384071134,-2.4059237844378436],[0.17763189771054422,-2.3703242932462483]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.18846088651362414,-2.1053208052444763,0.71338606911949],"aabb_xy":[[0.1710301714346176,-2.122592919908327],[0.20589160159263062,-2.088048690580625]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6734119983931598,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5429.png","name":"5429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5429.png","name":"5429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/758.png","name":"758"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1510.png","name":"1510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7358.png","name":"7358"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8195.png","name":"8195"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":817.9567201744294,"rotation_z_degrees":46.225209461364244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010096651070319734,0.015054648546804241,0.004640381065769233]},{"name":"camera_2","offset_m":[0.005929127704113437,-0.008024107738459888,0.014269574193514257]},{"name":"camera_3","offset_m":[0.0029565279682959786,-0.013619415284397115,0.0051061180797002045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019620396400067057,-0.0014007040308244938,0.0015578142220711434],"end_effector_yaw_offset_degrees":-0.5928810654753796},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001691141533928645,-0.0006909621070624698,0.00014432110094651394],"end_effector_yaw_offset_degrees":-0.3745844879528957},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0012037953439734826,-0.0008106970573126193,-0.0015808630587055275],"end_effector_yaw_offset_degrees":-0.4907633509451237}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004849755682147458,-0.0029351139084188627],"position_m":[0.22674975568214745,0.26446488609158114,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004288511200893439,-0.0013341022884802924],"position_m":[0.3415711488799107,0.1097658977115197,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0019217493564987398,-0.00021877539331592501],"position_m":[0.29772174935649875,-0.04411877539331593,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023041826017466587,-0.0034032466859475596],"position_m":[0.2737041826017466,-0.31200324668594753,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"63d372f6bdd1939f6f63f19e4d60d3b1a656fb74404c416a96c6d25bdeda15ac","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5429/tex_ceiling_textures_8195/tex_floor_textures_7358/tex_table_textures_758/tex_wall_textures_1510","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6248155391423502187,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6248155391423502187,"visual_seed":6248155391423502187,"scene_id":"lab_003","finished_at":"2026-09-02T06:06:54"}
+{"episode_id":"ep_000060","started_at":"2026-09-02T06:06:57","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.2622269355800418,-1.3372200664351748,0.71338606911949],"aabb_xy":[[-0.3422269358536487,-1.4101696142608913],[-0.18222693530643477,-1.2642705186094578]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.6978449991625766,1.693309107105328,0.71338606911949],"aabb_xy":[[0.690803548211829,1.6862823553675337],[0.7048864501133242,1.7003358588431225]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[-0.08932672719426582,-0.4960922961876153,0.71338606911949],"aabb_xy":[[-0.0939618423464992,-0.4999596312647639],[-0.08469161204203242,-0.4922249611104666]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.36124463236907134,1.2017970655791683,0.71338606911949],"aabb_xy":[[-0.44124462977266476,1.1218044943809853],[-0.2812446349654779,1.281789636777351]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.1097443299342532,-2.176535083235381,0.71338606911949],"aabb_xy":[[-0.1177706005648792,-2.185286578212734],[-0.1017180593036272,-2.167783588258029]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.22578210644876684,-0.809538484690578,0.71338606911949],"aabb_xy":[[0.20549780372536805,-0.8298211098332866],[0.24606640917216557,-0.7892558595478689]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.11288305382440444,1.1994926476735603,0.71338606911949],"aabb_xy":[[0.10562180625399704,1.1867056374100509],[0.12014430139481187,1.2122796579370698]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.09106637343934687,0.8776871696806459,0.71338606911949],"aabb_xy":[[0.05860467255741939,0.8475543375657432],[0.1235280743212743,0.9078200017955483]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.44657534955278533,0.5525389498631088,0.71338606911949],"aabb_xy":[[0.3765753461612233,0.5172231761596778],[0.5165753529443472,0.5878547235665396]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.4983398730252529,0.8415429164465893,0.71338606911949],"aabb_xy":[[-0.5633398739823801,0.7895947045128836],[-0.43333987206812574,0.8934911283802948]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.2467398596784881,-0.8805352639226469,0.71338606911949],"aabb_xy":[[-0.28173985887130637,-0.8915023099203094],[-0.2117398604856698,-0.8695682179249842]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.22051641308409686,-2.5209579343455193,0.71338606911949],"aabb_xy":[[0.21088477686366722,-2.530595247125228],[0.23014804930452645,-2.5113206215658104]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.24628913738289993,-0.5926710049342649,0.71338606911949],"aabb_xy":[[0.21065998148294018,-0.6283036716911179],[0.28191829328285967,-0.557038338177412]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.4842495486027649,1.3777166693892813,0.71338606911949],"aabb_xy":[[0.4492495502920694,1.3700016544657354],[0.5192495469134604,1.3854316843128267]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.30773326843682214,-1.032451154865274,0.71338606911949],"aabb_xy":[[0.22401104293673973,-1.12245115839997],[0.39145549393690465,-0.942451151330578]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.2563485918396343,-0.15380455880424826,0.71338606911949],"aabb_xy":[[-0.30632600870488785,-0.2038045602934968],[-0.2063711749743807,-0.10380455731499973]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.08045165732739712,-0.8064014062138296,0.71338606911949],"aabb_xy":[[-0.15045165913614256,-0.8277551749780171],[-0.010451655518651681,-0.7850476374496423]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.16765473327516522,-0.47983202711771655,0.71338606911949],"aabb_xy":[[-0.1720853626300054,-0.48528039885239915],[-0.16322410392032505,-0.47438365538303395]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[0.6203140667283933,-1.2405934975512867,0.71338606911949],"aabb_xy":[[0.6122777320271084,-1.2486316168557032],[0.6283504014296781,-1.2325553782468697]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.09937072447777395,-0.150028497845355,0.71338606911949],"aabb_xy":[[-0.14934379001028944,-0.20002849765788794],[-0.04939765894525851,-0.10002849803282213]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[0.7009324879833623,-0.9659902329175454,0.71338606911949],"aabb_xy":[[0.6834325545493788,-0.9834902328377799],[0.7184324214173455,-0.9484902329973108]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.41003645712759407,-2.377194487650214,0.71338606911949],"aabb_xy":[[0.34603645854102155,-2.424201451049722],[0.47403645571416647,-2.3301875242507046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6728359052338009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6333.png","name":"6333"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6333.png","name":"6333"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/754.png","name":"754"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6164.png","name":"6164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1123.png","name":"1123"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/122.png","name":"122"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":772.5947944850466,"rotation_z_degrees":6.038711479423844,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012276114099512205,-0.01769444577027435,1.6414107146051765e-05]},{"name":"camera_2","offset_m":[0.018309916670828878,-0.01930889659251584,0.0020208117211110432]},{"name":"camera_3","offset_m":[0.012516183624391466,-0.01134124719344091,-0.011080998624656094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009479575870600348,0.0018010115265057539,-0.0005759334509315135],"end_effector_yaw_offset_degrees":0.5150577717524731},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00014532431771161923,0.0004643709673323479,-0.0007497817409361325],"end_effector_yaw_offset_degrees":0.3915165256325406},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009257580322760191,-0.001160782498216022,-0.0010742569918545085],"end_effector_yaw_offset_degrees":0.24587324105341768}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004274692180796256,-0.0015750202945357984],"position_m":[0.21762530781920372,0.2658249797054642,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004144049474974932,0.0008445402448310742],"position_m":[0.34614404947497496,0.11194454024483108,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0011263825376185122,-0.0017601965193811799],"position_m":[0.2946736174623815,-0.045660196519381184,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004136952172355633,0.001387209370057806],"position_m":[0.27553695217235563,-0.30721279062994217,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"c12f5e1c5fcdfe1fbd0aeac98c87814cc2fb13764f9483d5ea487fcd655d8e54","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6333/tex_ceiling_textures_122/tex_floor_textures_1123/tex_table_textures_754/tex_wall_textures_6164","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6370000035948320498,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6370000035948320498,"visual_seed":6370000035948320498,"scene_id":"lab_003","finished_at":"2026-09-02T06:09:48"}
+{"episode_id":"ep_000061","started_at":"2026-09-02T06:09:51","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.2272143719227131,-2.216835240057331,0.71338606911949],"aabb_xy":[[0.16321437275294315,-2.263601927176293],[0.29121437109248305,-2.170068552938368]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.26424400054164116,-1.3845453228446418,0.71338606911949],"aabb_xy":[[-0.3142440015607765,-1.4210115385824698],[-0.21424399952250595,-1.348079107106814]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.23110001665966173,-0.42426031593037505,0.71338606911949],"aabb_xy":[[-0.2661000149703572,-0.4319753308539207],[-0.19610001834896626,-0.4165453010068294]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.07614944124462852,-0.6582493840417918,0.71338606911949],"aabb_xy":[[-0.14014944151860675,-0.7083154842390798],[-0.01214944097065028,-0.6081832838445038]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.09485601621767803,1.705688359115158,0.71338606911949],"aabb_xy":[[-0.10019359188368261,1.6806883581860184],[-0.08951844055167348,1.730688360044298]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.48590126292184466,1.1367471862074643,0.71338606911949],"aabb_xy":[[0.450901261570363,1.1163874502506435],[0.5209012642733264,1.1571069221642851]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.5988477389271811,1.2671272056914225,0.71338606911949],"aabb_xy":[[0.5872787581802446,1.2421272055744907],[0.6104167196741177,1.2921272058083542]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.09174451960602859,0.37211304646828447,0.71338606911949],"aabb_xy":[[-0.12674451873598425,0.36636782539262036],[-0.05674452047607291,0.3778582675439486]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.3274038217480218,-1.2399688519874612,0.71338606911949],"aabb_xy":[[-0.33824429997453664,-1.25715513327811],[-0.31656334352150683,-1.2227825706968125]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.30036482489206284,1.4599012790177794,0.71338606911949],"aabb_xy":[[0.2843028974335452,1.3749012772051876],[0.3164267523505805,1.5449012808303713]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.4187518228234899,-2.274748774691917,0.71338606911949],"aabb_xy":[[0.3822560021962111,-2.3112327171186746],[0.45524764345076857,-2.2382648322651595]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.40588835707922666,-1.2274368521182015,0.71338606911949],"aabb_xy":[[-0.4140160452725399,-1.2363504605289093],[-0.39776066888591344,-1.2185232437074942]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.3152177372821323,1.7395100743632788,0.71338606911949],"aabb_xy":[[0.2840708184385492,1.6695100756764714],[0.34636465612571543,1.8095100730500857]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.5250939591066004,1.4695926710418097,0.71338606911949],"aabb_xy":[[0.4823272522271803,1.4055926676200072],[0.5678606659860207,1.5335926744636121]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.17844103663023625,-2.1443860161525596,0.71338606911949],"aabb_xy":[[-0.2584410340338296,-2.224378587350742],[-0.09844103922664281,-2.0643934449543764]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.7099355502171159,-0.08664247951577142,0.71338606911949],"aabb_xy":[[0.7012215811671813,-0.10914248017495963],[0.7186495192670502,-0.06414247885658318]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.4754908947620031,-0.3825775375765126,0.71338606911949],"aabb_xy":[[0.4471611848134629,-0.38703827977022964],[0.5038206047105434,-0.3781167953827955]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.05930382647028254,-1.0286029675297321,0.71338606911949],"aabb_xy":[[-0.11930382706629872,-1.0834154400749556],[0.0006961741257336396,-0.9737904949845086]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.35027040451633457,-2.51308197591824,0.71338606911949],"aabb_xy":[[-0.414270403102907,-2.560088939317749],[-0.2862704059297621,-2.4660750125187314]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.5148050326788844,0.08023171806227047,0.71338606911949],"aabb_xy":[[0.48980503274636666,0.07334904984134716],[0.5398050326114024,0.08711438628319379]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[-0.5949568137096182,0.43890912113832403,0.71338606911949],"aabb_xy":[[-0.6589568159300251,0.39453603701303575],[-0.530956811489211,0.4832822052636123]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.38650090111758506,-0.5359979131519874,0.71338606911949],"aabb_xy":[[-0.4090145929410422,-0.6059979137529949],[-0.3639872092941278,-0.4659979125509799]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.6119015262854772,0.6485316968412969,0.71338606911949],"aabb_xy":[[-0.6759015233975829,0.5994993270468862],[-0.5479015291733715,0.6975640666357075]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[0.368150322771748,-0.9391670483984589,0.71338606911949],"aabb_xy":[[0.3306503228279815,-0.9474601384332954],[0.4056503227155143,-0.9308739583636222]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[-0.14363516025192913,0.8231254648523407,0.71338606911949],"aabb_xy":[[-0.15796958537809258,0.8110652492978019],[-0.12930073512576568,0.8351856804068796]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[0.3537584124805624,-0.7243040562788012,0.71338606911949],"aabb_xy":[[0.2637584130621915,-0.7576795531229908],[0.4437584118989333,-0.6909285594346114]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[-0.3282786305398522,-2.3845535625515075,0.71338606911949],"aabb_xy":[[-0.3464844542010999,-2.395578963133499],[-0.31007280687860456,-2.373528161969516]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[-0.06323014529599014,-0.45033903144385956,0.71338606911949],"aabb_xy":[[-0.11323014473618576,-0.5003069559281759],[-0.013230145855794517,-0.40037110695954325]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[0.08412267604161972,-0.8182658083531982,0.71338606911949],"aabb_xy":[[0.061626254607755615,-0.8407658081599455],[0.10661909747548381,-0.7957658085464506]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[0.2624083817497149,-1.7010313565690414,0.71338606911949],"aabb_xy":[[0.1774083833322917,-1.7859056520313261],[0.34740838016713815,-1.6161570611067562]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[-0.5652504016933944,-0.9869773343229862,0.71338606911949],"aabb_xy":[[-0.6102504031596232,-1.0319771911844668],[-0.5202504002271655,-0.9419774774615055]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_31","position":[0.6027437037111896,1.7734681480877872,0.71338606911949],"aabb_xy":[[0.5851654015222427,1.7558936585136822],[0.6203220059001364,1.7910426376618922]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_32","position":[0.4202784510324544,0.3254829866836664,0.71338606911949],"aabb_xy":[[0.3702836181045128,0.27548298778842284],[0.470273283960396,0.3754829855789099]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_33","position":[0.1298533843660683,1.3840851738516076,0.71338606911949],"aabb_xy":[[0.0827240053642326,1.3200851728072054],[0.17698276336790394,1.4480851748960093]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_34","position":[-0.09254777833296979,-2.4450238511164977,0.71338606911949],"aabb_xy":[[-0.1013498336419425,-2.452835177271426],[-0.08374572302399708,-2.4372125249615677]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712558896689901,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8169.png","name":"8169"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7914.png","name":"7914"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9768.png","name":"9768"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5772.png","name":"5772"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":560.1194343369629,"rotation_z_degrees":150.0656757419372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01820584833285274,-0.004338953658499851,-0.017736694381848495]},{"name":"camera_2","offset_m":[0.01523714890712988,-0.009951514413233133,-0.004191370903616393]},{"name":"camera_3","offset_m":[-0.01765923198422003,-0.014418443881232453,0.012460990905851722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017680986383413811,-0.0011912743199237838,-0.0006478369711078802],"end_effector_yaw_offset_degrees":-0.7231857532158723},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008657890649884834,-0.001919428941461987,-0.000794526757882494],"end_effector_yaw_offset_degrees":0.9852368300356782},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006866068712347915,-0.001779721256565996,0.001746611781281438],"end_effector_yaw_offset_degrees":0.454756396586125}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0006646977806074629,-0.003457086756412997],"position_m":[0.22256469778060745,0.26394291324358704,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011392423250173454,0.0002673247551758717],"position_m":[0.3408607576749827,0.11136732475517587,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003402566386082366,-6.140887512020871e-05],"position_m":[0.2992025663860824,-0.04396140887512021,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002403214806214601,-0.002697000480886688],"position_m":[0.27164032148062145,-0.31129700048088665,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6ee5e29f255aa54acf16139cfbd190b0d17e9aa3a7255cf692e3514a4126b88f","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9043/tex_ceiling_textures_5772/tex_floor_textures_9768/tex_table_textures_8169/tex_wall_textures_7914","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7450236986185220171,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7450236986185220171,"visual_seed":7450236986185220171,"scene_id":"lab_003","finished_at":"2026-09-02T06:12:34"}
+{"episode_id":"ep_000062","started_at":"2026-09-02T06:12:37","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.25896810769094475,-0.08177665308283633,0.71338606911949],"aabb_xy":[[-0.3389681056717298,-0.08937819404468826],[-0.17896810971015972,-0.07417511212098436]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.5459221905252338,-0.7887878547559577,0.71338606911949],"aabb_xy":[[-0.5532045069018973,-0.8787878583654664],[-0.53863987414857,-0.6987878511464484]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.41031046383103376,-0.26632553308862184,0.71338606911949],"aabb_xy":[[0.3944259705657086,-0.2806784733874459],[0.4261949570963589,-0.2519725927897978]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.13961216726601988,1.056598744262462,0.71338606911949],"aabb_xy":[[0.0896121669054538,1.006618757052859],[0.18961216762658592,1.106578731472065]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.4859162055312194,-2.205636996683113,0.71338606911949],"aabb_xy":[[0.43609942606638463,-2.255636995167417],[0.5357329849960542,-2.15563699819881]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.4558126165054232,-0.4865969635323135,0.71338606911949],"aabb_xy":[[-0.5458126201823414,-0.5480293701094179],[-0.365812612828505,-0.4251645569552091]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[0.32897411890466555,-1.1544563605046134,0.71338606911949],"aabb_xy":[[0.2789741194644698,-1.2044242849889295],[0.37897411834486106,-1.104488436020297]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.5537173435815721,1.6667894661170641,0.71338606911949],"aabb_xy":[[0.5442998690117092,1.6573732889793449],[0.5631348181514347,1.676205643254783]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.3840225457624805,0.5701539696394162,0.71338606911949],"aabb_xy":[[-0.467744771262563,0.4801539661047203],[-0.30030032026239806,0.6601539731741122]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.402889258308098,-1.7246732887170388,0.71338606911949],"aabb_xy":[[-0.46288925815466475,-1.781491910910077],[-0.3428892584615312,-1.6678546665239997]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.6204881967112239,-2.3597502179278025,0.71338606911949],"aabb_xy":[[-0.6579881970033987,-2.363791693328406],[-0.5829881964190491,-2.3557087425271988]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.5383700918900838,0.609515042147033,0.71338606911949],"aabb_xy":[[-0.5534723933511017,0.594413520515971],[-0.5232677904290655,0.6246165637780946]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.5272513353655921,-1.0086962355583664,0.71338606911949],"aabb_xy":[[0.5105741993724966,-1.0253961595322967],[0.5439284713586876,-0.9919963115844361]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.6632862080449771,0.6956220513860312,0.71338606911949],"aabb_xy":[[0.6407870723187501,0.6731220506077682],[0.685785343771204,0.7181220521642941]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.45881784593141217,-2.4012953113995583,0.71338606911949],"aabb_xy":[[-0.5388178433350055,-2.4812878825977407],[-0.37881784852781863,-2.321302740201375]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.32197827658748635,-1.8376721866380097,0.71338606911949],"aabb_xy":[[0.23197827985187608,-1.890855649955304],[0.4119782733230965,-1.784488723320715]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.4874723433688053,-0.5778403356682191,0.71338606911949],"aabb_xy":[[0.44997234185317353,-0.5890671086843642],[0.524972344884437,-0.5666135626520741]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.37176385518071675,0.7183376620709416,0.71338606911949],"aabb_xy":[[0.28676385648864205,0.6863517986760628],[0.45676385387279134,0.7503235254658205]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.12220318986261036,-0.7908063831108711,0.71338606911949],"aabb_xy":[[0.057203189828307646,-0.8375070597911984],[0.1872031898969131,-0.7441057064305439]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.3902298769206223,0.615236388582908,0.71338606911949],"aabb_xy":[[0.3650090400607826,0.5900126377300211],[0.41545071378046194,0.6404601394357946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687596206715197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3865.png","name":"3865"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8465.png","name":"8465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9283.png","name":"9283"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2251.png","name":"2251"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/29.png","name":"29"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":719.185183722574,"rotation_z_degrees":33.95839478437675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0041545517992487395,-0.013499297139582086,0.001932075181556206]},{"name":"camera_2","offset_m":[-0.013806404172834923,-0.005553305862435139,0.0025115031543679472]},{"name":"camera_3","offset_m":[0.014977021874488624,-0.011788120500506625,0.006974875824959512]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014975251297144614,0.0016397210655513285,-0.0018157243044889886],"end_effector_yaw_offset_degrees":0.41829510544309967},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010421258257828445,-0.0010355786214248557,0.0007663699215033513],"end_effector_yaw_offset_degrees":0.6088616478343929},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.00019905372829374327,0.0005396492791091669,0.001999469215858512],"end_effector_yaw_offset_degrees":0.8544536033328125}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0008886394355403391,-0.00304102744310796],"position_m":[0.22101136056445964,0.26435897255689206,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002284167132449573,-0.0009874401713305088],"position_m":[0.3442841671324496,0.11011255982866949,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.002681133117624337,0.0038060750853004125],"position_m":[0.29311886688237565,-0.04009392491469959,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00201121617919953,-0.0016156205831218862],"position_m":[0.26938878382080045,-0.31021562058312185,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d5d4b0f8c7c54afb3392d7337ad93d1eb86dec31dc93f1ff7891bed8f45fa149","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3865/tex_ceiling_textures_29/tex_floor_textures_2251/tex_table_textures_8465/tex_wall_textures_9283","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5939258068176204948,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5939258068176204948,"visual_seed":5939258068176204948,"scene_id":"lab_003","finished_at":"2026-09-02T06:15:28"}
+{"episode_id":"ep_000063","started_at":"2026-09-02T06:18:46","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.34131759068842715,-2.264725074380398,0.71338606911949],"aabb_xy":[[0.29913317652759636,-2.3287250746576094],[0.38350200484925784,-2.200725074103187]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.651554474576407,-1.6539271152585608,0.71338606911949],"aabb_xy":[[0.6474763166693572,-1.658008095506824],[0.6556326324834566,-1.6498461350102973]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.31052163275532624,-0.9188865280015128,0.71338606911949],"aabb_xy":[[-0.36551711057598557,-0.9738865294354195],[-0.2555261549346668,-0.8638865265676057]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.22644999480943856,-2.1268470369443886,0.71338606911949],"aabb_xy":[[-0.23660301036358786,-2.1629165785171285],[-0.2162969792552891,-2.090777495371648]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.25830539745901543,0.7784163650468781,0.71338606911949],"aabb_xy":[[-0.3223053960455879,0.7314094016473693],[-0.19430539887244297,0.8254233284463868]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.06980267299221954,-0.2150911208062274,0.71338606911949],"aabb_xy":[[-0.10480267296871537,-0.224555736853844],[-0.034802673015723706,-0.20562650475861077]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.12855747937671436,-0.8565019054420946,0.71338606911949],"aabb_xy":[[0.06455747911624356,-0.9015107047950226],[0.19255747963718517,-0.8114931060891666]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.1029385873162394,-1.0781221095393425,0.71338606911949],"aabb_xy":[[0.06543858580060767,-1.0893488825554876],[0.1404385888318711,-1.0668953365231975]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.6578199208198859,0.26366069575284934,0.71338606911949],"aabb_xy":[[-0.692136197994504,0.21366069577967162],[-0.6235036436452681,0.31366069572602706]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.5157643872253261,-1.8122746624706974,0.71338606911949],"aabb_xy":[[0.48947556290488553,-1.8385460961253484],[0.5420532115457668,-1.786003228816046]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.35806461634483533,-0.6601668188395078,0.71338606911949],"aabb_xy":[[0.32347353349079006,-0.7251668191245387],[0.3926556991988805,-0.5951668185544766]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.21951493550006695,1.636219799779011,0.71338606911949],"aabb_xy":[[-0.28351493261217264,1.5871874299846005],[-0.15551493838796127,1.6852521695734217]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.07410455694440676,0.933880750416678,0.71338606911949],"aabb_xy":[[-0.16410455666758092,0.910807397881498],[0.015895442778767418,0.9569541029518577]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.6260633058711913,1.655985251756459,0.71338606911949],"aabb_xy":[[-0.6392942514058725,1.6427578327344594],[-0.6128323603365099,1.6692126707784583]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.2521204570997626,-2.499402617576774,0.71338606911949],"aabb_xy":[[0.215269909162775,-2.5369026183998082],[0.2889710050367502,-2.461902616753741]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.22534091828117753,1.5070838909194362,0.71338606911949],"aabb_xy":[[0.2176377276071004,1.499374520220698],[0.2330441089552545,1.5147932616181743]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.28842984714875064,-1.835354206775758,0.71338606911949],"aabb_xy":[[0.2813895372152137,-1.9153542061754296],[0.2954701570822877,-1.7553542073760868]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.36996747167091965,0.5966719740328958,0.71338606911949],"aabb_xy":[[-0.3772112377171649,0.5166719758292935],[-0.36272370562467426,0.6766719722364982]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.13407937388385482,-1.0785793625457374,0.71338606911949],"aabb_xy":[[-0.1840724859930467,-1.1285793632199332],[-0.08408626177466293,-1.028579361871542]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.5152792918935278,-0.8789849404996297,0.71338606911949],"aabb_xy":[[0.5009448667673643,-0.8910451560541683],[0.5296137170196912,-0.8669247249450907]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.47220037328852205,-1.4968321813468168,0.71338606911949],"aabb_xy":[[0.45470037302918553,-1.51092372353559],[0.4897003735478588,-1.4827406391580444]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.3788631074905963,-1.8518508716032962,0.71338606911949],"aabb_xy":[[-0.38766516279956903,-1.8596621977582255],[-0.3700610521816236,-1.8440395454483673]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[0.2446631804388435,-1.5530678264371405,0.71338606911949],"aabb_xy":[[0.2071631820154431,-1.5662320404049712],[0.2821631788622438,-1.5399036124693097]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.14906060018530543,0.056494651558598896,0.71338606911949],"aabb_xy":[[-0.17096928232465644,0.03459398473850815],[-0.12715191804595435,0.07839531837868961]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.45862060339451993,-1.9349538376395428,0.71338606911949],"aabb_xy":[[0.4221247827672412,-1.9714377800663005],[0.4951164240217987,-1.8984698952127854]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[0.630475664945495,0.23365679888494384,0.71338606911949],"aabb_xy":[[0.5504756675419016,0.15366422768676102],[0.7104756623490884,0.31364937008312666]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.5105777423615967,0.9350070344771324,0.71338606911949],"aabb_xy":[[0.48699261889770173,0.8700070322317005],[0.5341628658254914,1.0000070367225642]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.2751166668066577,-1.2705616228708925,0.71338606911949],"aabb_xy":[[0.25905473934814,-1.355561624683484],[0.2911785942651753,-1.1855616210583004]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_28","position":[0.3175096072975139,0.6029215641402144,0.71338606911949],"aabb_xy":[[0.2800096073537474,0.5946284741053778],[0.3550096072412802,0.6112146541750509]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[0.29887509813439994,-1.6407876318989816,0.71338606911949],"aabb_xy":[[0.27670257115774904,-1.6629632990551044],[0.3210476251110507,-1.6186119647428583]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_30","position":[-0.35702563845784163,0.094008780555912,0.71338606911949],"aabb_xy":[[-0.42102564067824866,0.04963569643062371],[-0.2930256362374346,0.13838186468120028]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_31","position":[-0.07007725124485864,0.5665676307483567,0.71338606911949],"aabb_xy":[[-0.07937086948200922,0.5290676322602228],[-0.06078363300770806,0.6040676292364906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6733020173668464,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4484.png","name":"4484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4484.png","name":"4484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9256.png","name":"9256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3322.png","name":"3322"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8209.png","name":"8209"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":639.9012194253531,"rotation_z_degrees":181.8093331153007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013795275202887498,0.008143916312349439,-0.006942512135433527]},{"name":"camera_2","offset_m":[-0.0046324045388212946,-0.00360810356025347,-0.00618909099661427]},{"name":"camera_3","offset_m":[0.004272771732351199,0.002402784292622355,-0.009945677223690224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007562040127106033,0.0014697906989447613,-0.0007450560423021284],"end_effector_yaw_offset_degrees":0.6940572751855321},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012372915632396,-0.0001829956326019331,-0.0008475119307190125],"end_effector_yaw_offset_degrees":-0.6849314726853166},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0006672141100093538,-0.0016734078462621582,-0.0014080790612311686],"end_effector_yaw_offset_degrees":-0.47638074088928795}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.003233150367078121,-0.00034757328153607776],"position_m":[0.2251331503670781,0.26705242671846396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036315348412816464,-9.610025883408785e-05],"position_m":[0.3456315348412817,0.11100389974116592,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0016492652905557847,-0.004724295202608621],"position_m":[0.2941507347094442,-0.04862429520260862,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002582908679027859,-0.0026317100731585007],"position_m":[0.27398290867902786,-0.3112317100731585,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f5ce656d89226861d2c3a868853c0b5d0fbf284fed724ad083da890261476a81","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4484/tex_ceiling_textures_8209/tex_floor_textures_7925/tex_table_textures_9256/tex_wall_textures_3322","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1502355442713883744,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1502355442713883744,"visual_seed":1502355442713883744,"scene_id":"lab_003","finished_at":"2026-09-02T06:21:32"}
+{"episode_id":"ep_000064","started_at":"2026-09-02T06:23:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[-0.30188180935418735,-1.0682308208842388,0.71338606911949],"aabb_xy":[[-0.3368818076648828,-1.0759458358077842],[-0.2668818110434919,-1.060515805960693]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.4502714836135415,-1.8247918824489728,0.71338606911949],"aabb_xy":[[0.38627148721796845,-1.8887551708677062],[0.5142714800091146,-1.760828594030239]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.371740263344724,0.6641740456921124,0.71338606911949],"aabb_xy":[[0.33424026299649623,0.6523826501110288],[0.40924026369295174,0.6759654412731959]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.4343276792364505,-1.6230450858494123,0.71338606911949],"aabb_xy":[[-0.48432768089794526,-1.6730435281051148],[-0.38432767757495573,-1.5730466435937094]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.08775656759687411,-1.8261419568042985,0.71338606911949],"aabb_xy":[[-0.10903457574034636,-1.8911419591303713],[-0.06647855945340186,-1.7611419544782252]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[0.15323264387595636,-2.202234782371349,0.71338606911949],"aabb_xy":[[0.1412999095141283,-2.214616935179208],[0.16516537823778443,-2.1898526295634895]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.5720166613262812,0.1033791057066602,0.71338606911949],"aabb_xy":[[0.4920166591635188,0.023423922080516565],[0.6520166634890437,0.18333428933280382]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.6294423075670621,1.0064441931035613,0.71338606911949],"aabb_xy":[[0.5929464869397834,0.9699602506768037],[0.6659381281943408,1.0429281355303188]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.19089086938063482,-1.847140774040814,0.71338606911949],"aabb_xy":[[-0.19500681949270746,-1.8512563290736592],[-0.18677491926856213,-1.8430252190079681]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.2632312750946314,0.4790055838419347,0.71338606911949],"aabb_xy":[[0.25198621952401357,0.4677637861178394],[0.27447633066524924,0.49024738156603]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.5847252491003851,-1.4596345665057433,0.71338606911949],"aabb_xy":[[0.5047252505130657,-1.538950168443904],[0.6647252476877046,-1.3803189645675822]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.5337200986875176,0.6315237694473921,0.71338606911949],"aabb_xy":[[-0.551150813766524,0.6142516547835412],[-0.516289383608511,0.6487958841112428]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.4545743799156037,1.6861091599198477,0.71338606911949],"aabb_xy":[[0.3645743775815846,1.6086268053347352],[0.5445743822496227,1.7635915145049605]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.08346351537862973,1.7750114001484607,0.71338606911949],"aabb_xy":[[0.0753358271853165,1.766097791737753],[0.09159120357194295,1.7839250085591685]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.6666784741151515,-0.0665802657452299,0.71338606911949],"aabb_xy":[[0.641678474563413,-0.07672274961036461],[0.69167847366689,-0.05643778188009517]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.39748895668843043,-0.23532834396329116,0.71338606911949],"aabb_xy":[[-0.42107408015232534,-0.30032834620872295],[-0.37390383322453563,-0.17032834171785935]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.2827185409596068,1.0257073382164181,0.71338606911949],"aabb_xy":[[0.2739164856506341,1.0178960120614888],[0.2915205962685795,1.033518664371347]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.13428520897257668,-0.15392922618032845,0.71338606911949],"aabb_xy":[[-0.14938751043359474,-0.1690307478113902],[-0.11918290751155856,-0.13882770454926655]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.29056109080958925,-2.1159347406825857,0.71338606911949],"aabb_xy":[[-0.37056108782383723,-2.136069292355997],[-0.21056109379534127,-2.095800189009174]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.139195907208165,-0.298886128206,0.71338606911949],"aabb_xy":[[-0.1616959077202056,-0.3213779865713983],[-0.1166959066961244,-0.2763942698406016]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.48753788497958933,0.1870289864579937,0.71338606911949],"aabb_xy":[[-0.5515378870293213,0.14693450336868574],[-0.42353788292985733,0.22712346954730167]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[0.02947278112844287,-2.4536286440498176,0.71338606911949],"aabb_xy":[[-0.05052721994467746,-2.463406690387202],[0.1094727822015632,-2.443850597712433]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.09149606859172055,-1.7010109876844495,0.71338606911949],"aabb_xy":[[0.04161337171402436,-1.7510109869307244],[0.14137876546941677,-1.651010988438175]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[-0.10865157239968015,1.7696255671110763,0.71338606911949],"aabb_xy":[[-0.1166450621949622,1.761627435170601],[-0.10065808260439815,1.7776236990515522]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.01671942637969992,-1.5396711347801582,0.71338606911949],"aabb_xy":[[-0.024642706618448255,-1.5621711350181615],[-0.008796146140951592,-1.5171711345421548]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.05504933945559709,1.145244480838024,0.71338606911949],"aabb_xy":[[0.0375493392105477,1.127744692998457],[0.07254933970064646,1.1627442686775906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712947982955654,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9434.png","name":"9434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9434.png","name":"9434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1695.png","name":"1695"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9394.png","name":"9394"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4188.png","name":"4188"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7222.png","name":"7222"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":759.5722203119848,"rotation_z_degrees":304.81404022853474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009947318679952303,0.0010565332290509086,0.013721256366140178]},{"name":"camera_2","offset_m":[-0.013099071905501294,-0.011868343007384713,0.003021353014872677]},{"name":"camera_3","offset_m":[-0.0062997388902088815,-0.001161073470991765,0.017688835289165174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00022450962572002518,0.0007561878752919598,-0.0005349106586313805],"end_effector_yaw_offset_degrees":0.06995214871103461},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001115655643853734,0.00011500391132403037,0.0018013928581250426],"end_effector_yaw_offset_degrees":-0.679260555248488},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0016222775013900108,0.0012640256402360055,0.0018045277916303648],"end_effector_yaw_offset_degrees":0.8928074429978334}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011278313268411133,-0.002295637447159752],"position_m":[0.2230278313268411,0.26510436255284026,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004504877237949982,0.004359631315450896],"position_m":[0.34245048772379505,0.1154596313154509,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014140927952364822,0.001141819218862885],"position_m":[0.2972140927952365,-0.04275818078113712,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015762454970533113,-0.00021604974779654198],"position_m":[0.2729762454970533,-0.30881604974779653,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"efab443415be4c6ffcce23f40cd428583502a5444d81bc7f39b76931028c58db","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9434/tex_ceiling_textures_7222/tex_floor_textures_4188/tex_table_textures_1695/tex_wall_textures_9394","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6793016284281998521,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6793016284281998521,"visual_seed":6793016284281998521,"scene_id":"lab_003","finished_at":"2026-09-02T06:25:58"}
+{"episode_id":"ep_000065","started_at":"2026-09-02T06:26:01","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.30180627103938223,1.1847811930530776,0.71338606911949],"aabb_xy":[[-0.3431108141031182,1.1207811934849605],[-0.26050172797564625,1.2487811926211947]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.10012017993699929,-2.115337187988506,0.71338606911949],"aabb_xy":[[-0.18012018021060627,-2.188286735814222],[-0.020120179663392312,-2.0423876401627887]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.5398667567674147,-2.2047501569517,0.71338606911949],"aabb_xy":[[-0.5949919623970054,-2.2647501583929865],[-0.48474155113782386,-2.1447501555104123]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.07513301908678771,-2.463011394461717,0.71338606911949],"aabb_xy":[[0.037633018738559953,-2.4748027900428],[0.11263301943501547,-2.451219998880633]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.2827792292224752,0.3033927148386186,0.71338606911949],"aabb_xy":[[-0.3477792303284185,0.2784273417704904],[-0.21777922811653194,0.328358087906747]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.09724815372195317,-1.0891256923846822,0.71338606911949],"aabb_xy":[[0.013525928221870695,-1.179125695919378],[0.18097037922203563,-0.9991256888499862]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.41164609082330017,-0.36667105602487116,0.71338606911949],"aabb_xy":[[0.3812479797241566,-0.3970779580265406],[0.44204420192244376,-0.3362641540232016]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.09416953778168713,-2.313515434564588,0.71338606911949],"aabb_xy":[[-0.18416953637615707,-2.3297660208780093],[-0.0041695391872172,-2.2972648482511677]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.5853540793229735,-1.2194723582934401,0.71338606911949],"aabb_xy":[[0.5508916013098856,-1.2261360354763629],[0.6198165573360611,-1.212808681110517]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.3926493288660863,1.6493911639800722,0.71338606911949],"aabb_xy":[[-0.41482185584273706,1.627215496823949],[-0.37047680188943544,1.671566831136195]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.420712517915633,-1.554614540238655,0.71338606911949],"aabb_xy":[[0.38571251872281465,-1.5655815862363174],[0.4557125171084512,-1.5436474942409923]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.018362505676744245,1.224724995867584,0.71338606911949],"aabb_xy":[[0.0007296700832166747,1.2071020498519611],[0.03599534127027182,1.242347941883207]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.41458180345704143,1.6139196365633102,0.71338606911949],"aabb_xy":[[0.40695753536686324,1.606286413026767],[0.42220607154721973,1.6215528600998543]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.24177536014501255,1.2584799479428006,0.71338606911949],"aabb_xy":[[0.1520882838368971,1.16847994768835],[0.331462436453128,1.3484799481972511]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.059783051492764416,-2.1244481681686684,0.71338606911949],"aabb_xy":[[0.0480148646981069,-2.20944816807389],[0.07155123828742194,-2.039448168263447]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.4711147852588521,0.7150962553195908,0.71338606911949],"aabb_xy":[[-0.5189209528726206,0.6500962526125318],[-0.4233086176450834,0.7800962580266496]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.30974455836560016,-1.993806118937342,0.71338606911949],"aabb_xy":[[-0.3447445566762956,-2.0015211338608876],[-0.2747445600549047,-1.9860911040137963]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.6150662596781853,-0.6450578075244107,0.71338606911949],"aabb_xy":[[0.6106356303233452,-0.6505061792590934],[0.6194968890330256,-0.6396094357897282]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.09878219264381238,1.1205175315215405,0.71338606911949],"aabb_xy":[[0.09344967798919941,1.115193203276305],[0.10411470729842538,1.125841859766776]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.33436329224909467,-1.2875066944491491,0.71338606911949],"aabb_xy":[[0.32614874713341063,-1.29618328474679],[0.3425778373647786,-1.2788301041515073]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.5639486488225107,1.3791631861583786,0.71338606911949],"aabb_xy":[[-0.567389325062568,1.375301753184014],[-0.5605079725824537,1.3830246191327429]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.378481701593724,1.3771576596436317,0.71338606911949],"aabb_xy":[[-0.40039038373307506,1.355256992823541],[-0.356573019454373,1.3990583264637224]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.6410645230853902,1.073312516369045,0.71338606911949],"aabb_xy":[[0.5610706995068321,0.9933125137762033],[0.7210583466639485,1.1533125189618865]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.33313341985299105,-0.604579022854375,0.71338606911949],"aabb_xy":[[-0.40313341626295274,-0.6250169585060565],[-0.26313342344302915,-0.5841410872026931]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[0.5775021242221607,-0.2144688699901578,0.71338606911949],"aabb_xy":[[0.5550021239786452,-0.22667350464992975],[0.600002124465676,-0.20226423533038584]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[0.343250393432148,0.748357993191548,0.71338606911949],"aabb_xy":[[0.27925039272867874,0.702339610718627],[0.4072503941356175,0.7943763756644692]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[-0.48330041111352107,-1.3485816291900394,0.71338606911949],"aabb_xy":[[-0.5433004113649222,-1.402862954226504],[-0.42330041086211995,-1.2943003041535748]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[-0.3623599354657669,-0.483613188580728,0.71338606911949],"aabb_xy":[[-0.4323599388573288,-0.5189289622841587],[-0.29235993207420485,-0.4482974148772971]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[-0.3962491926144298,1.7749318808375754,0.71338606911949],"aabb_xy":[[-0.41536149997240873,1.7557971019603333],[-0.377136885256451,1.7940666597148174]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_29","position":[0.6276143234395115,-0.8334359764206392,0.71338606911949],"aabb_xy":[[0.6101143241614245,-0.8507740764869851],[0.6451143227175983,-0.8160978763542932]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_30","position":[0.5992255891247169,0.3926480291845067,0.71338606911949],"aabb_xy":[[0.5845821835706839,0.37798930952772236],[0.6138689946787499,0.4073067488412909]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680598052758433,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1694.png","name":"1694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1694.png","name":"1694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3772.png","name":"3772"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7266.png","name":"7266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/161.png","name":"161"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3361.png","name":"3361"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":587.2227253186643,"rotation_z_degrees":108.73646742508843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018411453403790596,0.009473644465550407,0.006145865727729717]},{"name":"camera_2","offset_m":[0.010186621592980463,6.151563260282933e-05,-0.0051392348119077]},{"name":"camera_3","offset_m":[0.006116093359537788,0.017705104489089043,0.0045850297055672305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018588598769276221,-0.001795479611974581,-0.0001390538310445887],"end_effector_yaw_offset_degrees":0.09677425534210138},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[9.611376402247256e-05,-0.001020342172736179,0.00036771010056280964],"end_effector_yaw_offset_degrees":0.6295034916029445},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0005682570722294568,-0.0013518299103786138,-0.0017089728632140924],"end_effector_yaw_offset_degrees":0.3496524242740351}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0020695394883372452,0.001760028102680924],"position_m":[0.22396953948833723,0.26916002810268097,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001196651603177291,-0.0022427114852260556],"position_m":[0.3431966516031773,0.10885728851477394,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0006711772651553137,0.0009809478620098492],"position_m":[0.2964711772651553,-0.04291905213799015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00010965033775050745,0.0035729653633267073],"position_m":[0.27129034966224946,-0.3050270346366733,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9faf3036d0c0f8b23c0629658de892f4ea80b85298c90a9dc489d413f996487a","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1694/tex_ceiling_textures_3361/tex_floor_textures_161/tex_table_textures_3772/tex_wall_textures_7266","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5982302054800726295,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5982302054800726295,"visual_seed":5982302054800726295,"scene_id":"lab_003","finished_at":"2026-09-02T06:28:42"}
+{"episode_id":"ep_000066","started_at":"2026-09-02T06:28:46","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.6350988281693815,-2.151007577084618,0.71338606911949],"aabb_xy":[[-0.6583806703675128,-2.236007578381846],[-0.6118169859712501,-2.0660075757873897]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.4383902599014019,-1.7758493138672944,0.71338606911949],"aabb_xy":[[-0.5083902625379882,-1.7959541788631597],[-0.36839025726481556,-1.7557444488714287]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.42728926680913826,1.4884476628130483,0.71338606911949],"aabb_xy":[[-0.46853807783905294,1.4334476633008306],[-0.38604045577922347,1.5434476623252655]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.18380289362482016,-2.0415192878752153,0.71338606911949],"aabb_xy":[[-0.245393652848813,-2.1055192859842617],[-0.12221213440082737,-1.977519289766168]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.4757774036458894,-1.6321833195933166,0.71338606911949],"aabb_xy":[[-0.4807334238307706,-1.6546833197954385],[-0.47082138346100827,-1.6096833193911952]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.5275731272624438,-1.9142951813733875,0.71338606911949],"aabb_xy":[[0.4900731274454102,-1.9189333926845291],[0.5650731270794773,-1.9096569700622454]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[-0.031168801477433283,-2.073896080223172,0.71338606911949],"aabb_xy":[[-0.08114621834268686,-2.1238960817124197],[0.018808615387820304,-2.0238960787339226]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.504735605311907,-0.8188966849395825,0.71338606911949],"aabb_xy":[[0.46770149588384724,-0.8532738922732919],[0.5417697147399667,-0.784519477605873]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.557746079997427,-2.038008451314506,0.71338606911949],"aabb_xy":[[0.5209514468725207,-2.074914326411088],[0.5945407131223333,-2.0011025762179235]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.2977832041862377,0.5008076964282422,0.71338606911949],"aabb_xy":[[0.29382272041650337,0.4931398318427217],[0.30174368795597206,0.5084755610137629]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.2816621509344367,-2.2793743512373155,0.71338606911949],"aabb_xy":[[0.26408384874548985,-2.2969488408114205],[0.29924045312338354,-2.2617998616632105]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.017103280568946166,-2.4997748872407395,0.71338606911949],"aabb_xy":[[-0.03143770569510962,-2.5118351027952786],[-0.002768855442782714,-2.4877146716862004]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.3637473827804077,-0.7936244776434551,0.71338606911949],"aabb_xy":[[-0.3697139217211435,-0.7995856223028192],[-0.3577808438396719,-0.7876633329840911]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.27414832560320324,-0.43365569857856956,0.71338606911949],"aabb_xy":[[-0.3591483242952778,-0.4656415619734484],[-0.18914832691112854,-0.4016698351836907]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.43405108939086423,0.9217380192918201,0.71338606911949],"aabb_xy":[[0.3443640130827488,0.8317380190373694],[0.5237381656989797,1.0117380195462706]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.09205020077718384,0.9338320988092743,0.71338606911949],"aabb_xy":[[-0.12796370520217354,0.8979185905925197],[-0.056136696352194176,0.969745607026029]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.33797644346077155,-2.3131493741876645,0.71338606911949],"aabb_xy":[[-0.4179764408643649,-2.393141945385847],[-0.25797644605717807,-2.2331568029894813]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.42032845325355933,0.08390911095534248,0.71338606911949],"aabb_xy":[[-0.43782845238792645,0.07402948391775464],[-0.4028284541191921,0.09378873799293029]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.25780603295376414,-1.3481524729886538,0.71338606911949],"aabb_xy":[[0.2507657230202272,-1.4281524723883254],[0.2648463428873012,-1.2681524735889826]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.24828693430848103,-0.6241814626202717,0.71338606911949],"aabb_xy":[[-0.26578693456781766,-0.6382730048090444],[-0.23078693404914444,-0.6100899204314991]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.07820994600909659,0.7398890219617593,0.71338606911949],"aabb_xy":[[0.031080567007260917,0.6758890209173573],[0.12533932501093226,0.8038890230061612]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.2375506690769172,-0.1329217894224466,0.71338606911949],"aabb_xy":[[-0.24244996138348063,-0.16059870872501533],[-0.23265137677035364,-0.10524487011987779]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707950408409015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9228.png","name":"9228"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9228.png","name":"9228"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8419.png","name":"8419"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6594.png","name":"6594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7644.png","name":"7644"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8323.png","name":"8323"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":820.6698905800182,"rotation_z_degrees":32.12470038451956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072527066456082295,-0.006810070674833635,-0.01879194037182839]},{"name":"camera_2","offset_m":[0.018073827454863068,0.00493653947359653,-0.017588480632960528]},{"name":"camera_3","offset_m":[-0.012163188581740312,-0.011256702885441526,-0.011014338098238468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014757627789355994,-0.001955809997388819,0.0004100175294146288],"end_effector_yaw_offset_degrees":0.6996887257218121},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008614539525125008,-0.00029576574357776894,0.0019593000718886857],"end_effector_yaw_offset_degrees":-0.20930320625660737},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007301072660728437,-0.001018474177634777,-0.0016600176162916132],"end_effector_yaw_offset_degrees":0.07182477512794261}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[9.860841930952637e-05,0.0010795986425967763],"position_m":[0.22199860841930952,0.2684795986425968,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028072330007289925,-0.0023379986202219693],"position_m":[0.344807233000729,0.10876200137977804,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.003736548431419376,0.0038207392337406528],"position_m":[0.29953654843141936,-0.040079260766259346,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00366181567931003,0.004945270447465085],"position_m":[0.27506181567931,-0.3036547295525349,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d740250f7c39ed56acb13a57274a9a99350da90d77721d9355d73e25bb9eb4b2","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9228/tex_ceiling_textures_8323/tex_floor_textures_7644/tex_table_textures_8419/tex_wall_textures_6594","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":542526773096288957,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":542526773096288957,"visual_seed":542526773096288957,"scene_id":"lab_003","finished_at":"2026-09-02T06:31:33"}
+{"episode_id":"ep_000067","started_at":"2026-09-02T06:31:36","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.19427633335347794,-2.3062066984426153,0.71338606911949],"aabb_xy":[[0.13027633006376982,-2.3495416174465324],[0.25827633664318606,-2.262871779438697]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.15267759984112406,-1.721723462065201,0.71338606911949],"aabb_xy":[[0.06267759616420586,-1.7831558686423055],[0.24267760351804218,-1.6602910554880967]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.2863019303287376,1.487760413228847,0.71338606911949],"aabb_xy":[[-0.29120122263530107,1.460083493926278],[-0.2814026380221741,1.5154373325314154]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.5631599270605281,-1.7076934311609069,0.71338606911949],"aabb_xy":[[-0.5783320963421615,-1.7228622880891102],[-0.5479877577788949,-1.6925245742327035]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[0.2515065984554732,1.5328634939590757,0.71338606911949],"aabb_xy":[[0.18750659623506616,1.4884904098337874],[0.3155066006758802,1.577236578084364]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.4783140498465184,-0.3434978924772918,0.71338606911949],"aabb_xy":[[-0.5066437597950586,-0.3479586346710089],[-0.4499843398979782,-0.3390371502835748]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.00047562242718746095,-1.5489904256650295,0.71338606911949],"aabb_xy":[[-0.06547562058310652,-1.575286670214942],[0.0645243757287316,-1.5226941811151176]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.5172632721862924,-1.8460961761937726,0.71338606911949],"aabb_xy":[[0.505495085391635,-1.9310961760989946],[0.52903145898095,-1.7610961762885515]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.5759788871542066,-0.39715431615276264,0.71338606911949],"aabb_xy":[[0.5654114074961076,-0.40769934626577126],[0.5865463668123057,-0.38660928603975414]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.5751998345449476,1.107905668912173,0.71338606911949],"aabb_xy":[[0.5710639782122474,1.070405669467816],[0.5793356908776478,1.14540566835653]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.060031913282810434,-0.433906449539903,0.71338606911949],"aabb_xy":[[-0.08192166087175123,-0.5239064468291521],[-0.038142165693869634,-0.34390645225065386]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.05871294546235717,-2.1554303648336655,0.71338606911949],"aabb_xy":[[0.02371294548586133,-2.1648949808812823],[0.093712945438853,-2.1459657487860486]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.03554180839639631,1.6227583317252745,0.71338606911949],"aabb_xy":[[0.026124333826533563,1.6133421545875553],[0.04495928296625906,1.6321745088629933]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.09955287654456091,-1.214280256939051,0.71338606911949],"aabb_xy":[[-0.14173729070539165,-1.278280257216262],[-0.05736846238373017,-1.1502802566618395]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.22585004988936147,0.6320454371456492,0.71338606911949],"aabb_xy":[[-0.3108500483067847,0.5471711416833642],[-0.14085005147193824,0.7169197326079342]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.3909252545874171,0.6335041393695007,0.71338606911949],"aabb_xy":[[0.340925979418981,0.5835041380935535],[0.44092452975585333,0.6835041406454478]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.32054005643287187,1.6718709305545336,0.71338606911949],"aabb_xy":[[-0.3580400576176646,1.6674527078584727],[-0.283040055248079,1.6762891532505937]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[0.6324770534979745,-1.8708109427160233,0.71338606911949],"aabb_xy":[[0.6079634294009686,-1.8950755360180598],[0.6569906775949803,-1.8465463494139869]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.13422361760961166,1.741131443317641,0.71338606911949],"aabb_xy":[[-0.2242236199436307,1.6636490887325281],[-0.04422361527559257,1.8186137979027535]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.6458649505543762,-1.894896338395408,0.71338606911949],"aabb_xy":[[-0.6514466221885049,-1.9073963382131838],[-0.6402832789202475,-1.8823963385776328]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.017339126006653105,-0.9524155271125372,0.71338606911949],"aabb_xy":[[-0.03424985844299488,-0.9658877327051516],[-0.000428393570311325,-0.9389433215199225]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[0.4342394920811081,-1.3890248836387915,0.71338606911949],"aabb_xy":[[0.41680877700210156,-1.4062969983026423],[0.4516702071601146,-1.3717527689749407]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.35902711141019794,-0.6606190329593102,0.71338606911949],"aabb_xy":[[0.3240271122173796,-0.6715860789569728],[0.39402711060301615,-0.6496519869616475]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.5732986951377903,0.8935792640325229,0.71338606911949],"aabb_xy":[[-0.6044456139813734,0.8235792653457156],[-0.5421517762942072,0.9635792627193299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700623909126042,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5490.png","name":"5490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5490.png","name":"5490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1490.png","name":"1490"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4974.png","name":"4974"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2637.png","name":"2637"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":703.0097919042515,"rotation_z_degrees":107.71640116735321,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009797271996567703,-0.005556557821419093,0.016935200043883072]},{"name":"camera_2","offset_m":[0.018016897477185764,0.011761186892994022,-0.01655317250623654]},{"name":"camera_3","offset_m":[-0.0061772830137704435,-0.007689981736979844,-0.01095193926819154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00025425019969732305,-0.0015856416210171891,0.0014023026631323292],"end_effector_yaw_offset_degrees":0.19034770863769657},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0003614735732914661,0.0007082173550289127,0.0009419918861173324],"end_effector_yaw_offset_degrees":-0.38564940224057764},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-6.360300312383146e-05,3.4387736036138594e-05,-0.00040943357211371367],"end_effector_yaw_offset_degrees":-0.5248300663832599}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0035262884913407353,-0.004464154403025084],"position_m":[0.22542628849134072,0.2629358455969749,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009547682378120573,-0.001489240569152722],"position_m":[0.34295476823781207,0.10961075943084728,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0009299313810837654,0.0028088022230855344],"position_m":[0.2967299313810838,-0.041091197776914466,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001448716413762004,0.002223922280213747],"position_m":[0.27284871641376196,-0.30637607771978626,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fd0041a4517db9087c3ba2ba7fc997bd05f139f68a3aef0f161ecff64b59da2c","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5490/tex_ceiling_textures_2637/tex_floor_textures_3958/tex_table_textures_1490/tex_wall_textures_4974","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1694685135398756360,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1694685135398756360,"visual_seed":1694685135398756360,"scene_id":"lab_003","finished_at":"2026-09-02T06:34:22"}
+{"episode_id":"ep_000068","started_at":"2026-09-02T06:34:25","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.3183268438030302,-2.0441670140932193,0.71338606911949],"aabb_xy":[[0.30655865700837276,-2.1291670139984413],[0.3300950305976878,-1.9591670141879982]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[0.6337361460298188,-1.908930647453607,0.71338606911949],"aabb_xy":[[0.5537423224512606,-1.9889306500464488],[0.7137299696083771,-1.8289306448607656]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.43439210075832585,-2.0765239798717907,0.71338606911949],"aabb_xy":[[-0.4718921022739576,-2.0877507528879358],[-0.3968920992426942,-2.0652972068556457]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.2655309300944243,-2.1833466684767058,0.71338606911949],"aabb_xy":[[0.2546793238455487,-2.194205959204357],[0.2763825363432999,-2.1724873777490545]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.4732663880992358,-0.5854509009514977,0.71338606911949],"aabb_xy":[[-0.49076638723360305,-0.5953305279890855],[-0.4557663889648687,-0.5755712739139098]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.11052739320118221,1.0792946670997945,0.71338606911949],"aabb_xy":[[-0.13504101729818807,1.055030073797758],[-0.08601376910417635,1.103559260401831]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.6520441997418839,0.5203040708181468,0.71338606911949],"aabb_xy":[[-0.6820117566517097,0.49030407052026104],[-0.6220766428320583,0.5503040711160325]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.01348708042629676,-1.5616574504898,0.71338606911949],"aabb_xy":[[-0.03598708093833736,-1.5841493088551983],[0.009012920085743836,-1.5391655921244016]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.4842211574161861,-0.9537592980406142,0.71338606911949],"aabb_xy":[[0.40422115525342356,-1.0337144816667578],[0.5642211595789486,-0.8738041144144705]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.6082852179095894,0.7932664748753102,0.71338606911949],"aabb_xy":[[0.5782935551757191,0.7632664755385097],[0.6382768806434598,0.8232664742121107]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[0.2033942748694758,1.5924818897183077,0.71338606911949],"aabb_xy":[[0.13939427346148514,1.5406929381943828],[0.2673942762774665,1.6442708412422322]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.03716960241080325,-1.6807029658333752,0.71338606911949],"aabb_xy":[[-0.03283039399915855,-1.7011409014850567],[0.10716959882076502,-1.6602650301816932]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.3477303759487009,-1.3839226726342246,0.71338606911949],"aabb_xy":[[-0.3948597549505365,-1.4479226736786264],[-0.30060099694686515,-1.3199226715898225]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.02696265449704416,-2.4294869919817255,0.71338606911949],"aabb_xy":[[-0.0380373436588749,-2.4557832365316377],[0.09196265265296322,-2.4031907474318133]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.036299309035103144,-2.187551665333046,0.71338606911949],"aabb_xy":[[0.02113643605816606,-2.202717122628165],[0.05146218201204023,-2.1723862080379277]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.6958016094334518,1.6223092731670339,0.71338606911949],"aabb_xy":[[0.6909023171268882,1.594632353864465],[0.7007009017400152,1.6499861924696024]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.22955135061810722,-0.8348633745269083,0.71338606911949],"aabb_xy":[[-0.3195513529521263,-0.9123457291120209],[-0.13955134828408816,-0.7573810199417956]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.3342007036955488,1.3130373077892608,0.71338606911949],"aabb_xy":[[-0.38401748316038353,1.2630373093049574],[-0.284383924230714,1.3630373062735641]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.6019424446444234,-2.33384134196685,0.71338606911949],"aabb_xy":[[-0.6659424410717453,-2.3810109657889464],[-0.5379424482171015,-2.2866717181447536]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.5036371184582251,-2.4825086177251983,0.71338606911949],"aabb_xy":[[0.45364400634903335,-2.5325086183993943],[0.5536302305674171,-2.432508617051003]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.6340841717000085,-2.168895932941312,0.71338606911949],"aabb_xy":[[0.5840893387720669,-2.2188959318365558],[0.6840790046279501,-2.1188959340460687]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.3191791488375948,0.2232283090743694,0.71338606911949],"aabb_xy":[[-0.33685477942619313,0.20554809279496664],[-0.30150351824899646,0.24090852535377213]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.3868186143786009,0.650803951723625,0.71338606911949],"aabb_xy":[[-0.4508186129651733,0.6037969883241163],[-0.32281861579202836,0.6978109151231338]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[-0.6526600673200925,0.2225551501406957,0.71338606911949],"aabb_xy":[[-0.6620070749023877,0.20825152792305168],[-0.6433130597377973,0.23685877235833974]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[0.7068937390711068,0.28788218063177284,0.71338606911949],"aabb_xy":[[0.7015612244164937,0.28255785238653724],[0.7122262537257198,0.29320650887700844]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.33827081113053153,-1.1921938598967272,0.71338606911949],"aabb_xy":[[-0.37327081026048714,-1.1979390809723913],[-0.3032708120005758,-1.186448638821063]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.19866260832930477,-2.5147313220672647,0.71338606911949],"aabb_xy":[[-0.21181385430059418,-2.5397313218239512],[-0.18551136235801544,-2.489731322310578]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[0.551501202682775,-2.3063413692057226,0.71338606911949],"aabb_xy":[[0.514001202510903,-2.3390421045886294],[0.5890012028546469,-2.273640633822815]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[0.39582611042501137,-0.7797174845797443,0.71338606911949],"aabb_xy":[[0.3058261136894011,-0.8329009478970387],[0.4858261071606215,-0.7265340212624497]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.20895354062003935,-1.7767867126879047,0.71338606911949],"aabb_xy":[[0.1970814576085382,-1.8617867123815548],[0.22082562363154043,-1.691786712994254]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[-0.602011589053678,-0.469169182308975,0.71338606911949],"aabb_xy":[[-0.6354907563147191,-0.502648295680082],[-0.5685324217926372,-0.435690068937868]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685015746323227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2598.png","name":"2598"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2598.png","name":"2598"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6188.png","name":"6188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1909.png","name":"1909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6887.png","name":"6887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/618.png","name":"618"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":632.999978125408,"rotation_z_degrees":252.83410797982077,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010112120917840084,-0.019260103785157603,0.01791418894783706]},{"name":"camera_2","offset_m":[0.0030209768692484006,0.005246656598477565,0.005692674956424667]},{"name":"camera_3","offset_m":[0.016864039113819413,0.005564242834033638,0.017171815456134543]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001134161307710063,0.0005156260686169554,0.001262238462368425],"end_effector_yaw_offset_degrees":0.07416233321381904},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012949579837637005,-0.0019788610650813077,-0.00079898568343864],"end_effector_yaw_offset_degrees":-0.4547825189014627},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0009157115385950182,-0.0009422857989029696,0.0018068499423947904],"end_effector_yaw_offset_degrees":-0.7764452523257808}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009097270713043131,0.0048608911704416035],"position_m":[0.2228097270713043,0.2722608911704416,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00172503697743597,0.0007538842175076228],"position_m":[0.343725036977436,0.11185388421750762,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0003048032835906234,0.0033900151184375798],"position_m":[0.2961048032835906,-0.04050998488156242,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012759785855507954,0.0003517904800771684],"position_m":[0.2701240214144492,-0.3082482095199228,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a2e378468dc6d416e7189c99044f8bf2b62ab15cb393c9be2c20273479de6221","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2598/tex_ceiling_textures_618/tex_floor_textures_6887/tex_table_textures_6188/tex_wall_textures_1909","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5605089035142977436,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5605089035142977436,"visual_seed":5605089035142977436,"scene_id":"lab_003","finished_at":"2026-09-02T06:37:10"}
+{"episode_id":"ep_000069","started_at":"2026-09-02T06:37:13","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.1731863556298583,-2.450895631887424,0.71338606911949],"aabb_xy":[[-0.17852393129586286,-2.475895632816564],[-0.16784877996385372,-2.4258956309582844]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.17305747658416926,0.8209244740169623,0.71338606911949],"aabb_xy":[[0.13602336715610952,0.7865472666832528],[0.21009158601222894,0.8553016813506716]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.5424157594538125,-2.4836683882498636,0.71338606911949],"aabb_xy":[[-0.5504420300844385,-2.4924198832272166],[-0.5343894888231865,-2.4749168932725114]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.23879370060253907,-1.65692814143353,0.71338606911949],"aabb_xy":[[-0.24520751424572396,-1.663337961681198],[-0.23237988695935408,-1.6505183211858614]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.23191896241704407,1.7679072929152357,0.71338606911949],"aabb_xy":[[-0.24949726460599092,1.7503328033411305],[-0.21434066022809722,1.7854817824893405]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.530938796406906,0.7099809058540156,0.71338606911949],"aabb_xy":[[-0.5684387975916987,0.705562683157955],[-0.49343879522211315,0.714399128550076]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.37348738734366216,0.5068499057717655,0.71338606911949],"aabb_xy":[[-0.43748738377098406,0.45968028194966903],[-0.30948739091634025,0.5540195295938619]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.3332845616128066,-2.2027202696265213,0.71338606911949],"aabb_xy":[[-0.34090882970298486,-2.2103534931630655],[-0.3256602935226284,-2.195087046089978]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.5290167033208697,-1.1074990208901223,0.71338606911949],"aabb_xy":[[-0.551516703331018,-1.1215952405297256],[-0.5065167033107214,-1.093402801250519]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.04842610428906913,1.5708127946812591,0.71338606911949],"aabb_xy":[[0.01092610349707368,1.5644449537230687],[0.08592610508106457,1.577180635639449]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.34068725578447084,0.10586480504153961,0.71338606911949],"aabb_xy":[[-0.3956872539862156,0.06534283841510201],[-0.28568725758272595,0.14638677166797717]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.3430028434383554,-2.471890805744744,0.71338606911949],"aabb_xy":[[-0.3979765654746883,-2.526890805308977],[-0.2880291214020225,-2.4168908061805108]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.020918535700675145,0.8162252038932305,0.71338606911949],"aabb_xy":[[-0.0661971505818244,0.7522252045450468],[0.024360079180474118,0.8802252032414142]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[0.6968229063651941,0.33500949977995287,0.71338606911949],"aabb_xy":[[0.6928624225954597,0.32734163519443227],[0.7007833901349284,0.34267736436547347]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.022040840831893505,-1.0834702656675086,0.71338606911949],"aabb_xy":[[-0.029323157208557157,-1.1734702692770171],[-0.014758524455229847,-0.9934702620579993]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.06288918471681026,-0.09348698955086832,0.71338606911949],"aabb_xy":[[-0.12288918557762306,-0.14491341955735465],[-0.0028891838559974565,-0.042060559544381905]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.02230992362986739,-0.8361257055977747,0.71338606911949],"aabb_xy":[[0.007147050652930311,-0.8512911628928935],[0.03747279660680448,-0.820960248302656]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[0.5624060885038322,0.7283770200177058,0.71338606911949],"aabb_xy":[[0.5074138378683214,0.673377018274393],[0.6173983391393433,0.7833770217610186]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.341283044133703,1.4396977811593659,0.71338606911949],"aabb_xy":[[-0.34612663889493295,1.434846128680382],[-0.336439449372473,1.4445494336383502]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.6194173571354338,1.6479206938195339,0.71338606911949],"aabb_xy":[[0.5889331070084035,1.5979206940380375],[0.6499016072624638,1.6979206936010294]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[-0.18133058757151288,1.0010548852108232,0.71338606911949],"aabb_xy":[[-0.18628660775639408,0.9785548850087016],[-0.17637456738663168,1.0235548854129448]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_21","position":[-0.4474113196689282,-1.9683144163470216,0.71338606911949],"aabb_xy":[[-0.46003810695612457,-1.977860490048594],[-0.43478453238173187,-1.9587683426454483]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[0.4572690628858611,-0.32581728557490885,0.71338606911949],"aabb_xy":[[0.4507674263778565,-0.3355851076012187],[0.4637706993938657,-0.31604946354859914]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.5786113925225486,-0.5807232983574875,0.71338606911949],"aabb_xy":[[-0.6005011401114893,-0.6707232956467365],[-0.5567216449336077,-0.4907233010682383]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.2897655062535619,-1.5619685055816337,0.71338606911949],"aabb_xy":[[0.2197655041221323,-1.5847304712073291],[0.3597655083849914,-1.5392065399559378]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[0.32140308265182305,0.8611900699899406,0.71338606911949],"aabb_xy":[[0.27142566578656935,0.8111900685006922],[0.3713804995170765,0.9111900714791893]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_26","position":[-0.5088992139739381,-1.557998508636396,0.71338606911949],"aabb_xy":[[-0.5638992131505275,-1.6129881834113535],[-0.4538992147973485,-1.5030088338614382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661795240979688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4857.png","name":"4857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4857.png","name":"4857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2101.png","name":"2101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2842.png","name":"2842"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7423.png","name":"7423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9226.png","name":"9226"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":550.2258481796717,"rotation_z_degrees":157.57914683493033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011055992127425087,-0.010100825951515882,-0.00584543177689493]},{"name":"camera_2","offset_m":[-0.013759041423073392,0.012229529563473864,-0.00137205527841611]},{"name":"camera_3","offset_m":[-0.018135426668878175,-0.01956550652095015,-0.019327995284359415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010147465888300329,-0.00030007277936684187,0.0009358275574771727],"end_effector_yaw_offset_degrees":-0.36344449810224866},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005882245284771132,0.0012793111357131087,-0.0013023985198975492],"end_effector_yaw_offset_degrees":0.26713651429099805},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0005561865841074484,0.0016934125728354948,-0.0015702952377652157],"end_effector_yaw_offset_degrees":-0.5467484028778558}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0029745312492117275,-6.673576288011678e-05],"position_m":[0.22487453124921172,0.2673332642371199,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014312031575664822,-0.0028106530317575807],"position_m":[0.34343120315756653,0.10828934696824243,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0014142962318774007,0.004185524975848186],"position_m":[0.2972142962318774,-0.03971447502415182,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003408499201921069,0.0012838728846326928],"position_m":[0.26799150079807893,-0.30731612711536727,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d505c82b938623a773abd96c325ac7f47fba2bb0e5daa9714b9c34b8a5a0bd1a","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0074.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4857/tex_ceiling_textures_9226/tex_floor_textures_7423/tex_table_textures_2101/tex_wall_textures_2842","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":8442551279370937476,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":8442551279370937476,"visual_seed":8442551279370937476,"scene_id":"lab_003","finished_at":"2026-09-02T06:40:03"}
+{"episode_id":"ep_000070","started_at":"2026-09-02T06:40:06","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.09270190419164681,-1.5353732999955465,0.71338606911949],"aabb_xy":[[0.06273434728182116,-1.5653733002934322],[0.12266946110147249,-1.5053732996976608]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.5558781153936059,-1.4877971045521488,0.71338606911949],"aabb_xy":[[0.49187811622383587,-1.5345637916711112],[0.6198781145633757,-1.4410304174331863]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.24560284177872005,-2.362946402959797,0.71338606911949],"aabb_xy":[[0.19060736395806066,-2.4179464043937036],[0.30059831959937944,-2.3079464015258897]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.2699828906128597,-1.036343890134393,0.71338606911949],"aabb_xy":[[-0.2851550598944931,-1.0515127470625965],[-0.2548107213312264,-1.0211750332061897]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.04087833780269157,-0.9594834829142445,0.71338606911949],"aabb_xy":[[-0.014246867826899203,-1.0194834843555314],[0.09600354343228235,-0.8994834814729572]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.13240905793212365,-0.22489035867043983,0.71338606911949],"aabb_xy":[[-0.1699090582803514,-0.23668175425152335],[-0.0949090575838959,-0.21309896308935625]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.2129486981108717,1.7380696480354039,0.71338606911949],"aabb_xy":[[0.13294870109662368,1.7179350963619926],[0.2929486951251197,1.7582041997088151]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.4433668556839812,0.9623493989890028,0.71338606911949],"aabb_xy":[[-0.4738511058110113,0.9123493992075068],[-0.412882605556951,1.0123493987704988]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.6829003233323074,-0.5633002959650462,0.71338606911949],"aabb_xy":[[0.6697490773610181,-0.5883002957217328],[0.6960515693035968,-0.5383002962083597]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.01683506176446581,-1.3270872818232842,0.71338606911949],"aabb_xy":[[-0.02482855155974784,-1.33508541376376],[-0.00884157196918378,-1.3190891498828088]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.3252488927990983,0.15375777095139265,0.71338606911949],"aabb_xy":[[-0.3502488920710605,0.1374124073552303],[-0.30024889352713596,0.170103134547555]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[0.15827309804053635,-1.9733250876082584,0.71338606911949],"aabb_xy":[[0.11327309657430754,-2.018324944469739],[0.20327309950676525,-1.9283252307467778]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.4397570364972152,1.2603007088363527,0.71338606911949],"aabb_xy":[[-0.47725703666908714,1.2275999734534453],[-0.40225703632534326,1.2930014442192597]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.236613176650889,0.7391213223035331,0.71338606911949],"aabb_xy":[[-0.2548190003121367,0.7280959217215416],[-0.21840735298964137,0.7501467228855249]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[0.1635428307210458,1.3863361004135282,0.71338606911949],"aabb_xy":[[0.12674819759613953,1.349430225316946],[0.20033746384595208,1.4232419755101104]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.11217703568749737,0.9215686988830378,0.71338606911949],"aabb_xy":[[0.02217703895188715,0.8683852355657431],[0.20217703242310758,0.9747521622003321]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.577635137593612,-0.35909842258586844,0.71338606911949],"aabb_xy":[[0.540135139017991,-0.3718347182494263],[0.6151351361692327,-0.34636212692231044]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.2649679859050914,-0.7125901129639232,0.71338606911949],"aabb_xy":[[0.2556743676679408,-0.7500901114520571],[0.274261604142242,-0.6750901144757893]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.6235272109301844,1.633298862591761,0.71338606911949],"aabb_xy":[[0.6148132418802497,1.6107988619325726],[0.6322411799801186,1.655798863250949]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.6693727410751505,0.5005694929091105,0.71338606911949],"aabb_xy":[[-0.674272033381714,0.4728925736065416],[-0.664473448768587,0.5282464122116791]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.47804213524266936,-0.34260049407080206,0.71338606911949],"aabb_xy":[[-0.48940386989595547,-0.35396896047709014],[-0.46668040058938315,-0.331232027664514]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.12514939261245028,-1.5312222644206117,0.71338606911949],"aabb_xy":[[-0.1551410553463206,-1.5612222637574122],[-0.09515772987857996,-1.5012222650838112]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[0.5162814188085396,1.3671736832289767,0.71338606911949],"aabb_xy":[[0.43628142022122013,1.2878580812908158],[0.5962814173958589,1.4464892851671376]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.48422822872026,0.3688078094370586,0.71338606911949],"aabb_xy":[[-0.5217282299050527,0.36438958674099803],[-0.4467282275354672,0.37322603213311906]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.5216207960347422,-1.9588595420636001,0.71338606911949],"aabb_xy":[[-0.5566207973862238,-1.979219278020421],[-0.4866207946832604,-1.9384998061067793]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.17395409843193865,-0.8799653055163066,0.71338606911949],"aabb_xy":[[-0.19723594063006997,-0.9649653068135347],[-0.15067225623380728,-0.7949653042190785]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[-0.49176486758550364,-1.4524657956168956,0.71338606911949],"aabb_xy":[[-0.5273940234854635,-1.4880984623737485],[-0.45613571168554395,-1.4168331288600426]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6720304768795652,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9073.png","name":"9073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9073.png","name":"9073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8853.png","name":"8853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4008.png","name":"4008"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3468.png","name":"3468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7564.png","name":"7564"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":840.4210108742676,"rotation_z_degrees":138.8666328172009,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00990451361426849,0.018560716430737364,0.01900359770411208]},{"name":"camera_2","offset_m":[0.0064020580788415535,0.015754657881420425,0.013844497413317568]},{"name":"camera_3","offset_m":[0.008273275659463515,-0.007793019997667114,-0.0056420689912427095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015461559851451866,0.0017801452354554966,-0.0015933888837851757],"end_effector_yaw_offset_degrees":0.5052782399887648},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00195879486833424,-0.0007148730427014361,0.00012096031938478146],"end_effector_yaw_offset_degrees":0.2950745949302036},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001200800063931317,0.0015702155799570444,-0.00040556566366015947],"end_effector_yaw_offset_degrees":0.12307715567263133}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0046993319070929825,-0.003122313592134133],"position_m":[0.22659933190709297,0.2642776864078659,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038425331699715338,-0.0025369971287348705],"position_m":[0.3381574668300285,0.10856300287126514,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0004802782387387586,-0.003798735785488583],"position_m":[0.29628027823873876,-0.04769873578548858,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024075214252266483,-0.00021057089467453258],"position_m":[0.27380752142522663,-0.3088105708946745,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d382bca90c8f227ead38b1cf4314ee62a716d97f4a1e99e14a3141197e62296c","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9073/tex_ceiling_textures_7564/tex_floor_textures_3468/tex_table_textures_8853/tex_wall_textures_4008","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":249962010005460338,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":249962010005460338,"visual_seed":249962010005460338,"scene_id":"lab_003","finished_at":"2026-09-02T06:42:53"}
+{"episode_id":"ep_000071","started_at":"2026-09-02T06:42:56","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.20597691540343166,1.5759979484865725,0.71338606911949],"aabb_xy":[[0.18347691587972423,1.5535020010359515],[0.22847691492713904,1.598493895937193]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.4655202672802621,0.08992559544875345,0.71338606911949],"aabb_xy":[[0.4452359645568633,0.06964297030604459],[0.48580457000366084,0.11020822059146228]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.1539808590832339,-1.4855923707734005,0.71338606911949],"aabb_xy":[[-0.17161369467676144,-1.5032153167890232],[-0.1363480234897063,-1.4679694247577773]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.5219619702943885,-0.5811087819251188,0.71338606911949],"aabb_xy":[[0.5052848343012931,-0.5978087058990491],[0.5386391062874841,-0.5644088579511886]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[-0.2129949582260799,0.30544745876695023,0.71338606911949],"aabb_xy":[[-0.2472918692438205,0.2711505725570088],[-0.17869804720833923,0.33974434497689154]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.581341742207745,-1.4008455894219407,0.71338606911949],"aabb_xy":[[-0.5873082811484809,-1.4068067340813044],[-0.5753752032670092,-1.3948844447625766]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.4891550110147893,1.276960599680054,0.71338606911949],"aabb_xy":[[0.4541550096633076,1.256600863723233],[0.524155012366271,1.2973203356368748]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.32490783959139485,-0.8954041610220231,0.71338606911949],"aabb_xy":[[-0.3310024674795132,-0.903973555573692],[-0.31881321170327653,-0.8868347664703545]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.036177607222688035,1.6040450196468616,0.71338606911949],"aabb_xy":[[-0.043816216355870186,1.5240450170540198],[0.11617143080124626,1.684045022239703]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.1104114586840419,-2.3410413323715895,0.71338606911949],"aabb_xy":[[-0.1904114560876353,-2.421033903569772],[-0.030411461280448467,-2.2610487611734063]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.4109243680357013,-0.7022936850992278,0.71338606911949],"aabb_xy":[[0.37846266715377375,-0.7324265172141302],[0.44338606891762866,-0.672160852984325]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.6470425502863848,0.10628146287675388,0.71338606911949],"aabb_xy":[[-0.6948487179001535,0.041281460169694924],[-0.5992363826726161,0.17128146558381285]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.5817709064497905,1.0092977159979775,0.71338606911949],"aabb_xy":[[0.5741466383596122,1.0016644924614337],[0.5893951745399687,1.0169309395345212]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.19593346057767858,1.2054022126611597,0.71338606911949],"aabb_xy":[[0.13193346031720776,1.1603934133082316],[0.2599334608381494,1.2504110120140877]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.44273531802742405,-1.5256039642769466,0.71338606911949],"aabb_xy":[[0.37273531621867867,-1.546957733041134],[0.5127353198361695,-1.5042501955127592]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[0.1727336456604599,0.7354628499082563,0.71338606911949],"aabb_xy":[[0.16861769554838724,0.7313472948754106],[0.17684959577253256,0.7395784049411017]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.20216713607620368,1.790961439545899,0.71338606911949],"aabb_xy":[[-0.2197454382651505,1.7733869499717936],[-0.1845888338872568,1.8085359291200036]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.3876369672351486,-0.49713649996329323,0.71338606911949],"aabb_xy":[[-0.4289415102988846,-0.5611364995314103],[-0.34633242417141263,-0.4331365003951761]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.36284103515620014,-1.7196074244755524,0.71338606911949],"aabb_xy":[[0.3128462022282585,-1.769607423370796],[0.4128358680841417,-1.6696074255803088]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[0.3265503591088368,-0.6155763125047271,0.71338606911949],"aabb_xy":[[0.31190695355480375,-0.6302350321615113],[0.3411937646628697,-0.6009175928479429]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.39999782365032943,-2.4031353294018123,0.71338606911949],"aabb_xy":[[0.33499782101253595,-2.454614928101259],[0.4649978262881229,-2.351655730702365]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.5207490032092108,0.631041036501574,0.71338606911949],"aabb_xy":[[-0.5457490031417288,0.6241583682806507],[-0.495749003276693,0.6379237047224974]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.6108810901836033,-2.132012290342669,0.71338606911949],"aabb_xy":[[0.6036373241373579,-2.2120122885462714],[0.6181248562298486,-2.0520122921390667]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[-0.504770099047824,-1.1494911580955598,0.71338606911949],"aabb_xy":[[-0.559762349683335,-1.2044911598388726],[-0.44977784841231316,-1.094491156352247]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.4212532171324341,-1.9497644103259182,0.71338606911949],"aabb_xy":[[-0.48284397635642695,-2.013764408434965],[-0.3596624579084413,-1.8857644122168715]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.08529634426406174,-1.4964025415355957,0.71338606911949],"aabb_xy":[[0.074884785583578,-1.5017482748714939],[0.09570790294454543,-1.491056808199697]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.2741919680572557,0.15941443169441794,0.71338606911949],"aabb_xy":[[-0.36419196455812747,0.11350278927595968],[-0.18419197155638398,0.20532607411287615]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[-0.11472030221978846,0.4627361083427126,0.71338606911949],"aabb_xy":[[-0.13661004980872923,0.3727361110534635],[-0.09283055463084765,0.5527361056319617]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[-0.3254650093292584,-0.6905566112886872,0.71338606911949],"aabb_xy":[[-0.3629650108448901,-0.7017833843048322],[-0.28796500781362666,-0.6793298382725421]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[0.39109431037074827,-2.004541526546449,0.71338606911949],"aabb_xy":[[0.34109430935161306,-2.041007742284277],[0.44109431138988364,-1.9680753108086213]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_30","position":[-0.35125012059060906,1.2946905480355997,0.71338606911949],"aabb_xy":[[-0.35469079683066623,1.2908291150612352],[-0.3478094443505519,1.2985519810099642]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653657648600241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8253.png","name":"8253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8253.png","name":"8253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1561.png","name":"1561"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6234.png","name":"6234"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8862.png","name":"8862"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3222.png","name":"3222"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":731.71440997511,"rotation_z_degrees":12.516245211084897,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013153419775246573,-0.013323799676492522,0.00671632591555945]},{"name":"camera_2","offset_m":[-0.01297493693744383,-0.003973227507088992,0.010996012930048801]},{"name":"camera_3","offset_m":[-0.011742803140200745,-0.0039446360078937565,0.0005786082205890171]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013377394150025452,0.0004089420250070492,-0.0011310956874170399],"end_effector_yaw_offset_degrees":0.47503274465549983},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013920642567605405,-0.0014444530844750342,-0.0005742369865637113],"end_effector_yaw_offset_degrees":-0.8863630855121603},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003482841936377468,-0.0008757313124268227,-0.0014331730961337206],"end_effector_yaw_offset_degrees":-0.23801775094291955}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027280330615791952,0.004372088957516542],"position_m":[0.2246280330615792,0.2717720889575166,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036696336404407237,-0.0022974073208063806],"position_m":[0.3383303663595593,0.10880259267919362,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.002966048039850659,-0.0014877122574756731],"position_m":[0.2987660480398507,-0.045387712257475676,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003539574142059927,0.002798436161877315],"position_m":[0.26786042585794007,-0.3058015638381227,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8d910919a67dc1d4019f314d8aa840a6f30e587d44a877f4b75cbdaa39cb0e93","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8253/tex_ceiling_textures_3222/tex_floor_textures_8862/tex_table_textures_1561/tex_wall_textures_6234","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5964911358003891162,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5964911358003891162,"visual_seed":5964911358003891162,"scene_id":"lab_003","finished_at":"2026-09-02T06:45:40"}
+{"episode_id":"ep_000072","started_at":"2026-09-02T06:45:42","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.5811197695827586,-2.145222439499787,0.71338606911949],"aabb_xy":[[0.572405800532824,-2.167722440158975],[0.589833738632693,-2.1227224388405985]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.4489106096675499,-2.042973361723514,0.71338606911949],"aabb_xy":[[-0.5129106088373199,-2.089740048842476],[-0.38491061049778,-1.9962066746045515]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.13658709865851093,-1.5080640037687054,0.71338606911949],"aabb_xy":[[-0.1439995541998994,-1.5139152141903334],[-0.12917464311712246,-1.5022127933470775]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[0.05461508469451826,-1.560012125418018,0.71338606911949],"aabb_xy":[[0.04657874999323341,-1.5680502447224347],[0.0626514193958031,-1.5519740061136011]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.19039255622407114,-1.194033267397405,0.71338606911949],"aabb_xy":[[-0.24536627826040402,-1.2490332669616384],[-0.13541883418773826,-1.139033267833172]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.0014438628533770537,1.2747792962403302,0.71338606911949],"aabb_xy":[[-0.03980494817653767,1.2197792967281125],[0.04269267388329178,1.3297792957525474]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.3259614844831205,-1.3797940030056932,0.71338606911949],"aabb_xy":[[-0.38996148474359127,-1.424802802358621],[-0.26196148422264964,-1.334785203652765]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[0.04176006644191643,-2.304397349978129,0.71338606911949],"aabb_xy":[[-0.018239933404650348,-2.3612159721711676],[0.10176006628848322,-2.2475787277850903]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.016566050380079078,-1.1134423975799281,0.71338606911949],"aabb_xy":[[-0.04743394989389915,-1.1635084977772159],[0.08056605065405731,-1.06337629738264]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.21181749032069686,-2.326242940445776,0.71338606911949],"aabb_xy":[[-0.24640857317474207,-2.3912429407308062],[-0.17722640746665164,-2.261242940160744]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.12760801417965606,-1.5397414737506565,0.71338606911949],"aabb_xy":[[0.11017729910064954,-1.5570135884145069],[0.14503872925866254,-1.5224693590868053]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.14560917682472962,-1.322443618462599,0.71338606911949],"aabb_xy":[[0.0656091753946024,-1.4019607734752084],[0.2256091782548568,-1.2429264634499895]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.5334106565255012,-0.9982076116451739,0.71338606911949],"aabb_xy":[[0.4884106550592724,-1.0432074685066548],[0.5784106579917301,-0.9532077547836935]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.0105177293079588,-1.7421954919974683,0.71338606911949],"aabb_xy":[[-0.007688094353288875,-1.7532208925794601],[0.02872355296920648,-1.7311700914154768]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[0.433264451499191,-1.1414921329047745,0.71338606911949],"aabb_xy":[[0.4291862935921412,-1.1455731131530376],[0.4373426094062407,-1.137411152656511]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.23584095687687118,-1.9381882321021746,0.71338606911949],"aabb_xy":[[-0.29984096016657924,-1.981523151106092],[-0.17184095358716306,-1.8948533130982568]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.6087994400152357,-0.3886534454671624,0.71338606911949],"aabb_xy":[[0.5587994390647029,-0.42020259247068376],[0.6587994409657685,-0.35710429846364095]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.45044947581422234,0.27925932109022567,0.71338606911949],"aabb_xy":[[0.3854494772571495,0.24950678767634304],[0.5154494743712952,0.3090118545041083]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.32720121076471453,-1.6475303321298231,0.71338606911949],"aabb_xy":[[-0.3497003464909415,-1.6700303329080861],[-0.30470207503848756,-1.6250303313515602]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.14594230891848736,1.3707475593117344,0.71338606911949],"aabb_xy":[[0.08594230805767454,1.3193211293052478],[0.20594230977930014,1.4221739893182206]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.4028903050819019,0.11028498805398357,0.71338606911949],"aabb_xy":[[-0.4203903043599887,0.09294688798763762],[-0.38539030580381495,0.12762308812032952]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.49668117789944594,-1.2342013427761445,0.71338606911949],"aabb_xy":[[-0.5047074485300721,-1.2429528377534973],[-0.48865490726882005,-1.225449847798792]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.4846059437801834,1.0171713509814517,0.71338606911949],"aabb_xy":[[-0.4911075802881881,1.007403528955142],[-0.47810430727217884,1.0269391730077615]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.42523229135171303,-1.445417990336067,0.71338606911949],"aabb_xy":[[0.3877322906871342,-1.461105048336289],[0.4627322920162916,-1.4297309323358447]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.5901987978980836,-1.4039107554079011,0.71338606911949],"aabb_xy":[[-0.6076987970324507,-1.4137903824454887],[-0.5726987987637163,-1.394031128370313]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[0.21057043022712962,-2.2776470234906117,0.71338606911949],"aabb_xy":[[0.19869834721562848,-2.362647023184262],[0.2224425132386307,-2.1926470237969613]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.5171582761177437,-1.7127824969133905,0.71338606911949],"aabb_xy":[[-0.5322605775787614,-1.727884018544452],[-0.5020559746567252,-1.6976809752823285]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[0.47188821323040364,-1.6777186759233287,0.71338606911949],"aabb_xy":[[0.42580312197567216,-1.7417186731758836],[0.5179733044851351,-1.6137186786707733]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_28","position":[0.29115500771055214,1.1101798802087437,0.71338606911949],"aabb_xy":[[0.25365500753868014,1.0774791448258365],[0.328655007882424,1.1428806155916509]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.6216816485549912,-0.7081987628706965,0.71338606911949],"aabb_xy":[[0.618240972314934,-0.712060195845061],[0.6251223247950484,-0.704337329896332]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_30","position":[-0.6100413788955813,1.2068688915942976,0.71338606911949],"aabb_xy":[[-0.6595218001095402,1.1428688936814457],[-0.5605609576816226,1.2708688895071494]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[0.032872727065157537,-0.76213405611863,0.71338606911949],"aabb_xy":[[-0.002127272911338289,-0.7715986721662467],[0.06787272704165337,-0.7526694400710134]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_32","position":[0.574809233153988,-0.5999804874634811,0.71338606911949],"aabb_xy":[[0.5502630175312373,-0.630229384012518],[0.5993554487767387,-0.5697315909144439]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_33","position":[-0.33772738053130075,1.6806753268605186,0.71338606911949],"aabb_xy":[[-0.4177273791186202,1.601359724922358],[-0.2577273819439813,1.7599909287986797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697283548055347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5240.png","name":"5240"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5240.png","name":"5240"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8536.png","name":"8536"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1119.png","name":"1119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6870.png","name":"6870"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2281.png","name":"2281"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.3961727037017,"rotation_z_degrees":31.523334823787973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009745733289631646,0.008527027996783065,-0.011551922156477228]},{"name":"camera_2","offset_m":[-0.00030541148531833956,-0.01225423182058797,0.002574838816539936]},{"name":"camera_3","offset_m":[0.005610245902731358,-0.016311442137142754,-0.002391153951607848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004386434777006833,0.0011028630645440367,-0.0018469229559115723],"end_effector_yaw_offset_degrees":0.2237853172540749},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014025049783036882,0.001557712430499685,-0.00011626642887698152],"end_effector_yaw_offset_degrees":0.18850267697819878},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.001021498184346143,0.0019918683055388155,0.0019241733900213116],"end_effector_yaw_offset_degrees":0.24321483608604177}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00011890925447166547,-0.0005044714571093185],"position_m":[0.22201890925447165,0.2668955285428907,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00036346147594649644,-0.004284395143621219],"position_m":[0.34236346147594654,0.10681560485637878,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0026228421081935707,0.003626961423788517],"position_m":[0.2984228421081936,-0.040273038576211485,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021701940972123014,-0.003999874719496359],"position_m":[0.26922980590278767,-0.31259987471949635,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cc9a3c0bac7e46be4f0e67344556acf15ad773ed3c5c67cd41c5405f82399c74","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5240/tex_ceiling_textures_2281/tex_floor_textures_6870/tex_table_textures_8536/tex_wall_textures_1119","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4563384992919206454,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4563384992919206454,"visual_seed":4563384992919206454,"scene_id":"lab_003","finished_at":"2026-09-02T06:48:25"}
+{"episode_id":"ep_000073","started_at":"2026-09-02T06:48:28","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.5580842670766255,-1.8103288498578065,0.71338606911949],"aabb_xy":[[0.546316080281968,-1.8953288497630285],[0.569852453871283,-1.7253288499525854]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.47394033590101614,-1.3477806272133512,0.71338606911949],"aabb_xy":[[0.39394033264317313,-1.4277771350053352],[0.5539403391588591,-1.2677841194213673]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.5937785084575973,-2.0244006526342893,0.71338606911949],"aabb_xy":[[-0.6112092235366036,-2.0416727672981394],[-0.5763477933785905,-2.007128537970438]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.2056861370644421,-0.7540541961581557,0.71338606911949],"aabb_xy":[[-0.28568614032845524,-0.767614228467069],[-0.12568613380042898,-0.7404941638492423]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.11665708723206802,-2.145533445402676,0.71338606911949],"aabb_xy":[[0.10723961266220526,-2.154949622540395],[0.12607456180193077,-2.136117268264957]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.043354029341448386,0.628631705581983,0.71338606911949],"aabb_xy":[[-0.05492301008838497,0.6036317054650514],[-0.03178504859451182,0.6536317056989148]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[-0.009427066956767871,-2.0685320086508945,0.71338606911949],"aabb_xy":[[-0.05942189988470947,-2.118532007546138],[0.04056776597117373,-2.018532009755651]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.22831808128807451,-2.2918799968912524,0.71338606911949],"aabb_xy":[[0.21011225762682686,-2.3029053974732445],[0.24652390494932222,-2.2808545963092612]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.26427245759414597,-1.6970282631146922,0.71338606911949],"aabb_xy":[[0.22968137474010072,-1.7620282633997233],[0.29886354044819113,-1.6320282628296612]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.014729105009693044,-2.512405332322085,0.71338606911949],"aabb_xy":[[-0.08472910764627939,-2.5325101973179502],[0.0552708976268933,-2.4923004673262192]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.18632275366092,-2.1333178503743424,0.71338606911949],"aabb_xy":[[-0.19165526831553298,-2.1386421786195786],[-0.180990239006307,-2.127993522129107]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.5956113687636588,-1.823692143770261,0.71338606911949],"aabb_xy":[[-0.6606113666453066,-1.874815807476802],[-0.530611370882011,-1.7725684800637203]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[-0.22621701603815186,-1.7854972754424987,0.71338606911949],"aabb_xy":[[-0.24749502418162408,-1.8504972777685715],[-0.2049390078946796,-1.7204972731164254]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.4438157678748683,-0.6064148288982922,0.71338606911949],"aabb_xy":[[-0.5078157643021902,-0.6535844527203888],[-0.3798157714475464,-0.5592452050761959]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[-0.20055506971048398,-1.3814024330492347,0.71338606911949],"aabb_xy":[[-0.21378601524516525,-1.394629852071234],[-0.18732412417580266,-1.368175014027235]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.1641424295245365,-0.5641870187082252,0.71338606911949],"aabb_xy":[[-0.17218578945049168,-0.6491870198035916],[-0.15609906959858133,-0.47918701761285876]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.1181895859397134,-0.7388411783974498,0.71338606911949],"aabb_xy":[[0.11323356575483222,-0.7613411785995715],[0.12314560612459462,-0.7163411781953282]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.14002713253615606,1.6030364116322766,0.71338606911949],"aabb_xy":[[-0.20402713112272852,1.556029448232768],[-0.0760271339495836,1.6500433750317853]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.108523781361058,-1.6555191700164165,0.71338606911949],"aabb_xy":[[-0.15852378272194517,-1.705497074591832],[-0.05852378000017076,-1.6055412654410008]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[0.30410433561056716,-1.2721920597930614,0.71338606911949],"aabb_xy":[[0.2666043349459884,-1.2878791177932836],[0.3416043362751458,-1.2565050017928392]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.6152273035327165,1.4610374942189268,0.71338606911949],"aabb_xy":[[-0.6752273041287326,1.4062250216737033],[-0.5552273029367002,1.5158499667641503]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.1848153749744066,-1.1248140026743216,0.71338606911949],"aabb_xy":[[0.16153353277627522,-1.2098140039715495],[0.2080972171725379,-1.0398140013770933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665191936240942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6948.png","name":"6948"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6948.png","name":"6948"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4612.png","name":"4612"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9963.png","name":"9963"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3361.png","name":"3361"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":717.7383793902932,"rotation_z_degrees":25.565989290621197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00509733408838892,-0.0010704171800663652,0.017473616513471322]},{"name":"camera_2","offset_m":[-0.00986628173371153,0.00476810114189917,-0.008858111111206055]},{"name":"camera_3","offset_m":[-0.0030521409542712194,-0.0018310744748838287,0.0199242810611379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006487784690566841,-0.00043298010586794843,-0.0009490973348967797],"end_effector_yaw_offset_degrees":0.5808879745633257},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0002723760762665694,-0.0004896790867840047,-0.0018894596758829484],"end_effector_yaw_offset_degrees":0.37573263609673413},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001318270595769739,-0.0014515681630616491,-0.0014825212429604902],"end_effector_yaw_offset_degrees":-0.02109479191539987}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0030389139659038602,-0.003300214264707331],"position_m":[0.21886108603409613,0.2640997857352927,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002835822966736016,-0.00440255632349314],"position_m":[0.339164177033264,0.10669744367650687,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004773684779311198,0.0036778697304672156],"position_m":[0.3005736847793112,-0.04022213026953279,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004290985154656177,-0.0011390186129899126],"position_m":[0.2671090148453438,-0.3097390186129899,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"fa4eea3d2e8128e7b291961d5f196b06d06b19a302aaef7be231f68fe50bc49b","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6948/tex_ceiling_textures_3361/tex_floor_textures_9963/tex_table_textures_8390/tex_wall_textures_4612","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":8727975366436271945,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":8727975366436271945,"visual_seed":8727975366436271945,"scene_id":"lab_003","finished_at":"2026-09-02T06:51:08"}
+{"episode_id":"ep_000074","started_at":"2026-09-02T06:51:11","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.4872291654525573,-1.231891944879478,0.71338606911949],"aabb_xy":[[-0.528477976482472,-1.2868919443916953],[-0.4459803544226425,-1.1768919453672604]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.0822295726942267,-1.4437024774842881,0.71338606911949],"aabb_xy":[[0.059764802722821586,-1.4662024783631484],[0.10469434266563182,-1.4212024766054274]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[-0.30263220099909033,-1.685773244160615,0.71338606911949],"aabb_xy":[[-0.33948274893607794,-1.7232732449836485],[-0.2657816530621027,-1.648273243337581]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.29167816790139056,-0.6834721957511829,0.71338606911949],"aabb_xy":[[-0.3766781663188138,-0.7683464912134679],[-0.20667816948396733,-0.5985979002888979]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[0.17478991031211732,-2.307923542909555,0.71338606911949],"aabb_xy":[[0.1248168447796019,-2.357923542722088],[0.22476297584463284,-2.2579235430970224]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.013688664192780031,-2.109891025630169,0.71338606911949],"aabb_xy":[[-0.07131913308005088,-2.1698910245568785],[0.04394180469449082,-2.0498910267034574]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.6157345577338921,0.6317718862463679,0.71338606911949],"aabb_xy":[[-0.6196950415036265,0.6241040216608473],[-0.6117740739641578,0.6394397508318885]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.4210329005551354,1.6574241520804693,0.71338606911949],"aabb_xy":[[0.3660329013785459,1.6024344773055117],[0.47603289973172486,1.712413826855427]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.31236726096305567,0.6291216473983834,0.71338606911949],"aabb_xy":[[-0.37636725739037763,0.5819520235762871],[-0.24836726453573382,0.6762912712204799]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.0008860383260037574,1.6910442666218075,0.71338606911949],"aabb_xy":[[-0.04909819738217347,1.6410442678083115],[0.050870274034180984,1.7410442654353027]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.5184508101255925,-1.7293938517348035,0.71338606911949],"aabb_xy":[[0.45445080974805885,-1.7791391185856156],[0.5824508105031261,-1.679648584883991]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.4665442979682187,-1.7204582658610326,0.71338606911949],"aabb_xy":[[-0.5136736769700544,-1.7844582669054343],[-0.41941491896638305,-1.6564582648166304]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.3966014804695033,1.268269270053962,0.71338606911949],"aabb_xy":[[0.3366014806229365,1.2114506478609233],[0.45660148031607006,1.3250878922470006]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.3459688142515259,-0.13316777712185823,0.71338606911949],"aabb_xy":[[-0.35418335936720985,-0.1418443674194995],[-0.3377542691358419,-0.12449118682421693]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.08543381013589024,-0.734922596517452,0.71338606911949],"aabb_xy":[[-0.13543381115502554,-0.77138881225528],[-0.035433809116754984,-0.698456380779624]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.5925111798294498,1.4798877828990755,0.71338606911949],"aabb_xy":[[0.5819437001713508,1.469342752786067],[0.6030786594875488,1.490432813012084]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.593633891751252,0.048478236636044336,0.71338606911949],"aabb_xy":[[-0.6000477053944369,0.04206841638837599],[-0.587220078108067,0.05488805688371267]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.3815417138926261,0.2998965839644261,0.71338606911949],"aabb_xy":[[-0.39244748998018886,0.21989658756559693],[-0.37063593780506343,0.37989658036325524]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.4655628604246021,0.9747850720832529,0.71338606911949],"aabb_xy":[[-0.5305628613817293,0.9228368601495475],[-0.4005628594674749,1.0267332840169585]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.2703401331145166,1.310191358881652,0.71338606911949],"aabb_xy":[[-0.29222988070345735,1.2201913615924027],[-0.24845038552557577,1.400191356170901]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.5298387137792047,-0.334028845428477,0.71338606911949],"aabb_xy":[[0.5128286164891539,-0.3501633339267509],[0.5468488110692552,-0.31789435693020307]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[0.14417044506942578,1.125805831963536,0.71338606911949],"aabb_xy":[[0.06417044180541265,1.1122457996546227],[0.2241704483334389,1.1393658642724493]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[-0.18797877881005254,0.3159929096260785,0.71338606911949],"aabb_xy":[[-0.21252499443280326,0.28574401307704145],[-0.16343256318730182,0.3462418061751156]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[0.059797152301574674,-0.8144321757137505,0.71338606911949],"aabb_xy":[[0.05445957663557011,-0.8394321766428903],[0.06513472796757924,-0.7894321747846107]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670415708594479,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7657.png","name":"7657"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7657.png","name":"7657"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8432.png","name":"8432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1975.png","name":"1975"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2237.png","name":"2237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8736.png","name":"8736"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":648.6775398614783,"rotation_z_degrees":50.99002087664529,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031628058398186325,-0.004208711280272781,-0.016950056782655012]},{"name":"camera_2","offset_m":[0.00023083678480776207,0.01613682848399776,0.003152453662642437]},{"name":"camera_3","offset_m":[0.011621209415536068,-0.00010986542762779147,0.00285057002807617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006209831134119438,0.0001733685066219212,0.0017001235246299653],"end_effector_yaw_offset_degrees":-0.5084912326891704},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014781106099606895,0.0016470584545161251,-0.0006520266305615947],"end_effector_yaw_offset_degrees":-0.8539698485242395},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011533709473022938,-0.001189318284100263,0.0018292442475698824],"end_effector_yaw_offset_degrees":-0.9636912217727243}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0005504234605994618,-0.004353985132983613],"position_m":[0.22245042346059946,0.2630460148670164,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001324919640894086,0.0010238804661728378],"position_m":[0.3433249196408941,0.11212388046617285,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0022159840819558707,-0.002079586014079198],"position_m":[0.2980159840819559,-0.0459795860140792,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004273161594596428,-0.00222764696906675],"position_m":[0.2671268384054035,-0.31082764696906673,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"6e9e9ba8d8b89d5af48e02f4ebe25e02f1e21d453e37d6534e266f4df1d2373c","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7657/tex_ceiling_textures_8736/tex_floor_textures_2237/tex_table_textures_8432/tex_wall_textures_1975","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5693701751468119766,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5693701751468119766,"visual_seed":5693701751468119766,"scene_id":"lab_003","finished_at":"2026-09-02T06:54:05"}
+{"episode_id":"ep_000075","started_at":"2026-09-02T06:54:09","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.6081596228299977,1.4323949025874883,0.71338606911949],"aabb_xy":[[0.602122609829333,1.42636820151854],[0.6141966358306624,1.4384216036564361]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.5844262186036712,-1.3544925387964806,0.71338606911949],"aabb_xy":[[-0.6694262172957458,-1.3864784021913592],[-0.4994262199115965,-1.3225066754016015]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[0.1270255417265843,1.3681776389998825,0.71338606911949],"aabb_xy":[[0.07754512051262552,1.3041776410870307],[0.1765059629405431,1.4321776369127344]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[-0.06777502446012762,-0.9426348380018761,0.71338606911949],"aabb_xy":[[-0.10236610731417282,-1.007634838286907],[-0.033183941606082394,-0.877634837716845]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.19592726965538704,-1.011892900105603,0.71338606911949],"aabb_xy":[[-0.20464123870532147,-1.034392900764791],[-0.1872133006054525,-0.9893928994464146]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.4911867543015125,0.5992876112851993,0.71338606911949],"aabb_xy":[[0.4211867516649261,0.5791827462893336],[0.5611867569380988,0.6193924762810646]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.29141434488127904,-2.407575305869864,0.71338606911949],"aabb_xy":[[0.24143692801602548,-2.4575753073591122],[0.34139176174653263,-2.357575304380615]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.648719222425526,-1.6001039939155133,0.71338606911949],"aabb_xy":[[0.6423054087823409,-1.6065138141631814],[0.6551330360687108,-1.5936941736678447]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.20583528597984835,-1.2408753850222807,0.71338606911949],"aabb_xy":[[-0.28583528463673435,-1.2553802439465436],[-0.12583528732296237,-1.2263705260980178]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.2104178254235886,-1.3754751964597671,0.71338606911949],"aabb_xy":[[-0.22386435205763192,-1.388945048112858],[-0.19697129878954525,-1.3620053448066758]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.6639551343410133,0.564863697860376,0.71338606911949],"aabb_xy":[[0.6089551361392685,0.5243417312339385],[0.7189551325427582,0.6053856644868136]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.21988720518558996,0.801006355611086,0.71338606911949],"aabb_xy":[[-0.28388720588905936,0.7549879731381651],[-0.15588720448212062,0.8470247380840071]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.19727111345063314,-0.20480631209658373,0.71338606911949],"aabb_xy":[[-0.2171621533309734,-0.21746212338128063],[-0.1773800735702929,-0.19215050081188695]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.6003328669504149,-0.8426262922651346,0.71338606911949],"aabb_xy":[[0.5720031570018747,-0.8470870344588518],[0.6286625768989551,-0.8381655500714177]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.5968382402795954,1.5823236202583897,0.71338606911949],"aabb_xy":[[-0.6608382419575928,1.533806228779075],[-0.5328382386015981,1.6308410117377035]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.621442871690783,-0.4775698343064101,0.71338606911949],"aabb_xy":[[-0.6439428712144903,-0.5000657817570306],[-0.5989428721670755,-0.4550738868557892]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.2894262439503167,-1.7654239027874907,0.71338606911949],"aabb_xy":[[0.27934453687174315,-1.8454239006796054],[0.2995079510288901,-1.685423904895376]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.3941800781443312,0.5784624479906793,0.71338606911949],"aabb_xy":[[-0.4741800751585792,0.558327896317268],[-0.3141800811300832,0.5985969996640905]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.28068592801789904,-2.0613282885653987,0.71338606911949],"aabb_xy":[[0.258777245878548,-2.0832289553854895],[0.3025946101572501,-2.039427621745308]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.2733538237342824,1.4701934092856104,0.71338606911949],"aabb_xy":[[-0.2908538228686495,1.4603137822480226],[-0.2558538245999152,1.4800730363231982]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.4775983141027871,-1.0417934710708294,0.71338606911949],"aabb_xy":[[0.46957204347216114,-1.050544966048182],[0.48562458473341313,-1.0330419760934768]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.5101149285808986,-0.7627826238353073,0.71338606911949],"aabb_xy":[[-0.5209554068074135,-0.7799689051259561],[-0.49927445035438367,-0.7455963425446585]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.5708482676707379,-0.20398743137489772,0.71338606911949],"aabb_xy":[[-0.6348482700135395,-0.24892828261903022],[-0.5068482653279364,-0.15904658013076522]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.013891760730954217,1.3040558361494603,0.71338606911949],"aabb_xy":[[-0.04437601085798437,1.2540558363679646],[0.016592489396075938,1.3540558359309565]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.2841292742676317,1.6991627306053414,0.71338606911949],"aabb_xy":[[0.22012927497346346,1.6351765902364872],[0.3481292735617999,1.7631488709741956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696890349979809,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1106.png","name":"1106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5125.png","name":"5125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/604.png","name":"604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6228.png","name":"6228"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":701.1757885456444,"rotation_z_degrees":184.5664588323997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014737202828832632,-0.007046333944102794,-0.01920644627290072]},{"name":"camera_2","offset_m":[0.011684426428916348,0.010618896906054057,0.012832525952065212]},{"name":"camera_3","offset_m":[-0.01539506394261144,-0.0035271020392576465,0.0051712071458851]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017247930629413467,-0.00018401292059184895,-0.0017654396576031366],"end_effector_yaw_offset_degrees":0.01847036406340119},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007221302195041038,-0.001078606497196366,-0.0013574030240408987],"end_effector_yaw_offset_degrees":0.8974929366992555},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018361481737928474,0.0014858671100353897,-0.0006484263459876005],"end_effector_yaw_offset_degrees":0.7154978849422775}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.002937492786965844,0.0009856999299878147],"position_m":[0.21896250721303415,0.26838569992998784,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004455215944757243,0.0004817268266807404],"position_m":[0.3375447840552428,0.11158172682668074,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0010595041464960906,0.003144171740346354],"position_m":[0.2947404958535039,-0.04075582825965365,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020116526301661155,0.004141648608191199],"position_m":[0.2734116526301661,-0.30445835139180877,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"1f5b1e84ea9f70f5ff64c7a6f63c0dcf0ac232bf62fa973e6e15a73dfd118331","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4262/tex_ceiling_textures_6228/tex_floor_textures_604/tex_table_textures_1106/tex_wall_textures_5125","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6172132642955948490,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6172132642955948490,"visual_seed":6172132642955948490,"scene_id":"lab_003","finished_at":"2026-09-02T06:57:03"}
+{"episode_id":"ep_000076","started_at":"2026-09-02T06:57:06","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.26576194175988604,1.8122556797751073,0.71338606911949],"aabb_xy":[[-0.30022441977297376,1.8055920025921843],[-0.23129946374679822,1.8189193569580298]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.12301174595250697,-1.1805206327665043,0.71338606911949],"aabb_xy":[[0.0880117467596887,-1.1914876787641668],[0.15801174514532523,-1.1695535867688414]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.43957453104740024,1.7964958296374411,0.71338606911949],"aabb_xy":[[-0.47301470624341985,1.7630522038065108],[-0.40613435585138064,1.829939455468371]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.4137716390731305,-1.7673309673838657,0.71338606911949],"aabb_xy":[[0.40913652392089717,-1.7711983024610145],[0.4184067542253639,-1.763463632306717]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[-0.0718865151225877,-0.7064429854410186,0.71338606911949],"aabb_xy":[[-0.16188651371705765,-0.7226935717544397],[0.018113483471882227,-0.6901923991275977]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.393840947410943,-2.5248886187905955,0.71338606911949],"aabb_xy":[[0.31384094414692987,-2.538448651099509],[0.47384095067495613,-2.511328586481682]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.004527331693917835,-1.60706699353456,0.71338606911949],"aabb_xy":[[-0.042027331865789774,-1.639767728917467],[0.032972668477954103,-1.5743662581516527]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.3693987702402872,1.1756100687483162,0.71338606911949],"aabb_xy":[[0.2993987738303253,1.155172133096634],[0.4393987666502489,1.1960480043999975]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.32882451884234803,0.5280188002206088,0.71338606911949],"aabb_xy":[[-0.41382451725977126,0.4431445047583238],[-0.2438245204249248,0.6128930956828937]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.5633991979695457,-2.0253077191318622,0.71338606911949],"aabb_xy":[[-0.5706604455399532,-2.0380947293953717],[-0.5561379503991385,-2.0125207088683528]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.30919096531258816,-1.19281074447823,0.71338606911949],"aabb_xy":[[0.22919096503898115,-1.2657602923039466],[0.3891909655861951,-1.1198611966525132]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.12530006876055588,-0.47994827354211234,0.71338606911949],"aabb_xy":[[-0.17057868364170514,-0.543948272890296],[-0.08002145387940662,-0.4159482741939286]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[-0.05867000016071611,1.7234216111757275,0.71338606911949],"aabb_xy":[[-0.07778230751869497,1.7042868322984854],[-0.03955769280273725,1.7425563900529695]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.4320013458776353,1.4042341732353836,0.71338606911949],"aabb_xy":[[0.42704532569275416,1.3817341730332622],[0.4369573660625165,1.4267341734375054]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.24363995144195932,-1.625092614109799,0.71338606911949],"aabb_xy":[[-0.29312037265591817,-1.689092612022651],[-0.19415953022800056,-1.5610926161969474]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.5192760862213592,0.4954386460455833,0.71338606911949],"aabb_xy":[[-0.5361868186577009,0.48196644045296877],[-0.5023653537850173,0.5089108516381977]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.32868194972367504,1.5881775975775443,0.71338606911949],"aabb_xy":[[0.26468195261156935,1.539145227783134],[0.3926819468357807,1.6372099673719551]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.5132243853144107,0.2322796644154641,0.71338606911949],"aabb_xy":[[0.47572438673878986,0.2195433687519061],[0.5507243838900314,0.245015960079022]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.11484044733558918,-1.9183834704863656,0.71338606911949],"aabb_xy":[[0.049840449179670135,-1.944679715036278],[0.17984044549150824,-1.8920872259364536]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.02691333610249147,-2.1915631451513606,0.71338606911949],"aabb_xy":[[0.00685492448925118,-2.211628232060518],[0.04697174771573176,-2.171498058242203]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.4526949068358603,0.9544018136929782,0.71338606911949],"aabb_xy":[[-0.5078201124654511,0.8944018122516909],[-0.3975697012062695,1.014401815134265]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.5473323670995011,-1.8068344943851637,0.71338606911949],"aabb_xy":[[-0.555035557773578,-1.8145438650839019],[-0.5396291764254239,-1.7991251236864256]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.15088835369605313,1.0378434879908478,0.71338606911949],"aabb_xy":[[0.14347589815466466,1.0319922775692199],[0.1583008092374416,1.0436946984124758]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.12624621459195828,0.41564920887097534,0.71338606911949],"aabb_xy":[[-0.1388730018791546,0.4061031351694024],[-0.1136194273047619,0.4251952825725482]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[-0.03683835454882389,-1.0728343111299263,0.71338606911949],"aabb_xy":[[-0.10083835371859383,-1.1196009982488886],[0.027161644620946054,-1.0260676240109636]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.3582548750500932,-1.8777101052705119,0.71338606911949],"aabb_xy":[[-0.40823782523757246,-1.9277101049130723],[-0.3082719248626138,-1.8277101056279514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6741358761490336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9219.png","name":"9219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7962.png","name":"7962"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5170.png","name":"5170"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":760.2868461275106,"rotation_z_degrees":173.05564572681035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009487091475925663,0.013782271238798677,0.014880315477265326]},{"name":"camera_2","offset_m":[8.394253836477988e-06,0.007835666514746858,0.002027610384965451]},{"name":"camera_3","offset_m":[0.015918306946379957,-0.015304664754919074,0.01852184240668656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006231965325507005,-0.0010250854625949452,0.0013143538069351154],"end_effector_yaw_offset_degrees":-0.2179060130451851},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015551448021232446,-0.0013433313042284008,0.001576981400799754],"end_effector_yaw_offset_degrees":-0.3644970447151119},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00030189180097372494,0.0003380397507285102,0.00021535528567686799],"end_effector_yaw_offset_degrees":-0.1745717362950403}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0006553279165366944,0.0009464712814172835],"position_m":[0.2212446720834633,0.2683464712814173,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026917925579845636,-0.0038523832453027495],"position_m":[0.33930820744201545,0.10724761675469725,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0013785088385824197,0.003991787915723403],"position_m":[0.2944214911614176,-0.0399082120842766,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036313535398398893,-0.0024236514998196056],"position_m":[0.2750313535398399,-0.3110236514998196,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"12138f48e50b82abc68bda0ab4ae219370c45380af0bed4ac1e06aaaa2281386","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6341/tex_ceiling_textures_5170/tex_floor_textures_7962/tex_table_textures_9219/tex_wall_textures_8872","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":793230116692399099,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":793230116692399099,"visual_seed":793230116692399099,"scene_id":"lab_003","finished_at":"2026-09-02T06:59:54"}
+{"episode_id":"ep_000077","started_at":"2026-09-02T06:59:56","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.43866596231343247,1.7011634753549383,0.71338606911949],"aabb_xy":[[-0.4492334419715314,1.6906184452419293],[-0.4280984826553334,1.7117085054679464]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.46592765068847714,0.6003300847742237,0.71338606911949],"aabb_xy":[[-0.4884276509319925,0.5881254501144518],[-0.4434276504449617,0.6125347194339957]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[0.6896966572558199,-2.143628183156747,0.71338606911949],"aabb_xy":[[0.6841149856216909,-2.156128182974522],[0.6952783288899486,-2.1311281833389715]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.2863758328336755,-1.0902024480391883,0.71338606911949],"aabb_xy":[[-0.29722743908255106,-1.1010617387668393],[-0.27552422658479986,-1.0793431573115373]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.08010623638086822,-1.02282948408738,0.71338606911949],"aabb_xy":[[-0.10257100635227334,-1.0453294849662405],[-0.057641466409463105,-1.0003294832085194]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.1086871168179917,-1.822792188373671,0.71338606911949],"aabb_xy":[[-0.14723280964319274,-1.8613379594298598],[-0.07014142399279066,-1.7842464173174823]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.2843358169395485,0.8927501477930955,0.71338606911949],"aabb_xy":[[-0.37433581666272264,0.8696767952579154],[-0.1943358172163743,0.9158235003282751]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.5505313532663996,-2.02340154392331,0.71338606911949],"aabb_xy":[[0.525531353714661,-2.033544027788445],[0.5755313528181379,-2.0132590600581755]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.18284279905007927,-2.135755325558167,0.71338606911949],"aabb_xy":[[-0.2041208071935515,-2.2007553278842398],[-0.161564790906607,-2.0707553232320937]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.42652786978967866,-0.46511770934969743,0.71338606911949],"aabb_xy":[[-0.5065278668039266,-0.48525226102310864],[-0.3465278727754307,-0.4449831576762861]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.2863499149311284,-1.001240845784011,0.71338606911949],"aabb_xy":[[0.23134991530938254,-1.0562245385714837],[0.3413499145528742,-0.9462571529965382]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[-0.4766209797560851,-2.2828757829597723,0.71338606911949],"aabb_xy":[[-0.480324241085224,-2.2865778012684896],[-0.4729177184269462,-2.279173764651054]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.35275275328963795,0.9022573066741582,0.71338606911949],"aabb_xy":[[0.31525275177400625,0.8910305336580131],[0.39025275480526966,0.9134840796903032]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.20478686951393332,0.7800777617459778,0.71338606911949],"aabb_xy":[[0.1743887584147897,0.7496708597443081],[0.23518498061307688,0.8104846637476472]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[0.7145738964547173,-1.0895643325770425,0.71338606911949],"aabb_xy":[[0.7065799078770137,-1.097564412672133],[0.7225678850324205,-1.0815642524819522]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.4694779344609903,-0.6739651541102136,0.71338606911949],"aabb_xy":[[-0.4873470422154458,-0.6877980620874246],[-0.4516088267065348,-0.6601322461330027]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.5545220917196128,-2.373184878644519,0.71338606911949],"aabb_xy":[[0.5095220902533839,-2.4181847355059998],[0.5995220931858416,-2.3281850217830384]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.6321369199565414,-2.278553540644541,0.71338606911949],"aabb_xy":[[-0.6871369191331309,-2.333543215419499],[-0.5771369207799519,-2.2235638658695835]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.6033878987741643,-1.8956773332969368,0.71338606911949],"aabb_xy":[[-0.6128053733440272,-1.9050935104346558],[-0.5939704242043017,-1.8862611561592177]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.519472356602366,-0.8626060069833004,0.71338606911949],"aabb_xy":[[-0.569465468711558,-0.9126060076574962],[-0.46947924449317424,-0.812606006309105]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.6350069085102152,1.2024349994391295,0.71338606911949],"aabb_xy":[[-0.6552912112336139,1.1821523742964204],[-0.6147226057868164,1.222717624581838]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.352225880364774,0.4586250667644438,0.71338606911949],"aabb_xy":[[0.334679185448655,0.42112506520019255],[0.36977257528089286,0.4961250683286951]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.5687615856141701,-0.8773232179414294,0.71338606911949],"aabb_xy":[[0.5583500269336863,-0.8826689512773279],[0.5791731442946537,-0.8719774846055309]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704395671617085,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7811.png","name":"7811"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7811.png","name":"7811"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9718.png","name":"9718"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3185.png","name":"3185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8027.png","name":"8027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4815.png","name":"4815"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":660.1721349166401,"rotation_z_degrees":332.3393217696842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014251218541791389,-0.018470977058999125,-0.011082769098393635]},{"name":"camera_2","offset_m":[-0.011232579678081063,-0.010094136370752063,-0.01481226398271582]},{"name":"camera_3","offset_m":[-0.0042224026011988686,-0.012354612583535167,-0.007399065755332784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001651411728741193,0.0006243234479099799,0.0001206372425679174],"end_effector_yaw_offset_degrees":-0.8482004334108586},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000737544027364164,0.001506756741914739,0.00036804918428445235],"end_effector_yaw_offset_degrees":0.8374741493332285},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-4.23268695856102e-05,0.0016940553744569727,-0.001501688089114135],"end_effector_yaw_offset_degrees":-0.7972857721415407}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003898082294753641,0.0004942548673913258],"position_m":[0.21800191770524635,0.2678942548673914,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010237802334576293,0.0003695019408452762],"position_m":[0.3409762197665424,0.11146950194084528,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0011686206142173554,-0.001174949934304208],"position_m":[0.29696862061421736,-0.045074949934304206,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026648669995544836,0.0037705209106719947],"position_m":[0.27406486699955446,-0.304829479089328,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"d0f408bd3c76bb3fb33a50644633bb5eb2319bd9b35c7dda2e49428b7fedbc51","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7811/tex_ceiling_textures_4815/tex_floor_textures_8027/tex_table_textures_9718/tex_wall_textures_3185","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5333259837427903242,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5333259837427903242,"visual_seed":5333259837427903242,"scene_id":"lab_003","finished_at":"2026-09-02T07:02:38"}
+{"episode_id":"ep_000078","started_at":"2026-09-02T07:02:41","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[0.580521988253583,1.7851640381370797,0.71338606911949],"aabb_xy":[[0.5630219880085334,1.7676642502975128],[0.5980219884986322,1.8026638259766465]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.0954427607383499,0.4917004501067459,0.71338606911949],"aabb_xy":[[-0.18044275915577312,0.4068261546444609],[-0.010442762320926668,0.5765747455690309]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.4509656539670658,0.2562905945134455,0.71338606911949],"aabb_xy":[[-0.530965650930105,0.17921495286967198],[-0.3709656570040266,0.3333662361572189]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.11952063280806657,-1.334004685250841,0.71338606911949],"aabb_xy":[[-0.18952063544465292,-1.3541095502467062],[-0.049520630171480215,-1.3138998202549752]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.6292583074446851,0.37817446981934744,0.71338606911949],"aabb_xy":[[0.6029694831242444,0.35190303616469615],[0.6555471317651257,0.4044459034739986]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.09136020496700725,0.9168617378721122,0.71338606911949],"aabb_xy":[[0.04917579080617651,0.8528617375949011],[0.133544619127838,0.9808617381493235]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.5447338130633623,1.4084741204772566,0.71338606911949],"aabb_xy":[[-0.5997338126851083,1.3534904276897841],[-0.4897338134416166,1.4634578132647296]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[-0.5946958369552532,-1.048106635648755,0.71338606911949],"aabb_xy":[[-0.6116065693915949,-1.0615788412413691],[-0.5777851045189113,-1.0346344300561403]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.5087946745630412,0.6187222799955086,0.71338606911949],"aabb_xy":[[-0.5473403673882422,0.5801765089393199],[-0.47024898173784013,0.6572680510516972]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.1179536558865073,-2.250350172286695,0.71338606911949],"aabb_xy":[[-0.14012618286315814,-2.272525839442818],[-0.09578112890985646,-2.2281745051305717]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.4124896275586001,1.4537876339378015,0.71338606911949],"aabb_xy":[[0.40449613776331805,1.4457895019973261],[0.4204831173538821,1.4617857658782774]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.5118568248481441,-0.5800500256280854,0.71338606911949],"aabb_xy":[[-0.5546235317275643,-0.6440500290498878],[-0.4690901179687239,-0.5160500222062829]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.05205343506355753,-1.9944939476010446,0.71338606911949],"aabb_xy":[[-0.13204725864211575,-2.074493950193886],[0.0279403885150007,-1.914493945008203]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.08042762632340228,-0.4878843259377015,0.71338606911949],"aabb_xy":[[-0.09050933340197574,-0.5678843238298161],[-0.07034591924482879,-0.4078843280455868]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.12486873233845064,0.9776749310794144,0.71338606911949],"aabb_xy":[[-0.13462472184762453,0.9679123970201798],[-0.11511274282927673,0.9874374651386487]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.2919900144794716,1.0793411644530235,0.71338606911949],"aabb_xy":[[0.2743143838908732,1.0616609481736206],[0.3096656450680699,1.097021380732426]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[0.48437454274797065,-0.5601323285726871,0.71338606911949],"aabb_xy":[[0.4593745428154527,-0.5670149967936104],[0.5093745426804885,-0.5532496603517638]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.028619520903351736,1.2716889521653947,0.71338606911949],"aabb_xy":[[-0.05646455768395886,1.240904453427083],[-0.0007744841227446154,1.3024734509037064]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.3884021480409826,-1.5812185519275037,0.71338606911949],"aabb_xy":[[-0.4296509590708973,-1.6362185514397212],[-0.3471533370110678,-1.5262185524152863]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.4223282085433506,-1.5052244389995522,0.71338606911949],"aabb_xy":[[0.41508444249710524,-1.5852244372031543],[0.4295719745895959,-1.4252244407959496]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.6540846772420457,-2.0366540600449126,0.71338606911949],"aabb_xy":[[0.5900846765385763,-2.082672442517834],[0.718084677945515,-1.990635677571992]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.256578020565003,-1.0563893807589826,0.71338606911949],"aabb_xy":[[-0.29407801914062376,-1.0691256764225403],[-0.21907802198938217,-1.0436530850954244]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.5245842351731991,0.671505887662295,0.71338606911949],"aabb_xy":[[0.5069513995796714,0.653882941646672],[0.5422170707667265,0.689128833677918]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.06286997639442027,-2.2689553340481416,0.71338606911949],"aabb_xy":[[0.02536997487878856,-2.2801821070642867],[0.10036997791005198,-2.2577285610319966]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[-0.33501666124437507,0.6685366309108627,0.71338606911949],"aabb_xy":[[-0.4000166598014479,0.6387840974969802],[-0.27001666268730223,0.6982891643247454]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688075295552017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1033.png","name":"1033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1033.png","name":"1033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8205.png","name":"8205"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9662.png","name":"9662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5651.png","name":"5651"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1553.png","name":"1553"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":544.7245028588845,"rotation_z_degrees":34.69982458746158,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010501375405746858,-0.014828326852051795,0.018226889498000654]},{"name":"camera_2","offset_m":[0.018280435976357434,0.007997938159178878,-0.017424432788795782]},{"name":"camera_3","offset_m":[-0.01757876641389725,0.0018036957447807554,0.00411500379174503]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013241348810432117,-0.0006795224624103148,-0.0009784984898696138],"end_effector_yaw_offset_degrees":-0.5414726901872959},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008027336061088844,-0.0004897245340876846,0.0016570299438493016],"end_effector_yaw_offset_degrees":-0.26652931720491546},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003597196536755053,0.0008599835307616047,0.0004902039404861588],"end_effector_yaw_offset_degrees":-0.5491616470593699}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0029271424218841238,0.0031222300422712465],"position_m":[0.21897285757811585,0.27052223004227127,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004327916577116705,-0.00427440294997998],"position_m":[0.34632791657711676,0.10682559705002002,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0012922243557032544,-0.004599489176918109],"position_m":[0.29450777564429675,-0.04849948917691811,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013694478678243603,0.0018859343180849496],"position_m":[0.27126305521321753,-0.30671406568191506,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"176e77074a066dc810c169bdf55c7319c38206ca190416adb8b83aaa74dc7f6c","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0083.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1033/tex_ceiling_textures_1553/tex_floor_textures_5651/tex_table_textures_8205/tex_wall_textures_9662","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":610952241885208084,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":610952241885208084,"visual_seed":610952241885208084,"scene_id":"lab_003","finished_at":"2026-09-02T07:05:33"}
+{"episode_id":"ep_000079","started_at":"2026-09-02T07:05:36","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.20669543505014704,-2.507580509912595,0.71338606911949],"aabb_xy":[[-0.2180571697034332,-2.518948976318883],[-0.19533370039686088,-2.4962120435063064]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.1677819583556438,0.7163876720902054,0.71338606911949],"aabb_xy":[[-0.1775379478648177,0.7066251380309709],[-0.1580259688464699,0.7261502061494398]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.3861151519889815,-0.1947450913996729,0.71338606911949],"aabb_xy":[[-0.42174430788894124,-0.23037775815652584],[-0.35048599608902176,-0.15911242464281994]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.04419405003068455,1.0344639243286071,0.71338606911949],"aabb_xy":[[-0.08947266491183381,0.9704639249804234],[0.0010845648504647087,1.0984639236767908]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.6144385566773789,-0.18796187886058568,0.71338606911949],"aabb_xy":[[0.597527824241037,-0.20143408445320019],[0.6313492891137206,-0.17448967326797113]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.31431154648310766,-1.5312184336772858,0.71338606911949],"aabb_xy":[[-0.3641942433608039,-1.581218432923561],[-0.2644288496054115,-1.4812184344310113]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.35446863427043457,-2.258392872890052,0.71338606911949],"aabb_xy":[[-0.41946863430473724,-2.3050935495703793],[-0.2894686342361318,-2.2116921962097247]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.32420494580038434,1.3852693857448881,0.71338606911949],"aabb_xy":[[-0.3892049436820322,1.3341457220383472],[-0.25920494791873655,1.436393049451429]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.13865044938007887,-1.890438876545543,0.71338606911949],"aabb_xy":[[0.11615044956617648,-1.894913492916024],[0.16115044919398125,-1.8859642601750626]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.48166987107919246,-0.48001763130234565,0.71338606911949],"aabb_xy":[[-0.5191698715765507,-0.483986314850464],[-0.4441698705818342,-0.4760489477542272]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[-0.06427464347472589,-0.4011961876100525,0.71338606911949],"aabb_xy":[[-0.08137672143309405,-0.41830299314132235],[-0.047172565516357734,-0.38408938207878285]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.1400539849779726,-1.9996018372130466,0.71338606911949],"aabb_xy":[[0.10505398362649086,-2.0199615731698666],[0.17505398632945432,-1.9792421012562254]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.030578809143808172,1.6563801667447797,0.71338606911949],"aabb_xy":[[-0.11057880941741516,1.5834306189190628],[0.0494211911297988,1.7293297145704962]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.6606220492431873,0.7124927752865595,0.71338606911949],"aabb_xy":[[-0.6676623591767245,0.6324927758868881],[-0.6535817393096505,0.792492774686231]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.12625715344309885,-0.8235562805963452,0.71338606911949],"aabb_xy":[[0.04625715628352353,-0.8351038815541622],[0.2062571506026741,-0.8120086796385281]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.7060698332210025,-0.20574217113760662,0.71338606911949],"aabb_xy":[[0.6936024751112668,-0.21820749577093015],[0.7185371913307381,-0.19327684650428315]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.5346152925664727,-0.5127882809867503,0.71338606911949],"aabb_xy":[[0.4796415705301398,-0.5677882805509835],[0.5895890146028056,-0.45778828142251715]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.3480930307034782,-0.5937521396885959,0.71338606911949],"aabb_xy":[[0.2830930295975349,-0.6187175127567242],[0.4130930318094215,-0.5687867666204676]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.6933058786715014,-1.4912933316698034,0.71338606911949],"aabb_xy":[[0.681537691876844,-1.5762933315750252],[0.705074065466159,-1.4062933317645818]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.5441304166471344,0.3949958340310995,0.71338606911949],"aabb_xy":[[-0.581630417831927,0.39057761133503893],[-0.5066304154623414,0.39941405672715996]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.26497824471106046,-1.1525229685301124,0.71338606911949],"aabb_xy":[[-0.27310593290437374,-1.1614365769408201],[-0.2568505565177473,-1.1436093601194046]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.6076465766773995,-2.4901825368642028,0.71338606911949],"aabb_xy":[[0.5924837037004624,-2.5053479941593215],[0.6228094496543366,-2.475017079569084]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.3245648403139878,-1.7564142406994159,0.71338606911949],"aabb_xy":[[0.3165285056127029,-1.7644523600038327],[0.3326011750152726,-1.748376121394999]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.6874058394683087,-0.6330996597234209,0.71338606911949],"aabb_xy":[[0.6648921476448514,-0.7030996603244284],[0.7099195312917658,-0.5630996591224133]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[-0.1817170031550922,-2.3563473484216564,0.71338606911949],"aabb_xy":[[-0.24671700131101126,-2.382643592971569],[-0.11671700499917315,-2.3300511038717446]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.35432801160890504,-2.4680326901258196,0.71338606911949],"aabb_xy":[[-0.37884163570591095,-2.492297283427856],[-0.32981438751189923,-2.443768096823783]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.11681405432923997,1.5065565353817143,0.71338606911949],"aabb_xy":[[0.09181405477750146,1.4964140515165794],[0.14181405388097842,1.5166990192468488]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6742749324016267,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4768.png","name":"4768"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4768.png","name":"4768"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7255.png","name":"7255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3422.png","name":"3422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5371.png","name":"5371"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2185.png","name":"2185"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":727.3999787117885,"rotation_z_degrees":19.698523391455844,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016611552638881765,0.018301856717340848,0.008222695333828169]},{"name":"camera_2","offset_m":[-0.008011680957449011,-0.015587525817923047,-0.019082863909995997]},{"name":"camera_3","offset_m":[0.001217961387974146,0.009113101789707718,-0.016989931623168635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010948547564840665,-0.0015308661226704446,0.0012583327927325615],"end_effector_yaw_offset_degrees":-0.16184568114492448},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009823832926498608,0.0015301622394641758,-0.0003467502146440168],"end_effector_yaw_offset_degrees":-0.37393938760909684},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018688110411111331,0.0005455925768735764,-0.0005888848495812352],"end_effector_yaw_offset_degrees":-0.7985112962410275}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011501182531924222,-0.0045811695691799085],"position_m":[0.2230501182531924,0.2628188304308201,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014548828049680308,0.0009593996305581644],"position_m":[0.34345488280496805,0.11205939963055817,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.00016890225531133746,0.004447088282034078],"position_m":[0.29563109774468865,-0.03945291171796592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029184627540182638,-0.004090640209719403],"position_m":[0.2743184627540182,-0.3126906402097194,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"012180e93c987efb849bf166b79ff647c532ccc0a3dbfad7b01a4c1781850104","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4768/tex_ceiling_textures_2185/tex_floor_textures_5371/tex_table_textures_7255/tex_wall_textures_3422","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":8061304063441070821,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":8061304063441070821,"visual_seed":8061304063441070821,"scene_id":"lab_003","finished_at":"2026-09-02T07:08:23"}
+{"episode_id":"ep_000080","started_at":"2026-09-02T07:08:26","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.17730639321072206,1.5574498123164369,0.71338606911949],"aabb_xy":[[0.11330639116099006,1.517355329227129],[0.24130639526045405,1.5975442954057448]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[-0.09772623074580755,-1.9708523276878096,0.71338606911949],"aabb_xy":[[-0.15271944208294433,-2.0258523280266036],[-0.04273301940867081,-1.9158523273490164]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.27149509948551054,-1.4532941176902352,0.71338606911949],"aabb_xy":[[0.22149509912494444,-1.503274104899838],[0.32149509984607655,-1.403314130480632]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.07729630859946213,1.1749668066444956,0.71338606911949],"aabb_xy":[[-0.09979630884297752,1.1627621719847236],[-0.05479630835594673,1.1871714413042675]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.2692117407062591,-2.118303269496591,0.71338606911949],"aabb_xy":[[0.25171180727227566,-2.135803269416825],[0.2867116741402424,-2.100803269576356]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[-0.24892048250823023,1.3295075849009699,0.71338606911949],"aabb_xy":[[-0.3129204857979383,1.286172665897052],[-0.18492047921852212,1.3728425039048873]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.043190450598868724,0.7731047455082356,0.71338606911949],"aabb_xy":[[0.012043531755285608,0.7031047468214283],[0.07433736944245184,0.8431047441950427]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.4157690955700417,-2.4048328557260295,0.71338606911949],"aabb_xy":[[-0.43826823129626863,-2.427332856504292],[-0.3932699598438147,-2.3823328549477667]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.07191840784804304,-2.1837293194764693,0.71338606911949],"aabb_xy":[[0.03732732499399782,-2.2487293197614995],[0.10650949070208825,-2.1187293191914374]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.30860663872507665,0.6039708151132985,0.71338606911949],"aabb_xy":[[-0.35848933560277285,0.5539708158670239],[-0.25872394184738046,0.6539708143595734]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[0.004736538377931532,-2.407359967797278,0.71338606911949],"aabb_xy":[[-0.0002194818069496674,-2.4298599679993997],[0.009692558562812733,-2.384859967595157]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.3186482829089335,-1.273359870789571,0.71338606911949],"aabb_xy":[[-0.3686482845704282,-1.3233583130452735],[-0.26864828124743867,-1.223361428533868]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[0.29033604577552496,1.7826565312901477,0.71338606911949],"aabb_xy":[[0.25283604583175856,1.774363441255311],[0.32783604571929137,1.7909496213249843]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.008394036527978432,-1.458128499450305,0.71338606911949],"aabb_xy":[[-0.04673116910161234,-1.5181285008915921],[0.0635192421575692,-1.3981284980090178]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.4233345875808212,1.6465674485568838,0.71338606911949],"aabb_xy":[[0.3983345884151881,1.6396152028515272],[0.4483345867464543,1.6535196942622403]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.24089145412048146,1.711221095352505,0.71338606911949],"aabb_xy":[[-0.31089145625191095,1.688459129726809],[-0.1708914519890519,1.7339830609782003]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.35892271686606314,1.3763245742388417,0.71338606911949],"aabb_xy":[[0.26892272013045293,1.323141110921547],[0.44892271360167335,1.429508037556136]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.35147028389076174,0.5105480558068844,0.71338606911949],"aabb_xy":[[0.2714702817279992,0.4305928721807408],[0.43147028605352417,0.5905032394330281]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.13284828919596148,0.6794550458601041,0.71338606911949],"aabb_xy":[[-0.1806544568097301,0.6144550431530451],[-0.0850421215821928,0.744455048567163]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.1442605110311007,-0.9534668549168901,0.71338606911949],"aabb_xy":[[0.133354734943538,-1.0334668513157192],[0.15516628711866343,-0.8734668585180609]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.6516452508523856,-2.4845363369205393,0.71338606911949],"aabb_xy":[[0.6456082378517207,-2.490563037989488],[0.6576822638530502,-2.4785096358515917]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[-0.6323485567246372,0.9456327315328368,0.71338606911949],"aabb_xy":[[-0.6823315069121164,0.895632731890276],[-0.5823656065371577,0.9956327311753969]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.23466897557111355,-1.4065251725310648,0.71338606911949],"aabb_xy":[[-0.2460307102243997,-1.4178936389373527],[-0.2233072409178274,-1.3951567061247765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731723161244217,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8108.png","name":"8108"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8108.png","name":"8108"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7557.png","name":"7557"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1669.png","name":"1669"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9391.png","name":"9391"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1571.png","name":"1571"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":638.0456389997579,"rotation_z_degrees":225.8853877415591,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011355347298530657,0.0022813974370289,-0.005908665498786787]},{"name":"camera_2","offset_m":[0.016477358425673824,0.000493323424501927,0.017254301830969012]},{"name":"camera_3","offset_m":[-0.0021405053039030043,0.013594730760062203,0.003296042063526468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007492372132580686,0.001940209079723987,-0.0009536111655273549],"end_effector_yaw_offset_degrees":-0.9485834966217754},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-9.989896001220272e-05,0.0012317342120841427,0.00031837817695889916],"end_effector_yaw_offset_degrees":0.9716315112211298},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0003529774069161735,0.0006460479083143832,-0.0002211041762972567],"end_effector_yaw_offset_degrees":0.35214324276283526}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.001872670386842937,-0.0021588476739715723],"position_m":[0.22377267038684293,0.26524115232602846,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004769003093658056,-0.0013346935622909938],"position_m":[0.33723099690634195,0.10976530643770901,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.003382869102025561,-0.0008242050898904516],"position_m":[0.29241713089797444,-0.04472420508989045,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002955664949331056,-0.001634279696477977],"position_m":[0.27435566494933106,-0.310234279696478,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e53df708a6f2736346d864ef4163ac6ef67ad4574bde316b8458a26b0fd380c6","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8108/tex_ceiling_textures_1571/tex_floor_textures_9391/tex_table_textures_7557/tex_wall_textures_1669","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6498144060216263151,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6498144060216263151,"visual_seed":6498144060216263151,"scene_id":"lab_003","finished_at":"2026-09-02T07:11:15"}
+{"episode_id":"ep_000081","started_at":"2026-09-02T07:11:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.39294000827008047,-0.6643054092656462,0.71338606911949],"aabb_xy":[[0.32794000823577774,-0.7110060859459735],[0.4579400083043832,-0.6176047325853189]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[-0.6290026763593395,-1.7951087334168454,0.71338606911949],"aabb_xy":[[-0.6866331452466101,-1.8551087323435556],[-0.5713722074720684,-1.7351087344901344]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.05934535817930886,-1.337496949277373,0.71338606911949],"aabb_xy":[[-0.13934535960943606,-1.4170141042899824],[0.020654643250818346,-1.2579797942647635]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.35423885218436313,0.2583005302184742,0.71338606911949],"aabb_xy":[[-0.40371927339832187,0.19430053230562244],[-0.3047584309704043,0.3223005281313261]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.3201247283942586,-0.8067694216704391,0.71338606911949],"aabb_xy":[[-0.3451247279459971,-0.8169119055355738],[-0.2951247288425201,-0.7966269378053044]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.6158866480631157,-0.2250176160302999,0.71338606911949],"aabb_xy":[[-0.6808866466201885,-0.2547701494441825],[-0.5508866495060428,-0.1952650826164173]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.04432645524758749,-2.299105883382997,0.71338606911949],"aabb_xy":[[-0.01967354117973441,-2.3462755072050934],[0.1083264516749094,-2.2519362595609005]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.3801436361462267,-0.538940473210967,0.71338606911949],"aabb_xy":[[0.37530004138499673,-0.5437921256899512],[0.3849872309074567,-0.5340888207319829]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.36974271441947876,-0.3099643191511343,0.71338606911949],"aabb_xy":[[-0.3922427139431861,-0.33246026660175504],[-0.3472427148957713,-0.2874683717005135]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.5250224162038292,0.16178928795916825,0.71338606911949],"aabb_xy":[[-0.5449134560841694,0.14913347667447144],[-0.5051313763234889,0.17444509924386511]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.3363846443589667,0.8879196122553359,0.71338606911949],"aabb_xy":[[-0.38138464582519566,0.8429197553938553],[-0.2913846428927379,0.9329194691168167]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.5643686946565605,0.6692877922406701,0.71338606911949],"aabb_xy":[[-0.6283686965689028,0.6133766429826598],[-0.5003686927442181,0.7251989414986807]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.19378819261660452,-1.6340151913908616,0.71338606911949],"aabb_xy":[[-0.24378819397749174,-1.683993095966277],[-0.1437881912557173,-1.5840372868154458]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.31597994751789193,-1.0061388010545838,0.71338606911949],"aabb_xy":[[0.27918531439298566,-1.043044676151166],[0.3527745806427982,-0.9692329259580015]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.5005532325437119,1.2099166040153855,0.71338606911949],"aabb_xy":[[-0.5101848687641415,1.2002792912356766],[-0.49092159632328225,1.2195539167950944]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.3231436415797788,-0.41065204575393244,0.71338606911949],"aabb_xy":[[0.3053501346448624,-0.4284517913497301],[0.34093714851469525,-0.39285230015813477]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.06074217318008046,0.995988313502183,0.71338606911949],"aabb_xy":[[0.010742171896240485,0.9460094591115608],[0.1107421744639204,1.0459671678928049]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.19780720383549572,1.5424435670588097,0.71338606911949],"aabb_xy":[[-0.2153072031135826,1.5251054669924635],[-0.18030720455740884,1.5597816671251554]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.5548207122589425,1.0107987664960207,0.71338606911949],"aabb_xy":[[-0.5907342166839321,0.9748852582792661],[-0.5189072078339528,1.0467122747127753]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.24161132409827746,-1.5116836778099716,0.71338606911949],"aabb_xy":[[-0.2791113247628561,-1.5273707358101936],[-0.20411132343369873,-1.4959966198097492]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.2862041252234353,-1.983838644722915,0.71338606911949],"aabb_xy":[[0.25161304236939,-2.0488386450079457],[0.32079520807748046,-1.918838644437884]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.19643775325092244,-1.1355704430945024,0.71338606911949],"aabb_xy":[[-0.21893775349443784,-1.1477750777542743],[-0.17393775300740705,-1.1233658084347304]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.6152000707653731,-2.2549322640753933,0.71338606911949],"aabb_xy":[[-0.6327000041993563,-2.2724322639956274],[-0.5977001373313896,-2.2374322641551583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701907029693087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1824.png","name":"1824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/969.png","name":"969"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6761.png","name":"6761"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9683.png","name":"9683"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":699.0958793144168,"rotation_z_degrees":27.558880766449615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005679690551947406,-0.0066831747320242624,0.011174522232311093]},{"name":"camera_2","offset_m":[0.005704190919944986,-0.00982210125228983,0.0019964564301269937]},{"name":"camera_3","offset_m":[0.004978255533528448,-0.004551105609376828,-0.002058086870974578]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011643285251438135,-0.0010729859836388763,0.0009839525819515613],"end_effector_yaw_offset_degrees":-0.22444285332557512},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017777506676079904,-0.0008048667992113275,-0.00012837981270336085],"end_effector_yaw_offset_degrees":-0.530326842567098},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008553325696359368,-0.0017637759120544998,0.0012319332120689919],"end_effector_yaw_offset_degrees":0.28000250889920997}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0015487140509768283,0.002664782226681769],"position_m":[0.22035128594902315,0.2700647822266818,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012388412101103034,-0.003693435879404332],"position_m":[0.34323884121011033,0.10740656412059567,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00391337076129322,0.004218401041161355],"position_m":[0.29971337076129323,-0.039681598958838646,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003009286610029422,0.0049950743770035355],"position_m":[0.2744092866100294,-0.30360492562299646,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"cb90e9e1bcbe4ada0447e18cf5b7aa2fa98dfe24322c0bfcec5c978fa81b44e1","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1035/tex_ceiling_textures_9683/tex_floor_textures_6761/tex_table_textures_1824/tex_wall_textures_969","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":8735269297308849270,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":8735269297308849270,"visual_seed":8735269297308849270,"scene_id":"lab_003","finished_at":"2026-09-02T07:14:03"}
+{"episode_id":"ep_000082","started_at":"2026-09-02T07:14:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.11522120676640935,1.0177734547163064,0.71338606911949],"aabb_xy":[[-0.17681196599040216,0.9537734566072595],[-0.053630447542416526,1.0817734528253533]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.12258207541768429,0.7191004772275242,0.71338606911949],"aabb_xy":[[-0.18758207329933207,0.6679768135209834],[-0.057582077536036474,0.7702241409340652]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[0.3519073916788642,-2.3403556061260957,0.71338606911949],"aabb_xy":[[0.287907388389156,-2.383690525130013],[0.41590739496857226,-2.2970206871221777]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.10826377940609477,-0.751917125790267,0.71338606911949],"aabb_xy":[[-0.12113568290703491,-0.8319171262041032],[-0.09539187590515463,-0.6719171253764309]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.06593369163348084,-2.538742243785101,0.71338606911949],"aabb_xy":[[0.030933691737461976,-2.5471164792970407],[0.10093369152949971,-2.5303680082731606]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.14688180358898284,-2.288266996394359,0.71338606911949],"aabb_xy":[[0.08188180503191003,-2.3180195298082418],[0.2118818021460557,-2.2585144629804765]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.022375044340902317,-0.8932244226092991,0.71338606911949],"aabb_xy":[[-0.02762495660963049,-0.9247735696128204],[0.07237504529143512,-0.8616752756057776]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.3359045848150428,1.6709774944760256,0.71338606911949],"aabb_xy":[[0.2559045868342577,1.6633759535141737],[0.4159045827958278,1.6785790354378776]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.4989361709221073,-1.6460238601751902,0.71338606911949],"aabb_xy":[[-0.5399541143084782,-1.696023860806148],[-0.4579182275357364,-1.5960238595442333]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.6227405260471,-1.9159357464089006,0.71338606911949],"aabb_xy":[[-0.687740524203019,-1.9422319909588124],[-0.5577405278911809,-1.889639501858988]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.5199532646591996,-0.7643185399485524,0.71338606911949],"aabb_xy":[[-0.5999532633160856,-0.7788233988728153],[-0.43995326600231355,-0.7498136810242897]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.2281160901431526,-1.6294830014238686,0.71338606911949],"aabb_xy":[[0.2226581445061325,-1.7094830047315277],[0.23357403578017263,-1.5494829981162095]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.6107685589434603,-1.0978345280055637,0.71338606911949],"aabb_xy":[[-0.6178100098942079,-1.1048612797433583],[-0.6037271079927127,-1.090807776267769]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.6425686598999443,0.004267529098488598,0.71338606911949],"aabb_xy":[[0.5775686588994436,-0.04651883605618634],[0.7075686609004447,0.05505389425316354]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.1813232728680899,-1.9613841382822472,0.71338606911949],"aabb_xy":[[0.15748705522748485,-2.051384139090734],[0.205159490508695,-1.8713841374737612]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.5066970069180636,0.44394602747303447,0.71338606911949],"aabb_xy":[[0.4515718012884728,0.3839460260317474],[0.5618222125476543,0.5039460289143216]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.518170553858177,1.5793159320335453,0.71338606911949],"aabb_xy":[[-0.5370549376266872,1.5604300072531925],[-0.4992861700896668,1.598201856813898]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.013730645535838915,-1.405518547666838,0.71338606911949],"aabb_xy":[[-0.033621685416179166,-1.4181743589515348],[0.006160394344501333,-1.392862736382141]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.4899820153962702,-0.6340104297531726,0.71338606911949],"aabb_xy":[[0.44016523593143536,-0.6840104282374759],[0.5397987948611049,-0.5840104312688692]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.5148385290918338,-1.0464054341987812,0.71338606911949],"aabb_xy":[[-0.531940607050202,-1.063512239730051],[-0.49773645113346565,-1.0292986286675114]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.5833970219484618,-0.1824342679270483,0.71338606911949],"aabb_xy":[[-0.5873575057181961,-0.1901021325125689],[-0.5794365381787274,-0.1747664033415277]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.29154085018622256,-0.5360182913673266,0.71338606911949],"aabb_xy":[[0.24154583922677053,-0.5860182904029183],[0.3415358611456746,-0.4860182923317349]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.2908199728525109,-1.3952762792953934,0.71338606911949],"aabb_xy":[[-0.34081997413635073,-1.445255133686015],[-0.24081997156867083,-1.3452974249047709]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.5016597342874343,1.6361959335071181,0.71338606911949],"aabb_xy":[[0.4648651011625279,1.5992900584105358],[0.5384543674123404,1.6731018086037004]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[-0.2865521750294591,-2.018377152922164,0.71338606911949],"aabb_xy":[[-0.32003134229050006,-2.0518562662932713],[-0.2530730077684182,-1.9848980395510574]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[0.5471007955714629,0.22561301571180126,0.71338606911949],"aabb_xy":[[0.5410637825707982,0.21958631464285308],[0.5531378085721277,0.2316397167807495]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[0.3841784670034114,0.6213398784251845,0.71338606911949],"aabb_xy":[[0.3041784667298044,0.5483903305994677],[0.4641784672770184,0.6942894262509012]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.6830842699711875,1.7773980775723195,0.71338606911949],"aabb_xy":[[-0.6944460046244735,1.7660296111660314],[-0.6717225353179012,1.7887665439786076]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[0.32038803196145293,-2.1835296111230917,0.71338606911949],"aabb_xy":[[0.30997647328096917,-2.1888753444589897],[0.3307995906419366,-2.178183877787193]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[-0.0889784830042818,-2.067065712293182,0.71338606911949],"aabb_xy":[[-0.0943109976588948,-2.072390040538418],[-0.08364596834966882,-2.0617413840479464]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_30","position":[0.5071585631305287,-1.142530725049391,0.71338606911949],"aabb_xy":[[0.45218484109419577,-1.1975307246136242],[0.5621322851668615,-1.0875307254851578]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[0.15505363046073173,0.7277723615037051,0.71338606911949],"aabb_xy":[[0.12059115244764393,0.7211086843207821],[0.18951610847381947,0.7344360386866278]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_32","position":[0.6726486235836937,-1.2828529351137112,0.71338606911949],"aabb_xy":[[0.6501486240599862,-1.3053488825643318],[0.695148623107401,-1.2603569876630902]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_33","position":[0.6878309278462109,1.5171124507736695,0.71338606911949],"aabb_xy":[[0.6528309278697151,1.507647834726053],[0.7228309278227067,1.5265770668212861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700071111381891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9457.png","name":"9457"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9457.png","name":"9457"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2740.png","name":"2740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2160.png","name":"2160"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/448.png","name":"448"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5588.png","name":"5588"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.9870983935297,"rotation_z_degrees":38.955355462833374,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004281998613215019,-0.009831109314904407,0.01263506288835985]},{"name":"camera_2","offset_m":[0.011256489907251355,0.001111435868544123,0.017764521979953696]},{"name":"camera_3","offset_m":[-0.01743144119540176,0.003396994445167917,0.01505820660487336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.817283430526473e-05,-0.0009588523234723577,-0.0018607001233564477],"end_effector_yaw_offset_degrees":0.751601276751015},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010012703635764852,0.0017171122346225738,-0.0004366933150903858],"end_effector_yaw_offset_degrees":0.618588872841801},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0006421762688228712,0.0010244568156175197,0.0018327378385310038],"end_effector_yaw_offset_degrees":0.5098646898077279}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004107942325184589,0.004125342134306527],"position_m":[0.2177920576748154,0.27152534213430657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023028903037886793,-0.0046087454093982055],"position_m":[0.3443028903037887,0.1064912545906018,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0008845220831234339,-0.0004702759883035935],"position_m":[0.29668452208312346,-0.04437027598830359,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022000524405096436,0.0038111870854793317],"position_m":[0.2736000524405096,-0.30478881291452065,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"f07b967a38a578be8345f1aa44b1328d1d263e89715f020d44ffe65a03d602ce","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9457/tex_ceiling_textures_5588/tex_floor_textures_448/tex_table_textures_2740/tex_wall_textures_2160","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3754679512992775953,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3754679512992775953,"visual_seed":3754679512992775953,"scene_id":"lab_003","finished_at":"2026-09-02T07:16:57"}
+{"episode_id":"ep_000083","started_at":"2026-09-02T07:17:00","dimensions":{"distractor":{"count":25,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.17556055499520729,0.04752511293970896,0.71338606911949],"aabb_xy":[[-0.18646633108277,-0.03247488345912019],[-0.16465477890764457,0.1275251093385381]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.3357958000492234,1.5429736919154728,0.71338606911949],"aabb_xy":[[-0.34113337571522795,1.5179736909863328],[-0.3304582243832188,1.5679736928446124]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.5077470056518396,0.058605834471300966,0.71338606911949],"aabb_xy":[[-0.5717470059123103,0.013597035118372956],[-0.44374700539136874,0.10361463382422896]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.12665169733878767,-1.543687978277465,0.71338606911949],"aabb_xy":[[-0.19065169464113407,-1.5880544052453218],[-0.06265170003644127,-1.4993215513096083]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.35324006084591986,-1.083287001486537,0.71338606911949],"aabb_xy":[[0.28924006155175164,-1.1472731418553912],[0.4172400601400881,-1.0193008611176828]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.4290412469425833,0.8500213479686369,0.71338606911949],"aabb_xy":[[0.37404576912192383,0.7950213465347299],[0.4840367247632426,0.9050213494025438]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.546884341897691,-1.4831298714672785,0.71338606911949],"aabb_xy":[[0.4868843410368781,-1.5345563014737647],[0.6068843427585037,-1.4317034414607919]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[0.6155337828594019,-0.8777916666086667,0.71338606911949],"aabb_xy":[[0.5705411961409514,-0.9227916658831156],[0.6605263695778523,-0.832791667334218]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.5523049305659495,-1.8310036474655829,0.71338606911949],"aabb_xy":[[-0.6099353994532202,-1.891003646392293],[-0.49467446167867846,-1.7710036485388718]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.5851461727192471,1.2199289744719932,0.71338606911949],"aabb_xy":[[0.5001461740271724,1.1879431110771141],[0.6701461714113217,1.2519148378668719]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.18584535482460207,-1.9240661813097426,0.71338606911949],"aabb_xy":[[-0.19844805396167853,-1.9366615775346083],[-0.17324265568752562,-1.9114707850848773]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.1531274647068135,-1.3926915546915137,0.71338606911949],"aabb_xy":[[-0.20312746428314823,-1.4426721336436197],[-0.1031274651304788,-1.3427109757394078]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.4002737333743392,-1.2911063781934824,0.71338606911949],"aabb_xy":[[-0.4063683612624575,-1.2996757727451511],[-0.39417910548622087,-1.2825369836418137]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.3129255713043271,-1.3066786617189747,0.71338606911949],"aabb_xy":[[0.2842762389439108,-1.3353242209960505],[0.34157490366474325,-1.278033102441899]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.34665829583644703,0.5136046414623703,0.71338606911949],"aabb_xy":[[0.3296481985463964,0.49747015296409625],[0.3636683931264977,0.5297391299606441]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.5141510717128223,-0.925005043873226,0.71338606911949],"aabb_xy":[[-0.5366158416842273,-0.9475050447520865],[-0.49168630174141703,-0.9025050429943655]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.46140949261827524,0.879447915508643,0.71338606911949],"aabb_xy":[[-0.5254094929958089,0.8297026486578307],[-0.3974094922407416,0.9291931823594552]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.24216890486279885,0.2041473166388137,0.71338606911949],"aabb_xy":[[-0.2468040200150322,0.20027998156166502],[-0.23753378971056544,0.2080146517159623]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.05587489918708788,-0.8480377527913994,0.71338606911949],"aabb_xy":[[-0.07837489969912848,-0.8705296111567976],[-0.03337489867504728,-0.8255458944260009]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.439986916154927,-2.0409369437313223,0.71338606911949],"aabb_xy":[[0.4116572062063868,-2.0453976859250393],[0.46831662610346725,-2.0364762015376052]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.5857833259315,0.7473661531959439,0.71338606911949],"aabb_xy":[[0.5803253802944798,0.6673661498882847],[0.5912412715685199,0.8273661565036029]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.6218186466288738,0.19352088157030334,0.71338606911949],"aabb_xy":[[-0.6333876273758103,0.16852088145337166],[-0.6102496658819372,0.21852088168723507]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.353464686814882,-1.6020695208328348,0.71338606911949],"aabb_xy":[[-0.4074802830967819,-1.6660695237250918],[-0.2994490905329819,-1.5380695179405774]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.0028703053603579276,1.379995440826527,0.71338606911949],"aabb_xy":[[-0.06687030606382728,1.333977058353606],[0.061129695343111426,1.426013823299448]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[0.6513629215966139,0.9491404314175536,0.71338606911949],"aabb_xy":[[0.5863629204906706,0.9241750583494253],[0.7163629227025572,0.9741058044856818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663408842804572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5970.png","name":"5970"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5970.png","name":"5970"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5940.png","name":"5940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3795.png","name":"3795"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9789.png","name":"9789"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4363.png","name":"4363"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":817.1471067761768,"rotation_z_degrees":200.24666287870542,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0021912597716344587,-0.005787178088085786,-0.008971375870438454]},{"name":"camera_2","offset_m":[-0.014288579661259258,0.017496079757150906,0.0001310255259631167]},{"name":"camera_3","offset_m":[-0.01185142402719424,0.004426045914648999,0.013680281310135333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010509577200926122,-0.0010428709032095848,-0.0002749201738777684],"end_effector_yaw_offset_degrees":0.1749460340866602},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.217205944530777e-05,0.001103459978077669,-0.0009899951085933706],"end_effector_yaw_offset_degrees":-0.6302639603937941},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0011407860280127488,-0.00038608066718825453,0.0009183504777775355],"end_effector_yaw_offset_degrees":0.774573911163505}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0031778904127287714,0.0006681900324180569],"position_m":[0.22507789041272877,0.2680681900324181,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003357120300686317,0.004926450771714931],"position_m":[0.3386428796993137,0.11602645077171493,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.004470048822602132,0.0033981616591362137],"position_m":[0.30027004882260216,-0.04050183834086379,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0046501814950176456,0.004913222600942779],"position_m":[0.2667498185049823,-0.3036867773990572,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"8733b83bedb35b0eee07059fff3c3e1b6578f73d907a4ff455b565308b57183e","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5970/tex_ceiling_textures_4363/tex_floor_textures_9789/tex_table_textures_5940/tex_wall_textures_3795","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2400585116574746255,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2400585116574746255,"visual_seed":2400585116574746255,"scene_id":"lab_003","finished_at":"2026-09-02T07:20:02"}
+{"episode_id":"ep_000084","started_at":"2026-09-02T07:20:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.2145989166983281,-0.2987279221722208,0.71338606911949],"aabb_xy":[[-0.27859891861067043,-0.3546390714302312],[-0.15059891478598575,-0.24281677291421033]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.6049350798660706,-2.385442787052695,0.71338606911949],"aabb_xy":[[-0.6899350782834939,-2.4703170825149794],[-0.5199350814486474,-2.3005684915904094]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.6387038512574508,-0.06907610275919218,0.71338606911949],"aabb_xy":[[0.5837038516357049,-0.12405979554666491],[0.6937038508791966,-0.014092409971719455]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.502110477281061,-1.2840129665548192,0.71338606911949],"aabb_xy":[[0.48923857378012076,-1.3640129669686551],[0.514982380782001,-1.2040129661409829]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.3644458924078573,-1.0011814837942545,0.71338606911949],"aabb_xy":[[0.3093206867782665,-1.0611814852355417],[0.4195710980374481,-0.9411814823529675]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.41643477743111024,-2.114030914905488,0.71338606911949],"aabb_xy":[[-0.4208654067859504,-2.119479286640171],[-0.41200414807627006,-2.108582543170806]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.6940390400923602,-2.311711808651284,0.71338606911949],"aabb_xy":[[0.6770289428023095,-2.3278462971495575],[0.7110491373824108,-2.2955773201530096]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.5254294822255087,-0.6619312169297578,0.71338606911949],"aabb_xy":[[-0.5288701584655658,-0.6657926499041223],[-0.5219888059854515,-0.6580697839553934]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.5726554721998194,1.0183737247672018,0.71338606911949],"aabb_xy":[[0.5634955932559427,1.0118425067236645],[0.5818153511436959,1.0249049428107386]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.2556076080464485,1.6809925693537564,0.71338606911949],"aabb_xy":[[-0.27810760757015585,1.6584966219031352],[-0.23310760852274107,1.7034885168043767]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.49995928538071355,-2.161707251698533,0.71338606911949],"aabb_xy":[[0.4359592889533917,-2.2088768755206294],[0.5639592818080355,-2.1145376278764365]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.4937966766366362,-2.053297259249558,0.71338606911949],"aabb_xy":[[0.46879667708489764,-2.0634397431146927],[0.5187966761883747,-2.0431547753844232]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.5361177075710014,1.045268487870728,0.71338606911949],"aabb_xy":[[-0.5661093703048717,1.0152684885339271],[-0.5061260448371311,1.0752684872075282]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.10627067111260724,-1.0299509649452692,0.71338606911949],"aabb_xy":[[0.04227066876980568,-1.0748918161894014],[0.1702706734554088,-0.9850101137011366]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.17102576941342174,-1.2618183266104162,0.71338606911949],"aabb_xy":[[0.135112264988432,-1.2977318348271707],[0.2069392738384114,-1.2259048183936616]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.5763005788442048,1.554260032663056,0.71338606911949],"aabb_xy":[[0.526307466735013,1.5042600319888604],[0.6262936909533968,1.6042600333372516]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.18396808717698143,-2.3785172936112526,0.71338606911949],"aabb_xy":[[-0.22251378000218244,-2.4170630646674414],[-0.14542239435178037,-2.339971522555064]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[0.5530537076838149,0.8243557159142387,0.71338606911949],"aabb_xy":[[0.5180537094136949,0.8172815882192505],[0.5880537059539347,0.8314298436092268]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.10864335528517244,-1.1508644049985293,0.71338606911949],"aabb_xy":[[-0.1726433585038103,-1.1975875168975376],[-0.044643352066534595,-1.104141293099521]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.06733352460650732,-2.2215324833760968,0.71338606911949],"aabb_xy":[[-0.0842442570428491,-2.235004688968711],[-0.05042279217016555,-2.2080602777834817]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[0.27061985943733025,-2.3203309503929437,0.71338606911949],"aabb_xy":[[0.2554476901556969,-2.3354998073211473],[0.2857920287189636,-2.30516209346474]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.08846204128321766,0.6454544435945073,0.71338606911949],"aabb_xy":[[-0.10161328725450704,0.6204544438378209],[-0.0753107953119283,0.670454443351194]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.04586879242352937,-2.4659775452438715,0.71338606911949],"aabb_xy":[[-0.08336879308810806,-2.481664603244093],[-0.008368791758950665,-2.450290487243649]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.40242651728765627,-1.5341940666934921,0.71338606911949],"aabb_xy":[[-0.49242651962167533,-1.6116764212786048],[-0.3124265149536372,-1.4567117121083795]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.5958372836570789,-0.5322871958608242,0.71338606911949],"aabb_xy":[[-0.6598372809427275,-0.5737939148136681],[-0.5318372863714302,-0.4907804769079802]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[-0.07570937240715903,-1.8703699732944994,0.71338606911949],"aabb_xy":[[-0.08363265264590736,-1.8928699735325027],[-0.0677860921684107,-1.847869973056496]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.43918493911770584,-2.4539180710771498,0.71338606911949],"aabb_xy":[[0.38920070340952856,-2.5039180698906454],[0.489169174825883,-2.403918072263654]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.04810366173221747,-2.126405672077137,0.71338606911949],"aabb_xy":[[0.0426457160951974,-2.2064056753847967],[0.053561607369237534,-2.0464056687694785]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.5637090464538917,-2.2014769162478336,0.71338606911949],"aabb_xy":[[-0.5709702940242991,-2.214263926511343],[-0.5564477988834844,-2.188689905984324]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[0.2522248064681636,1.7184212344632122,0.71338606911949],"aabb_xy":[[0.19063404724417077,1.6544212363541653],[0.3138155656921564,1.782421232572259]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_30","position":[-0.6479878655865365,-2.0453541965104387,0.71338606911949],"aabb_xy":[[-0.6631507385634736,-2.060519653805558],[-0.6328249926095995,-2.0301887392153204]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_31","position":[0.2533536046491254,1.2385677368815102,0.71338606911949],"aabb_xy":[[0.24531726994784053,1.2305296175770932],[0.2613899393504102,1.2466058561859268]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714296582295172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9657.png","name":"9657"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9657.png","name":"9657"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3612.png","name":"3612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9343.png","name":"9343"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7913.png","name":"7913"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":500.55108825931615,"rotation_z_degrees":87.96769256239239,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01985632845654883,0.009043059092387708,-0.011838501800044626]},{"name":"camera_2","offset_m":[-0.005090980607059495,0.013689731874469046,0.01338746090945379]},{"name":"camera_3","offset_m":[-0.0071001814188112675,-0.007495286674767407,0.013287869555522105]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001546374335476711,-0.0009866278868137246,-0.00128119900910173],"end_effector_yaw_offset_degrees":0.6425082193739271},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010580330153300045,-0.0015713172977783207,-0.0003509059328787019],"end_effector_yaw_offset_degrees":-0.5191347041570846},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0014598333276832783,-0.0009985457454127187,-0.001155253744161607],"end_effector_yaw_offset_degrees":-0.8677031489301203}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0027994853369881978,0.0009860011764206032],"position_m":[0.2246994853369882,0.26838600117642064,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017036121909714931,0.00040354879850743736],"position_m":[0.3437036121909715,0.11150354879850743,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0022966380445255184,-0.0045902321364737625],"position_m":[0.2935033619554745,-0.048490232136473764,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003787502089008829,0.0037925076205306872],"position_m":[0.27518750208900883,-0.3048074923794693,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2e6cb6a938c4414492a5680fa44e961a2854fd304932905ecb89fd7eace9c881","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9657/tex_ceiling_textures_397/tex_floor_textures_7913/tex_table_textures_3612/tex_wall_textures_9343","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4496239172139063682,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4496239172139063682,"visual_seed":4496239172139063682,"scene_id":"lab_003","finished_at":"2026-09-02T07:22:49"}
+{"episode_id":"ep_000085","started_at":"2026-09-02T07:22:52","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.3868554985253507,1.5152178591224952,0.71338606911949],"aabb_xy":[[0.37438814041561513,1.5027525344891717],[0.39932285663508643,1.5276831837558187]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.2359026494601893,-0.3214397131343829,0.71338606911949],"aabb_xy":[[-0.2455342856806189,-0.3310770259140919],[-0.22627101323975968,-0.31180240035467405]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.6575988736171128,-1.9826384388369473,0.71338606911949],"aabb_xy":[[0.6231363956040249,-1.9893021160198698],[0.6920613516302004,-1.9759747616540244]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.37994852153277203,1.3456589258885847,0.71338606911949],"aabb_xy":[[0.35666667933464064,1.2606589245913564],[0.4032303637309033,1.4306589271858126]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.15867835167355782,-0.8449589670769153,0.71338606911949],"aabb_xy":[[0.1411783514285084,-0.8624587549164819],[0.17617835191860717,-0.8274591792373482]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.5450005589078977,-1.9595950721092663,0.71338606911949],"aabb_xy":[[-0.5503381345739022,-1.984595073038406],[-0.5396629832418931,-1.9345950711801265]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.37244301817380104,-0.8447558036937848,0.71338606911949],"aabb_xy":[[-0.4274167402101339,-0.8997558032580181],[-0.31746929613746816,-0.7897558041295517]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[0.007861225802816008,-1.4036283941611125,0.71338606911949],"aabb_xy":[[-0.07213877562731119,-1.4831455491737222],[0.0878612272329432,-1.3241112391485033]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.2620635057173831,-1.8909104955858655,0.71338606911949],"aabb_xy":[[0.2296018048354556,-1.921043327700768],[0.2945252065993105,-1.8607776634709627]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.3152856430882656,-1.137633518419149,0.71338606911949],"aabb_xy":[[-0.33134757054678327,-1.2226335202317407],[-0.299223715629748,-1.052633516606557]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.12998088291625032,1.7374106991000207,0.71338606911949],"aabb_xy":[[-0.16748088308812223,1.7047099637171135],[-0.09248088274437835,1.7701114344829278]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.18619864104520634,1.0269774079240723,0.71338606911949],"aabb_xy":[[0.12219863936720898,0.9784600164447579],[0.2501986427232037,1.0754947994033863]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.35075350088445667,1.096138051330724,0.71338606911949],"aabb_xy":[[0.3437120499337091,1.0891112995929297],[0.35779495183520427,1.1031648030685186]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.3115634189113403,-1.661766715596659,0.71338606911949],"aabb_xy":[[-0.34719257481130006,-1.697399382353512],[-0.2759342630113806,-1.6261340488398062]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.20021368234879644,1.013471106571905,0.71338606911949],"aabb_xy":[[-0.2552059329843074,0.9584711048285923],[-0.1452214317132855,1.0684711083152179]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[-0.22499172129597095,-1.4270343687390248,0.71338606911949],"aabb_xy":[[-0.2393261464221344,-1.4390945842935636],[-0.2106572961698075,-1.414974153184486]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.5160892267115142,1.6734365674182698,0.71338606911949],"aabb_xy":[[0.4935900909852873,1.6509365666400069],[0.5385883624377412,1.6959365681965328]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.18410862203243428,-2.0157388110570476,0.71338606911949],"aabb_xy":[[-0.20794483967303937,-2.1057388118655345],[-0.16027240439182922,-1.9257388102485615]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.13666829906465439,0.903129901030546,0.71338606911949],"aabb_xy":[[0.10318913180361347,0.8696507876594392],[0.17014746632569536,0.9366090144016531]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.09586455637494706,1.2045412282866934,0.71338606911949],"aabb_xy":[[-0.12701147521853018,1.134541229599886],[-0.06471763753136393,1.2745412269735004]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.09694946571023988,-2.3337022687983424,0.71338606911949],"aabb_xy":[[0.04685200172916627,-2.397702269308154],[0.1470469296913135,-2.2697022682885306]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.6134953179388949,-1.531704455936614,0.71338606911949],"aabb_xy":[[0.5234953182157206,-1.5547778084717934],[0.703495317662069,-1.5086311034014337]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[-0.03545761515187351,-1.832354593415495,0.71338606911949],"aabb_xy":[[-0.0441555774425888,-1.84447956772297],[-0.026759652861158223,-1.8202296191080205]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[-0.4613745174661911,-0.375739560950334,0.71338606911949],"aabb_xy":[[-0.5313745138761529,-0.3961774966020156],[-0.3913745210562293,-0.35530162529865217]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.6401009003504559,1.414203913715515,0.71338606911949],"aabb_xy":[[-0.6576009006097925,1.4001123715267423],[-0.6226009000911192,1.4282954559042875]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.3862142827185979,1.2958729319747024,0.71338606911949],"aabb_xy":[[-0.4502142830961315,1.2461276651238902],[-0.32221428234106425,1.3456181988255147]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686137456399354,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2076.png","name":"2076"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2076.png","name":"2076"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/163.png","name":"163"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/385.png","name":"385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/960.png","name":"960"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4904.png","name":"4904"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":559.6837548795754,"rotation_z_degrees":290.06570916711405,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007385878968655855,-0.0001134339371117142,-0.016017530146317963]},{"name":"camera_2","offset_m":[0.014463524310660867,0.0030056978103780232,-0.011059531298607057]},{"name":"camera_3","offset_m":[0.01786206544360878,0.007904235677420723,-0.010450268095458157]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011817021430575508,0.0010462277028028344,0.0012451727254378406],"end_effector_yaw_offset_degrees":0.36435133087120897},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014397716934158207,-0.0006626580736832253,0.000592044436734062],"end_effector_yaw_offset_degrees":-0.4856320861114829},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004994296565906798,-0.001822448447633423,0.0014310774736930629],"end_effector_yaw_offset_degrees":0.6221399680757715}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.00024120267835445446,0.0028796707225879686],"position_m":[0.22214120267835444,0.270279670722588,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048209835733895754,-1.181723933975018e-05],"position_m":[0.33717901642661047,0.11108818276066025,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0018081122693148445,0.0015355001167989702],"position_m":[0.29760811226931483,-0.04236449988320103,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00104982712336423,0.0046225020051725305],"position_m":[0.2724498271233642,-0.30397749799482743,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"eabc58e4b7ddb4683e74feb8ef4325cd7d42dd3987ab4282d34049d285cb0475","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2076/tex_ceiling_textures_4904/tex_floor_textures_960/tex_table_textures_163/tex_wall_textures_385","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":8468558817817883602,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":8468558817817883602,"visual_seed":8468558817817883602,"scene_id":"lab_003","finished_at":"2026-09-02T07:25:37"}
+{"episode_id":"ep_000086","started_at":"2026-09-02T07:25:41","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.5819220089110135,1.7022121512078514,0.71338606911949],"aabb_xy":[[-0.5910818878548901,1.6956809331643143],[-0.5727621299671369,1.7087433692513885]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.4435102035216112,-1.8206274484877087,0.71338606911949],"aabb_xy":[[0.41896398789886047,-1.8508763450367458],[0.4680564191443619,-1.7903785519386717]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.22744437978948318,1.0182291929477483,0.71338606911949],"aabb_xy":[[0.19059383185249554,0.9807291921247148],[0.2642949277264708,1.0557291937707822]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.6729228974757213,-1.8721221922117093,0.71338606911949],"aabb_xy":[[0.6493377740118266,-1.9371221944571413],[0.6965080209396163,-1.8071221899662777]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.3691600409829445,-2.1115157210984696,0.71338606911949],"aabb_xy":[[-0.43416003954001736,-2.1412682545123523],[-0.3041600424258717,-2.081763187684587]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.40086151946884363,1.3642525924486821,0.71338606911949],"aabb_xy":[[0.38306801253392725,1.3464528468528845],[0.4186550264037601,1.3820523380444798]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.3586526745552643,1.029214396358121,0.71338606911949],"aabb_xy":[[-0.4036526760214932,0.9842145394966404],[-0.31365267308903544,1.0742142532196017]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.5312271469881437,-1.1784376959580698,0.71338606911949],"aabb_xy":[[-0.5812219799160854,-1.2284376948533133],[-0.48123231406020217,-1.1284376970628263]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.3035450057857057,-1.7730054546356877,0.71338606911949],"aabb_xy":[[-0.35342770266340195,-1.8230054538819624],[-0.25366230890800956,-1.723005455389413]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.48403817426237417,-0.623445889918028,0.71338606911949],"aabb_xy":[[-0.4933317924995247,-0.6609458884061619],[-0.47474455602522353,-0.5859458914298941]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.49951594086296025,0.7288116050771078,0.71338606911949],"aabb_xy":[[-0.5075522755642451,0.7207734857726911],[-0.4914796061616754,0.7368497243815246]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.156939290558882,-0.8858560232811763,0.71338606911949],"aabb_xy":[[-0.20693240266807392,-0.9358560239553722],[-0.10694617844969012,-0.8358560226069809]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.6142388480010216,0.07471475223861868,0.71338606911949],"aabb_xy":[[-0.6782388512907297,0.03137983323470105],[-0.5502388447113135,0.11804967124253628]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.6513233280773449,0.009675202168998531,0.71338606911949],"aabb_xy":[[0.6250345037569043,-0.016596231485652698],[0.6776121523977856,0.03594663582364976]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.5902250357464176,-1.5463762145581812,0.71338606911949],"aabb_xy":[[0.5829427193697537,-1.63637621816769],[0.597507352123081,-1.456376210948672]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[0.30802946273550114,-1.3747515091232658,0.71338606911949],"aabb_xy":[[0.30458878649544396,-1.3786129420976305],[0.3114701389755583,-1.3708900761489016]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.6487514202636655,-1.0539332959911052,0.71338606911949],"aabb_xy":[[-0.6862514200806991,-1.058571507302247],[-0.6112514204466319,-1.0492950846799634]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.03621008767714784,-2.172208132258021,0.71338606911949],"aabb_xy":[[-0.04262390132033277,-2.178617952505689],[-0.029796274033962896,-2.165798312010352]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[0.24327292309297588,-1.3607843818990912,0.71338606911949],"aabb_xy":[[0.23286136441249214,-1.3661301152349894],[0.2536844817734596,-1.3554386485631926]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.26909675772759944,-1.4034710981727752,0.71338606911949],"aabb_xy":[[-0.3490967546906386,-1.4805467398165486],[-0.18909676076456028,-1.3263954565290017]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[-0.22902483331875617,1.5311429992813843,0.71338606911949],"aabb_xy":[[-0.2790248327589518,1.4811750747970678],[-0.17902483387856055,1.5811109237657004]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[-0.10071827910965958,-2.2578560600132476,0.71338606911949],"aabb_xy":[[-0.1350151901274002,-2.2921529462231884],[-0.06642136809191895,-2.223559173803306]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.681342816158147,-0.66581015246689,0.71338606911949],"aabb_xy":[[0.6488811152762193,-0.6959429845817925],[0.7138045170400742,-0.6356773203519873]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[0.5989351684650652,-0.14880914112546417,0.71338606911949],"aabb_xy":[[0.5837629991834319,-0.16397799805366753],[0.6141073377466986,-0.13364028419726082]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[0.5253211171214511,0.8368448553361301,0.71338606911949],"aabb_xy":[[0.4753211154599563,0.7868464130804271],[0.5753211187829458,0.8868432975918326]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.02853217456082635,-1.1459993394103718,0.71338606911949],"aabb_xy":[[-0.07461726581555782,-1.2099993366629267],[0.017552916693905123,-1.0819993421578165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725053317588543,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/503.png","name":"503"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/503.png","name":"503"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/162.png","name":"162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2045.png","name":"2045"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6114.png","name":"6114"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6339.png","name":"6339"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":553.5475137560087,"rotation_z_degrees":24.737347922503513,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004973514848485877,0.0013645745611291504,0.011123574110078426]},{"name":"camera_2","offset_m":[0.0007558260116985807,0.012781043008135446,-0.015151768508724076]},{"name":"camera_3","offset_m":[-0.003501757326052825,0.0038651140958810212,0.009751940677886938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00047985351593646686,0.0018465663646042275,-8.2786377022705e-05],"end_effector_yaw_offset_degrees":0.7165220740290703},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008883574540475641,-0.0006869447549475432,-0.0015340976456229317],"end_effector_yaw_offset_degrees":-0.2198539265344448},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0009174801475142907,-0.000444439278722106,-0.0010409529088986358],"end_effector_yaw_offset_degrees":-0.20272045497541802}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0021136568537309854,0.0016049829119179635],"position_m":[0.22401365685373098,0.269004982911918,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003161578585431147,0.004246893454735344],"position_m":[0.3388384214145689,0.11534689345473535,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00040934994066597636,-0.00036832798330582815],"position_m":[0.296209349940666,-0.04426832798330583,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004100532956214916,0.0020407485082143137],"position_m":[0.2755005329562149,-0.30655925149178564,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9821c39f010326b3cabc738e644fd5823f12255018ff04480b86a4c31db446dc","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_503/tex_ceiling_textures_6339/tex_floor_textures_6114/tex_table_textures_162/tex_wall_textures_2045","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4349909540052911751,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4349909540052911751,"visual_seed":4349909540052911751,"scene_id":"lab_003","finished_at":"2026-09-02T07:28:32"}
+{"episode_id":"ep_000087","started_at":"2026-09-02T07:28:36","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.43126778928446485,0.42224319627737517,0.71338606911949],"aabb_xy":[[-0.47907395689823346,0.3572431935703162],[-0.38346162167069614,0.4872431989844341]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.3880747503313029,-1.0402097898403453,0.71338606911949],"aabb_xy":[[-0.4005421084410385,-1.0526751144736688],[-0.3756073922215672,-1.0277444652070218]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.643333799757595,-1.6976362237210891,0.71338606911949],"aabb_xy":[[0.5833337999110282,-1.7544548459141276],[0.7033337996041618,-1.6408176015280502]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.3673653361916967,-0.8675399242493327,0.71338606911949],"aabb_xy":[[-0.4173584483008887,-0.9175399249235284],[-0.3173722240825049,-0.8175399235751372]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.4712790568849292,-1.9979485522682865,0.71338606911949],"aabb_xy":[[0.46152306737575527,-2.0077110863275203],[0.48103504639410305,-1.9881860182090516]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.47722316703494283,-0.07559275391167164,0.71338606911949],"aabb_xy":[[-0.5272019755452588,-0.12559275391739044],[-0.427244358524627,-0.025592753905952836]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.08155996712784708,-1.146841599527273,0.71338606911949],"aabb_xy":[[-0.1615537907064053,-1.2268416021201147],[-0.0015661435492888703,-1.0668415969344316]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.11234796021067639,1.4692126032747121,0.71338606911949],"aabb_xy":[[-0.11876177385386132,1.4628027830270438],[-0.10593414656749144,1.4756224235223805]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.038772997123751374,-1.3708053966867029,0.71338606911949],"aabb_xy":[[0.01248417280331071,-1.3970768303413539],[0.06506182144419202,-1.3445339630320514]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.24598944720614346,-0.7713658821685916,0.71338606911949],"aabb_xy":[[0.210989448895448,-0.7790808970921372],[0.2809894455168389,-0.7636508672450459]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.4587571542278992,0.8129323235753758,0.71338606911949],"aabb_xy":[[0.4037834321915663,0.7579323240111426],[0.5137308762642321,0.867932323139609]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.13725392746083498,1.644338664344882,0.71338606911949],"aabb_xy":[[0.05225392904341175,1.5594643688825973],[0.2222539258782582,1.7292129598071673]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.10950807073550639,0.2777985956937332,0.71338606911949],"aabb_xy":[[-0.15559316199023787,0.21379859844117813],[-0.06342297948077491,0.34179859294628834]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.2464868728453481,0.9268364764419128,0.71338606911949],"aabb_xy":[[-0.3104868699574538,0.8778041066475022],[-0.1824868757332424,0.9758688462363234]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.06807008339759857,-1.5314678408950235,0.71338606911949],"aabb_xy":[[0.012944877768007788,-1.5914678423363104],[0.12319528902718933,-1.4714678394537362]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.0753964475814154,-0.4911166619283387,0.71338606911949],"aabb_xy":[[-0.08170854711775383,-0.4968836011815575],[-0.06908434804507696,-0.4853497226751199]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.16587358460899515,-0.5324781116326247,0.71338606911949],"aabb_xy":[[-0.17133153024601522,-0.6124781149402838],[-0.16041563897197508,-0.4524781083249656]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.5120492201324738,-1.26649432018566,0.71338606911949],"aabb_xy":[[0.44704922197655483,-1.2927905647355722],[0.577049218288393,-1.2401980756357478]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.27329887237927164,-1.585510190485228,0.71338606911949],"aabb_xy":[[0.20929887211880085,-1.6305189898381558],[0.33729887263974245,-1.5405013911322998]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.4146068500201682,-2.0820540679672193,0.71338606911949],"aabb_xy":[[-0.5046068523541873,-2.159536422552332],[-0.32460684768614917,-2.0045717133821066]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.3069144799995191,0.44083722414837867,0.71338606911949],"aabb_xy":[[-0.34121139101725967,0.4065403379384373],[-0.2726175689817784,0.47513411035832004]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.06214829379564801,1.1079961553391247,0.71338606911949],"aabb_xy":[[-0.027851705927526168,1.0849228028039446],[0.15214829351882217,1.1310695078743043]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.4368873026213096,1.3432370874645136,0.71338606911949],"aabb_xy":[[0.3468873061204378,1.2973254450460554],[0.5268872991221812,1.3891487298829719]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.27994756396407566,-2.039123853516967,0.71338606911949],"aabb_xy":[[-0.28406351407614827,-2.043239408549812],[-0.27583161385200294,-2.035008298484121]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[0.23613834041197113,0.7065591995398655,0.71338606911949],"aabb_xy":[[0.17213834401639805,0.6425959111211319],[0.3001383368075442,0.770522487958599]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.38667344600793013,-0.28034972454642393,0.71338606911949],"aabb_xy":[[-0.4366727211763663,-0.3303497258223711],[-0.33667417083949397,-0.23034972327047676]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.6431710464831603,-0.9735874232141846,0.71338606911949],"aabb_xy":[[-0.693268510464234,-1.0375874237239961],[-0.5930735825020867,-0.9095874227043727]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.0070286562879516845,1.4862868072562487,0.71338606911949],"aabb_xy":[[-0.03202865555991396,1.4699414436600864],[0.017971342984010593,1.502632170852411]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672682987976195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7851.png","name":"7851"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7851.png","name":"7851"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4941.png","name":"4941"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7214.png","name":"7214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5755.png","name":"5755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6664.png","name":"6664"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":581.3271985428378,"rotation_z_degrees":300.55395693006153,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013482243389952363,-0.00785586465768656,-0.012574362119945635]},{"name":"camera_2","offset_m":[0.0066754133136213735,-0.011350716988552834,-0.015485127814241256]},{"name":"camera_3","offset_m":[0.013913407620532527,-0.008381997560661972,0.01876420119765246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008261087049906859,-0.000873298615735548,-0.0010421541568629488],"end_effector_yaw_offset_degrees":0.0019019753604543332},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014198905665079825,-0.0018255539579754955,0.001453873374586299],"end_effector_yaw_offset_degrees":-0.9910918239935878},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001963662803063602,-0.001727033425588075,0.0011497256877443635],"end_effector_yaw_offset_degrees":-0.25477186978274324}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0040255650656073364,0.002182783871020266],"position_m":[0.22592556506560732,0.2695827838710203,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004575660601271415,-0.0008053089725829328],"position_m":[0.3415424339398729,0.11029469102741707,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0017012395152358386,-0.002574532980275459],"position_m":[0.2975012395152358,-0.04647453298027546,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014762149413965675,-0.0034131940628891735],"position_m":[0.2728762149413965,-0.31201319406288913,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9a94141a372d4e3f0d144617b52b202354e60b257120f7227ef5bbdbe80095cb","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7851/tex_ceiling_textures_6664/tex_floor_textures_5755/tex_table_textures_4941/tex_wall_textures_7214","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5043094684580836380,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5043094684580836380,"visual_seed":5043094684580836380,"scene_id":"lab_003","finished_at":"2026-09-02T07:31:25"}
+{"episode_id":"ep_000088","started_at":"2026-09-02T07:31:28","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.3632543622774447,0.667179298386503,0.71338606911949],"aabb_xy":[[0.3257543610926517,0.6627610756904423],[0.4007543634622373,0.6715975210825633]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.4146667712202414,1.7866771171493547,0.71338606911949],"aabb_xy":[[0.38601743885982515,1.758031557872279],[0.4433161035806576,1.8153226764264305]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.15016125770210142,1.2799004845601716,0.71338606911949],"aabb_xy":[[0.10016125604060667,1.2299020423044684],[0.2001612593635962,1.3298989268158738]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.2598408492603588,-0.7489394434414995,0.71338606911949],"aabb_xy":[[0.2559269760649362,-0.7576884588480564],[0.26375472245578124,-0.7401904280349427]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.09824343293556237,-0.45725981251826475,0.71338606911949],"aabb_xy":[[-0.10358100860156694,-0.4822598134474046],[-0.0929058572695578,-0.432259811589125]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.651377359647441,-0.05635064538652346,0.71338606911949],"aabb_xy":[[0.6042479806456054,-0.12035064643092541],[0.6985067386492767,0.007649355657878505]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.6443547827282676,-1.9596995061819964,0.71338606911949],"aabb_xy":[[0.5843547821322516,-2.01451197872722],[0.7043547833242839,-1.9048870336367731]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.6424830403798254,0.8809207025897585,0.71338606911949],"aabb_xy":[[0.6199839046535984,0.8584207018114957],[0.6649821761060524,0.9034207033680216]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.24464072090050704,-1.2796752608827142,0.71338606911949],"aabb_xy":[[0.16464071764266408,-1.3596717686746982],[0.32464072415835,-1.1996787530907302]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.2565822587278614,-1.7597390691293326,0.71338606911949],"aabb_xy":[[-0.34658225522873315,-1.8056507115477909],[-0.16658226222698966,-1.7138274267108744]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.6113186850607326,0.5169178116851922,0.71338606911949],"aabb_xy":[[0.5473186833827353,0.4684004202058779],[0.67531868673873,0.5654352031645064]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.3497495736657943,-1.2409237368402681,0.71338606911949],"aabb_xy":[[-0.4197495754745398,-1.2622775056044555],[-0.2797495718570489,-1.2195699680760808]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.36120277735374473,-0.4243269336044899,0.71338606911949],"aabb_xy":[[0.35063529769564566,-0.4348719637174985],[0.3717702570118437,-0.41378190349148136]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.14341846500075917,-0.9312549951862399,0.71338606911949],"aabb_xy":[[-0.16863930186059878,-0.9564787460391264],[-0.11819762814091946,-0.9060312443333529]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.19491099937877154,-0.23459186653454767,0.71338606911949],"aabb_xy":[[-0.204992706457345,-0.3145918644266623],[-0.18482929230019804,-0.154591868642433]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.4422040367807456,-1.4818172920374502,0.71338606911949],"aabb_xy":[[0.3772040341429521,-1.5332968907368971],[0.5072040394185391,-1.4303376933380032]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.06318870210136596,-2.081850179759088,0.71338606911949],"aabb_xy":[[-0.09765118011445371,-2.0885138569420105],[-0.02872622408827817,-2.075186502576165]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.04488245704023408,-2.3670973052085276,0.71338606911949],"aabb_xy":[[-0.09987566837737086,-2.422097305547321],[0.01011075429690267,-2.312097304869734]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.30016483037410424,-2.144324433064633,0.71338606911949],"aabb_xy":[[0.27799230339745334,-2.1665001002207562],[0.322337357350755,-2.12214876590851]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.3977634774895161,1.5424792788143473,0.71338606911949],"aabb_xy":[[-0.4282477276165463,1.4924792790328516],[-0.36727922736248597,1.5924792785958435]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.15527157406222458,-1.556904174794262,0.71338606911949],"aabb_xy":[[-0.23527157732623769,-1.5704642071031754],[-0.07527157079821142,-1.5433441424853487]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.5548650400076537,-1.9729906949741385,0.71338606911949],"aabb_xy":[[-0.6026712076214222,-2.037990697681197],[-0.5070588723938849,-1.9079906922670788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674606586244715,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3477.png","name":"3477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3477.png","name":"3477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4157.png","name":"4157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2739.png","name":"2739"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1166.png","name":"1166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6666.png","name":"6666"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.9708756751188,"rotation_z_degrees":105.68620562013153,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018074976116277116,-0.019434744261408322,-0.01519938193470605]},{"name":"camera_2","offset_m":[0.002070412729358137,-0.018928292375437143,0.019217589621596438]},{"name":"camera_3","offset_m":[-0.018118098771730932,-0.004427446778733185,0.019113695606864354]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005967345350769153,-1.921743406320094e-05,4.761534042677573e-05],"end_effector_yaw_offset_degrees":0.05876102960665208},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014188780651619164,0.0001804083372171708,-0.001711582057444354],"end_effector_yaw_offset_degrees":0.9290340660253917},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0004138147944226754,0.0010194854529710115,0.0017424147715378968],"end_effector_yaw_offset_degrees":-0.08913574056895501}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0010488131670312682,-0.00028550442183696966],"position_m":[0.22085118683296873,0.2671144955781631,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002996129006876445,0.003976606718286702],"position_m":[0.3449961290068765,0.1150766067182867,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0043950229316688854,-0.00045972974888691415],"position_m":[0.3001950229316689,-0.04435972974888692,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003146837600310999,-0.0009841682892163094],"position_m":[0.268253162399689,-0.3095841682892163,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"702e498f2da4d5deeb537c749d148275513af42f1280b81376ff4daf66cfc33b","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3477/tex_ceiling_textures_6666/tex_floor_textures_1166/tex_table_textures_4157/tex_wall_textures_2739","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4454379977294689945,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4454379977294689945,"visual_seed":4454379977294689945,"scene_id":"lab_003","finished_at":"2026-09-02T07:34:17"}
+{"episode_id":"ep_000089","started_at":"2026-09-02T07:34:20","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.4129276701530815,-2.3990378746716994,0.71338606911949],"aabb_xy":[[0.3629328372251399,-2.449037873566943],[0.4629225030810231,-2.349037875776456]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.4787628332667919,-0.3827428402718298,0.71338606911949],"aabb_xy":[[0.4237628336450461,-0.43772653305930254],[0.5337628328885378,-0.3277591474843571]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.5890129737544034,-1.253197225067835,0.71338606911949],"aabb_xy":[[0.5654278502905087,-1.3181972273132667],[0.6125980972182984,-1.1881972228224031]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.4792954860458323,0.9620707758892793,0.71338606911949],"aabb_xy":[[0.4563797731607825,0.9391664787528557],[0.5022111989308823,0.9849750730257028]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.05178119148540261,-0.5888016694262901,0.71338606911949],"aabb_xy":[[-0.1017542570179181,-0.6388016692388231],[-0.0018081259528871523,-0.5388016696137573]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.5776583963525828,1.4791550938839184,0.71338606911949],"aabb_xy":[[-0.6416583985729899,1.4347820097586301],[-0.5136583941321758,1.5235281780092067]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.669001232771683,-1.0477319899816493,0.71338606911949],"aabb_xy":[[0.6643661176194495,-1.0515993250587978],[0.6736363479239162,-1.0438646549045003]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.6121303494574071,-1.2332246278521917,0.71338606911949],"aabb_xy":[[-0.6312426568153859,-1.2523594067294337],[-0.5930180420994282,-1.2140898489749496]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.30072320734269764,0.5008165656511712,0.71338606911949],"aabb_xy":[[-0.3080055237193612,0.410816562041662],[-0.2934408909660339,0.5908165692606799]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.4472354105324128,-0.924574542617002,0.71338606911949],"aabb_xy":[[0.4189057005838725,-0.9290352848107192],[0.47556512048095295,-0.920113800423285]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.4593849683742732,-0.3911899089826889,0.71338606911949],"aabb_xy":[[-0.5393787919528314,-0.47118991157553053],[-0.379391144795715,-0.3111899063898474]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.43181902298851754,0.7044619563168166,0.71338606911949],"aabb_xy":[[-0.4818019731759969,0.654461956674256],[-0.3818360728010382,0.7544619559593768]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.6409668654675382,-1.9511146115601632,0.71338606911949],"aabb_xy":[[-0.6634668652814406,-1.9555892279306437],[-0.6184668656536358,-1.9466399951896822]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.4536796585585179,-0.5764061169998835,0.71338606911949],"aabb_xy":[[0.4311796585483696,-0.5905023366394868],[0.4761796585686662,-0.5623098973602803]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.4620769432252979,0.43008699680943385,0.71338606911949],"aabb_xy":[[-0.5520769418197679,0.41383641049601283],[-0.37207694463082797,0.4463375831228549]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[-0.15027002446874482,1.5303145993057625,0.71338606911949],"aabb_xy":[[-0.18026168720261512,1.5003145999689618],[-0.12027836173487447,1.5603145986425628]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.43033114132429695,1.5377155373887539,0.71338606911949],"aabb_xy":[[0.3968519740632561,1.5042364240176467],[0.463810308585338,1.5711946507598606]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.1527049710759092,-1.0376315926889024,0.71338606911949],"aabb_xy":[[0.1447816908371609,-1.0601315929269057],[0.16062825131465755,-1.015131592450899]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.33275147340301114,-0.5794718417006064,0.71338606911949],"aabb_xy":[[-0.3686649778280008,-0.6153853499173612],[-0.2968379689780214,-0.5435583334838519]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.5643251569920518,-0.11537689415874919,0.71338606911949],"aabb_xy":[[0.5424354094031109,-0.2053768914479983],[0.5862149045809925,-0.025376896869500076]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.6019672491300027,0.08181365605685231,0.71338606911949],"aabb_xy":[[-0.6101817942456864,0.07313706575921101],[-0.5937527040143185,0.09049024635449358]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[0.6040337555799713,-0.7029768664689142,0.71338606911949],"aabb_xy":[[0.5841427156996312,-0.7156326777536112],[0.6239247954603117,-0.6903210551842175]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.6611065591744818,0.8279028858933923,0.71338606911949],"aabb_xy":[[0.6111065581553466,0.7914366701555644],[0.7111065601936172,0.8643691016312203]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[0.001309740635464851,-1.7149997125911514,0.71338606911949],"aabb_xy":[[-0.07869025795185457,-1.794315314529312],[0.08130973922278427,-1.6356841106529902]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[0.29016726286859496,1.2732005357210676,0.71338606911949],"aabb_xy":[[0.26562104724584423,1.2429516391720306],[0.3147134784913457,1.3034494322701047]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[-0.30809584532889916,-1.173397551229191,0.71338606911949],"aabb_xy":[[-0.3730958464348424,-1.1983629242973193],[-0.24309584422295583,-1.1484321781610627]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[0.0658863233160013,-0.6371993374722953,0.71338606911949],"aabb_xy":[[0.05395358895417324,-0.6495814902801547],[0.07781905767782937,-0.6248171846644359]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.5284923217796804,-1.6609298576826426,0.71338606911949],"aabb_xy":[[-0.6181793980877958,-1.750929857937093],[-0.43880524547156485,-1.570929857428192]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[0.3435732170664241,0.6772938178455523,0.71338606911949],"aabb_xy":[[0.3309705179293476,0.6646984216206868],[0.35617591620350053,0.6898892140704178]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[-0.3741274667286693,-1.3686991931278352,0.71338606911949],"aabb_xy":[[-0.378243416840742,-1.3728147481606805],[-0.37001151661659665,-1.3645836380949894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722060395447559,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7584.png","name":"7584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7584.png","name":"7584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8075.png","name":"8075"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6390.png","name":"6390"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":731.7429298881402,"rotation_z_degrees":240.20584422422846,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008518353111358578,-0.0042435277016123416,-0.004700809891896505]},{"name":"camera_2","offset_m":[0.009293626606652412,-0.01142146995687669,0.004176496764639312]},{"name":"camera_3","offset_m":[-0.011908122331597082,0.013124203282959778,-0.015215729923985922]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.944438541893212e-05,-0.00041675145354812086,0.00034381159411785243],"end_effector_yaw_offset_degrees":-0.29098719107457205},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0019681054887353555,-0.0005912300593878884,0.0016828076864865596],"end_effector_yaw_offset_degrees":-0.6958631763034782},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001412067087142684,0.0012208992018512095,0.0011409958421204937],"end_effector_yaw_offset_degrees":-0.894410688847777}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002684396441267568,-0.000138769821011386],"position_m":[0.22458439644126754,0.2672612301789886,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016583862284081348,-0.00032478056912911384],"position_m":[0.34365838622840816,0.11077521943087089,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0027447101555162336,0.003085232057795639],"position_m":[0.29305528984448376,-0.040814767942204365,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017375730401669523,-0.0018822673355863386],"position_m":[0.27313757304016695,-0.3104822673355863,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e464fcd7a35cf0b46c434f72e316b443897ca36d1930bfb5503ef68e44359233","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7584/tex_ceiling_textures_6390/tex_floor_textures_5049/tex_table_textures_2110/tex_wall_textures_8075","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":7280940625533770180,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":7280940625533770180,"visual_seed":7280940625533770180,"scene_id":"lab_003","finished_at":"2026-09-02T07:37:05"}
+{"episode_id":"ep_000090","started_at":"2026-09-02T07:37:09","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.572817057320204,-2.0739637217551445,0.71338606911949],"aabb_xy":[[0.5088170609246309,-2.1379270101738785],[0.636817053715777,-2.0100004333364114]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.252616305027914,0.98026642364891,0.71338606911949],"aabb_xy":[[0.24520384948652552,0.9744152132272821],[0.26002876056930246,0.986117634070538]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.5840696447932554,-0.8764782796639583,0.71338606911949],"aabb_xy":[[-0.6165313456751826,-0.9066111117788608],[-0.5516079439113277,-0.8463454475490556]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.03353440198632107,0.8712414499578389,0.71338606911949],"aabb_xy":[[-0.03950094092705686,0.865280305298475],[-0.027567863045585284,0.8772025946172031]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.40213716314738523,-1.1623454243420723,0.71338606911949],"aabb_xy":[[-0.46613286054248176,-1.226345422642781],[-0.3381414657522886,-1.0983454260413636]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.5553002009998453,-0.1515125458119888,0.71338606911949],"aabb_xy":[[0.5167545081746443,-0.19005831686817748],[0.5938458938250464,-0.11296677475580015]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.4582233599474237,-2.256211595511332,0.71338606911949],"aabb_xy":[[0.4456206608103473,-2.268806991736198],[0.4708260590845002,-2.243616199286467]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.5661330124907833,-1.4107377627951854,0.71338606911949],"aabb_xy":[[0.5612337201842197,-1.438414682097754],[0.5710323047973467,-1.3830608434926164]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[0.43275082358504746,0.6998158650042043,0.71338606911949],"aabb_xy":[[0.35275082032103433,0.6862558326952911],[0.5127508268490606,0.7133758973131178]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[-0.5880993836720134,1.700567630152991,0.71338606911949],"aabb_xy":[[-0.6375798048859722,1.636567632240139],[-0.5386189624580546,1.7645676280658427]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.33508477957011223,-1.3495583441170804,0.71338606911949],"aabb_xy":[[-0.4250847781645822,-1.3658089304305014],[-0.2450847809756423,-1.3333077578036594]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.47697247578041835,-2.4817831347126447,0.71338606911949],"aabb_xy":[[0.45369063358228695,-2.5667831360098723],[0.5002543179785496,-2.396783133415416]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.2882083971948607,-0.6569061065087463,0.71338606911949],"aabb_xy":[[0.2802149073995787,-0.664904238449222],[0.29620188699014277,-0.6489079745682708]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.33140014213726493,0.5452339188368374,0.71338606911949],"aabb_xy":[[-0.33624373689849485,0.5403822663578532],[-0.3265565473760349,0.5500855713158215]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.6270496697448109,-1.7835518264466164,0.71338606911949],"aabb_xy":[[0.5770667195573314,-1.8335518260891763],[0.67703261993229,-1.7335518268040555]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.5894635176020903,-0.42813200415121555,0.71338606911949],"aabb_xy":[[-0.6194310745119159,-0.45813200444910135],[-0.5594959606922646,-0.39813200385332986]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.1231080689067876,-1.72864301993231,0.71338606911949],"aabb_xy":[[0.11269651022630386,-1.7339887532682083],[0.1335196275872713,-1.7232972865964116]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.07759858299621136,1.5549137627408656,0.71338606911949],"aabb_xy":[[0.044158407800191736,1.5214701369099353],[0.11103875819223094,1.5883573885717954]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.32933062466100926,-1.9554000827590579,0.71338606911949],"aabb_xy":[[0.3167038373738129,-1.9649461564606303],[0.3419574119482056,-1.9458540090574845]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.2265682503737334,1.762339905023874,0.71338606911949],"aabb_xy":[[0.15656824824230386,1.739577939398178],[0.29656825250516294,1.7851018706495694]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[0.6537570247937641,-1.5325133416668066,0.71338606911949],"aabb_xy":[[0.6441253885733345,-1.5421506544465158],[0.6633886610141937,-1.522876028887098]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.2853671142701544,0.6693813309798755,0.71338606911949],"aabb_xy":[[-0.3203671134629726,0.6584142849822128],[-0.25036711507733606,0.680348376977538]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.5672989719538787,0.5019077805586485,0.71338606911949],"aabb_xy":[[-0.6047989718976451,0.4936146905238119],[-0.5297989720101123,0.5102008705934851]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[0.05053584204818595,-2.364294033293596,0.71338606911949],"aabb_xy":[[-0.0034797542337140497,-2.4282940361858527],[0.10455143833008596,-2.3002940304013384]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.3015904195886026,1.0337499599307756,0.71338606911949],"aabb_xy":[[-0.3390904198807774,1.029708484530172],[-0.2640904192964278,1.037791435331379]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.4898770802046434,-1.5871230393031266,0.71338606911949],"aabb_xy":[[-0.5123770802147918,-1.60121925894273],[-0.46737708019449514,-1.5730268196635235]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.5712413404426622,-0.6943315841790605,0.71338606911949],"aabb_xy":[[0.548776570471257,-0.716831585057921],[0.5937061104140673,-0.6718315833002]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_27","position":[-0.3927798005154101,-0.169950906586684,0.71338606911949],"aabb_xy":[[-0.43554650739483025,-0.23395091000848645],[-0.35001309363598987,-0.10595090316488154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6753737334217302,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7589.png","name":"7589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7589.png","name":"7589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7900.png","name":"7900"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8758.png","name":"8758"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3674.png","name":"3674"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":547.111623049645,"rotation_z_degrees":122.58564114905536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00029188162259924724,0.015254346741822206,-0.003751092527486413]},{"name":"camera_2","offset_m":[-0.002820890334754793,-0.014954314725528911,0.013251583234078702]},{"name":"camera_3","offset_m":[0.014940479531573011,-0.003155060082042409,-0.012138033347239322]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.737593170085115e-05,0.0005192882039183277,0.00033173363759698635],"end_effector_yaw_offset_degrees":0.14601608306989067},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00024829417163464164,0.00179880205700689,9.136482907410974e-05],"end_effector_yaw_offset_degrees":-0.5316239909833225},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0007587923655173051,0.0007575829208479427,-0.001265749626589546],"end_effector_yaw_offset_degrees":0.08900624892550368}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0009200583959967489,-0.0022364511062361258],"position_m":[0.22282005839599672,0.2651635488937639,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002121361070768869,0.001325610809072981],"position_m":[0.33987863892923115,0.11242561080907298,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0030145901074160727,0.003118317328551467],"position_m":[0.29881459010741607,-0.040781682671448535,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004174962705431239,-0.0040589680017236954],"position_m":[0.2755749627054312,-0.31265896800172366,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"32cb6eb54690849f76dd12e1d0a561dabd083766259dc80fee1a23a5575adc6f","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7589/tex_ceiling_textures_3674/tex_floor_textures_8758/tex_table_textures_7900/tex_wall_textures_2731","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":2566825731321769684,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":2566825731321769684,"visual_seed":2566825731321769684,"scene_id":"lab_003","finished_at":"2026-09-02T07:39:54"}
+{"episode_id":"ep_000091","started_at":"2026-09-02T07:39:57","dimensions":{"distractor":{"count":21,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[-0.5552298795735774,-1.9737762960928467,0.71338606911949],"aabb_xy":[[-0.6452298819075964,-2.0512586506779593],[-0.46522987723955833,-1.8962939415077342]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.33587730215478817,-1.5898652028439713,0.71338606911949],"aabb_xy":[[-0.34678307824235083,-1.6698651992428002],[-0.3249715260672254,-1.5098652064451419]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.41196388724828137,-1.5006210631751922,0.71338606911949],"aabb_xy":[[-0.41995737704356345,-1.5086191951156682],[-0.4039703974529994,-1.4926229312347168]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.019586636879929453,-0.9522245456373817,0.71338606911949],"aabb_xy":[[-0.044413360232176236,-1.0012569154317923],[0.08358663399203514,-0.9031921758429711]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.07786510895791676,0.3904471530863698,0.71338606911949],"aabb_xy":[[-0.10003763593456759,0.36827148593024656],[-0.05569258198126592,0.41262282024249286]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.20836862452895932,1.7275303459166635,0.71338606911949],"aabb_xy":[[0.14336862449465662,1.680829669236336],[0.27336862456326205,1.7742310225969906]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.4764999563904352,-0.6890270239147882,0.71338606911949],"aabb_xy":[[-0.5014999555560683,-0.6959792696201449],[-0.4514999572248021,-0.6820747782094317]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.1438929209624662,1.3070204423063174,0.71338606911949],"aabb_xy":[[0.09389291930097142,1.2570220000506145],[0.19389292262396093,1.35701888456202]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.005384622227238789,-2.3048389624280867,0.71338606911949],"aabb_xy":[[-0.03968153324497941,-2.3391358486380276],[0.028912288790501832,-2.270542076218145]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.1205087197104634,1.4848641594306966,0.71338606911949],"aabb_xy":[[-0.1516556385540465,1.4148641607438894],[-0.08936180086688027,1.5548641581175038]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.03305168762683064,-1.8347625107733838,0.71338606911949],"aabb_xy":[[-0.05048240270583714,-1.8520346254372342],[-0.015620972547824128,-1.8174903961095326]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.32007325965598765,-1.0786057020476374,0.71338606911949],"aabb_xy":[[-0.3700465536592481,-1.1286057026021847],[-0.2700999656527272,-1.02860570149309]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.1911135342382685,-0.36781844476338765,0.71338606911949],"aabb_xy":[[-0.19522948435034115,-0.3719339997962331],[-0.18699758412619583,-0.3637028897305421]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.639274693718632,1.0893355651801433,0.71338606911949],"aabb_xy":[[0.5752746923106413,1.0375466136562184],[0.7032746951266227,1.1411245167040678]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[0.6159497559877793,1.6705635864459247,0.71338606911949],"aabb_xy":[[0.6120358827923569,1.661814571039368],[0.6198636291832018,1.6793126018524815]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.5729002646003654,-0.08208247874623087,0.71338606911949],"aabb_xy":[[0.5354002660247444,-0.09481877440978881],[0.6104002631759861,-0.06934618308267293]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.052250763168225633,1.2197333129658863,0.71338606911949],"aabb_xy":[[-0.058345391056343954,1.2111639184142176],[-0.04615613528010731,1.228302707517555]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.4935112500739579,-1.7809709930527107,0.71338606911949],"aabb_xy":[[-0.5159760200453629,-1.8034709939315712],[-0.47104648010255273,-1.7584709921738502]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[-0.37437770913851576,-2.27002277173212,0.71338606911949],"aabb_xy":[[-0.38141801907205286,-2.350022771131792],[-0.3673373992049788,-2.190022772332449]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.12807832283206777,0.8178292587323979,0.71338606911949],"aabb_xy":[[0.06407832554641915,0.7763225397795539],[0.19207832011771644,0.8593359776852418]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.2689862807918779,0.6792377332117296,0.71338606911949],"aabb_xy":[[0.2314862796070851,0.6748195105156691],[0.30648628197667066,0.6836559559077902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749916710392891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1983.png","name":"1983"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5108.png","name":"5108"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2702.png","name":"2702"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":623.8764156788491,"rotation_z_degrees":303.4367577962556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00022068160282497085,0.011530431453693157,0.01071288297935482]},{"name":"camera_2","offset_m":[-0.017240292393071864,0.006294359724450933,-0.018260337016621574]},{"name":"camera_3","offset_m":[-0.01567868493259829,0.016723358619152504,-0.004472586257311853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001459816068541063,-0.0004255806834810008,0.0007294617466150899],"end_effector_yaw_offset_degrees":-0.38707307237166},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006595606900604905,0.0004412053372664158,0.0012653033009466536],"end_effector_yaw_offset_degrees":0.19362784712400427},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0014614092338561817,0.0019394137386197783,-0.00030001072184919226],"end_effector_yaw_offset_degrees":0.1429126400971068}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0011586969683513052,0.0025098460225336317],"position_m":[0.2230586969683513,0.26990984602253365,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003749179588685643,0.000180369045045016],"position_m":[0.3382508204113144,0.11128036904504501,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.004507714104997167,-0.0023073328159740228],"position_m":[0.29129228589500283,-0.04620733281597402,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033618861894991027,-0.004788757404871889],"position_m":[0.2747618861894991,-0.3133887574048719,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"2c6ed18b5c0a43b5ba675408304abd91fccaf9d5a3972553ae7a3d9fbb170049","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1972/tex_ceiling_textures_2702/tex_floor_textures_5108/tex_table_textures_3633/tex_wall_textures_1983","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5796199886001469294,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5796199886001469294,"visual_seed":5796199886001469294,"scene_id":"lab_003","finished_at":"2026-09-02T07:42:55"}
+{"episode_id":"ep_000092","started_at":"2026-09-02T07:42:57","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.15957804233880468,1.20936942048708,0.71338606911949],"aabb_xy":[[0.1345780424062868,1.2024867522661569],[0.18457804227132257,1.2162520887080035]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.10485698207570548,0.9095242503010152,0.71338606911949],"aabb_xy":[[-0.1549544460567791,0.8455242497912034],[-0.054759518094631865,0.973524250810827]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.1501133033772224,-0.8984094239276428,0.71338606911949],"aabb_xy":[[-0.2301133048073496,-0.9779265789402521],[-0.0701133019470952,-0.8188922689150332]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.5375002984629749,-0.30266080401662565,0.71338606911949],"aabb_xy":[[-0.5915158947448749,-0.36666080690888286],[-0.48348470218107487,-0.23866080112436855]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[-0.22445676976080137,-0.39917435950762004,0.71338606911949],"aabb_xy":[[-0.3044567708339217,-0.4089524058450045],[-0.14445676868768104,-0.3893963131702356]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.6217203240032356,-2.1615773990546847,0.71338606911949],"aabb_xy":[[-0.6716030208809318,-2.2115773983009595],[-0.5718376271255394,-2.11157739980841]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.21674418633336795,1.7243008326735052,0.71338606911949],"aabb_xy":[[-0.2537782957614277,1.6899236253397958],[-0.17971007690530824,1.7586780400072146]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.06683650015516507,0.6249321388085232,0.71338606911949],"aabb_xy":[[0.05668348460101566,0.5888625972357827],[0.07698951570931442,0.6610016803812634]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[-0.24614719140032904,-2.016849605249751,0.71338606911949],"aabb_xy":[[-0.27447690134886926,-2.021310347443468],[-0.21781748145178884,-2.012388863056034]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.1476595923087427,-1.5768516832133868,0.71338606911949],"aabb_xy":[[0.1404158262624974,-1.6568516814169894],[0.15490335835498806,-1.4968516850097846]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.20329577558765566,1.4632383927011783,0.71338606911949],"aabb_xy":[[0.17214885674407254,1.393238394014371],[0.23444269443123877,1.5332383913879855]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.523632150397429,0.03607791673004623,0.71338606911949],"aabb_xy":[[0.48916967238434117,0.029414239547123404],[0.5580946284105167,0.04274159391296905]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.5616057499237854,1.2348473944058305,0.71338606911949],"aabb_xy":[[0.4966057498894827,1.1881467177255032],[0.6266057499580882,1.2815480710861578]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.3204987417607992,-0.6522311354617867,0.71338606911949],"aabb_xy":[[0.2604987401178774,-0.7042312847537309],[0.3804987434037211,-0.6002309861698425]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.09213699534278696,0.6769490784434287,0.71338606911949],"aabb_xy":[[-0.09917844629353456,0.6699223267056342],[-0.08509554439203937,0.6839758301812233]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.5008005671914668,-1.6966941340229398,0.71338606911949],"aabb_xy":[[0.4458050893708073,-1.7516941354568465],[0.5557960450121261,-1.6416941325890326]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.5656261311610473,-0.055584877355348006,0.71338606911949],"aabb_xy":[[-0.6024766790980349,-0.09308487817838174],[-0.5287755832240597,-0.018084876532314276]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[0.30487047923721866,-1.1414703503955321,0.71338606911949],"aabb_xy":[[0.2968341445359338,-1.1495084696999487],[0.3129068139385035,-1.1334322310911151]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.6240057372180784,-1.1358082775108573,0.71338606911949],"aabb_xy":[[-0.688005737595612,-1.1855535443616696],[-0.5600057368405448,-1.086063010660045]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.39462116717201456,-1.515320584278315,0.71338606911949],"aabb_xy":[[0.38201846803493805,-1.5279159805031808],[0.40722386630909096,-1.5027251880534498]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.0721955114198578,-2.090951117195091,0.71338606911949],"aabb_xy":[[-0.1096955099954786,-2.1036874128586485],[-0.03469551284423699,-2.0782148215315326]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.47403308700920993,0.4063388928844618,0.71338606911949],"aabb_xy":[[-0.5590330857012846,0.37435302948958293],[-0.38903308831713523,0.43832475627934064]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.3896697833003715,-0.478843102802462,0.71338606911949],"aabb_xy":[[-0.47966978189484144,-0.49509368911588303],[-0.29966978470590155,-0.462592516489041]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[-0.09453270489334997,-2.2752177232110666,0.71338606911949],"aabb_xy":[[-0.15953270599929326,-2.300183096279195],[-0.02953270378740669,-2.2502523501429383]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[0.3552101579465574,-0.4508894015238698,0.71338606911949],"aabb_xy":[[0.2912101576725792,-0.5009555017211578],[0.41921015822053564,-0.40082330132658184]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.018708283511484458,1.3935016970468355,0.71338606911949],"aabb_xy":[[-0.08870828511376394,1.3800689038451779],[0.051291718090795024,1.406934490248493]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.5136925165460002,-0.5604512535823685,0.71338606911949],"aabb_xy":[[0.4901073930821055,-0.6254512558278003],[0.5372776400098952,-0.4954512513369367]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[0.3084319821513344,-1.6906369972115582,0.71338606911949],"aabb_xy":[[0.29686300140439786,-1.7156369973284902],[0.320000962898271,-1.6656369970946268]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[-0.2970390322420629,-2.4137977081465665,0.71338606911949],"aabb_xy":[[-0.30335113177840134,-2.419564647399785],[-0.2907269327057245,-2.4080307688933478]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[-0.3465931885846072,1.39255737951542,0.71338606911949],"aabb_xy":[[-0.41059318587025584,1.351050660562576],[-0.28259319129895855,1.434064098468264]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.06247979845262441,-1.1010761397806184,0.71338606911949],"aabb_xy":[[-0.07126102559986065,-1.1098558870691486],[-0.0536985713053882,-1.0922963924920885]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_31","position":[0.6731805682872436,-0.30451923103827117,0.71338606911949],"aabb_xy":[[0.6510080413105926,-0.32669489819439435],[0.6953530952638943,-0.282343563882148]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_32","position":[0.5206544599594609,1.4209694304037384,0.71338606911949],"aabb_xy":[[0.4784700457986302,1.3569694301265272],[0.5628388741202917,1.4849694306809496]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_33","position":[-0.14903868620757865,-1.8698719161399935,0.71338606911949],"aabb_xy":[[-0.21303868761556932,-1.9216608676639182],[-0.085038684799588,-1.8180829646160688]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665136575716728,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4101.png","name":"4101"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4101.png","name":"4101"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1045.png","name":"1045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1281.png","name":"1281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/232.png","name":"232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3182.png","name":"3182"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":769.8295328590555,"rotation_z_degrees":120.3509454081135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015285879025911619,-0.01727272568709152,-0.006959701643282247]},{"name":"camera_2","offset_m":[0.00526307235279715,0.016984206561900927,-0.007930786901720057]},{"name":"camera_3","offset_m":[0.013146287503947276,0.00441360860928906,0.009956044053585914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011216466693224586,-0.00029467747069977616,0.001711903165895077],"end_effector_yaw_offset_degrees":0.024237917520611107},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001815474067003061,0.00021449741683304477,-0.0015322524127044895],"end_effector_yaw_offset_degrees":0.25932333253210516},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0018746753317406238,0.001131149364536161,-0.0017409546176289968],"end_effector_yaw_offset_degrees":0.7906722423086823}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.0026096981076100313,0.0038556084758129766],"position_m":[0.21929030189238996,0.271255608475813,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003937805802219031,-0.0010917159894623185],"position_m":[0.338062194197781,0.11000828401053768,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0004567564720005732,0.0009807081757384293],"position_m":[0.29534324352799946,-0.042919291824261574,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003220432587373211,0.0009213647907226463],"position_m":[0.2681795674126268,-0.30767863520927735,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"955f1f237a72983f44fe1525635d99dc86603d7e0decb9a35162ef999c56bb61","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0097.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4101/tex_ceiling_textures_3182/tex_floor_textures_232/tex_table_textures_1045/tex_wall_textures_1281","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":6930199490301885871,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":6930199490301885871,"visual_seed":6930199490301885871,"scene_id":"lab_003","finished_at":"2026-09-02T07:45:42"}
+{"episode_id":"ep_000093","started_at":"2026-09-02T07:45:46","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.030634264424828972,-1.4626482207011984,0.71338606911949],"aabb_xy":[[-0.01936056850311263,-1.5126482195964421],[0.08062909735277057,-1.412648221805955]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.5467836057371922,0.22730869432297496,0.71338606911949],"aabb_xy":[[0.5298728733008504,0.21383648873036043],[0.563694338173534,0.24078089991558949]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.06105737185685389,-0.980680857280724,0.71338606911949],"aabb_xy":[[0.04589449887991681,-0.9958463145758428],[0.07622024483379097,-0.9655153999856053]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.4411931500035784,-2.518337627313462,0.71338606911949],"aabb_xy":[[-0.4458282651558117,-2.52220496239061],[-0.436558034851345,-2.5144702922363127]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.6170853144770156,0.740187058584679,0.71338606911949],"aabb_xy":[[0.6096728589356271,0.7343358481630511],[0.624497770018404,0.746038269006307]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[-0.6079419376650605,-1.1217633401755511,0.71338606911949],"aabb_xy":[[-0.6429419367950162,-1.127508561251215],[-0.5729419385351049,-1.1160181190998868]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.06670980904765689,0.8257380844442985,0.71338606911949],"aabb_xy":[[0.0067098092010901,0.7689194622512598],[0.12670980889422367,0.8825567066373372]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.5322007182105213,-1.362106239803416,0.71338606911949],"aabb_xy":[[0.5092850053254715,-1.3850105369398396],[0.5551164310955713,-1.3392019426669926]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.09632191618249986,-0.21916419124902742,0.71338606911949],"aabb_xy":[[-0.1087892742922355,-0.23162951588235092],[-0.08385455807276421,-0.2066988666157039]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.47305080776178876,-2.0559168774492056,0.71338606911949],"aabb_xy":[[0.3830508080386145,-2.078990229984385],[0.5630508074849628,-2.0328435249140253]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[0.49879869170315927,-0.4406704271406996,0.71338606911949],"aabb_xy":[[0.4901007294124441,-0.4527954014481744],[0.5074966539938747,-0.4285454528332249]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.2535601961754044,-0.9064846219981908,0.71338606911949],"aabb_xy":[[-0.25987229571174286,-0.9122515612514096],[-0.247248096639066,-0.900717682744972]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.35452677569198676,-1.4267743695067794,0.71338606911949],"aabb_xy":[[0.33784963969889126,-1.4434742934807097],[0.37120391168508227,-1.410074445532849]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.1923583183376658,0.26492483794557353,0.71338606911949],"aabb_xy":[[-0.242358319698553,0.21494693337015794],[-0.14235831697677856,0.31490274252098915]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.16890092044312432,-1.539486312504778,0.71338606911949],"aabb_xy":[[0.13186681101506462,-1.573863519838487],[0.20593502987118403,-1.505109105171068]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.3540956118743977,-1.3164139274146465,0.71338606911949],"aabb_xy":[[-0.40909561149614354,-1.3713976202021192],[-0.29909561225265185,-1.2614302346271737]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.505263707272313,-0.16840135182305804,0.71338606911949],"aabb_xy":[[0.44126370996996656,-0.21276777879091477],[0.5692637045746594,-0.12403492485520126]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.33993426745783806,-2.4268854685759567,0.71338606911949],"aabb_xy":[[0.2759342671973672,-2.4718942679288847],[0.4039342677183088,-2.3818766692230287]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.25837855130298937,1.1273885265198262,0.71338606911949],"aabb_xy":[[0.22087855287958896,1.1142243125519953],[0.29587854972638966,1.1405527404876568]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.16043632449342526,1.053183777849795,0.71338606911949],"aabb_xy":[[-0.18293632500546583,1.0306919194843966],[-0.13793632398138464,1.0756756362151934]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.1290034962584823,-2.1441265755603314,0.71338606911949],"aabb_xy":[[0.1098911889005034,-2.1632613544375734],[0.14811580361646112,-2.1249917966830894]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[-0.35711457746090186,0.16693486256501933,0.71338606911949],"aabb_xy":[[-0.3652282321342789,0.15882904611099025],[-0.3490009227875247,0.1750406790190484]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.3559649337549262,-1.1770979264274266,0.71338606911949],"aabb_xy":[[-0.3784649335688286,-1.1815725427979074],[-0.33346493394102383,-1.1726233100569459]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.46869021480257156,0.39016724310093576,0.71338606911949],"aabb_xy":[[0.45101458421397317,0.372487026821533],[0.48636584539116984,0.4078474593803385]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[-0.024308885876094255,-0.6991683304200316,0.71338606911949],"aabb_xy":[[-0.04930888504172737,-0.7061205761253881],[0.0006911132895388583,-0.692216084714675]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_25","position":[-0.558432004622947,-1.6103735337399774,0.71338606911949],"aabb_xy":[[-0.5834320041746854,-1.620516017605112],[-0.5334320050712085,-1.6002310498748427]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.38795443080933767,-0.4496901565647393,0.71338606911949],"aabb_xy":[[0.35295443253921777,-0.45676428425972737],[0.4229544290794576,-0.44261602886975104]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671237878820121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/846.png","name":"846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/846.png","name":"846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2337.png","name":"2337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2291.png","name":"2291"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1755.png","name":"1755"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":513.7053995553329,"rotation_z_degrees":100.77823776645995,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01333011462900725,0.0015687229300554405,0.00750269483018343]},{"name":"camera_2","offset_m":[0.011064427290780544,-0.016432673669305408,-0.01265980318353654]},{"name":"camera_3","offset_m":[0.007091437448901332,0.013414446436456052,0.016178346924487493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001636042428796918,0.001947967756169561,0.0008524163698923641],"end_effector_yaw_offset_degrees":0.22823743536247787},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017254882163775908,0.0017793334269743549,0.0012317614079739437],"end_effector_yaw_offset_degrees":0.5344052885917725},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.001241175734367812,-0.0006852770283336013,-0.0007298372593097535],"end_effector_yaw_offset_degrees":0.43038938274148375}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.004734382402485728,-0.0036518859190439977],"position_m":[0.2266343824024857,0.26374811408095605,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004155308858840373,-0.002444861385120836],"position_m":[0.33784469114115967,0.10865513861487917,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.001660438256887528,0.001180421137916562],"position_m":[0.29746043825688756,-0.04271957886208344,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003092922674157285,-0.0025263512661053123],"position_m":[0.2717092922674157,-0.31112635126610527,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"3393f2350cce0b2ff4895bd6d26ae98a40481e4176db71d1e863e72971696d7e","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_846/tex_ceiling_textures_1755/tex_floor_textures_2291/tex_table_textures_2337/tex_wall_textures_1497","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":9093477625400753585,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":9093477625400753585,"visual_seed":9093477625400753585,"scene_id":"lab_003","finished_at":"2026-09-02T07:48:34"}
+{"episode_id":"ep_000094","started_at":"2026-09-02T07:48:37","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.5346545112681478,-2.288329984093566,0.71338606911949],"aabb_xy":[[-0.5986545126761385,-2.34011893561749],[-0.47065450986015717,-2.2365410325696407]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.5285033919338833,-1.3759251717657446,0.71338606911949],"aabb_xy":[[0.47868661246904853,-1.425925170250048],[0.578320171398718,-1.3259251732814412]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.1456212559429153,-0.962754528635626,0.71338606911949],"aabb_xy":[[-0.14958173971264968,-0.9704223932211467],[-0.14166077217318093,-0.9550866640501054]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.45407385225184815,-1.7784130532056888,0.71338606911949],"aabb_xy":[[0.42292693340826504,-1.8484130518924957],[0.48522077109543127,-1.7084130545188814]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.2381201863495559,-2.486911056198248,0.71338606911949],"aabb_xy":[[-0.25575302194308347,-2.5045340022138705],[-0.22048735075602832,-2.4692881101826245]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.11084316605004985,-2.0048793990319527,0.71338606911949],"aabb_xy":[[0.08834316623614746,-2.009354015402433],[0.13334316586395223,-2.000404782661472]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[-0.2743271605342392,1.1390993945046906,0.71338606911949],"aabb_xy":[[-0.32432716189512645,1.089121489929275],[-0.22432715917335203,1.1890772990801062]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.16529744737964924,-1.5894213335798364,0.71338606911949],"aabb_xy":[[0.15825713744611228,-1.669421332979508],[0.17233775731318626,-1.5094213341801652]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_8","position":[0.4244387702779371,-0.17587163182676369,0.71338606911949],"aabb_xy":[[0.3944712133681114,-0.2058716321246494],[0.45440632718776275,-0.14587163152887792]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.3728431600622446,0.4107183141377013,0.71338606911949],"aabb_xy":[[-0.38471524307374566,0.32571831444405097],[-0.36097107705074344,0.4957183138313517]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.660846670693334,-0.15123766731451482,0.71338606911949],"aabb_xy":[[0.6494849360400479,-0.16260613372080288],[0.6722084053466202,-0.13986920090822672]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.3035641502433838,-0.498153554552081,0.71338606911949],"aabb_xy":[[-0.34964924149811527,-0.5621535518046361],[-0.2574790589886523,-0.4341535572995259]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.6806541434996487,0.959317356635982,0.71338606911949],"aabb_xy":[[-0.6879153910700562,0.9465303463724727],[-0.6733928959292412,0.9721043668994916]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.3492099935093648,-2.462310774253644,0.71338606911949],"aabb_xy":[[-0.35724632821064967,-2.4703488935580604],[-0.34117365880808,-2.4542726549492264]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.39191039637380887,0.5841877651937,0.71338606911949],"aabb_xy":[[0.3569103980631134,0.5764727502701543],[0.4269103946845043,0.5919027801172456]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.0008712156875045896,-2.4210961818746313,0.71338606911949],"aabb_xy":[[-0.05085416587498392,-2.4710961815171912],[0.04911173449997474,-2.3710961822320704]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.09275939488889906,0.6271020449889968,0.71338606911949],"aabb_xy":[[-0.11525939540093966,0.6046101866235984],[-0.07025939437685846,0.6495939033543952]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.5560255143930846,-0.9150044885406428,0.71338606911949],"aabb_xy":[[-0.5904879924061722,-0.9216681657235657],[-0.5215630363799967,-0.90834081135772]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.6528166720097168,0.20621584674843696,0.71338606911949],"aabb_xy":[[0.6434696644274216,0.1919122245307929],[0.662163679592012,0.22051946896608096]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.6146679529048273,-0.7801509444382895,0.71338606911949],"aabb_xy":[[0.5446679507733978,-0.8029129100639851],[0.6846679550362569,-0.7573889788125938]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.12161757587445987,-0.7058244036808148,0.71338606911949],"aabb_xy":[[0.11369429563571155,-0.7283244039188181],[0.1295408561132082,-0.6833244034428114]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.27701570444506435,-0.8363745402948362,0.71338606911949],"aabb_xy":[[-0.2816508195972977,-0.8402418753719847],[-0.2723805892928309,-0.8325072052176874]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.49920398022852075,-0.5471055768922954,0.71338606911949],"aabb_xy":[[-0.5192623918417609,-0.567170663801453],[-0.4791455686152804,-0.5270404899831379]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.5653009464582366,1.4051979564841957,0.71338606911949],"aabb_xy":[[0.5303009473282809,1.3994527354085313],[0.6003009455881922,1.4109431775598595]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[-0.41577152943842377,0.813850487289995,0.71338606911949],"aabb_xy":[[-0.505771526174034,0.7606670239727005],[-0.32577153270281356,0.8670339506072895]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[-0.08012816033373849,1.1841460246533808,0.71338606911949],"aabb_xy":[[-0.11762816050561042,1.1514452892704734],[-0.042628160161866546,1.2168467600362878]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.5296175402093326,0.061667505233026,0.71338606911949],"aabb_xy":[[-0.5936175393791024,0.014900818114063531],[-0.4656175410395626,0.10843419235198848]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_27","position":[0.5103976929281213,0.4968320398460282,0.71338606911949],"aabb_xy":[[0.4676309860487011,0.4328320364242258],[0.5531643998075415,0.5608320432678306]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[0.7005460374724146,-0.46706503051442727,0.71338606911949],"aabb_xy":[[0.6961154081175744,-0.4725134022491099],[0.7049766668272548,-0.4616166587797447]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663322152873933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6969.png","name":"6969"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9627.png","name":"9627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":733.0669534335941,"rotation_z_degrees":93.74853830513831,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0053789337121175635,0.00781805497122057,0.0030945246459451077]},{"name":"camera_2","offset_m":[-0.012735329516833054,0.009468061768872535,0.0060371981571146136]},{"name":"camera_3","offset_m":[0.0028496615872454847,-0.011524538160051612,-0.0026350578905871697]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006434893319054069,-8.097291716068974e-05,0.0001506982737949098],"end_effector_yaw_offset_degrees":-0.19429614516538218},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0007902033260944537,0.0004428075531828558,-9.487579823414861e-05],"end_effector_yaw_offset_degrees":-0.36810328668981307},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0008727146094875066,-0.0017283197565589848,-0.0017116187424419077],"end_effector_yaw_offset_degrees":0.6932369163233638}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004467741433076528,9.978238277247656e-06],"position_m":[0.21743225856692347,0.2674099782382773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034799840942057432,-0.0008707079215498634],"position_m":[0.34547998409420577,0.11022929207845014,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.00014657892163911883,-0.002742508717121658],"position_m":[0.2959465789216391,-0.04664250871712166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004635181626230043,-0.0013922485175257415],"position_m":[0.2667648183737699,-0.3099922485175257,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"82445a03b8e89a612f60252c947ef2928c5419691798490159ba384d0f9cec3d","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6183/tex_ceiling_textures_830/tex_floor_textures_9627/tex_table_textures_6969/tex_wall_textures_9930","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":49490804372015471,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":49490804372015471,"visual_seed":49490804372015471,"scene_id":"lab_003","finished_at":"2026-09-02T07:51:43"}
+{"episode_id":"ep_000095","started_at":"2026-09-02T07:51:48","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.6287878008781695,-1.9494101549867913,0.71338606911949],"aabb_xy":[[-0.6782682220921282,-2.013410152899643],[-0.5793073796642106,-1.8854101570739394]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.48539453671060095,-1.7415723892823787,0.71338606911949],"aabb_xy":[[-0.565394537180817,-1.7498830968967274],[-0.40539453624038513,-1.7332616816680304]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.4765372775559912,0.4455510163754073,0.71338606911949],"aabb_xy":[[-0.5177860885859058,0.39055101686318977],[-0.43528846652607633,0.5005510158876246]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.06813427470594402,-2.085154407644138,0.71338606911949],"aabb_xy":[[-0.14813427210953742,-2.1651469788423205],[0.011865722697649404,-2.005161836445955]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.38399863657273015,0.059857436737323244,0.71338606911949],"aabb_xy":[[-0.4014986368320669,0.045765894548550616],[-0.3664986363133936,0.07394897892609587]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.07642845276767718,-0.4063207772516302,0.71338606911949],"aabb_xy":[[-0.1107253637854178,-0.4406176634615715],[-0.042131541749936545,-0.37202389104168876]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.050506737698892024,-0.5555784563206276,0.71338606911949],"aabb_xy":[[-0.06808503988783887,-0.5731529458947325],[-0.032928435509945175,-0.5380039667465227]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.5580761746489895,0.2918966823179079,0.71338606911949],"aabb_xy":[[-0.5805761744628919,0.2874220659474272],[-0.5355761748350871,0.2963712986883886]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.5716885394778917,-1.6345463245051386,0.71338606911949],"aabb_xy":[[0.5412042893508614,-1.6845463242866343],[0.6021727896049217,-1.5845463247236424]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.33675242675729233,-1.2549028781736506,0.71338606911949],"aabb_xy":[[0.27175242580016506,-1.306851090107356],[0.4017524277144195,-1.2029546662399448]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.21601867416520482,1.6469447586967436,0.71338606911949],"aabb_xy":[[-0.22543614873506757,1.6375285815590246],[-0.20660119959534207,1.6563609358344626]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.31499042628935214,1.0376643048382976,0.71338606911949],"aabb_xy":[[0.29731479570075375,1.0199840885588947],[0.3326660568779504,1.0553445211177002]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.14613528094047812,0.6874436425849919,0.71338606911949],"aabb_xy":[[0.1367882733581829,0.6731400203673479],[0.15548228852277335,0.7017472648026359]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[0.12106113712539834,0.9077599063465374,0.71338606911949],"aabb_xy":[[0.11616184481883483,0.8800829870439686],[0.12596042943196184,0.9354368256491061]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.3099862932898804,1.1678077583457078,0.71338606911949],"aabb_xy":[[-0.38998629436300075,1.1580297120083236],[-0.2299862922167601,1.1775858046830925]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.48744195615597485,-0.15788788560227873,0.71338606911949],"aabb_xy":[[0.4324497055204639,-0.21288788734559155],[0.5424342067914858,-0.102887883858966]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.48088087733771845,-1.855314188244202,0.71338606911949],"aabb_xy":[[0.4440303294007308,-1.8928141890672356],[0.5177314252747061,-1.8178141874211682]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[0.4161524365090863,1.3651212987401333,0.71338606911949],"aabb_xy":[[0.3786524349934546,1.353894525723988],[0.453652438024718,1.3763480717562782]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.4785367743869918,0.8763500083062343,0.71338606911949],"aabb_xy":[[-0.5135367742830106,0.8679757727942944],[-0.44353677449097295,0.8847242438181743]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.1218074727032904,-1.1661437596596367,0.71338606911949],"aabb_xy":[[0.09315814034287416,-1.1947893189367123],[0.15045680506370662,-1.1374982003825607]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.19549342250925617,1.3531210290618718,0.71338606911949],"aabb_xy":[[0.1454985895813146,1.3031210301666285],[0.2454882554371978,1.4031210279571156]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.5286776499311625,0.38429977622146394,0.71338606911949],"aabb_xy":[[0.5061776494191219,0.36180791785606553],[0.5511776504432031,0.40679163458686224]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.6161485894278881,1.107584145446837,0.71338606911949],"aabb_xy":[[-0.6661485903784209,1.0760349984433153],[-0.5661485884773553,1.139133292450358]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.19038521844988154,-1.5725138774693546,0.71338606911949],"aabb_xy":[[-0.23315192532930173,-1.636513880891157],[-0.14761851157046135,-1.508513874047552]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.07870288611986276,-1.623795875953344,0.71338606911949],"aabb_xy":[[-0.011297113603311424,-1.6468692284885236],[0.16870288584303691,-1.600722523418164]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[0.16092419669447433,-1.0351730962409562,0.71338606911949],"aabb_xy":[[0.14203981292596413,-1.054059021021309],[0.17980858046298454,-1.0162871714606034]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[-0.30486523736941595,-0.22289251119461895,0.71338606911949],"aabb_xy":[[-0.35484947307759324,-0.27289251000811454],[-0.2548810016612388,-0.17289251238112335]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.2837266542106312,-0.7083519488656758,0.71338606911949],"aabb_xy":[[-0.3477266515129776,-0.7527183758335326],[-0.2197266569082848,-0.6639855218978191]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674520286084871,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6417.png","name":"6417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6417.png","name":"6417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9904.png","name":"9904"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/855.png","name":"855"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1288.png","name":"1288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9254.png","name":"9254"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":543.1202582144159,"rotation_z_degrees":25.24484350455967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00675228405355539,0.013525361054933824,-0.0054885826404884284]},{"name":"camera_2","offset_m":[-0.012896924292912493,0.008274506237289345,-0.006227494161358949]},{"name":"camera_3","offset_m":[-0.0030357443424337514,-0.007677497264263575,0.005062594145658059]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00024537998954858825,-0.0006309684288803589,4.908195496938338e-05],"end_effector_yaw_offset_degrees":-0.8579705421323334},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007408877406582738,0.0005155426989455966,0.0018412809325608587],"end_effector_yaw_offset_degrees":0.9533038117082266},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.00025399208031615084,0.0018007514536827083,-0.0016953550348714193],"end_effector_yaw_offset_degrees":0.6127510584820344}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.0016975913763829656,0.003419314972690132],"position_m":[0.22359759137638296,0.2708193149726902,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002017580158963094,0.002157166618337426],"position_m":[0.3440175801589631,0.11325716661833743,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0001541162314750077,0.0008354225140164663],"position_m":[0.295954116231475,-0.04306457748598354,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030817526009444575,-0.0008412110902574644],"position_m":[0.2683182473990555,-0.30944121109025746,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"135988c27bc4bda3a820ff7aed8db5800eb94f6d4d2ee08ad44a6d333822ebc9","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6417/tex_ceiling_textures_9254/tex_floor_textures_1288/tex_table_textures_9904/tex_wall_textures_855","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":1906634583188171619,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":1906634583188171619,"visual_seed":1906634583188171619,"scene_id":"lab_003","finished_at":"2026-09-02T07:54:33"}
+{"episode_id":"ep_000096","started_at":"2026-09-02T07:54:36","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.08044878274907663,-0.6552116586619192,0.71338606911949],"aabb_xy":[[-0.16544878144115127,-0.687197522056798],[0.00455121594299801,-0.6232257952670403]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.4905796977758423,1.369098412170215,0.71338606911949],"aabb_xy":[[0.4265796975153715,1.324089612817287],[0.5545796980363131,1.414107211523143]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[0.3018307569137313,-1.4234543204292358,0.71338606911949],"aabb_xy":[[0.2968747367288501,-1.4459543206313574],[0.30678677709861246,-1.4009543202271142]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.02744487697646114,1.194132437383534,0.71338606911949],"aabb_xy":[[0.0038597535125662885,1.1291324351381022],[0.051030000440355994,1.2591324396289658]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.06233509556769634,1.0378881632730699,0.71338606911949],"aabb_xy":[[-0.08479986553910146,1.0153881623942094],[-0.03987032559629123,1.0603881641519304]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.6797815385951673,-2.4980361892645653,0.71338606911949],"aabb_xy":[[0.6622815383358308,-2.5121277314533383],[0.6972815388545041,-2.483944647075793]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[0.07390257088246122,-2.255428681973621,0.71338606911949],"aabb_xy":[[-0.006097426277114071,-2.266976282931438],[0.1539025680420365,-2.243881081015804]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.13538624844050484,1.5821524466833998,0.71338606911949],"aabb_xy":[[-0.18147133969523632,1.5181524494308447],[-0.08930115718577337,1.646152443935955]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.5229709743809228,0.0400487922523145,0.71338606911949],"aabb_xy":[[-0.6029709717845161,-0.039943778945868307],[-0.4429709769773293,0.1200413634504973]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.5247869523663558,1.22089465584508,0.71338606911949],"aabb_xy":[[-0.6047869493806036,1.2007601041716687],[-0.44478695535210766,1.2410292075184912]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.09334960355015554,-1.2381244693126052,0.71338606911949],"aabb_xy":[[0.04335649144096366,-1.2881244699868009],[0.14334271565934745,-1.1881244686384096]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.6638188047299856,0.27452971036004437,0.71338606911949],"aabb_xy":[[-0.6924681370904017,0.24588415108296857],[-0.6351694723695692,0.30317526963712016]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.43206201087909935,0.7884546842611639,0.71338606911949],"aabb_xy":[[0.4168991379021624,0.7732892269660453],[0.44722488385603654,0.8036201415562828]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.051197654403254744,-1.4114144744650565,0.71338606911949],"aabb_xy":[[-0.012802348886453365,-1.454749393468974],[0.11519765769296286,-1.3680795554611387]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[0.4150877089632057,-0.6134072850864591,0.71338606911949],"aabb_xy":[[0.41100955105615594,-0.6174882653347223],[0.4191658668702554,-0.6093263048381957]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.6219916850331172,-1.9492988964318458,0.71338606911949],"aabb_xy":[[-0.6691210640349528,-2.0132988974762474],[-0.5748623060312814,-1.8852988953874434]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.12373420613429553,-1.1626235497722621,0.71338606911949],"aabb_xy":[[-0.1837342069951083,-1.214049979778748],[-0.06373420527348271,-1.1111971197657753]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.053019710505288975,-1.995953172174782,0.71338606911949],"aabb_xy":[[-0.036980285995582785,-2.0418648145932403],[0.1430197070061607,-1.9500415297563238]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.6510923567458781,0.5729942693105969,0.71338606911949],"aabb_xy":[[-0.6591286914471629,0.5649561500061802],[-0.6430560220445932,0.5810323886150137]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.5106378217101957,-1.3635925277821899,0.71338606911949],"aabb_xy":[[0.43063782143658874,-1.4365420756079066],[0.5906378219838027,-1.2906429799564731]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.26959589275587037,-1.3953059720895662,0.71338606911949],"aabb_xy":[[-0.30074281159945343,-1.4653059707763736],[-0.2384489739122872,-1.3253059734027592]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.34333821056384517,-1.0516661528571538,0.71338606911949],"aabb_xy":[[-0.3808382106694381,-1.0584883147101347],[-0.3058382104582522,-1.0448439910041725]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.32426124381856924,1.1874017384297608,0.71338606911949],"aabb_xy":[[0.2742612421570744,1.1374032961740579],[0.37426124548006395,1.2374001806854633]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[-0.3867841133047667,-1.7120235818666543,0.71338606911949],"aabb_xy":[[-0.39224205894178676,-1.7920235851743134],[-0.38132616766774663,-1.6320235785589952]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.2799553597108755,-2.5526827703420762,0.71338606911949],"aabb_xy":[[-0.2978244674653309,-2.5665156783192877],[-0.26208625195641994,-2.5388498623648657]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[0.5876579912324589,-1.9645962096804281,0.71338606911949],"aabb_xy":[[0.5236579920626889,-2.0113628967993904],[0.6516579904022288,-1.917829522561466]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[0.6214347204546644,0.6836419672073246,0.71338606911949],"aabb_xy":[[0.557434723152318,0.6392755402394678],[0.6854347177570108,0.7280083941751813]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_27","position":[-0.5774639102265174,0.8089658666441122,0.71338606911949],"aabb_xy":[[-0.6274589211859695,0.7589658676085206],[-0.5274688992670654,0.858965865679704]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725439357788201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3202.png","name":"3202"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3202.png","name":"3202"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1215.png","name":"1215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/958.png","name":"958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1479.png","name":"1479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7509.png","name":"7509"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":790.1110650398883,"rotation_z_degrees":346.98098199521604,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0071918375736109135,-0.013166061626544642,0.010397467219199728]},{"name":"camera_2","offset_m":[-0.018861355521888782,-0.010157498352655643,-0.01690657910466865]},{"name":"camera_3","offset_m":[0.011486868656448563,-0.00812379012367515,-0.01150883794032444]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013952123469810626,-0.0017173273998162184,0.0018025202166857628],"end_effector_yaw_offset_degrees":-0.9802439320282132},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006580948541095254,-0.00022345752080491854,-0.0004227963227895759],"end_effector_yaw_offset_degrees":0.8293594355006735},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0018216782841632487,-0.0017596792305854553,0.0018659652439890419],"end_effector_yaw_offset_degrees":0.6908194924305842}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004388980343586154,0.004013826158245584],"position_m":[0.21751101965641384,0.2714138261582456,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001968401981329021,0.0015818210560800787],"position_m":[0.340031598018671,0.11268182105608009,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.001331955688679809,-0.003744806753262261],"position_m":[0.2944680443113202,-0.04764480675326226,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003672575590434413,0.0011221600200105432],"position_m":[0.2750725755904344,-0.30747783997998945,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"9c5c6d7041b357ba83986716fbcd017f6d6cf69dc3507b1e403d8cffd0acdc19","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3202/tex_ceiling_textures_7509/tex_floor_textures_1479/tex_table_textures_1215/tex_wall_textures_958","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":4292452152931716691,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":4292452152931716691,"visual_seed":4292452152931716691,"scene_id":"lab_003","finished_at":"2026-09-02T07:57:27"}
+{"episode_id":"ep_000097","started_at":"2026-09-02T08:00:38","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.5227626556032037,1.037274995749328,0.71338606911949],"aabb_xy":[[0.43776265691112903,1.005289132354449],[0.6077626542952783,1.0692608591442068]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.04068095926386284,-0.6564238340174466,0.71338606911949],"aabb_xy":[[-0.07568095845668109,-0.6673908800151092],[-0.005680960071044558,-0.6454567880197839]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[-0.2695704493549438,-1.036380358214277,0.71338606911949],"aabb_xy":[[-0.3007173681985269,-1.106380356901084],[-0.23842353051136067,-0.9663803595274696]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.23319429733268604,-1.6853364718438977,0.71338606911949],"aabb_xy":[[0.19188975426895002,-1.749336471412015],[0.27449884039642203,-1.6213364722757808]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.581699496822039,0.4111009849726317,0.71338606911949],"aabb_xy":[[0.5604214886785668,0.3461009826465586],[0.6029775049655113,0.4761009872987047]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.39053905665678745,1.6742018783649066,0.71338606911949],"aabb_xy":[[0.35705988939574657,1.6407227649937997],[0.42401822391782845,1.7076809917360136]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.3600387436199515,-2.0200318425425543,0.71338606911949],"aabb_xy":[[0.28003874496306547,-2.0345367014668176],[0.4400387422768375,-2.005526983618292]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.559877335083913,-0.9743359713528839,0.71338606911949],"aabb_xy":[[0.5186285240539982,-1.029335970865101],[0.6011261461138276,-0.9193359718406663]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.5052243441046563,-1.4259567124159762,0.71338606911949],"aabb_xy":[[-0.562854812991927,-1.4859567113426866],[-0.44759387521738525,-1.3659567134892654]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.42383748242919517,0.8874204841526852,0.71338606911949],"aabb_xy":[[-0.4272781586692524,0.8835590511783209],[-0.42039680618913805,0.8912819171270498]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.6187480968644893,-0.9897002536641819,0.71338606911949],"aabb_xy":[[-0.6827480932918113,-1.0368698774862786],[-0.5547481004371675,-0.9425306298420856]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.614773631836697,-2.3777067660103994,0.71338606911949],"aabb_xy":[[0.6098176116518159,-2.400206766212521],[0.6197296520215783,-2.355206765808278]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[0.4838819975105344,-1.182713199596629,0.71338606911949],"aabb_xy":[[0.4741260080013604,-1.1924757336558633],[0.4936379870197082,-1.1729506655373945]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.294248104560881,-1.1536186031004496,0.71338606911949],"aabb_xy":[[0.2573975566238934,-1.1911186039234836],[0.33109865249786863,-1.116118602277416]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.0479937982308265,-0.35869808372419243,0.71338606911949],"aabb_xy":[[-0.0668781819993367,-0.37758400850454527],[-0.029109414462316296,-0.3398121589438397]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.5678582992735143,0.8630256274016714,0.71338606911949],"aabb_xy":[[-0.6318582965591629,0.8215189084488275],[-0.5038583019878656,0.9045323463545154]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.4850338929067261,-0.5858738847776972,0.71338606911949],"aabb_xy":[[-0.5550338893166877,-0.6063118204293787],[-0.4150338964967642,-0.5654359491260152]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.1404703117562578,0.004899285937726372,0.71338606911949],"aabb_xy":[[-0.21047031356500323,-0.016454482826461003],[-0.07047030994751236,0.026253054701913747]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.08581898607810756,-1.8704487422943803,0.71338606911949],"aabb_xy":[[0.021818983735306007,-1.9153895935385128],[0.14981898842090913,-1.8255078910502478]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.16084873646635844,-2.246887291278114,0.71338606911949],"aabb_xy":[[0.15263419135067444,-2.2555638815757546],[0.1690632815820424,-2.238210700980472]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.5236698525556629,1.0038620371918854,0.71338606911949],"aabb_xy":[[-0.5418756762169107,0.9928366366098937],[-0.5054640288944153,1.014887437773877]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680517662383193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7247.png","name":"7247"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7247.png","name":"7247"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4444.png","name":"4444"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5165.png","name":"5165"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/97.png","name":"97"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5366.png","name":"5366"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":520.7461704837928,"rotation_z_degrees":195.95593050118939,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008677032161939362,0.009220166276080674,-0.005162409543463347]},{"name":"camera_2","offset_m":[-0.01584675181571601,-0.0030756604505393532,0.011898352280244263]},{"name":"camera_3","offset_m":[0.01252858397739948,-0.0062215108932000395,-0.013647221829752799]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018302562616416842,-4.139508311608005e-05,0.0007501061237742109],"end_effector_yaw_offset_degrees":0.4626864672585498},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00022996910468936005,-0.0017942452793001814,9.079653890922603e-05],"end_effector_yaw_offset_degrees":0.7434950249889261},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0007780890441617975,-3.757934617703825e-05,0.0017074555421518673],"end_effector_yaw_offset_degrees":0.04816894650374448}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.004884265992423605,0.0019610015128075833],"position_m":[0.21701573400757637,0.2693610015128076,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034993070702391367,-8.168628913279158e-05],"position_m":[0.3454993070702392,0.1110183137108672,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-5.198516318384409e-06,-0.0036485972434792614],"position_m":[0.29579480148368165,-0.04754859724347926,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005154369539835191,0.0028011501980003684],"position_m":[0.27088456304601644,-0.3057988498019996,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"a7027f500a231cb77ae4f0935eb74378946ca2e11c44bcf7ee1c50d4d3675104","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0103.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7247/tex_ceiling_textures_5366/tex_floor_textures_97/tex_table_textures_4444/tex_wall_textures_5165","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":3748513599776245579,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":3748513599776245579,"visual_seed":3748513599776245579,"scene_id":"lab_003","finished_at":"2026-09-02T08:03:35"}
+{"episode_id":"ep_000098","started_at":"2026-09-02T08:03:39","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.10394329428457905,-1.4468868938185355,0.71338606911949],"aabb_xy":[[-0.16794329068015212,-1.510850182237269],[-0.03994329788900597,-1.382923605399802]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.36183679517235445,-2.393283863812159,0.71338606911949],"aabb_xy":[[0.345159659179259,-2.4099837877860897],[0.37851393116545,-2.376583939838229]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.14863574737669505,-1.8396132473825921,0.71338606911949],"aabb_xy":[[-0.20363574655328454,-1.8946029221575496],[-0.09363574820010556,-1.7846235726076343]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.2550882884768718,-0.5807134469005648,0.71338606911949],"aabb_xy":[[0.217588288184697,-0.5847549223011684],[0.29258828876904663,-0.5766719714999612]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.583114605378405,0.8301202984642995,0.71338606911949],"aabb_xy":[[-0.6056146053885532,0.8160240788246962],[-0.5606146053682566,0.8442165181039027]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.46081758115847227,-0.9555246495434133,0.71338606911949],"aabb_xy":[[0.45440376751528727,-0.9619344697910817],[0.46723139480165715,-0.949114829295745]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.2395813235655173,-1.4806813001818437,0.71338606911949],"aabb_xy":[[-0.24328458489465618,-1.4843833184905617],[-0.23587806223637844,-1.4769792818731258]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.20172530581378334,-2.153854481090765,0.71338606911949],"aabb_xy":[[0.12172530841018993,-2.2338470522889478],[0.28172530321737677,-2.073861909892582]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.6100727011302756,0.8414254145429783,0.71338606911949],"aabb_xy":[[0.6012914739830395,0.8326456672544482],[0.6188539282775121,0.8502051618315085]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.5550449312872021,0.2354076603302402,0.71338606911949],"aabb_xy":[[0.5050449317108674,0.18542708137813424],[0.6050449308635368,0.28538823928234613]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[0.5531692341891077,-1.4265041937348553,0.71338606911949],"aabb_xy":[[0.5172557297641179,-1.4624177019516096],[0.5890827386140972,-1.3905906855181005]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.594271611957899,-1.9340276261967515,0.71338606911949],"aabb_xy":[[-0.6317716123061267,-1.9458190217778348],[-0.5567716116096711,-1.9222362306156677]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[0.44109639958367874,1.5480709549974292,0.71338606911949],"aabb_xy":[[0.4234207689950804,1.5303907387180262],[0.4587720301722771,1.5657511712768317]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.26371127693832386,1.185385046627855,0.71338606911949],"aabb_xy":[[-0.32771127719879467,1.140376247274927],[-0.19971127667785307,1.230393845980783]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.0767609977335797,1.4950356745658504,0.71338606911949],"aabb_xy":[[0.026760998293384075,1.445067750081534],[0.1267609971737753,1.5450035990501667]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.0753083139300289,1.082529111004415,0.71338606911949],"aabb_xy":[[0.05030831399751101,1.0756464427834918],[0.1003083138625468,1.0894117792253384]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.6450849630449305,-1.0473478274205061,0.71338606911949],"aabb_xy":[[-0.6558579369662981,-1.0823478256395453],[-0.6343119891235626,-1.0123478292014674]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.5576410239626165,1.5818348235087663,0.71338606911949],"aabb_xy":[[-0.6216410253706072,1.5300458719848415],[-0.4936410225546259,1.633623775032691]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.4725877827101094,1.0994614074062623,0.71338606911949],"aabb_xy":[[-0.48342826093662433,1.0822751261156134],[-0.4617473044835945,1.1166476886969108]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.11526726048003744,0.7982354729054193,0.71338606911949],"aabb_xy":[[0.07009594263186845,0.7342354757608809],[0.1604385783282064,0.8622354700499578]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.6561562881662042,-0.14337011841756064,0.71338606911949],"aabb_xy":[[0.5921562908805554,-0.18487683737040464],[0.7201562854518527,-0.1018633994647167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664824034851751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9414.png","name":"9414"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9414.png","name":"9414"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5652.png","name":"5652"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9401.png","name":"9401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9507.png","name":"9507"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/813.png","name":"813"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":845.8475970137465,"rotation_z_degrees":167.4860245794768,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018475776029674037,-0.004411995309510801,-0.007929327845572084]},{"name":"camera_2","offset_m":[-0.011902429195532162,0.010553790845817503,-0.012647768088136703]},{"name":"camera_3","offset_m":[0.009353165519422824,-0.01127737645143963,0.014836587168611557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004605851572578204,-0.0006365069523176082,-0.0004309799665472257],"end_effector_yaw_offset_degrees":-0.1346030343889637},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00034696890742352436,8.514787651041399e-05,-0.00014035242642789934],"end_effector_yaw_offset_degrees":-0.8490152231511048},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[0.0013038627537675556,0.0018451649524789978,0.0014862795951664036],"end_effector_yaw_offset_degrees":0.40690782246165713}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[-0.003864407209809657,0.002051094090915798],"position_m":[0.21803559279019033,0.26945109409091583,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033332087535829563,-0.0028413274069212825],"position_m":[0.345333208753583,0.10825867259307873,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[-0.0019440841560079735,-0.0039037196725798585],"position_m":[0.293855915843992,-0.04780371967257986,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0045503082942037285,-0.0015535682348575318],"position_m":[0.26684969170579625,-0.3101535682348575,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"e7be804a3a18b509d5105ef5a22e9717460af281081b429d0d3828074dcee251","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9414/tex_ceiling_textures_813/tex_floor_textures_9507/tex_table_textures_5652/tex_wall_textures_9401","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":5615910245254180343,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":5615910245254180343,"visual_seed":5615910245254180343,"scene_id":"lab_003","finished_at":"2026-09-02T08:06:23"}
+{"episode_id":"ep_000099","started_at":"2026-09-02T08:06:26","dimensions":{"distractor":{"count":33,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.3887739778544673,0.0749195812898309,0.71338606911949],"aabb_xy":[[-0.39423192349148733,-0.005080422017828212],[-0.3833160322174472,0.15491958459749]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.117235522289033,-0.052164754549729686,0.71338606911949],"aabb_xy":[[-0.13038676826032236,-0.07716475430641623],[-0.10408427631774365,-0.027164754793043137]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.5695637607919877,-0.07843634760322749,0.71338606911949],"aabb_xy":[[0.4795637613736168,-0.1118118444474172],[0.6595637602103586,-0.04506085075903775]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.1519274493247036,1.0263935608219015,0.71338606911949],"aabb_xy":[[-0.1738171969136444,0.9363935635326522],[-0.1300377017357628,1.1163935581111504]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.36977503093308617,-2.114617133052839,0.71338606911949],"aabb_xy":[[-0.3799280464872354,-2.1506866746255784],[-0.3596220153789367,-2.0785475914800977]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[-0.5320149701982542,-2.4754253758381997,0.71338606911949],"aabb_xy":[[-0.6020149720069996,-2.496779144602387],[-0.46201496838950873,-2.4540716070740123]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[0.4589089826458801,-1.8642198473813398,0.71338606911949],"aabb_xy":[[0.4218748732178203,-1.8985970547150492],[0.4959430920739398,-1.8298426400476304]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[0.4938057459289904,-1.0185563533721713,0.71338606911949],"aabb_xy":[[0.4338057460824236,-1.07537497556521],[0.5538057457755572,-0.9617377311791326]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.4901253656706168,0.5816411957294507,0.71338606911949],"aabb_xy":[[0.42612536426262615,0.529852244205526],[0.5541253670786075,0.6334301472533754]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.259361053143066,0.8601915120709105,0.71338606911949],"aabb_xy":[[0.19936105263521306,0.8033447783849892],[0.3193610536509189,0.9170382457568318]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.6546750648830493,0.7692370171219509,0.71338606911949],"aabb_xy":[[0.6439020909616815,0.7342370189029119],[0.665448038804417,0.8042370153409899]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.30202309765767854,-1.7307290712622179,0.71338606911949],"aabb_xy":[[0.21202309906320865,-1.7469796575756391],[0.39202309625214854,-1.714478484948797]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.46732738039729993,1.0513448202827336,0.71338606911949],"aabb_xy":[[-0.5048273805691719,1.0186440848998264],[-0.42982738022542805,1.0840455556656408]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.15152979942333222,1.570234368392264,0.71338606911949],"aabb_xy":[[-0.24152980310025035,1.5088019618151594],[-0.061529795746414026,1.631666774969368]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.2907309722321595,-1.5786982843638502,0.71338606911949],"aabb_xy":[[-0.32573097054285494,-1.5864132992873958],[-0.25573097392146404,-1.5709832694403045]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.11154091736096061,-0.2798167567681116,0.71338606911949],"aabb_xy":[[-0.11785301689729905,-0.2855836960213304],[-0.10522881782462218,-0.27404981751489277]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.4587065395380625,-1.9160848415078813,0.71338606911949],"aabb_xy":[[-0.5037065410042915,-1.961084698369362],[-0.4137065380718338,-1.8710849846464006]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.5335769210725142,1.4541764046677144,0.71338606911949],"aabb_xy":[[-0.5678931982471321,1.4041764046945366],[-0.49926064389789626,1.504176404640892]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.03781723376545165,1.7587689759595393,0.71338606911949],"aabb_xy":[[0.002817235495331749,1.751694848264551],[0.07281723203557156,1.7658431036545272]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.3735604110438152,-0.9046157166238249,0.71338606911949],"aabb_xy":[[-0.4375604132642222,-0.9489888007491132],[-0.30956040882340813,-0.8602426324985366]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.4382469298050237,-0.6690383935171402,0.71338606911949],"aabb_xy":[[-0.46864504090416725,-0.6994452955188096],[-0.4078488187058801,-0.6386314915154706]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.6888893100956348,-0.9527085692060642,0.71338606911949],"aabb_xy":[[0.6737171408140015,-0.9678774261342675],[0.7040614793772682,-0.9375397122778608]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[0.4616078216158772,-2.3445599887619157,0.71338606911949],"aabb_xy":[[0.45244794267200056,-2.3510912068054526],[0.47076770055975375,-2.338028770718379]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[0.36192833235845745,0.43094400797072474,0.71338606911949],"aabb_xy":[[0.3467654593815204,0.4157785506756061],[0.37709120533539464,0.4461094652658436]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.47290260955247004,-1.5928653762360527,0.71338606911949],"aabb_xy":[[-0.4911084332137178,-1.6038907768180444],[-0.4546967858912224,-1.581839975654061]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.3349989407966122,-1.271539475002029,0.71338606911949],"aabb_xy":[[-0.41499893945349814,-1.2860443339262921],[-0.2549989421397261,-1.2570346160777663]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[-0.6338383896024006,0.5801633494127065,0.71338606911949],"aabb_xy":[[-0.6415415802764776,0.5724539787139684],[-0.6261351989283234,0.5878727201114444]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.34767886193235076,-0.7371467350717056,0.71338606911949],"aabb_xy":[[0.29770579639983535,-0.7871467348842386],[0.39765192746486633,-0.6871467352591727]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[0.10484705896316948,-1.9696036677666802,0.71338606911949],"aabb_xy":[[0.04084705870269866,-2.014612467119608],[0.16884705922364027,-1.924594868413752]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[-0.20489844686353648,0.5198607630250236,0.71338606911949],"aabb_xy":[[-0.22739844737557705,0.49736890465962524],[-0.18239844635149585,0.542352621390422]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_30","position":[-0.019067114924839035,0.8502537397086516,0.71338606911949],"aabb_xy":[[-0.05656711474187259,0.8456155283975098],[0.018432884892194523,0.8548919510197934]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_31","position":[0.4989315910980636,1.2490517994847914,0.71338606911949],"aabb_xy":[[0.40893159459719175,1.203140157066333],[0.5889315875989352,1.2949634419032494]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_32","position":[0.5770107519614232,0.9805817360323665,0.71338606911949],"aabb_xy":[[0.49701692838286493,0.9005817334395251],[0.6570045755399814,1.060581738625208]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669617765566545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6523.png","name":"6523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1698.png","name":"1698"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6226.png","name":"6226"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1394.png","name":"1394"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":621.1018775315388,"rotation_z_degrees":136.61921529663132,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01471074764934555,-0.009015489036083721,-0.015154050558054015]},{"name":"camera_2","offset_m":[-0.0032820631359072767,-0.006540196705495776,-0.008785067457884259]},{"name":"camera_3","offset_m":[0.0009920670543397195,-0.008221681658277786,-0.004357454517572263]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00021597583584595753,0.0017722442490887592,0.00041007813399354925],"end_effector_yaw_offset_degrees":-0.2198012163493468},{"step_index":1,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002704732569103669,-0.0017404417962324054,0.0007780665150297606],"end_effector_yaw_offset_degrees":-0.6699420353778849},{"step_index":2,"skill":"place","target_object":"inspection_platform","waypoint_offset_m":[-0.0008404252697790881,0.0015710580833243133,0.0017196003820720593],"end_effector_yaw_offset_degrees":0.7183514374694704}]}},"meta":{"task":"fast_2beaker_dual_target_s03_psl_gqr_00028","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_b":{"sampled_offset_m":[0.002835089561436123,0.004749502482392451],"position_m":[0.22473508956143612,0.2721495024823925,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00464521459619763,0.0026603416695938032],"position_m":[0.33735478540380237,0.11376034166959381,0.7158860691194898],"position_frame":"world"},"beaker_a":{"sampled_offset_m":[0.0005390906686238281,0.0011117410927492877],"position_m":[0.29633909066862385,-0.042788258907250715,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035495000408758562,-0.0006776798955059008],"position_m":[0.26785049995912413,-0.30927767989550586,0.7674890431422514],"position_frame":"world"}}},"task_island_state_digest":"72bd791f4b8feeaecff1899e4f973b0b046a2bf9a7ccb2ed43d44c15148eb478","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/dataset/episode_0105.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5426/tex_ceiling_textures_1394/tex_floor_textures_6226/tex_table_textures_6523/tex_wall_textures_1698","seeds":{"action_seed":1421041467881370917,"physical_seed":6425155320322555435,"visual_seed":436689484909894755,"layout_id":"layout_00028","physical_randomization_enabled":true},"episode_seed":436689484909894755,"visual_seed":436689484909894755,"scene_id":"lab_003","finished_at":"2026-09-02T08:09:11"}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/resolved_config.yaml b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..16c7ac0d18919e59e09850fba109e729b145bb3a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/resolved_config.yaml
@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_gqr_00028
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b at inspection platform.
+  layout_id: layout_00028
+  reproducibility:
+    enabled: true
+    layout_id: layout_00028
+    action_seed: 1421041467881370917
+    step_seeds:
+    - 6877381590794877550
+    - 7968072635520989123
+    - 2549783545291825864
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2958
+      - 0.2958
+      'y':
+      - -0.0439
+      - -0.0439
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2219
+      - 0.2219
+      'y':
+      - 0.2674
+      - 0.2674
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.342
+      - 0.342
+      'y':
+      - 0.1111
+      - 0.1111
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2714
+      - 0.2714
+      'y':
+      - -0.3086
+      - -0.3086
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_0_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f38c37ca5dd7c422dc01e48641c1b5af790519
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_0_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.25036827883824236,
+              0.2751345034209908,
+              1.0472243839350444
+            ],
+            "current_z": 1.0472243839350444,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.1906378765264788,
+            "gripper_z": 1.0498776746032865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24470831077484828,
+              0.27004573398413434,
+              1.0498776746032865
+            ],
+            "object_minus_gripper": [
+              0.005659968063394083,
+              0.005088769436856433,
+              -0.0026532906682421586
+            ],
+            "object_to_gripper_xy": 0.007611229392162944,
+            "object_to_gripper_z": -0.0026532906682421586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25036827883824236,
+              0.25018055975727754,
+              1.0472243839350444
+            ],
+            "finger_b": [
+              0.2383092317329401,
+              0.2751345034209908,
+              1.0472243839350444
+            ],
+            "finger_midpoint": [
+              0.24433875528559124,
+              0.2626575315891342,
+              1.0472243839350444
+            ],
+            "object_minus_finger_midpoint": [
+              0.006029523552651128,
+              0.012476971831856587,
+              0.0
+            ],
+            "finger_gap": 0.02771497648311599,
+            "fingertip_max_gap": 0.09067283275977409,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385748824155797,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472243839350444,
+            "object_top_z": 1.0927602902899973,
+            "finger_top_clearance": 0.04553590635495297,
+            "fingertip_min_top_clearance": 0.01366077190648589,
+            "object_projection_between_fingers": 0.8106798000870056,
+            "object_to_finger_line_xy": 0.010857695740319235,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047836416379887045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.16627903192412616,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24962850846436013,
+              0.2740572480243609,
+              1.2392144926347406
+            ],
+            "held_position": [
+              0.255563003658762,
+              0.2787619781152101,
+              1.2364575755093066
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008059361666821526,
+            "max_held_gripper_dist": 0.008062281434710194,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002756917125434022,
+            "max_held_gripper_z_dist": 0.00284850603496567,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08726812406879747,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.255563003658762,
+              0.25311205226060596,
+              1.2364575755093066
+            ],
+            "held_grasp_finger_b": [
+              0.24506504753311004,
+              0.2787619781152101,
+              1.2364575755093066
+            ],
+            "held_grasp_midpoint": [
+              0.250314025595936,
+              0.265937015187908,
+              1.2364575755093066
+            ],
+            "held_grasp_object_position": [
+              0.255563003658762,
+              0.2787619781152101,
+              1.2364575755093066
+            ],
+            "held_grasp_finger_gap": 0.027715082160491657,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024972685455943392,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05988118362160012,
+              -0.9981048537713281,
+              0.014175497387819647
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004475369719668246,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032085252199427414,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.339809634058909,
+              0.11732845931453614,
+              0.7625840833469499
+            ],
+            "target_position": [
+              0.34051612298616135,
+              0.11267421171589213,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004707562778531338,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17341782325920327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625840833469499,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566877926094846,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703500979111688,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1419019954466076,
+            "release_required_pad_clearance": 0.05351750489555844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0359623560642746,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad83248ad25f5a0a33f1d2a8d3cade0a8a5f6f61b14b5d8c8487ed506d8074b2",
+    "visual_seed": 5050766169675418721,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_100_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c40ce1d6f4b9390d4b4b87c7cce0c43fe0ad3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_100_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24854557251668666,
+              0.2736669996634498,
+              1.0466629279312536
+            ],
+            "current_z": 1.0466629279312536,
+            "required_z": 0.8565866266934665,
+            "initial_z": 0.7565866266934665,
+            "lift_margin": 0.19007630123778707,
+            "gripper_z": 1.049328181178454,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24287003338968127,
+              0.2686336853329887,
+              1.049328181178454
+            ],
+            "object_minus_gripper": [
+              0.005675539127005386,
+              0.005033314330461114,
+              -0.002665253247200461
+            ],
+            "object_to_gripper_xy": 0.007585907825131694,
+            "object_to_gripper_z": -0.002665253247200461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24854557251668666,
+              0.24863903673851367,
+              1.0466629279312536
+            ],
+            "finger_b": [
+              0.23665697960162935,
+              0.2736669996634498,
+              1.0466629279312536
+            ],
+            "finger_midpoint": [
+              0.242601276059158,
+              0.26115301820098175,
+              1.0466629279312536
+            ],
+            "object_minus_finger_midpoint": [
+              0.005944296457528669,
+              0.012513981462468071,
+              0.0
+            ],
+            "finger_gap": 0.027708077697161326,
+            "fingertip_max_gap": 0.0935667436881247,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385403884858067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466629279312536,
+            "object_top_z": 1.093065110939236,
+            "finger_top_clearance": 0.04640218300798238,
+            "fingertip_min_top_clearance": 0.013920654902394714,
+            "object_projection_between_fingers": 0.8159024032647667,
+            "object_to_finger_line_xy": 0.010738646901448401,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049283371844062354,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.411957938986923,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2474661633733746,
+              0.27312648042714355,
+              1.24061971913722
+            ],
+            "held_position": [
+              0.2533566688709634,
+              0.2778633306051162,
+              1.2378789657545146
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008040369004622499,
+            "max_held_gripper_dist": 0.008044349519803151,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027407533827052966,
+            "max_held_gripper_z_dist": 0.0028336331753764377,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666471017435917,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2533566688709634,
+              0.25232095484309214,
+              1.2378789657545146
+            ],
+            "held_grasp_finger_b": [
+              0.2426365678315989,
+              0.2778633306051162,
+              1.2378789657545146
+            ],
+            "held_grasp_midpoint": [
+              0.24799661835128117,
+              0.2650921427241042,
+              1.2378789657545146
+            ],
+            "held_grasp_object_position": [
+              0.2533566688709634,
+              0.2778633306051162,
+              1.2378789657545146
+            ],
+            "held_grasp_finger_gap": 0.027700785654248484,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025262074934189117,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024869802089420214,
+              -0.9994638698946822,
+              0.021294734541175253
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005048183242655179,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.032303087346969225,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3422761860906749,
+              0.11757620353144026,
+              0.7625849652027461
+            ],
+            "target_position": [
+              0.3440175801589631,
+              0.11325716661833743,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004656880195776372,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1712679605863969,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849652027461,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574469423925993,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08889589729564538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13963424427656235,
+            "release_required_pad_clearance": 0.054447948647822694,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9148910764433738,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "135988c27bc4bda3a820ff7aed8db5800eb94f6d4d2ee08ad44a6d333822ebc9",
+    "visual_seed": 1906634583188171619,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_101_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..161e880c745c336c03f715dfa329fac044c8cf85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_101_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24250505379680085,
+              0.2733523557833751,
+              1.0481948835308763
+            ],
+            "current_z": 1.0481948835308763,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19160831651766597,
+            "gripper_z": 1.0511992208104213,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2367833246413396,
+              0.2683241852271015,
+              1.0511992208104213
+            ],
+            "object_minus_gripper": [
+              0.005721729155461236,
+              0.005028170556273581,
+              -0.0030043372795449663
+            ],
+            "object_to_gripper_xy": 0.007617130934376258,
+            "object_to_gripper_z": -0.0030043372795449663,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24250505379680085,
+              0.2482918724978067,
+              1.0481948835308763
+            ],
+            "finger_b": [
+              0.2306304448416467,
+              0.2733523557833751,
+              1.0481948835308763
+            ],
+            "finger_midpoint": [
+              0.23656774931922375,
+              0.26082211414059087,
+              1.0481948835308763
+            ],
+            "object_minus_finger_midpoint": [
+              0.005937304477577093,
+              0.012530241642784212,
+              0.0
+            ],
+            "finger_gap": 0.027731465167640874,
+            "fingertip_max_gap": 0.09397433883872922,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013865732583820466,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481948835308763,
+            "object_top_z": 1.0947023082059815,
+            "finger_top_clearance": 0.04650742467510516,
+            "fingertip_min_top_clearance": 0.013952227402531547,
+            "object_projection_between_fingers": 0.8166448967953013,
+            "object_to_finger_line_xy": 0.010730894939894615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948716941936461,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5807957120768161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24105650207113133,
+              0.2735022134206567,
+              1.2398865713294578
+            ],
+            "held_position": [
+              0.24692501829999575,
+              0.27829614808614817,
+              1.2367874166849144
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008186943985165663,
+            "max_held_gripper_dist": 0.008189027094988302,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003099154644543356,
+            "max_held_gripper_z_dist": 0.0031914447361818254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624749870404402,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24692501829999575,
+              0.25287131689781384,
+              1.2367874166849144
+            ],
+            "held_grasp_finger_b": [
+              0.23602078309970342,
+              0.27829614808614817,
+              1.2367874166849144
+            ],
+            "held_grasp_midpoint": [
+              0.24147290069984959,
+              0.265583732491981,
+              1.2367874166849144
+            ],
+            "held_grasp_object_position": [
+              0.24692501829999575,
+              0.27829614808614817,
+              1.2367874166849144
+            ],
+            "held_grasp_finger_gap": 0.02766449685533052,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02530106223301635,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010670323667415249,
+              -0.9997082680183678,
+              0.021668480531594873
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0053233259557134175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03243334213036986,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34207566060876676,
+              0.11583040655905844,
+              0.7625849959001109
+            ],
+            "target_position": [
+              0.340031598018671,
+              0.11268182105608009,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003753902308504368,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17817868756317273,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849959001109,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577775312704912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08818345957757405,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1458048772946317,
+            "release_required_pad_clearance": 0.05409172978878703,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1948135475885855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c5c6d7041b357ba83986716fbcd017f6d6cf69dc3507b1e403d8cffd0acdc19",
+    "visual_seed": 4292452152931716691,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_103_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5713d6fa9aa386a6f7d5af32b05a705562c6f1d4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_103_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24174512142917673,
+              0.2727459179206358,
+              1.0470402536193424
+            ],
+            "current_z": 1.0470402536193424,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19045374621077682,
+            "gripper_z": 1.0500607435633218,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23642702033750645,
+              0.26771424967181645,
+              1.0500607435633218
+            ],
+            "object_minus_gripper": [
+              0.005318101091670274,
+              0.005031668248819343,
+              -0.0030204899439794097
+            ],
+            "object_to_gripper_xy": 0.00732119420500517,
+            "object_to_gripper_z": -0.0030204899439794097,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24174512142917673,
+              0.248193529159978,
+              1.0470402536193424
+            ],
+            "finger_b": [
+              0.22957021622325607,
+              0.2727459179206358,
+              1.0470402536193424
+            ],
+            "finger_midpoint": [
+              0.23565766882621642,
+              0.2604697235403069,
+              1.0470402536193424
+            ],
+            "object_minus_finger_midpoint": [
+              0.006087452602960314,
+              0.012276194380328898,
+              0.0
+            ],
+            "finger_gap": 0.027405256988899576,
+            "fingertip_max_gap": 0.09194748420968724,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013702628494449783,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470402536193424,
+            "object_top_z": 1.0932121584389694,
+            "finger_top_clearance": 0.04617190481962696,
+            "fingertip_min_top_clearance": 0.013851571445888089,
+            "object_projection_between_fingers": 0.8026380538401411,
+            "object_to_finger_line_xy": 0.010907506025613944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847374210484362,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6726301985400011,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24111447455453772,
+              0.27189455187955236,
+              1.239099005842122
+            ],
+            "held_position": [
+              0.2467577154972527,
+              0.2764950686472079,
+              1.2359794845574668
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007921005991187741,
+            "max_held_gripper_dist": 0.007926267507483816,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031195212846553133,
+            "max_held_gripper_z_dist": 0.0032047809462840693,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08751185206091061,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2467577154972527,
+              0.25103800252741104,
+              1.2359794845574668
+            ],
+            "held_grasp_finger_b": [
+              0.23642427160933002,
+              0.2764950686472079,
+              1.2359794845574668
+            ],
+            "held_grasp_midpoint": [
+              0.24159099355329136,
+              0.26376653558730945,
+              1.2359794845574668
+            ],
+            "held_grasp_object_position": [
+              0.2467577154972527,
+              0.2764950686472079,
+              1.2359794845574668
+            ],
+            "held_grasp_finger_gap": 0.027474393132743732,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02458863830033486,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07627332958120592,
+              -0.9968471760370231,
+              0.02186519658290509
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004190363625609749,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211773964427092,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34896873851588517,
+              0.11504405283722952,
+              0.7625853865376165
+            ],
+            "target_position": [
+              0.3454993070702392,
+              0.1110183137108672,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005314464231656995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1783940126664292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853865376165,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755135076636638,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860741897108611,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14687915895020845,
+            "release_required_pad_clearance": 0.05303709485543055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1028575539442464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7027f500a231cb77ae4f0935eb74378946ca2e11c44bcf7ee1c50d4d3675104",
+    "visual_seed": 3748513599776245579,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_104_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3885ea198ffc753a0ac87a5e08b12bd502387b2c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_104_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24278552923623195,
+              0.27218808371516917,
+              1.0458152497245254
+            ],
+            "current_z": 1.0458152497245254,
+            "required_z": 0.8565865648514172,
+            "initial_z": 0.7565865648514172,
+            "lift_margin": 0.1892286848731083,
+            "gripper_z": 1.0487424569136017,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23739961072570426,
+              0.2672032162429573,
+              1.0487424569136017
+            ],
+            "object_minus_gripper": [
+              0.005385918510527693,
+              0.004984867472211885,
+              -0.002927207189076242
+            ],
+            "object_to_gripper_xy": 0.007338734353930584,
+            "object_to_gripper_z": -0.002927207189076242,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24278552923623195,
+              0.24746573131965485,
+              1.0458152497245254
+            ],
+            "finger_b": [
+              0.23083404576082603,
+              0.27218808371516917,
+              1.0458152497245254
+            ],
+            "finger_midpoint": [
+              0.236809787498529,
+              0.259826907517412,
+              1.0458152497245254
+            ],
+            "object_minus_finger_midpoint": [
+              0.005975741737702961,
+              0.012361176197757173,
+              0.0
+            ],
+            "finger_gap": 0.02745965522782275,
+            "fingertip_max_gap": 0.09081853620787123,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013729827613911389,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458152497245254,
+            "object_top_z": 1.0913590753629483,
+            "finger_top_clearance": 0.04554382563842285,
+            "fingertip_min_top_clearance": 0.013663147691526855,
+            "object_projection_between_fingers": 0.8105679450648705,
+            "object_to_finger_line_xy": 0.010760105459327676,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047909268103935615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.166430774595853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24204077543252128,
+              0.27133162586468507,
+              1.237552549082692
+            ],
+            "held_position": [
+              0.2477010124414075,
+              0.2759374801800295,
+              1.2345228576477896
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007901342111417718,
+            "max_held_gripper_dist": 0.007908194422535373,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003029691434902393,
+            "max_held_gripper_z_dist": 0.0031129886270515605,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08750905753959054,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2477010124414075,
+              0.2504686397707358,
+              1.2345228576477896
+            ],
+            "held_grasp_finger_b": [
+              0.2373680229127816,
+              0.2759374801800295,
+              1.2345228576477896
+            ],
+            "held_grasp_midpoint": [
+              0.24253451767709455,
+              0.2632030599753826,
+              1.2345228576477896
+            ],
+            "held_grasp_object_position": [
+              0.2477010124414075,
+              0.2759374801800295,
+              1.2345228576477896
+            ],
+            "held_grasp_finger_gap": 0.027485132424508417,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024748308111122386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06440082361048335,
+              -0.9978373863401645,
+              0.013156152177633773
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004338982944866888,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.03216111706314757,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3494811530218075,
+              0.1122608074587847,
+              0.7625843900511534
+            ],
+            "target_position": [
+              0.345333208753583,
+              0.10825867259307873,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057638984321026964,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17905437490565482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843900511534,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565857931736263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590204465720551,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14710069148082258,
+            "release_required_pad_clearance": 0.052951022328602756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9295439697188195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7be804a3a18b509d5105ef5a22e9717460af281081b429d0d3828074dcee251",
+    "visual_seed": 5615910245254180343,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_105_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5b490dc29283c2267e1387b7ebd8967145e917f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_105_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24954289304680544,
+              0.2773155501552989,
+              1.0469276463706012
+            ],
+            "current_z": 1.0469276463706012,
+            "required_z": 0.8565866082537605,
+            "initial_z": 0.7565866082537606,
+            "lift_margin": 0.19034103811684067,
+            "gripper_z": 1.0495775020913534,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24401669535646614,
+              0.27227813060229117,
+              1.0495775020913534
+            ],
+            "object_minus_gripper": [
+              0.005526197690339296,
+              0.005037419553007738,
+              -0.002649855720752159
+            ],
+            "object_to_gripper_xy": 0.007477596984709463,
+            "object_to_gripper_z": -0.002649855720752159,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24954289304680544,
+              0.25251138781550264,
+              1.0469276463706012
+            ],
+            "finger_b": [
+              0.23749208162296961,
+              0.2773155501552989,
+              1.0469276463706012
+            ],
+            "finger_midpoint": [
+              0.24351748733488754,
+              0.2649134689854008,
+              1.0469276463706012
+            ],
+            "object_minus_finger_midpoint": [
+              0.006025405711917897,
+              0.012402081169898105,
+              0.0
+            ],
+            "finger_gap": 0.027576593795315244,
+            "fingertip_max_gap": 0.09176386441117412,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013788296897657593,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469276463706012,
+            "object_top_z": 1.0930742520927947,
+            "finger_top_clearance": 0.046146605722193534,
+            "fingertip_min_top_clearance": 0.01384398171665806,
+            "object_projection_between_fingers": 0.8090360729845233,
+            "object_to_finger_line_xy": 0.010839274969988292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048381932205587064,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.568964667711151,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24869505844286097,
+              0.2765297041605991,
+              1.239431148817975
+            ],
+            "held_position": [
+              0.2544915893492957,
+              0.2812019277167485,
+              1.2366922134049396
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007932919431373944,
+            "max_held_gripper_dist": 0.00793672571064516,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027389354130353816,
+            "max_held_gripper_z_dist": 0.002833585146523765,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867316832860294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2544915893492957,
+              0.25568845926387346,
+              1.2366922134049396
+            ],
+            "held_grasp_finger_b": [
+              0.243949403879467,
+              0.2812019277167485,
+              1.2366922134049396
+            ],
+            "held_grasp_midpoint": [
+              0.24922049661438136,
+              0.268445193490311,
+              1.2366922134049396
+            ],
+            "held_grasp_object_position": [
+              0.2544915893492957,
+              0.2812019277167485,
+              1.2366922134049396
+            ],
+            "held_grasp_finger_gap": 0.02760570134910755,
+            "held_grasp_max_gap": 0.12496579200029373,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024832514750364996,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.059782304492122025,
+              -0.9980121259940015,
+              0.01994674004805685
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004506405846808876,
+            "held_grasp_line_xy_max_dist": 0.047482896000146865,
+            "held_grasp_object_top_z": 0.045200664550065994,
+            "held_grasp_top_clearance": 0.03215417103311377,
+            "held_grasp_min_top_clearance": 0.013560199365019798
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3400506899272534,
+              0.11803795286109484,
+              0.7625858396074093
+            ],
+            "target_position": [
+              0.33735478540380237,
+              0.11376034166959381,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005056269247698203,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.176283910578689,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858396074093,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757892414859488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509812294888779,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14430833333802237,
+            "release_required_pad_clearance": 0.052549061474443895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16311759874210283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72bd791f4b8feeaecff1899e4f973b0b046a2bf9a7ccb2ed43d44c15148eb478",
+    "visual_seed": 436689484909894755,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_10_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..148a20a2e6a44cdd69994198ab335204ca8f90a9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_10_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.25048723106164206,
+              0.26702235932785573,
+              1.046081070456964
+            ],
+            "current_z": 1.046081070456964,
+            "required_z": 0.8565866667229239,
+            "initial_z": 0.756586666722924,
+            "lift_margin": 0.18949440373404014,
+            "gripper_z": 1.0498055626444394,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24448546411661487,
+              0.2617226492623553,
+              1.0498055626444394
+            ],
+            "object_minus_gripper": [
+              0.006001766945027187,
+              0.005299710065500451,
+              -0.003724492187475281
+            ],
+            "object_to_gripper_xy": 0.008006755475271351,
+            "object_to_gripper_z": -0.003724492187475281,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25048723106164206,
+              0.241851722501362,
+              1.046081070456964
+            ],
+            "finger_b": [
+              0.23810161279383033,
+              0.26702235932785573,
+              1.046081070456964
+            ],
+            "finger_midpoint": [
+              0.2442944219277362,
+              0.25443704091460884,
+              1.046081070456964
+            ],
+            "object_minus_finger_midpoint": [
+              0.006192809133905852,
+              0.012585318413246893,
+              0.0
+            ],
+            "finger_gap": 0.02805288751852818,
+            "fingertip_max_gap": 0.09216277426821304,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014026443759264108,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046081070456964,
+            "object_top_z": 1.0917891343654496,
+            "finger_top_clearance": 0.045708063908485475,
+            "fingertip_min_top_clearance": 0.013712419172545643,
+            "object_projection_between_fingers": 0.8050693007867329,
+            "object_to_finger_line_xy": 0.01111307700801818,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858138713410652,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0225253064869142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2490181965867874,
+              0.266252566370764,
+              1.2391847075498723
+            ],
+            "held_position": [
+              0.25525575276547907,
+              0.27119848076333897,
+              1.2353615630508497
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008830946162298927,
+            "max_held_gripper_dist": 0.008832670423348024,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003823144499022657,
+            "max_held_gripper_z_dist": 0.003916908131794461,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08681133790182294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25525575276547907,
+              0.24547380844528452,
+              1.2353615630508497
+            ],
+            "held_grasp_finger_b": [
+              0.244191056258929,
+              0.27119848076333897,
+              1.2353615630508497
+            ],
+            "held_grasp_midpoint": [
+              0.24972340451220404,
+              0.25833614460431176,
+              1.2353615630508497
+            ],
+            "held_grasp_object_position": [
+              0.25525575276547907,
+              0.27119848076333897,
+              1.2353615630508497
+            ],
+            "held_grasp_finger_gap": 0.02800332613553858,
+            "held_grasp_max_gap": 0.12496579200029373,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025335159081085513,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.033691948421274036,
+              -0.9993499605061456,
+              0.012826108059097781
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005098558622780948,
+            "held_grasp_line_xy_max_dist": 0.047482896000146865,
+            "held_grasp_object_top_z": 0.04520067200064659,
+            "held_grasp_top_clearance": 0.0321603012761081,
+            "held_grasp_min_top_clearance": 0.013560201600193977
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3464442180490862,
+              0.11836310255487242,
+              0.7625859084236325
+            ],
+            "target_position": [
+              0.3436631540226996,
+              0.11408767038363392,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005100356592408312,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1763910803461259,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859084236325,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553146026466355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08700775954573035,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1450793151409458,
+            "release_required_pad_clearance": 0.05350387977286518,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0162711233288944,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e238aa189a03c7472e27fdad980ea45f481184d360e8cf6283dbf096ceff6da",
+    "visual_seed": 2268954155541960941,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_12_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7626fc9d837a2ca721b6bc0a867dbbada1ffe3ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_12_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24333735420914218,
+              0.2674957205875264,
+              1.0471099096852403
+            ],
+            "current_z": 1.0471099096852403,
+            "required_z": 0.8565865723465017,
+            "initial_z": 0.7565865723465017,
+            "lift_margin": 0.1905233373387386,
+            "gripper_z": 1.0501688761346122,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23798602436684924,
+              0.26241894624613105,
+              1.0501688761346122
+            ],
+            "object_minus_gripper": [
+              0.005351329842292946,
+              0.0050767743413953625,
+              -0.0030589664493718693
+            ],
+            "object_to_gripper_xy": 0.0073763384408841596,
+            "object_to_gripper_z": -0.0030589664493718693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24333735420914218,
+              0.24296355120501908,
+              1.0471099096852403
+            ],
+            "finger_b": [
+              0.23104250267131124,
+              0.2674957205875264,
+              1.0471099096852403
+            ],
+            "finger_midpoint": [
+              0.2371899284402267,
+              0.25522963589627273,
+              1.0471099096852403
+            ],
+            "object_minus_finger_midpoint": [
+              0.006147425768915471,
+              0.012266084691253676,
+              0.0
+            ],
+            "finger_gap": 0.027440676175147973,
+            "fingertip_max_gap": 0.0919973803754493,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013720338087574,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471099096852403,
+            "object_top_z": 1.0934272472455615,
+            "finger_top_clearance": 0.04631733756032119,
+            "fingertip_min_top_clearance": 0.013895201268096357,
+            "object_projection_between_fingers": 0.7992493499046943,
+            "object_to_finger_line_xy": 0.01099168907258981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849869018772465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7456363080211312,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24271259711235446,
+              0.2667751591285313,
+              1.2392198559840277
+            ],
+            "held_position": [
+              0.24840107938125194,
+              0.27140273215666555,
+              1.2360561087328892
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007986398394981529,
+            "max_held_gripper_dist": 0.007991535456787753,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003163747251138549,
+            "max_held_gripper_z_dist": 0.003245807006430068,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08686096848922298,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24840107938125194,
+              0.24593424890935747,
+              1.2360561087328892
+            ],
+            "held_grasp_finger_b": [
+              0.23801222679039294,
+              0.27140273215666555,
+              1.2360561087328892
+            ],
+            "held_grasp_midpoint": [
+              0.24320665308582246,
+              0.2586684905330115,
+              1.2360561087328892
+            ],
+            "held_grasp_object_position": [
+              0.24840107938125194,
+              0.27140273215666555,
+              1.2360561087328892
+            ],
+            "held_grasp_finger_gap": 0.02750585205139099,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024605734591862723,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07536264498093379,
+              -0.9968660385031123,
+              0.024053544865349052
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004231411881098818,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03211494407566674,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3415475251163921,
+              0.11277831906716976,
+              0.7625867877888144
+            ],
+            "target_position": [
+              0.3425528662437971,
+              0.10879409095423398,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004109109932620421,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1716625561675305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625867877888144,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544714439906171,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14074861050351284,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07740eed316d47ff86217776f1432edf7c1fe865018a8ac65b83ade7d94d6e3f",
+    "visual_seed": 1319913195409949678,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_13_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9afef76a7049403adbf47e5ae1ee534fe7e48d4d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_13_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2502674815218289,
+              0.2738623811297354,
+              1.0458479144089718
+            ],
+            "current_z": 1.0458479144089718,
+            "required_z": 0.8565866372759912,
+            "initial_z": 0.7565866372759912,
+            "lift_margin": 0.1892612771329807,
+            "gripper_z": 1.0485293851849313,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24486367148530483,
+              0.26883171344290313,
+              1.0485293851849313
+            ],
+            "object_minus_gripper": [
+              0.005403810036524098,
+              0.005030667686832246,
+              -0.0026814707759594825
+            ],
+            "object_to_gripper_xy": 0.007383006182184644,
+            "object_to_gripper_z": -0.0026814707759594825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2502674815218289,
+              0.2491940408362316,
+              1.0458479144089718
+            ],
+            "finger_b": [
+              0.2381646405447057,
+              0.2738623811297354,
+              1.0458479144089718
+            ],
+            "finger_midpoint": [
+              0.24421606103326732,
+              0.2615282109829835,
+              1.0458479144089718
+            ],
+            "object_minus_finger_midpoint": [
+              0.00605142048856161,
+              0.012334170146751866,
+              0.0
+            ],
+            "finger_gap": 0.027477368370235813,
+            "fingertip_max_gap": 0.09214151081437466,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01373868418511788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458479144089718,
+            "object_top_z": 1.0921076053681928,
+            "finger_top_clearance": 0.046259690959221,
+            "fingertip_min_top_clearance": 0.0138779072877663,
+            "object_projection_between_fingers": 0.8059898810811713,
+            "object_to_finger_line_xy": 0.010865560184622411,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857075540718733,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7475719600845023,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2495823925758637,
+              0.2729170944637746,
+              1.2366861844967487
+            ],
+            "held_position": [
+              0.25528272193506846,
+              0.2775407135907904,
+              1.2338913973228856
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007853817159974389,
+            "max_held_gripper_dist": 0.007861362574938871,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002794787173863167,
+            "max_held_gripper_z_dist": 0.002885734072999302,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08752513686359678,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25528272193506846,
+              0.25205124539644347,
+              1.2338913973228856
+            ],
+            "held_grasp_finger_b": [
+              0.24493926598429946,
+              0.2775407135907904,
+              1.2338913973228856
+            ],
+            "held_grasp_midpoint": [
+              0.25011099395968395,
+              0.26479597949361694,
+              1.2338913973228856
+            ],
+            "held_grasp_object_position": [
+              0.25528272193506846,
+              0.2775407135907904,
+              1.2338913973228856
+            ],
+            "held_grasp_finger_gap": 0.02750818187078388,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024674333595379128,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07178128932197322,
+              -0.9971490972576393,
+              0.023262079476049188
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004254198811930962,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.03212109075282997,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33801413873437425,
+              0.11754865059869743,
+              0.7625862775057409
+            ],
+            "target_position": [
+              0.3383109106808408,
+              0.1133391055763947,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004219993232577889,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.174566632258917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625862775057409,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551507232494335,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502675989410184,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14327255378310153,
+            "release_required_pad_clearance": 0.05251337994705092,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691002576775613,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7048b6fe8bf0382eaaf7940d1fcb767e2ece684a47f63302c7962e1f841dd8e6",
+    "visual_seed": 7966594420191306740,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_14_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e877c20bdc21d5a5a893abdc7b7a3fabe727823a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_14_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24725638648978657,
+              0.2758064575974386,
+              1.0456871721730077
+            ],
+            "current_z": 1.0456871721730077,
+            "required_z": 0.8565865715109039,
+            "initial_z": 0.7565865715109039,
+            "lift_margin": 0.18910060066210377,
+            "gripper_z": 1.048568313243011,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24150348901027174,
+              0.2706551932999435,
+              1.048568313243011
+            ],
+            "object_minus_gripper": [
+              0.0057528974795148236,
+              0.005151264297495128,
+              -0.002881141070003368
+            ],
+            "object_to_gripper_xy": 0.00772213398436313,
+            "object_to_gripper_z": -0.002881141070003368,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24725638648978657,
+              0.25065262979753167,
+              1.0456871721730077
+            ],
+            "finger_b": [
+              0.23529915501395224,
+              0.2758064575974386,
+              1.0456871721730077
+            ],
+            "finger_midpoint": [
+              0.2412777707518694,
+              0.26322954369748514,
+              1.0456871721730077
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059786157379171645,
+              0.012576913899953468,
+              0.0
+            ],
+            "finger_gap": 0.02785121967803303,
+            "fingertip_max_gap": 0.09303449938082367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013925609839016515,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456871721730077,
+            "object_top_z": 1.0918891942511406,
+            "finger_top_clearance": 0.046202022078132954,
+            "fingertip_min_top_clearance": 0.013860606623439919,
+            "object_projection_between_fingers": 0.8156798412811169,
+            "object_to_finger_line_xy": 0.010799173069752071,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04901724969041184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9873265964367763,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24602818638026186,
+              0.27513593194069647,
+              1.2377979757925563
+            ],
+            "held_position": [
+              0.25211676063115346,
+              0.2800333083635928,
+              1.2347611082800407
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00838317341611958,
+            "max_held_gripper_dist": 0.008384407092577395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030368675125156397,
+            "max_held_gripper_z_dist": 0.0031325840820051187,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08674283540826777,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25211676063115346,
+              0.25433735374833116,
+              1.2347611082800407
+            ],
+            "held_grasp_finger_b": [
+              0.24124478406839,
+              0.2800333083635928,
+              1.2347611082800407
+            ],
+            "held_grasp_midpoint": [
+              0.24668077234977173,
+              0.267185331055962,
+              1.2347611082800407
+            ],
+            "held_grasp_object_position": [
+              0.25211676063115346,
+              0.2800333083635928,
+              1.2347611082800407
+            ],
+            "held_grasp_finger_gap": 0.027901289539569024,
+            "held_grasp_max_gap": 0.12496618688106537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025295370576472496,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034979415049616484,
+              -0.999210433763045,
+              0.01884010567524108
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004989209274542544,
+            "held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "held_grasp_object_top_z": 0.04520082101225853,
+            "held_grasp_top_clearance": 0.03217284034342368,
+            "held_grasp_min_top_clearance": 0.013560246303677559
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3390967697295572,
+              0.11203085306606257,
+              0.7625849914177854
+            ],
+            "target_position": [
+              0.3401458070032566,
+              0.10727410918192506,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0048710462511548985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17331763760141655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849914177854,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544198526073846,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706475878560836,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14239726034367764,
+            "release_required_pad_clearance": 0.05353237939280418,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.067250458854283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "772cd4397fd1edc9fce70715791e7af05323874703d2fea8375c4d9c33b48244",
+    "visual_seed": 2149748781536508868,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_15_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e1818c3455facbd033e5a337e59c720f4e4c3e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_15_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24485639016756597,
+              0.26710275030769726,
+              1.0476278883862657
+            ],
+            "current_z": 1.0476278883862657,
+            "required_z": 0.8565866140286731,
+            "initial_z": 0.7565866140286731,
+            "lift_margin": 0.19104127435759266,
+            "gripper_z": 1.0506024058591947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2390783659915854,
+              0.26201502642346813,
+              1.0506024058591947
+            ],
+            "object_minus_gripper": [
+              0.005778024175980556,
+              0.005087723884229123,
+              -0.0029745174729289836
+            ],
+            "object_to_gripper_xy": 0.007698733512752033,
+            "object_to_gripper_z": -0.0029745174729289836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24485639016756597,
+              0.24198397449365674,
+              1.0476278883862657
+            ],
+            "finger_b": [
+              0.23290798495580312,
+              0.26710275030769726,
+              1.0476278883862657
+            ],
+            "finger_midpoint": [
+              0.23888218756168456,
+              0.254543362400677,
+              1.0476278883862657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005974202605881412,
+              0.01255938790702027,
+              0.0
+            ],
+            "finger_gap": 0.027815774041009687,
+            "fingertip_max_gap": 0.09229691859396871,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013907887020504849,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476278883862657,
+            "object_top_z": 1.0937015835395598,
+            "finger_top_clearance": 0.04607369515329407,
+            "fingertip_min_top_clearance": 0.013822108545988221,
+            "object_projection_between_fingers": 0.8154824898190957,
+            "object_to_finger_line_xy": 0.010789896100216176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864845929698436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7669591708378215,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24380442218736129,
+              0.2660993296097046,
+              1.239703290271974
+            ],
+            "held_position": [
+              0.2498040172868928,
+              0.2708563157211473,
+              1.2366202421854262
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00825404408315993,
+            "max_held_gripper_dist": 0.008256863191524029,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030830480865478016,
+            "max_held_gripper_z_dist": 0.0031688876749591532,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08763695769405494,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2498040172868928,
+              0.24520347572356002,
+              1.2366202421854262
+            ],
+            "held_grasp_finger_b": [
+              0.23918427272227175,
+              0.2708563157211473,
+              1.2366202421854262
+            ],
+            "held_grasp_midpoint": [
+              0.24449414500458228,
+              0.2580298957223537,
+              1.2366202421854262
+            ],
+            "held_grasp_object_position": [
+              0.2498040172868928,
+              0.2708563157211473,
+              1.2366202421854262
+            ],
+            "held_grasp_finger_gap": 0.027764134680548093,
+            "held_grasp_max_gap": 0.1249660974740982,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025206566474021655,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03967016622875593,
+              -0.9990259756275504,
+              0.019322989748070115
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00480336995688151,
+            "held_grasp_line_xy_max_dist": 0.0474830487370491,
+            "held_grasp_object_top_z": 0.045200835913419724,
+            "held_grasp_top_clearance": 0.03217626564422345,
+            "held_grasp_min_top_clearance": 0.013560250774025917
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3444787610371357,
+              0.11018548428881372,
+              0.7625857651187992
+            ],
+            "target_position": [
+              0.343753941818201,
+              0.10639909083058603,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038551443968607127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17498328819229156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857651187992,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532635069136354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652324415449496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1441156762517853,
+            "release_required_pad_clearance": 0.05326162207724748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5379495228025708,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d4cccc1855fdcdc005bcf989ef96467ff040a9db03c2fb0fdfef03049387e17",
+    "visual_seed": 1744226662675885835,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_16_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1b27e0787a6dc306113fcb31af09933e432b21
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_16_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24974037982958391,
+              0.2764540733054691,
+              1.0469630647176105
+            ],
+            "current_z": 1.0469630647176105,
+            "required_z": 0.856586533794111,
+            "initial_z": 0.756586533794111,
+            "lift_margin": 0.1903765309234995,
+            "gripper_z": 1.0499104717130128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24382125565435744,
+              0.27123841411362604,
+              1.0499104717130128
+            ],
+            "object_minus_gripper": [
+              0.00591912417522647,
+              0.005215659191843081,
+              -0.002947406995402302
+            ],
+            "object_to_gripper_xy": 0.00788917814523209,
+            "object_to_gripper_z": -0.002947406995402302,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24974037982958391,
+              0.2513654577158009,
+              1.0469630647176105
+            ],
+            "finger_b": [
+              0.23745562756483324,
+              0.2764540733054691,
+              1.0469630647176105
+            ],
+            "finger_midpoint": [
+              0.24359800369720858,
+              0.263909765510635,
+              1.0469630647176105
+            ],
+            "object_minus_finger_midpoint": [
+              0.006142376132375338,
+              0.01254430779483412,
+              0.0
+            ],
+            "finger_gap": 0.02793481287591598,
+            "fingertip_max_gap": 0.09597903886712053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01396740643795799,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469630647176105,
+            "object_top_z": 1.0944438432987045,
+            "finger_top_clearance": 0.04748077858109401,
+            "fingertip_min_top_clearance": 0.014244233574328219,
+            "object_projection_between_fingers": 0.8066067674325024,
+            "object_to_finger_line_xy": 0.011033094388484599,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05048951943356027,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.959209061795904,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24809616237012183,
+              0.27625449501320204,
+              1.2389508433840408
+            ],
+            "held_position": [
+              0.2542060795583201,
+              0.2811896472994838,
+              1.2359132693036765
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00842102561622596,
+            "max_held_gripper_dist": 0.008423167517912682,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030375740803643136,
+            "max_held_gripper_z_dist": 0.003140984879364872,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861588176223968,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2542060795583201,
+              0.25563746831224005,
+              1.2359132693036765
+            ],
+            "held_grasp_finger_b": [
+              0.24302303818360552,
+              0.2811896472994838,
+              1.2359132693036765
+            ],
+            "held_grasp_midpoint": [
+              0.2486145588709628,
+              0.26841355780586196,
+              1.2359132693036765
+            ],
+            "held_grasp_object_position": [
+              0.2542060795583201,
+              0.2811896472994838,
+              1.2359132693036765
+            ],
+            "held_grasp_finger_gap": 0.027892190042818794,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025355587693803548,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01616978420758877,
+              -0.9993830691451239,
+              0.0311772222103337
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005399020916248086,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03234212156844682,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3423214897027437,
+              0.11236671722196165,
+              0.7625857360342008
+            ],
+            "target_position": [
+              0.34316430904403783,
+              0.10928048531416913,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003199245509606312,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17335344928315666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857360342008,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561161224344737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737507500624973,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1415395900670968,
+            "release_required_pad_clearance": 0.05368753750312487,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3791903563121894,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "693c6dcc6f20f76c0d8a8dcb9a69a51ea4f608b295f930130edc934fb447dfec",
+    "visual_seed": 4132366741133622132,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_17_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3407f33c0dd362ca6f42a8642d89306fc9cad8c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_17_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2503502542144781,
+              0.26561616459546494,
+              1.0477862417204247
+            ],
+            "current_z": 1.0477862417204247,
+            "required_z": 0.8565865947290395,
+            "initial_z": 0.7565865947290396,
+            "lift_margin": 0.19119964699138514,
+            "gripper_z": 1.0505435543351638,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2450190061718157,
+              0.2605819288341641,
+              1.0505435543351638
+            ],
+            "object_minus_gripper": [
+              0.005331248042662384,
+              0.005034235761300854,
+              -0.0027573126147391047
+            ],
+            "object_to_gripper_xy": 0.007332512215656507,
+            "object_to_gripper_z": -0.0027573126147391047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2503502542144781,
+              0.24105088105092842,
+              1.0477862417204247
+            ],
+            "finger_b": [
+              0.2381767274819406,
+              0.26561616459546494,
+              1.0477862417204247
+            ],
+            "finger_midpoint": [
+              0.24426349084820936,
+              0.25333352282319666,
+              1.0477862417204247
+            ],
+            "object_minus_finger_midpoint": [
+              0.006086763366268733,
+              0.012282641772268288,
+              0.0
+            ],
+            "finger_gap": 0.027416197926249396,
+            "fingertip_max_gap": 0.09204537750435846,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013708098963124717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477862417204247,
+            "object_top_z": 1.0938868444194507,
+            "finger_top_clearance": 0.04610060269902605,
+            "fingertip_min_top_clearance": 0.013830180809707781,
+            "object_projection_between_fingers": 0.8028401976692183,
+            "object_to_finger_line_xy": 0.010907644332238342,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852268875217923,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6499037788042157,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24974509115162702,
+              0.2650399341347065,
+              1.2388085355017384
+            ],
+            "held_position": [
+              0.25537926319750304,
+              0.2696565306524719,
+              1.2359303569876656
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007832034831973412,
+            "max_held_gripper_dist": 0.007835109269939534,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028781785140727933,
+            "max_held_gripper_z_dist": 0.002961571232376503,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08716889226853211,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25537926319750304,
+              0.2442255377489605,
+              1.2359303569876656
+            ],
+            "held_grasp_finger_b": [
+              0.2450423380882093,
+              0.2696565306524719,
+              1.2359303569876656
+            ],
+            "held_grasp_midpoint": [
+              0.25021080064285617,
+              0.25694103420071623,
+              1.2359303569876656
+            ],
+            "held_grasp_object_position": [
+              0.25537926319750304,
+              0.2696565306524719,
+              1.2359303569876656
+            ],
+            "held_grasp_finger_gap": 0.027451546782897233,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02456484562637915,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07610865863468132,
+              -0.9968771265456253,
+              0.021058647890287774
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004194533691731233,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.03213160163936808,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3466355351303143,
+              0.11947120992342729,
+              0.7625846716624942
+            ],
+            "target_position": [
+              0.34590460996657507,
+              0.11577673581482899,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037660842441573764,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17574973588529397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846716624942,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560259731604231,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523501241139729,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14405475212948574,
+            "release_required_pad_clearance": 0.05261750620569865,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2879761348822416,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1423c38a9a577edcf95dd285c85ffb564876726b77811fb0ba12a672b09d9ab",
+    "visual_seed": 4770917283839125748,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_18_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..537a2601048342a742023593309c289b641d6cc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_18_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24519331814029177,
+              0.26884482499643375,
+              1.0479848706664519
+            ],
+            "current_z": 1.0479848706664519,
+            "required_z": 0.8565865496640673,
+            "initial_z": 0.7565865496640674,
+            "lift_margin": 0.19139832100238452,
+            "gripper_z": 1.050953829305856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23979941819801273,
+              0.26387386826991555,
+              1.050953829305856
+            ],
+            "object_minus_gripper": [
+              0.00539389994227904,
+              0.004970956726518205,
+              -0.0029689586394041623
+            ],
+            "object_to_gripper_xy": 0.007335159668625791,
+            "object_to_gripper_z": -0.0029689586394041623,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24519331814029177,
+              0.24409429849480263,
+              1.0479848706664519
+            ],
+            "finger_b": [
+              0.2332885967760282,
+              0.26884482499643375,
+              1.0479848706664519
+            ],
+            "finger_midpoint": [
+              0.23924095745816,
+              0.2564695617456182,
+              1.0479848706664519
+            ],
+            "object_minus_finger_midpoint": [
+              0.005952360682131785,
+              0.01237526325081556,
+              0.0
+            ],
+            "finger_gap": 0.0274647219696231,
+            "fingertip_max_gap": 0.0909158783933624,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01373236098481155,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479848706664519,
+            "object_top_z": 1.093537600954193,
+            "finger_top_clearance": 0.045552730287741205,
+            "fingertip_min_top_clearance": 0.013665819086322362,
+            "object_projection_between_fingers": 0.8121167534134655,
+            "object_to_finger_line_xy": 0.010728239737749036,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047957939196681204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.23510593061376062,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24455239433698675,
+              0.2680151801801498,
+              1.2395485271609066
+            ],
+            "held_position": [
+              0.25022222649891046,
+              0.2726151234366937,
+              1.2364770716050864
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007920878356545254,
+            "max_held_gripper_dist": 0.007922050719249375,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003071455555820224,
+            "max_held_gripper_z_dist": 0.00315693113958182,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747704404418671,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25022222649891046,
+              0.24713863744835698,
+              1.2364770716050864
+            ],
+            "held_grasp_finger_b": [
+              0.23991084760455555,
+              0.2726151234366937,
+              1.2364770716050864
+            ],
+            "held_grasp_midpoint": [
+              0.245066537051733,
+              0.2598768804425253,
+              1.2364770716050864
+            ],
+            "held_grasp_object_position": [
+              0.25022222649891046,
+              0.2726151234366937,
+              1.2364770716050864
+            ],
+            "held_grasp_finger_gap": 0.027484102186843662,
+            "held_grasp_max_gap": 0.12496608257293701,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024755861043248242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06453243561411579,
+              -0.997833039041529,
+              0.012837092772773562
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004326085679230291,
+            "held_grasp_line_xy_max_dist": 0.047483041286468505,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.03215741621668722,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34389065448966327,
+              0.11385088816261707,
+              0.7625899943392498
+            ],
+            "target_position": [
+              0.3413281286475966,
+              0.10979361286184074,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004798752083359717,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1759850465938778,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625899943392498,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550156645116203,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518800177086748,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1446629998369894,
+            "release_required_pad_clearance": 0.05259400088543374,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24383406518146836,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2639bd619aa7f77db04db1dc3a1957a18e0c0363c6055c47d3f0f1814b8cfb1c",
+    "visual_seed": 6224004415180164381,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_19_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f054d7ff1157c273e894c26943e25b8db44738
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_19_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24696816762662632,
+              0.26651610540881693,
+              1.045915548604304
+            ],
+            "current_z": 1.045915548604304,
+            "required_z": 0.856586612278175,
+            "initial_z": 0.756586612278175,
+            "lift_margin": 0.1893289363261289,
+            "gripper_z": 1.048860942652035,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24167703062377985,
+              0.2614941822482868,
+              1.048860942652035
+            ],
+            "object_minus_gripper": [
+              0.005291137002846474,
+              0.0050219231605301284,
+              -0.002945394047731087
+            ],
+            "object_to_gripper_xy": 0.007294918986058727,
+            "object_to_gripper_z": -0.002945394047731087,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24696816762662632,
+              0.24198266656180797,
+              1.045915548604304
+            ],
+            "finger_b": [
+              0.23480976541883436,
+              0.26651610540881693,
+              1.045915548604304
+            ],
+            "finger_midpoint": [
+              0.24088896652273034,
+              0.25424938598531244,
+              1.045915548604304
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060792011038959815,
+              0.01226671942350449,
+              0.0
+            ],
+            "finger_gap": 0.027380948959200967,
+            "fingertip_max_gap": 0.09206839529435812,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013690474479600496,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045915548604304,
+            "object_top_z": 1.0921288776835523,
+            "finger_top_clearance": 0.046213329079248355,
+            "fingertip_min_top_clearance": 0.013863998723774489,
+            "object_projection_between_fingers": 0.8028231062186758,
+            "object_to_finger_line_xy": 0.010893976592508405,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853419764717906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6921050516146176,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24641706394043836,
+              0.2657293299424427,
+              1.2381929280630208
+            ],
+            "held_position": [
+              0.25203353769186876,
+              0.2703223406929206,
+              1.235152690206522
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007866611174997859,
+            "max_held_gripper_dist": 0.00787162140196084,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003040237856498873,
+            "max_held_gripper_z_dist": 0.003121795066234556,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08686156411109225,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25203353769186876,
+              0.24488564457928752,
+              1.235152690206522
+            ],
+            "held_grasp_finger_b": [
+              0.24169730492510638,
+              0.2703223406929206,
+              1.235152690206522
+            ],
+            "held_grasp_midpoint": [
+              0.24686542130848757,
+              0.25760399263610406,
+              1.235152690206522
+            ],
+            "held_grasp_object_position": [
+              0.25203353769186876,
+              0.2703223406929206,
+              1.235152690206522
+            ],
+            "held_grasp_finger_gap": 0.027456569650741308,
+            "held_grasp_max_gap": 0.1249660974740982,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02456626461233869,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0764045975012107,
+              -0.9968275833972071,
+              0.022295884354792347
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004191172417039735,
+            "held_grasp_line_xy_max_dist": 0.0474830487370491,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.03212792692483379,
+            "held_grasp_min_top_clearance": 0.013560238480567931
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.336352687742251,
+              0.1184629087807564,
+              0.7625869822938206
+            ],
+            "target_position": [
+              0.33925969277978313,
+              0.11425176036315879,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00511707428940326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1706268667271902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625869822938206,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541065522640177,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529563892798968,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1397996702904403,
+            "release_required_pad_clearance": 0.05264781946399484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3538769176835935,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0d10e1f0f15c139fa3666c259fd8ffa869e974ba6e4234e0a9d6ead8f9b3797",
+    "visual_seed": 3146642675682849180,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_1_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8ea9f3ba8986f353dbe5db3f494bb799353606c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_1_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24398847843474586,
+              0.2750364572018622,
+              1.047477650294926
+            ],
+            "current_z": 1.047477650294926,
+            "required_z": 0.8565865464767258,
+            "initial_z": 0.7565865464767259,
+            "lift_margin": 0.19089110381820007,
+            "gripper_z": 1.050443498742669,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23860507979878678,
+              0.2699801510567762,
+              1.050443498742669
+            ],
+            "object_minus_gripper": [
+              0.005383398635959075,
+              0.005056306145086009,
+              -0.002965848447743058
+            ],
+            "object_to_gripper_xy": 0.007385608485864964,
+            "object_to_gripper_z": -0.002965848447743058,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24398847843474586,
+              0.25043685385432396,
+              1.047477650294926
+            ],
+            "finger_b": [
+              0.23177994493219017,
+              0.2750364572018622,
+              1.047477650294926
+            ],
+            "finger_midpoint": [
+              0.23788421168346802,
+              0.2627366555280931,
+              1.047477650294926
+            ],
+            "object_minus_finger_midpoint": [
+              0.006104266751277843,
+              0.012299801673769095,
+              0.0
+            ],
+            "finger_gap": 0.027462497612912768,
+            "fingertip_max_gap": 0.09205062285551044,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013731248806456358,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047477650294926,
+            "object_top_z": 1.0938237346360111,
+            "finger_top_clearance": 0.046346084341085225,
+            "fingertip_min_top_clearance": 0.0139038253023256,
+            "object_projection_between_fingers": 0.8023727013763802,
+            "object_to_finger_line_xy": 0.01093582549741544,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852531142775522,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.756845932291067,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2433143762730244,
+              0.27436421767443026,
+              1.2393531118680636
+            ],
+            "held_position": [
+              0.2490092335358471,
+              0.27899934322522724,
+              1.2362813905121512
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007959350488824056,
+            "max_held_gripper_dist": 0.007967072998996754,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030717213559123824,
+            "max_held_gripper_z_dist": 0.003160888035287357,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671708160868175,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2490092335358471,
+              0.25353509971561417,
+              1.2362813905121512
+            ],
+            "held_grasp_finger_b": [
+              0.23860208503182806,
+              0.27899934322522724,
+              1.2362813905121512
+            ],
+            "held_grasp_midpoint": [
+              0.24380565928383757,
+              0.2662672214704207,
+              1.2362813905121512
+            ],
+            "held_grasp_object_position": [
+              0.2490092335358471,
+              0.27899934322522724,
+              1.2362813905121512
+            ],
+            "held_grasp_finger_gap": 0.027508842896450177,
+            "held_grasp_max_gap": 0.12496606767177582,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02467055988267421,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0696261624769239,
+              -0.9972874193474282,
+              0.023874687643695935
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004315482474622689,
+            "held_grasp_line_xy_max_dist": 0.04748303383588791,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.032140867928324046,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34734787047417953,
+              0.11212905655125482,
+              0.7625856579129111
+            ],
+            "target_position": [
+              0.3469181176142491,
+              0.10801814047253566,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004133318101343048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1743110037645723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856579129111,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585275958847246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562128461681882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14216005428790307,
+            "release_required_pad_clearance": 0.052810642308409414,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6548609165778183,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "217c09f685404b8dcfd04e6ad51cbcf72b61fe85814925a61d394ab708d494e8",
+    "visual_seed": 8124071981593421619,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_20_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62657af1fd41deedb57ed2add24337a4da2a617f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_20_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24289301534059282,
+              0.2764426703419527,
+              1.0476212688279791
+            ],
+            "current_z": 1.0476212688279791,
+            "required_z": 0.8565865628735593,
+            "initial_z": 0.7565865628735593,
+            "lift_margin": 0.19103470595441985,
+            "gripper_z": 1.0502706795212093,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23790880997035507,
+              0.2716015429592837,
+              1.0502706795212093
+            ],
+            "object_minus_gripper": [
+              0.004984205370237749,
+              0.004841127382669008,
+              -0.002649410693230214
+            ],
+            "object_to_gripper_xy": 0.006948296014702777,
+            "object_to_gripper_z": -0.002649410693230214,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24289301534059282,
+              0.2520911116814041,
+              1.0476212688279791
+            ],
+            "finger_b": [
+              0.23103808096544795,
+              0.2764426703419527,
+              1.0476212688279791
+            ],
+            "finger_midpoint": [
+              0.2369655481530204,
+              0.2642668910116784,
+              1.0476212688279791
+            ],
+            "object_minus_finger_midpoint": [
+              0.005927467187572422,
+              0.012175779330274306,
+              0.0
+            ],
+            "finger_gap": 0.027083904412715895,
+            "fingertip_max_gap": 0.09292398822070547,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013541952206357942,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476212688279791,
+            "object_top_z": 1.094408187117288,
+            "finger_top_clearance": 0.04678691828930881,
+            "fingertip_min_top_clearance": 0.014036075486792676,
+            "object_projection_between_fingers": 0.8084087090679738,
+            "object_to_finger_line_xy": 0.010658955424379528,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048961994110352736,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0517966214254417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24269937093120278,
+              0.2758050238758925,
+              1.241516852716402
+            ],
+            "held_position": [
+              0.248013675884711,
+              0.2802366142743363,
+              1.238793539255775
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007436213203189763,
+            "max_held_gripper_dist": 0.007442697471294439,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027233134606270415,
+            "max_held_gripper_z_dist": 0.0028072640017162698,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08688811752829284,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.248013675884711,
+              0.2549252460492524,
+              1.238793539255775
+            ],
+            "held_grasp_finger_b": [
+              0.2379902111579719,
+              0.2802366142743363,
+              1.238793539255775
+            ],
+            "held_grasp_midpoint": [
+              0.24300194352134144,
+              0.26758093016179435,
+              1.238793539255775
+            ],
+            "held_grasp_object_position": [
+              0.248013675884711,
+              0.2802366142743363,
+              1.238793539255775
+            ],
+            "held_grasp_finger_gap": 0.027223798532790614,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02447890031882283,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07492829783201485,
+              -0.9967829966684051,
+              0.02845009203414517
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004065825521269635,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03221020676791346,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3374059419042812,
+              0.11927562547180572,
+              0.7625856690783204
+            ],
+            "target_position": [
+              0.34109408551956844,
+              0.11562008891447552,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005192817236237143,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16993113580504376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625856690783204,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522226817767744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532891467007923,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13958718536695722,
+            "release_required_pad_clearance": 0.05266445733503962,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38153323399963657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe4eae27e4dfeaade8b9674cc896944ef68157648e720fc6fd11d98ddfbb5e3a",
+    "visual_seed": 7681885933745043663,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_21_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cce58ccfd262df634282c4129b96f1e94025a3b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_21_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2488481781058834,
+              0.2732537987512414,
+              1.0480977027755185
+            ],
+            "current_z": 1.0480977027755185,
+            "required_z": 0.8565866532585527,
+            "initial_z": 0.7565866532585527,
+            "lift_margin": 0.19151104951696585,
+            "gripper_z": 1.0505827966971393,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24359696296705033,
+              0.2683827201401841,
+              1.0505827966971393
+            ],
+            "object_minus_gripper": [
+              0.00525121513883306,
+              0.004871078611057289,
+              -0.0024850939216207735
+            ],
+            "object_to_gripper_xy": 0.007162588028737191,
+            "object_to_gripper_z": -0.0024850939216207735,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2488481781058834,
+              0.2485825348485983,
+              1.0480977027755185
+            ],
+            "finger_b": [
+              0.23712101524365575,
+              0.2732537987512414,
+              1.0480977027755185
+            ],
+            "finger_midpoint": [
+              0.24298459667476957,
+              0.26091816679991986,
+              1.0480977027755185
+            ],
+            "object_minus_finger_midpoint": [
+              0.005863581431113818,
+              0.012335631951321535,
+              0.0
+            ],
+            "finger_gap": 0.02731661786076511,
+            "fingertip_max_gap": 0.09346324508731024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013658308930382543,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480977027755185,
+            "object_top_z": 1.0949868469129689,
+            "finger_top_clearance": 0.04688914413745038,
+            "fingertip_min_top_clearance": 0.014066743241235113,
+            "object_projection_between_fingers": 0.8156971468345968,
+            "object_to_finger_line_xy": 0.010591498965135419,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049231622543655124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0743421572716916,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24818133559533195,
+              0.27295217139669475,
+              1.2388973664107306
+            ],
+            "held_position": [
+              0.25366060821473313,
+              0.2775072821828216,
+              1.2363093166952974
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007580861695161193,
+            "max_held_gripper_dist": 0.007582187507311567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025880497154331383,
+            "max_held_gripper_z_dist": 0.002674357222246293,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676968113217345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25366060821473313,
+              0.2521925153911023,
+              1.2363093166952974
+            ],
+            "held_grasp_finger_b": [
+              0.24336016293204346,
+              0.2775072821828216,
+              1.2363093166952974
+            ],
+            "held_grasp_midpoint": [
+              0.24851038557338828,
+              0.26484989878696197,
+              1.2363093166952974
+            ],
+            "held_grasp_object_position": [
+              0.25366060821473313,
+              0.2775072821828216,
+              1.2363093166952974
+            ],
+            "held_grasp_finger_gap": 0.02733014070107978,
+            "held_grasp_max_gap": 0.12496572494506836,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02477381162223742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048622116727374334,
+              -0.998414928451321,
+              0.02834643558709571
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004543173720024103,
+            "held_grasp_line_xy_max_dist": 0.04748286247253418,
+            "held_grasp_object_top_z": 0.04520057514309883,
+            "held_grasp_top_clearance": 0.032312839879101246,
+            "held_grasp_min_top_clearance": 0.01356017254292965
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3360657677789316,
+              0.11302515945944386,
+              0.7625843545604751
+            ],
+            "target_position": [
+              0.3385452220203858,
+              0.10893154820472935,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004785953033638174,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1711282851528065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843545604751,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541370063594459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860292529860509,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14021304442065075,
+            "release_required_pad_clearance": 0.05301462649302545,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0504930524413472,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b03c25456cfe776d66c1d272880014981c0f8f56030bee5a232fdbade104b67",
+    "visual_seed": 1105975479751951844,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_22_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa3a25b1b8e5c091647153098ece1cc020cb4a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_22_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2485890339377545,
+              0.2758933192587941,
+              1.045867400653473
+            ],
+            "current_z": 1.045867400653473,
+            "required_z": 0.856586485867901,
+            "initial_z": 0.756586485867901,
+            "lift_margin": 0.18928091478557196,
+            "gripper_z": 1.048355314028724,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24338077518156415,
+              0.2709406138683593,
+              1.048355314028724
+            ],
+            "object_minus_gripper": [
+              0.005208258756190354,
+              0.004952705390434797,
+              -0.0024879133752511162
+            ],
+            "object_to_gripper_xy": 0.007187158684478546,
+            "object_to_gripper_z": -0.0024879133752511162,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2485890339377545,
+              0.2513905110635072,
+              1.045867400653473
+            ],
+            "finger_b": [
+              0.23656501717359257,
+              0.2758933192587941,
+              1.045867400653473
+            ],
+            "finger_midpoint": [
+              0.24257702555567354,
+              0.26364191516115065,
+              1.045867400653473
+            ],
+            "object_minus_finger_midpoint": [
+              0.006012008382080963,
+              0.01225140409764347,
+              0.0
+            ],
+            "finger_gap": 0.027294039433544238,
+            "fingertip_max_gap": 0.0921418071192654,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013647019716772119,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045867400653473,
+            "object_top_z": 1.092259889970657,
+            "finger_top_clearance": 0.046392489317184094,
+            "fingertip_min_top_clearance": 0.013917746795155244,
+            "object_projection_between_fingers": 0.8059277160857082,
+            "object_to_finger_line_xy": 0.010794377916340407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485709035596327,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7767974638634354,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2481259020656597,
+              0.27522453368173594,
+              1.2387163649941932
+            ],
+            "held_position": [
+              0.25365690244413297,
+              0.27976747690516324,
+              1.2361455044112017
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007605236515397449,
+            "max_held_gripper_dist": 0.0076110591530356994,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025708605829914966,
+            "max_held_gripper_z_dist": 0.00265911692915366,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868749374011955,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25365690244413297,
+              0.2543637909737891,
+              1.2361455044112017
+            ],
+            "held_grasp_finger_b": [
+              0.24340375835351324,
+              0.27976747690516324,
+              1.2361455044112017
+            ],
+            "held_grasp_midpoint": [
+              0.2485303303988231,
+              0.26706563393947613,
+              1.2361455044112017
+            ],
+            "held_grasp_object_position": [
+              0.25365690244413297,
+              0.27976747690516324,
+              1.2361455044112017
+            ],
+            "held_grasp_finger_gap": 0.027394784588364758,
+            "held_grasp_max_gap": 0.12496606022119522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024605851887075397,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07088521178475836,
+              -0.9972036438268275,
+              0.023668111220116687
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004224321740724444,
+            "held_grasp_line_xy_max_dist": 0.04748303011059761,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.032171027997881935,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34005744652054726,
+              0.11508578934569008,
+              0.7625847115553835
+            ],
+            "target_position": [
+              0.34281291325025043,
+              0.11068131809725568,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005195379088842932,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1702210259110006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847115553835,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544231263831457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515956820314684,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13941282874784633,
+            "release_required_pad_clearance": 0.05257978410157342,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2166384945387392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a49a2e534203a9e683bcff9e2b8755a018a2d13b99f2d2451564ee7112b385f",
+    "visual_seed": 3858150116390777626,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_23_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..548904956c9f46493cf0cf1532452b489b4048b2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_23_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2448792711539967,
+              0.26599847158576145,
+              1.045214481856379
+            ],
+            "current_z": 1.045214481856379,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.18862815326174787,
+            "gripper_z": 1.048272702831769,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23944970817007602,
+              0.2609725524323362,
+              1.048272702831769
+            ],
+            "object_minus_gripper": [
+              0.005429562983920694,
+              0.005025919153425262,
+              -0.0030582209753899914
+            ],
+            "object_to_gripper_xy": 0.007398649710124726,
+            "object_to_gripper_z": -0.0030582209753899914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2448792711539967,
+              0.24126348636213946,
+              1.045214481856379
+            ],
+            "finger_b": [
+              0.23284708913631288,
+              0.26599847158576145,
+              1.045214481856379
+            ],
+            "finger_midpoint": [
+              0.23886318014515479,
+              0.2536309789739505,
+              1.045214481856379
+            ],
+            "object_minus_finger_midpoint": [
+              0.006016091008841928,
+              0.01236749261181097,
+              0.0
+            ],
+            "finger_gap": 0.027506233804711844,
+            "fingertip_max_gap": 0.09278629384737735,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013753116902355903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045214481856379,
+            "object_top_z": 1.0916700784858753,
+            "finger_top_clearance": 0.046455596629496165,
+            "fingertip_min_top_clearance": 0.013936678988848832,
+            "object_projection_between_fingers": 0.8086508550813636,
+            "object_to_finger_line_xy": 0.010819941636806652,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889314692368868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7579189907090003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2440571508737439,
+              0.26522126636686033,
+              1.2355593532925064
+            ],
+            "held_position": [
+              0.24975176975559343,
+              0.26985808612817164,
+              1.2323740299989046
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008004690262162982,
+            "max_held_gripper_dist": 0.008010989287105351,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031853232936018827,
+            "max_held_gripper_z_dist": 0.0032665721786588886,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728285927462529,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24975176975559343,
+              0.2443799479989724,
+              1.2323740299989046
+            ],
+            "held_grasp_finger_b": [
+              0.23941374762656736,
+              0.26985808612817164,
+              1.2323740299989046
+            ],
+            "held_grasp_midpoint": [
+              0.2445827586910804,
+              0.257119017063572,
+              1.2323740299989046
+            ],
+            "held_grasp_object_position": [
+              0.24975176975559343,
+              0.26985808612817164,
+              1.2323740299989046
+            ],
+            "held_grasp_finger_gap": 0.027495640092036214,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024838350126858526,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057170623925410995,
+              -0.9980863269198734,
+              0.02356276247757804
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004442644442691625,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219001872711039,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3443254894886595,
+              0.11727523702470866,
+              0.7625858953989135
+            ],
+            "target_position": [
+              0.3453363535574378,
+              0.11310950764825471,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042866242433176275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17284477254048447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858953989135,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567316624843462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644313449380868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14128295005311922,
+            "release_required_pad_clearance": 0.05322156724690434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4633681200194473,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93a4e8fd427d3557ccbea6b14b2bd04b712ca5da09861a2fe7f3e2991b572816",
+    "visual_seed": 3557618061773267489,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_24_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecce1f566b41149a5b236b604156f1cee62119e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_24_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24394704689107366,
+              0.2741565743839773,
+              1.0479235020990258
+            ],
+            "current_z": 1.0479235020990258,
+            "required_z": 0.856586673522714,
+            "initial_z": 0.756586673522714,
+            "lift_margin": 0.19133682857631185,
+            "gripper_z": 1.0506415754868332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23867484380128273,
+              0.26910069717849855,
+              1.0506415754868332
+            ],
+            "object_minus_gripper": [
+              0.005272203089790928,
+              0.0050558772054787315,
+              -0.002718073387807385
+            ],
+            "object_to_gripper_xy": 0.007304657400376861,
+            "object_to_gripper_z": -0.002718073387807385,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24394704689107366,
+              0.2497019905554591,
+              1.0479235020990258
+            ],
+            "finger_b": [
+              0.23165348776733508,
+              0.2741565743839773,
+              1.0479235020990258
+            ],
+            "finger_midpoint": [
+              0.23780026732920437,
+              0.2619292824697182,
+              1.0479235020990258
+            ],
+            "object_minus_finger_midpoint": [
+              0.006146779561869292,
+              0.012227291914259086,
+              0.0
+            ],
+            "finger_gap": 0.027370755673800436,
+            "fingertip_max_gap": 0.09138542633842578,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013685377836900218,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479235020990258,
+            "object_top_z": 1.0939184035719416,
+            "finger_top_clearance": 0.04599490147291574,
+            "fingertip_min_top_clearance": 0.013798470441874721,
+            "object_projection_between_fingers": 0.7982647956291633,
+            "object_to_finger_line_xy": 0.010983762221445703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819271316921289,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5401294975069407,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24350626603195571,
+              0.273206647932264,
+              1.2390761644763784
+            ],
+            "held_position": [
+              0.24913811915579684,
+              0.2777899046379721,
+              1.236241235315236
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007794923667851524,
+            "max_held_gripper_dist": 0.007799139794401717,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028349291611422522,
+            "max_held_gripper_z_dist": 0.002921417557357975,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08746360629105479,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24913811915579684,
+              0.2523102307077763,
+              1.236241235315236
+            ],
+            "held_grasp_finger_b": [
+              0.2389173372312463,
+              0.2777899046379721,
+              1.236241235315236
+            ],
+            "held_grasp_midpoint": [
+              0.2440277281935216,
+              0.2650500676728742,
+              1.236241235315236
+            ],
+            "held_grasp_object_position": [
+              0.24913811915579684,
+              0.2777899046379721,
+              1.236241235315236
+            ],
+            "held_grasp_finger_gap": 0.02745319957196825,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024561887235598504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08104909438246805,
+              -0.9964912590335068,
+              0.020885759971771667
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004070017415028433,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.032091346989272115,
+            "held_grasp_min_top_clearance": 0.013560202717781066
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33589976607630156,
+              0.11274399876153912,
+              0.7625845669899747
+            ],
+            "target_position": [
+              0.33776813215655693,
+              0.10807274365685597,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005031045225683943,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1713091033971627,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625845669899747,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751966298468315,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559354792152983,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1411739090042663,
+            "release_required_pad_clearance": 0.05279677396076492,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6305225223328969,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23485815f5a321f3fc47bd1d862a28f75a62616d4fe6ac4ccc74d4e4d0ca126a",
+    "visual_seed": 1631577244844180687,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_25_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c3a6287a68dd56008c2a55a47a9286d3c58bb3e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_25_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.25132441534473093,
+              0.2742065851197937,
+              1.0449964102845863
+            ],
+            "current_z": 1.0449964102845863,
+            "required_z": 0.8565865967716088,
+            "initial_z": 0.7565865967716088,
+            "lift_margin": 0.1884098135129776,
+            "gripper_z": 1.048355226318126,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24543604202803518,
+              0.26900306034350085,
+              1.048355226318126
+            ],
+            "object_minus_gripper": [
+              0.005888373316695755,
+              0.005203524776292823,
+              -0.0033588160335396022
+            ],
+            "object_to_gripper_xy": 0.007858092033965232,
+            "object_to_gripper_z": -0.0033588160335396022,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25132441534473093,
+              0.24905961237409902,
+              1.0449964102845863
+            ],
+            "finger_b": [
+              0.23915080351397813,
+              0.2742065851197937,
+              1.0449964102845863
+            ],
+            "finger_midpoint": [
+              0.24523760942935452,
+              0.26163309874694635,
+              1.0449964102845863
+            ],
+            "object_minus_finger_midpoint": [
+              0.006086805915376414,
+              0.012573486372847331,
+              0.0
+            ],
+            "finger_gap": 0.027938630304267867,
+            "fingertip_max_gap": 0.09223193842731794,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013969315152133939,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449964102845863,
+            "object_top_z": 1.090711808694682,
+            "finger_top_clearance": 0.04571539841009575,
+            "fingertip_min_top_clearance": 0.013714619523028725,
+            "object_projection_between_fingers": 0.8101420979981078,
+            "object_to_finger_line_xy": 0.010957211631016966,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048615969213658974,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0765634996612772,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24995037998950256,
+              0.2733974827758754,
+              1.2343754418036765
+            ],
+            "held_position": [
+              0.25604011683110134,
+              0.278276959393868,
+              1.2308909470687586
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008546103815372998,
+            "max_held_gripper_dist": 0.00854822855865023,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034844947349179645,
+            "max_held_gripper_z_dist": 0.003583423860448409,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08684861501671085,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25604011683110134,
+              0.2526215288802843,
+              1.2308909470687586
+            ],
+            "held_grasp_finger_b": [
+              0.2451836069358041,
+              0.278276959393868,
+              1.2308909470687586
+            ],
+            "held_grasp_midpoint": [
+              0.25061186188345275,
+              0.26544924413707616,
+              1.2308909470687586
+            ],
+            "held_grasp_object_position": [
+              0.25604011683110134,
+              0.278276959393868,
+              1.2308909470687586
+            ],
+            "held_grasp_finger_gap": 0.027857941810981102,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0253256238763313,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02916902924810987,
+              -0.9994881090544501,
+              0.013141065081746395
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005054619574174043,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.032221268164199186,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33886047807688824,
+              0.11420221921894508,
+              0.7625857843676785
+            ],
+            "target_position": [
+              0.3397191148299768,
+              0.10884481747572657,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0054257728032046475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1725543182848271,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857843676785,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557132304591825,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679136544197345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14146761489982004,
+            "release_required_pad_clearance": 0.05339568272098673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7992266465207112,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9995c3ba45d717a2959b7e15ed0f74d39367ed75bdf7a2d912bcd988252271a1",
+    "visual_seed": 5354145176307303310,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_26_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..805a6bcadae1c43db4f652a2125fd45ae5bf908e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_26_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2467853399304029,
+              0.27231000276173417,
+              1.0469280446343576
+            ],
+            "current_z": 1.0469280446343576,
+            "required_z": 0.8565866291726578,
+            "initial_z": 0.7565866291726578,
+            "lift_margin": 0.1903414154616998,
+            "gripper_z": 1.0496501123131399,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24147825786887703,
+              0.26729141560214337,
+              1.0496501123131399
+            ],
+            "object_minus_gripper": [
+              0.005307082061525886,
+              0.005018587159590804,
+              -0.0027220676787822473
+            ],
+            "object_to_gripper_xy": 0.007304199962088904,
+            "object_to_gripper_z": -0.0027220676787822473,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2467853399304029,
+              0.2477615397765842,
+              1.0469280446343576
+            ],
+            "finger_b": [
+              0.2346327676179798,
+              0.27231000276173417,
+              1.0469280446343576
+            ],
+            "finger_midpoint": [
+              0.24070905377419136,
+              0.26003577126915917,
+              1.0469280446343576
+            ],
+            "object_minus_finger_midpoint": [
+              0.006076286156211558,
+              0.012274231492575005,
+              0.0
+            ],
+            "finger_gap": 0.02739182448727999,
+            "fingertip_max_gap": 0.09188665233940041,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013695912243640009,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469280446343576,
+            "object_top_z": 1.0930279385289512,
+            "finger_top_clearance": 0.04609989389459357,
+            "fingertip_min_top_clearance": 0.013829968168378037,
+            "object_projection_between_fingers": 0.8031685429331751,
+            "object_to_finger_line_xy": 0.0108910953238771,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844332616970021,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6512008487645768,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2462661903529189,
+              0.27162118148946185,
+              1.2387812774230553
+            ],
+            "held_position": [
+              0.25189093862039197,
+              0.27621299961842705,
+              1.2359516605937537
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007792901783199983,
+            "max_held_gripper_dist": 0.00779860525075206,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028296168293016066,
+            "max_held_gripper_z_dist": 0.0029148148674371654,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683464207783159,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25189093862039197,
+              0.25076551396464664,
+              1.2359516605937537
+            ],
+            "held_grasp_finger_b": [
+              0.24158988031976592,
+              0.27621299961842705,
+              1.2359516605937537
+            ],
+            "held_grasp_midpoint": [
+              0.24674040947007894,
+              0.26348925679153684,
+              1.2359516605937537
+            ],
+            "held_grasp_object_position": [
+              0.25189093862039197,
+              0.27621299961842705,
+              1.2359516605937537
+            ],
+            "held_grasp_finger_gap": 0.027453348214967453,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0245749967800886,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0768293704700244,
+              -0.996814418116485,
+              0.021407093877343405
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004166938415823133,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03212180566554465,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33754760077979556,
+              0.11278704208191775,
+              0.7625851343576191
+            ],
+            "target_position": [
+              0.33968994877523445,
+              0.10859238936848462,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004710070734062602,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1725851619923364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851343576191,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542584901422848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507435445915722,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14157947066266327,
+            "release_required_pad_clearance": 0.05253717722957861,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13698970831389135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b06d1c372ba9e09241083e9038df790fe561aedf4c42c5c3beb66ae41e88b31a",
+    "visual_seed": 6218641694517836503,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_27_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3860a8648941b704173e21b448b9117211bcec0b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_27_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24721820056577465,
+              0.27568066947021347,
+              1.0468218939279126
+            ],
+            "current_z": 1.0468218939279126,
+            "required_z": 0.8565866652119684,
+            "initial_z": 0.7565866652119684,
+            "lift_margin": 0.19023522871594423,
+            "gripper_z": 1.0495570616847336,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2419174956016536,
+              0.2707367115662624,
+              1.0495570616847336
+            ],
+            "object_minus_gripper": [
+              0.00530070496412105,
+              0.0049439579039510795,
+              -0.002735167756821033
+            ],
+            "object_to_gripper_xy": 0.007248461414169072,
+            "object_to_gripper_z": -0.002735167756821033,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24721820056577465,
+              0.251039300086381,
+              1.0468218939279126
+            ],
+            "finger_b": [
+              0.23529852732143453,
+              0.27568066947021347,
+              1.0468218939279126
+            ],
+            "finger_midpoint": [
+              0.2412583639436046,
+              0.26335998477829725,
+              1.0468218939279126
+            ],
+            "object_minus_finger_midpoint": [
+              0.005959836622170062,
+              0.012320684691916217,
+              0.0
+            ],
+            "finger_gap": 0.027372900748044864,
+            "fingertip_max_gap": 0.09166659951007006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013686450374022406,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468218939279126,
+            "object_top_z": 1.0928026642841075,
+            "finger_top_clearance": 0.04598077035619497,
+            "fingertip_min_top_clearance": 0.01379423110685849,
+            "object_projection_between_fingers": 0.8103787282421657,
+            "object_to_finger_line_xy": 0.010730213580646882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833329975503503,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5903679399367737,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24666065338694015,
+              0.275099753485529,
+              1.2372067343428848
+            ],
+            "held_position": [
+              0.2522323667513017,
+              0.2796629464549559,
+              1.2343531157887138
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007746603045434848,
+            "max_held_gripper_dist": 0.00774960251259464,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002853618554170989,
+            "max_held_gripper_z_dist": 0.0029420875441354966,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08719439979130134,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2522323667513017,
+              0.25424815894301767,
+              1.2343531157887138
+            ],
+            "held_grasp_finger_b": [
+              0.2420114239351396,
+              0.2796629464549559,
+              1.2343531157887138
+            ],
+            "held_grasp_midpoint": [
+              0.24712189534322065,
+              0.26695555269898674,
+              1.2343531157887138
+            ],
+            "held_grasp_object_position": [
+              0.2522323667513017,
+              0.2796629464549559,
+              1.2343531157887138
+            ],
+            "held_grasp_finger_gap": 0.027393048321211446,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024645484986409665,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06886024047553038,
+              -0.9974233132860065,
+              0.020124646461921913
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004231256644184268,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.032174094300782705,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34600923961766683,
+              0.11170703495140163,
+              0.7625859606848452
+            ],
+            "target_position": [
+              0.34273459438561044,
+              0.1075616919989851,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005282723690387287,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17807401904070574,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859606848452,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553093372054175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554505769442465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14650604966504222,
+            "release_required_pad_clearance": 0.05277252884721233,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5921492915869144,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b82d4ad1db21ad7c81b583edc4625e8789a38f9f3fead1955baf1d821c45ebff",
+    "visual_seed": 6969124946607507916,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_28_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..974892b187874d911b0b215077209da892b2bf97
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_28_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2426019129241672,
+              0.27422706544895037,
+              1.0449754523419947
+            ],
+            "current_z": 1.0449754523419947,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18838894493342917,
+            "gripper_z": 1.047966385369299,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23723813977574362,
+              0.26921038744374326,
+              1.047966385369299
+            ],
+            "object_minus_gripper": [
+              0.005363773148423567,
+              0.005016678005207109,
+              -0.0029909330273043544
+            ],
+            "object_to_gripper_xy": 0.0073441895805921595,
+            "object_to_gripper_z": -0.0029909330273043544,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2426019129241672,
+              0.24959566317642976,
+              1.0449754523419947
+            ],
+            "finger_b": [
+              0.2305081135970298,
+              0.27422706544895037,
+              1.0449754523419947
+            ],
+            "finger_midpoint": [
+              0.2365550132605985,
+              0.2619113643126901,
+              1.0449754523419947
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060468996635686945,
+              0.012315701136260293,
+              0.0
+            ],
+            "finger_gap": 0.027440225219115866,
+            "fingertip_max_gap": 0.09226508801331904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013720112609557921,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449754523419947,
+            "object_top_z": 1.0913333092105877,
+            "finger_top_clearance": 0.04635785686859295,
+            "fingertip_min_top_clearance": 0.013907357060577885,
+            "object_projection_between_fingers": 0.8057548549069276,
+            "object_to_finger_line_xy": 0.010855859740624162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863254400665952,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7916734859190636,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2418690091695293,
+              0.27359129950315597,
+              1.2378376604468118
+            ],
+            "held_position": [
+              0.2475367893439759,
+              0.27820796984931156,
+              1.2347629612193456
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007930394222880947,
+            "max_held_gripper_dist": 0.007938446369532809,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003074699227466171,
+            "max_held_gripper_z_dist": 0.0031617979109601624,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08679027601211894,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2475367893439759,
+              0.25275656207613545,
+              1.2347629612193456
+            ],
+            "held_grasp_finger_b": [
+              0.23711224221647415,
+              0.27820796984931156,
+              1.2347629612193456
+            ],
+            "held_grasp_midpoint": [
+              0.242324515780225,
+              0.2654822659627235,
+              1.2347629612193456
+            ],
+            "held_grasp_object_position": [
+              0.2475367893439759,
+              0.27820796984931156,
+              1.2347629612193456
+            ],
+            "held_grasp_finger_gap": 0.027503551415226268,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024650834325869453,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07010675616169268,
+              -0.9972597875777887,
+              0.023621151978451826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004318068344416544,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214397661931221,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3412510434417475,
+              0.11199953684924366,
+              0.7625842526752462
+            ],
+            "target_position": [
+              0.3385530290248968,
+              0.10784529299030991,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004953486028346392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17484943634888298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842526752462,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569293211331744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586421204026938,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1431398302345918,
+            "release_required_pad_clearance": 0.05293210602013469,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.855375024638388,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af64444a523c06280843e981d6f6e96617d04a366b5acd50e49981389405d9fa",
+    "visual_seed": 4809040651932753646,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_29_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47875b031e00231cbf8b09d3297cfc62e2e38724
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_29_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24290133064887304,
+              0.26699678309201635,
+              1.0442781242899304
+            ],
+            "current_z": 1.0442781242899304,
+            "required_z": 0.8565866525824747,
+            "initial_z": 0.7565866525824747,
+            "lift_margin": 0.1876914717074557,
+            "gripper_z": 1.0472851360283146,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2376226077739171,
+              0.26202550456212403,
+              1.0472851360283146
+            ],
+            "object_minus_gripper": [
+              0.005278722874955927,
+              0.00497127852989232,
+              -0.0030070117383842465
+            ],
+            "object_to_gripper_xy": 0.0072511051166254175,
+            "object_to_gripper_z": -0.0030070117383842465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24290133064887304,
+              0.2424196484660416,
+              1.0442781242899304
+            ],
+            "finger_b": [
+              0.23088160885724465,
+              0.26699678309201635,
+              1.0442781242899304
+            ],
+            "finger_midpoint": [
+              0.23689146975305886,
+              0.25470821577902897,
+              1.0442781242899304
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009860895814179,
+              0.012288567312987386,
+              0.0
+            ],
+            "finger_gap": 0.02735889724333627,
+            "fingertip_max_gap": 0.09206396299388042,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013679448621668141,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0442781242899304,
+            "object_top_z": 1.0905275831707704,
+            "finger_top_clearance": 0.04624945888083998,
+            "fingertip_min_top_clearance": 0.01387483766425201,
+            "object_projection_between_fingers": 0.8069847362175793,
+            "object_to_finger_line_xy": 0.010797596043881693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853198149694021,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7041181375639107,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24220403368033358,
+              0.26633188431208094,
+              1.2378462519006224
+            ],
+            "held_position": [
+              0.24778419992828432,
+              0.2709046248031217,
+              1.2347528534743095
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007849670361046208,
+            "max_held_gripper_dist": 0.007857577967160091,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030933984263128433,
+            "max_held_gripper_z_dist": 0.003173590468440901,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08687025115218416,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24778419992828432,
+              0.24550203762879078,
+              1.2347528534743095
+            ],
+            "held_grasp_finger_b": [
+              0.2374450567946105,
+              0.2709046248031217,
+              1.2347528534743095
+            ],
+            "held_grasp_midpoint": [
+              0.24261462836144743,
+              0.25820333121595623,
+              1.2347528534743095
+            ],
+            "held_grasp_object_position": [
+              0.24778419992828432,
+              0.2709046248031217,
+              1.2347528534743095
+            ],
+            "held_grasp_finger_gap": 0.027426070004433326,
+            "held_grasp_max_gap": 0.12496600061655044,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024608813887042617,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07010426103176168,
+              -0.9972855009717203,
+              0.02251715205739002
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042762865464671725,
+            "held_grasp_line_xy_max_dist": 0.04748300030827522,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.032171566277327014,
+            "held_grasp_min_top_clearance": 0.013560237362980843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3383825103449157,
+              0.11527203401131617,
+              0.7625839715714371
+            ],
+            "target_position": [
+              0.34074578369867553,
+              0.11066800783847551,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005175144243863462,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17210828709206,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625839715714371,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548956497750194,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506688777923736,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1410330533411212,
+            "release_required_pad_clearance": 0.05253344388961868,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.12488417322812216,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "059cee4f928241775b727791717562ee5c8be93aff356e0e06e2f61ee5d352c5",
+    "visual_seed": 3739244060192259668,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_2_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9bd550d90934ccc74d730a5cfd0bc632bf433a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_2_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24304870760495179,
+              0.2693252086032533,
+              1.0447888410868984
+            ],
+            "current_z": 1.0447888410868984,
+            "required_z": 0.8565866271361249,
+            "initial_z": 0.7565866271361249,
+            "lift_margin": 0.18820221395077352,
+            "gripper_z": 1.047913499921735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2376123994255205,
+              0.26435731056512046,
+              1.047913499921735
+            ],
+            "object_minus_gripper": [
+              0.005436308179431276,
+              0.004967898038132856,
+              -0.003124658834836591
+            ],
+            "object_to_gripper_xy": 0.00736433687028477,
+            "object_to_gripper_z": -0.003124658834836591,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24304870760495179,
+              0.24452663221991613,
+              1.0447888410868984
+            ],
+            "finger_b": [
+              0.2311712393031293,
+              0.2693252086032533,
+              1.0447888410868984
+            ],
+            "finger_midpoint": [
+              0.23710997345404056,
+              0.25692592041158474,
+              1.0447888410868984
+            ],
+            "object_minus_finger_midpoint": [
+              0.005938734150911229,
+              0.012399288191668578,
+              0.0
+            ],
+            "finger_gap": 0.027496247814947528,
+            "fingertip_max_gap": 0.09354964648906305,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013748123907473745,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447888410868984,
+            "object_top_z": 1.0918031934439838,
+            "finger_top_clearance": 0.0470143523570854,
+            "fingertip_min_top_clearance": 0.014104305707125602,
+            "object_projection_between_fingers": 0.8134046170497669,
+            "object_to_finger_line_xy": 0.01071216359794703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927482324453153,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.162910429157534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24212983780277644,
+              0.2688203988301422,
+              1.235688266388396
+            ],
+            "held_position": [
+              0.24779175947628795,
+              0.27344793652491317,
+              1.2324454480517617
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00799920826819234,
+            "max_held_gripper_dist": 0.008000953605756806,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003242818336634201,
+            "max_held_gripper_z_dist": 0.003325205892193983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663894733461,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24779175947628795,
+              0.24801726622451636,
+              1.2324454480517617
+            ],
+            "held_grasp_finger_b": [
+              0.2374001693671478,
+              0.27344793652491317,
+              1.2324454480517617
+            ],
+            "held_grasp_midpoint": [
+              0.24259596442171788,
+              0.26073260137471477,
+              1.2324454480517617
+            ],
+            "held_grasp_object_position": [
+              0.24779175947628795,
+              0.27344793652491317,
+              1.2324454480517617
+            ],
+            "held_grasp_finger_gap": 0.027471879020625138,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02484870675286114,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05156672980405095,
+              -0.9981871013387142,
+              0.031038413270198628
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00455070271381977,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.032240499283016824,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3350806295441761,
+              0.11610420888601625,
+              0.7625857728137411
+            ],
+            "target_position": [
+              0.33896614722767043,
+              0.1123140783016748,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005427922025518381,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688285873201587,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857728137411,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545035591148364,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867367704938266,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13789480484685396,
+            "release_required_pad_clearance": 0.0533683852469133,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7475905872319324,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ad97236a0895244da4f8617578ffc52e6bccf194c7ece8b501698573c2f6cef",
+    "visual_seed": 6804345774224486853,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_30_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a78a9f6cbd74ebddd26efaf8e7eadd6b008ab7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_30_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24536864924413643,
+              0.26541432394513575,
+              1.0456806003322243
+            ],
+            "current_z": 1.0456806003322243,
+            "required_z": 0.8565866701721077,
+            "initial_z": 0.7565866701721077,
+            "lift_margin": 0.18909393016011666,
+            "gripper_z": 1.0486735699524123,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23968277099989915,
+              0.2603773192907024,
+              1.0486735699524123
+            ],
+            "object_minus_gripper": [
+              0.005685878244237275,
+              0.0050370046544333524,
+              -0.002992969620188024
+            ],
+            "object_to_gripper_xy": 0.007596092896817021,
+            "object_to_gripper_z": -0.002992969620188024,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24536864924413643,
+              0.24039528330701335,
+              1.0456806003322243
+            ],
+            "finger_b": [
+              0.23345782707324403,
+              0.26541432394513575,
+              1.0456806003322243
+            ],
+            "finger_midpoint": [
+              0.23941323815869023,
+              0.25290480362607454,
+              1.0456806003322243
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059554110854461995,
+              0.012509520319061218,
+              0.0
+            ],
+            "finger_gap": 0.027709566565333396,
+            "fingertip_max_gap": 0.09420698132655092,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385478328266671,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456806003322243,
+            "object_top_z": 1.0922905700543448,
+            "finger_top_clearance": 0.0466099697221205,
+            "fingertip_min_top_clearance": 0.013982990916636151,
+            "object_projection_between_fingers": 0.815233166437513,
+            "object_to_finger_line_xy": 0.010754312710896809,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960349066327546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6562886998705673,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24399652995731044,
+              0.2652251776044691,
+              1.2382247398056847
+            ],
+            "held_position": [
+              0.24986145777923133,
+              0.26999063732691986,
+              1.2351358423262546
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008163839314995822,
+            "max_held_gripper_dist": 0.008165692258001069,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003088897479430086,
+            "max_held_gripper_z_dist": 0.003174114880341472,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08711814343349009,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24986145777923133,
+              0.24452873893568916,
+              1.2351358423262546
+            ],
+            "held_grasp_finger_b": [
+              0.23905762679190004,
+              0.26999063732691986,
+              1.2351358423262546
+            ],
+            "held_grasp_midpoint": [
+              0.24445954228556568,
+              0.2572596881313045,
+              1.2351358423262546
+            ],
+            "held_grasp_object_position": [
+              0.24986145777923133,
+              0.26999063732691986,
+              1.2351358423262546
+            ],
+            "held_grasp_finger_gap": 0.027659194378871127,
+            "held_grasp_max_gap": 0.12496580690145492,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02527804390585169,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.016058207328782558,
+              -0.9995929475768042,
+              0.02358120294010046
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0052055059149873194,
+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.032388130087458666,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3404825925004583,
+              0.11819742759118809,
+              0.7625853219063518
+            ],
+            "target_position": [
+              0.3381589928198535,
+              0.1144038841885332,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004448605064908909,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17731627099207573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853219063518,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584449014908606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0880854672937441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14499506901100043,
+            "release_required_pad_clearance": 0.05404273364687205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.087653639750125,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "814f57ae219d590839657f40244a5c96784c894c3c3e5ca720c8f1fd6a4a466b",
+    "visual_seed": 5015324209566240003,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_31_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1d56fa279575e762720bef2a7b089a8bd4fb54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_31_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24342034197762955,
+              0.27012409767325163,
+              1.0454338107338172
+            ],
+            "current_z": 1.0454338107338172,
+            "required_z": 0.8565866823350176,
+            "initial_z": 0.7565866823350176,
+            "lift_margin": 0.1888471283987997,
+            "gripper_z": 1.0484503482671057,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23812277752015074,
+              0.26517681827229056,
+              1.0484503482671057
+            ],
+            "object_minus_gripper": [
+              0.0052975644574788094,
+              0.004947279400961069,
+              -0.0030165375332884548
+            ],
+            "object_to_gripper_xy": 0.007248431737439242,
+            "object_to_gripper_z": -0.0030165375332884548,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24342034197762955,
+              0.24548879996980807,
+              1.0454338107338172
+            ],
+            "finger_b": [
+              0.23149267281453434,
+              0.27012409767325163,
+              1.0454338107338172
+            ],
+            "finger_midpoint": [
+              0.23745650739608193,
+              0.25780644882152987,
+              1.0454338107338172
+            ],
+            "object_minus_finger_midpoint": [
+              0.005963834581547617,
+              0.012317648851721763,
+              0.0
+            ],
+            "finger_gap": 0.02737091859257821,
+            "fingertip_max_gap": 0.09237007693077695,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013685459296289098,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454338107338172,
+            "object_top_z": 1.0917865793444794,
+            "finger_top_clearance": 0.046352768610662176,
+            "fingertip_min_top_clearance": 0.013905830583198686,
+            "object_projection_between_fingers": 0.8100967386339534,
+            "object_to_finger_line_xy": 0.01073554326454761,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868503846538848,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7995462526862287,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2427116340784021,
+              0.2695765205011881,
+              1.2370675627256313
+            ],
+            "held_position": [
+              0.24827706469665514,
+              0.27414972477425564,
+              1.2339462574645415
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007850526213108222,
+            "max_held_gripper_dist": 0.007853963375437121,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031213052610898906,
+            "max_held_gripper_z_dist": 0.0032029400047846046,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670763673823484,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24827706469665514,
+              0.24876119272253322,
+              1.2339462574645415
+            ],
+            "held_grasp_finger_b": [
+              0.23797483795642682,
+              0.27414972477425564,
+              1.2339462574645415
+            ],
+            "held_grasp_midpoint": [
+              0.24312595132654097,
+              0.26145545874839443,
+              1.2339462574645415
+            ],
+            "held_grasp_object_position": [
+              0.24827706469665514,
+              0.27414972477425564,
+              1.2339462574645415
+            ],
+            "held_grasp_finger_gap": 0.027399150270554236,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024631949218769093,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06716672883718364,
+              -0.9974549153554213,
+              0.02392326003331413
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004297885219399118,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.04520068317651749,
+            "held_grasp_top_clearance": 0.03219274169725284,
+            "held_grasp_min_top_clearance": 0.013560204952955245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3412210310580822,
+              0.11531849247565579,
+              0.7625848042655107
+            ],
+            "target_position": [
+              0.3431013484671581,
+              0.11065716769619444,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005026285135017147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17007742481650107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848042655107,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753672069243987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527850121441037,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13955223386339843,
+            "release_required_pad_clearance": 0.05263925060720519,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33098575375311656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "83c3c068218551c44f86503eed2605b3276aa4174cd8f239e952f8109a3918eb",
+    "visual_seed": 6721399802140826044,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_32_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ea602cecb84346b6dbe811dfd99e6a0d8d58fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_32_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2429510088002615,
+              0.26791760947564797,
+              1.0463626133951247
+            ],
+            "current_z": 1.0463626133951247,
+            "required_z": 0.8565864892188416,
+            "initial_z": 0.7565864892188416,
+            "lift_margin": 0.1897761241762831,
+            "gripper_z": 1.0494321406654734,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23773158809663036,
+              0.26293171372143676,
+              1.0494321406654734
+            ],
+            "object_minus_gripper": [
+              0.005219420703631128,
+              0.0049858957542112115,
+              -0.003069527270348704
+            ],
+            "object_to_gripper_xy": 0.007218137498922741,
+            "object_to_gripper_z": -0.003069527270348704,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2429510088002615,
+              0.2434543903987679,
+              1.0463626133951247
+            ],
+            "finger_b": [
+              0.23081826092245622,
+              0.26791760947564797,
+              1.0463626133951247
+            ],
+            "finger_midpoint": [
+              0.23688463486135886,
+              0.2556859999372079,
+              1.0463626133951247
+            ],
+            "object_minus_finger_midpoint": [
+              0.006066373938902636,
+              0.012231609538440047,
+              0.0
+            ],
+            "finger_gap": 0.027306641292363605,
+            "fingertip_max_gap": 0.09237846056704707,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013653320646181816,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463626133951247,
+            "object_top_z": 1.0928400453394835,
+            "finger_top_clearance": 0.04647743194435883,
+            "fingertip_min_top_clearance": 0.013943229583307631,
+            "object_projection_between_fingers": 0.8025842604397235,
+            "object_to_finger_line_xy": 0.010869372991042476,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868923028352354,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8178041969324544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.242368199401728,
+              0.26731624339431104,
+              1.2372588160257978
+            ],
+            "held_position": [
+              0.24791593319584923,
+              0.27187420399943474,
+              1.2340736025302033
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007854803634771017,
+            "max_held_gripper_dist": 0.007857355365829037,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00318521349559453,
+            "max_held_gripper_z_dist": 0.00326695396671961,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08720781574579542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24791593319584923,
+              0.246479237523065,
+              1.2340736025302033
+            ],
+            "held_grasp_finger_b": [
+              0.23769844730310655,
+              0.27187420399943474,
+              1.2340736025302033
+            ],
+            "held_grasp_midpoint": [
+              0.2428071902494779,
+              0.25917672076124987,
+              1.2340736025302033
+            ],
+            "held_grasp_object_position": [
+              0.24791593319584923,
+              0.27187420399943474,
+              1.2340736025302033
+            ],
+            "held_grasp_finger_gap": 0.02737336918072634,
+            "held_grasp_max_gap": 0.12496607512235641,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024549460011991767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07498939917754442,
+              -0.9968772025649274,
+              0.024747384049947356
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004154443171529655,
+            "held_grasp_line_xy_max_dist": 0.04748303756117821,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.03215985807573844,
+            "held_grasp_min_top_clearance": 0.013560237362980843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3372345247704602,
+              0.11756196420769646,
+              0.7625848941481175
+            ],
+            "target_position": [
+              0.340805178814163,
+              0.11374629731135874,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005225790290819072,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16906364584104017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848941481175,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532836525251883,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854970908566177,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13848248985229,
+            "release_required_pad_clearance": 0.052748545428308855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5395624886018282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f65ed43b5a61d892e8c459ccaf062365915d2ba0bb54f53279a39eb2e1296162",
+    "visual_seed": 2177465132944909417,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_34_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcacd17feb09da8a23f2e01a44b166b21ac48a57
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_34_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24816183955688326,
+              0.27065300412613724,
+              1.0469348816356574
+            ],
+            "current_z": 1.0469348816356574,
+            "required_z": 0.8565864876483281,
+            "initial_z": 0.7565864876483281,
+            "lift_margin": 0.19034839398732928,
+            "gripper_z": 1.049769695227989,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24284147616191767,
+              0.26563404901744286,
+              1.049769695227989
+            ],
+            "object_minus_gripper": [
+              0.005320363394965583,
+              0.0050189551086943784,
+              -0.0028348135923315088
+            ],
+            "object_to_gripper_xy": 0.007314108082164161,
+            "object_to_gripper_z": -0.0028348135923315088,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24816183955688326,
+              0.24608436562275318,
+              1.0469348816356574
+            ],
+            "finger_b": [
+              0.23602197103088404,
+              0.27065300412613724,
+              1.0469348816356574
+            ],
+            "finger_midpoint": [
+              0.24209190529388364,
+              0.2583686848744452,
+              1.0469348816356574
+            ],
+            "object_minus_finger_midpoint": [
+              0.006069934262999621,
+              0.012284319251692044,
+              0.0
+            ],
+            "finger_gap": 0.02740427714314888,
+            "fingertip_max_gap": 0.09196111012655733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013702138571574459,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469348816356574,
+            "object_top_z": 1.0931366848029014,
+            "finger_top_clearance": 0.04620180316724398,
+            "fingertip_min_top_clearance": 0.013860540950173195,
+            "object_projection_between_fingers": 0.8037583147059273,
+            "object_to_finger_line_xy": 0.010883704019481882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848055506327867,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7080908148152433,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24763229265367434,
+              0.2697765513247022,
+              1.2380068979696874
+            ],
+            "held_position": [
+              0.2532714332096433,
+              0.2743638647860867,
+              1.2350541777062298
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007846139685043,
+            "max_held_gripper_dist": 0.007851427755006633,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002952720263457609,
+            "max_held_gripper_z_dist": 0.003038812483943776,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747747568879913,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2532714332096433,
+              0.2488930531164707,
+              1.2350541777062298
+            ],
+            "held_grasp_finger_b": [
+              0.24303059839518332,
+              0.2743638647860867,
+              1.2350541777062298
+            ],
+            "held_grasp_midpoint": [
+              0.2481510158024133,
+              0.26162845895127873,
+              1.2350541777062298
+            ],
+            "held_grasp_object_position": [
+              0.2532714332096433,
+              0.2743638647860867,
+              1.2350541777062298
+            ],
+            "held_grasp_finger_gap": 0.027452448794344424,
+            "held_grasp_max_gap": 0.12496606767177582,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460752131546204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07636389857708115,
+              -0.9968096704536964,
+              0.023217146338479596
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004143828809488322,
+            "held_grasp_line_xy_max_dist": 0.04748303383588791,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.032114952052315175,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3371674908932196,
+              0.11461624783998214,
+              0.76258454331279
+            ],
+            "target_position": [
+              0.33890662275140887,
+              0.11023681811330052,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0047121103925005245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1714634912202142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258454331279,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754230604335726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852224341328831,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1406455058622916,
+            "release_required_pad_clearance": 0.05261121706644155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27401967188525184,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2345c89b53b11b87bd8e3f0c5ff0281421f7618ded2e8430fde86c925f6621d1",
+    "visual_seed": 7057418277324490549,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_35_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e5a10326e75b7a81fa484e14d6122695fb3208
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_35_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24296682941804926,
+              0.26940607721706417,
+              1.047325480697397
+            ],
+            "current_z": 1.047325480697397,
+            "required_z": 0.8565865831724991,
+            "initial_z": 0.7565865831724992,
+            "lift_margin": 0.19073889752489792,
+            "gripper_z": 1.0504562839802103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2372394270494906,
+              0.2643717952754661,
+              1.0504562839802103
+            ],
+            "object_minus_gripper": [
+              0.005727402368558648,
+              0.005034281941598051,
+              -0.0031308032828132326
+            ],
+            "object_to_gripper_xy": 0.007625426713231953,
+            "object_to_gripper_z": -0.0031308032828132326,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24296682941804926,
+              0.24434164536413,
+              1.047325480697397
+            ],
+            "finger_b": [
+              0.23108379620750769,
+              0.26940607721706417,
+              1.047325480697397
+            ],
+            "finger_midpoint": [
+              0.23702531281277847,
+              0.2568738612905971,
+              1.047325480697397
+            ],
+            "object_minus_finger_midpoint": [
+              0.005941516605270786,
+              0.012532215926467083,
+              0.0
+            ],
+            "finger_gap": 0.027738641322047747,
+            "fingertip_max_gap": 0.09459876934618056,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013869320661023874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047325480697397,
+            "object_top_z": 1.0941532475460232,
+            "finger_top_clearance": 0.04682776684862611,
+            "fingertip_min_top_clearance": 0.014048330054587832,
+            "object_projection_between_fingers": 0.8164796402162229,
+            "object_to_finger_line_xy": 0.0107374212260006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04979938467309028,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.697029564767828,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24146651691646565,
+              0.26948980666121053,
+              1.2388613273808096
+            ],
+            "held_position": [
+              0.24733790404093572,
+              0.27428449455724646,
+              1.2356256397808314
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008242080625087269,
+            "max_held_gripper_dist": 0.008244185321573234,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032356875999781654,
+            "max_held_gripper_z_dist": 0.00332477636220041,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739024703765286,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24733790404093572,
+              0.24885387272995432,
+              1.2356256397808314
+            ],
+            "held_grasp_finger_b": [
+              0.2364604756254777,
+              0.27428449455724646,
+              1.2356256397808314
+            ],
+            "held_grasp_midpoint": [
+              0.2418991898332067,
+              0.2615691836436004,
+              1.2356256397808314
+            ],
+            "held_grasp_object_position": [
+              0.24733790404093572,
+              0.27428449455724646,
+              1.2356256397808314
+            ],
+            "held_grasp_finger_gap": 0.02765926563479517,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025302667732168847,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010865205425537412,
+              -0.9996158725117261,
+              0.025496170961174618
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0053101901256409016,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.03243120106910052,
+            "held_grasp_min_top_clearance": 0.01356021612882614
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3386639485626566,
+              0.11033401843208193,
+              0.7625842326338741
+            ],
+            "target_position": [
+              0.3422716486628888,
+              0.10646972426098274,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005286612285198023,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17104678329228412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625842326338741,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516475809175335,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790219901763018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14080231663619724,
+            "release_required_pad_clearance": 0.05395109950881509,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.899646750149259,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b6ec7b22116636398544da2a1ab9065d7fffc9768b2a62203051d00b78a24c3",
+    "visual_seed": 5255955298605183581,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_36_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..830173017b657635b86e48f3d33d07b8d18fc380
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_36_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2503496684533517,
+              0.2658734876730155,
+              1.0467526494629216
+            ],
+            "current_z": 1.0467526494629216,
+            "required_z": 0.856586664640164,
+            "initial_z": 0.756586664640164,
+            "lift_margin": 0.1901659848227576,
+            "gripper_z": 1.0492880845947312,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24515488518118866,
+              0.26083819567772143,
+              1.0492880845947312
+            ],
+            "object_minus_gripper": [
+              0.0051947832721630505,
+              0.005035291995294067,
+              -0.002535435131809649
+            ],
+            "object_to_gripper_xy": 0.007234634664073754,
+            "object_to_gripper_z": -0.002535435131809649,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2503496684533517,
+              0.24149997626155534,
+              1.0467526494629216
+            ],
+            "finger_b": [
+              0.2380513885361529,
+              0.2658734876730155,
+              1.0467526494629216
+            ],
+            "finger_midpoint": [
+              0.24420052849475232,
+              0.2536867319672854,
+              1.0467526494629216
+            ],
+            "object_minus_finger_midpoint": [
+              0.006149139958599392,
+              0.012186755705730079,
+              0.0
+            ],
+            "finger_gap": 0.027300471560878836,
+            "fingertip_max_gap": 0.0912459820382873,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013650235780439413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467526494629216,
+            "object_top_z": 1.0926768380931202,
+            "finger_top_clearance": 0.04592418863019865,
+            "fingertip_min_top_clearance": 0.013777256589059627,
+            "object_projection_between_fingers": 0.7970689745386575,
+            "object_to_finger_line_xy": 0.010979746823593957,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812299101914365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5039688174594308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25008301301862645,
+              0.26466777213693726,
+              1.2391505245843546
+            ],
+            "held_position": [
+              0.2556714608680112,
+              0.26920938326393945,
+              1.236510995034298
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076696869062449005,
+            "max_held_gripper_dist": 0.007673883768442975,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026395295500565297,
+            "max_held_gripper_z_dist": 0.0027211835045415356,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08720875410102985,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2556714608680112,
+              0.24372494017070157,
+              1.236510995034298
+            ],
+            "held_grasp_finger_b": [
+              0.24553639572090233,
+              0.26920938326393945,
+              1.236510995034298
+            ],
+            "held_grasp_midpoint": [
+              0.25060392829445677,
+              0.25646716171732054,
+              1.236510995034298
+            ],
+            "held_grasp_object_position": [
+              0.2556714608680112,
+              0.26920938326393945,
+              1.236510995034298
+            ],
+            "held_grasp_finger_gap": 0.027425834268233678,
+            "held_grasp_max_gap": 0.12496577709913254,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024517108996534386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08566820707787912,
+              -0.9961120893805416,
+              0.020534451197775305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003966235609759905,
+            "held_grasp_line_xy_max_dist": 0.04748288854956627,
+            "held_grasp_object_top_z": 0.045200593769550323,
+            "held_grasp_top_clearance": 0.03207378641151282,
+            "held_grasp_min_top_clearance": 0.013560178130865097
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.35090575833336857,
+              0.11466519193503012,
+              0.7625837727091893
+            ],
+            "target_position": [
+              0.3463141389882836,
+              0.11025695488703889,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006365180443745551,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17822112177991614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625837727091893,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575388903583462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577202860521004,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14625279446726056,
+            "release_required_pad_clearance": 0.05288601430260502,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8088996791236692,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d645945b3b014a65fc29623e3927a44c20beb19de70273ea0d6cc82c2e7b450",
+    "visual_seed": 1075047949736637575,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_37_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8337c25851e88faf13029aa5e29ab4f1eb000a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_37_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24563762965654726,
+              0.26850294583006123,
+              1.0476288749325773
+            ],
+            "current_z": 1.0476288749325773,
+            "required_z": 0.85658662679584,
+            "initial_z": 0.75658662679584,
+            "lift_margin": 0.1910422481367373,
+            "gripper_z": 1.0501073428680368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2404391198667967,
+              0.2634765479292932,
+              1.0501073428680368
+            ],
+            "object_minus_gripper": [
+              0.0051985097897505606,
+              0.0050263979007680315,
+              -0.002478467935459472
+            ],
+            "object_to_gripper_xy": 0.0072311257692684126,
+            "object_to_gripper_z": -0.002478467935459472,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24563762965654726,
+              0.24409870356883553,
+              1.0476288749325773
+            ],
+            "finger_b": [
+              0.23338680330436143,
+              0.26850294583006123,
+              1.0476288749325773
+            ],
+            "finger_midpoint": [
+              0.23951221648045434,
+              0.25630082469944837,
+              1.0476288749325773
+            ],
+            "object_minus_finger_midpoint": [
+              0.006125413176092914,
+              0.012202121130612864,
+              0.0
+            ],
+            "finger_gap": 0.02730658870412057,
+            "fingertip_max_gap": 0.09028354901429309,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013653294352060297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476288749325773,
+            "object_top_z": 1.0928448887660411,
+            "finger_top_clearance": 0.04521601383346385,
+            "fingertip_min_top_clearance": 0.013564804150039156,
+            "object_projection_between_fingers": 0.7987222031075975,
+            "object_to_finger_line_xy": 0.010948717814533732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047641774507146545,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3081318500440582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24539143087155102,
+              0.2673060863334415,
+              1.2415938741799848
+            ],
+            "held_position": [
+              0.2509779835747621,
+              0.271841457393825,
+              1.2390274529139418
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007639743443069061,
+            "max_held_gripper_dist": 0.007647452862936297,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025664212660430064,
+            "max_held_gripper_z_dist": 0.0026476562500761247,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08716425871264827,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2509779835747621,
+              0.24634753679278465,
+              1.2390274529139418
+            ],
+            "held_grasp_finger_b": [
+              0.24082319238665012,
+              0.271841457393825,
+              1.2390274529139418
+            ],
+            "held_grasp_midpoint": [
+              0.2459005879807061,
+              0.2590944970933048,
+              1.2390274529139418
+            ],
+            "held_grasp_object_position": [
+              0.2509779835747621,
+              0.271841457393825,
+              1.2390274529139418
+            ],
+            "held_grasp_finger_gap": 0.0274419345470815,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024472000861881678,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09023278445404725,
+              -0.9958568689234257,
+              0.01127569189452482
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003909228261093681,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.04520070552825928,
+            "held_grasp_top_clearance": 0.03204841001286567,
+            "held_grasp_min_top_clearance": 0.013560211658477784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3362033362709307,
+              0.11822311981045126,
+              0.7625847825648921
+            ],
+            "target_position": [
+              0.3371676652069235,
+              0.11327959757738518,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005036699550857854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17206189484457066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847825648921,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572749882282895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546459274146088,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1405773165419158,
+            "release_required_pad_clearance": 0.052732296370730444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5097347975051932,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3479beca8cdb54ca25631cdd59f64c8428d5a3ae509d7949c739209591009760",
+    "visual_seed": 5028291500713985468,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_38_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae1579ad0eb70f5c9be1a8ce797a02af698a2a2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_38_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2492394883991225,
+              0.27305885266622654,
+              1.048368623121202
+            ],
+            "current_z": 1.048368623121202,
+            "required_z": 0.8565867265475556,
+            "initial_z": 0.7565867265475557,
+            "lift_margin": 0.1917818965736463,
+            "gripper_z": 1.0510065119239727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2439327683071489,
+              0.26798983901125606,
+              1.0510065119239727
+            ],
+            "object_minus_gripper": [
+              0.005306720091973582,
+              0.005069013654970478,
+              -0.002637888802770716
+            ],
+            "object_to_gripper_xy": 0.007338676826842375,
+            "object_to_gripper_z": -0.002637888802770716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2492394883991225,
+              0.24857453620468067,
+              1.048368623121202
+            ],
+            "finger_b": [
+              0.2369348202136845,
+              0.27305885266622654,
+              1.048368623121202
+            ],
+            "finger_midpoint": [
+              0.24308715430640349,
+              0.26081669443545363,
+              1.048368623121202
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061523340927190084,
+              0.012242158230772904,
+              0.0
+            ],
+            "finger_gap": 0.027402310335861383,
+            "fingertip_max_gap": 0.09193197043978121,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013701155167930672,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048368623121202,
+            "object_top_z": 1.0946462412152393,
+            "finger_top_clearance": 0.04627761809403741,
+            "fingertip_min_top_clearance": 0.013883285428211255,
+            "object_projection_between_fingers": 0.7983652168170776,
+            "object_to_finger_line_xy": 0.010994379164165043,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846598521989061,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7208420817805885,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24882672701497038,
+              0.2720979703809992,
+              1.2411322766197466
+            ],
+            "held_position": [
+              0.25450101315611,
+              0.2767020745046412,
+              1.2384039680259746
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007799933703289802,
+            "max_held_gripper_dist": 0.007804839455709943,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002728308593771933,
+            "max_held_gripper_z_dist": 0.002817721649841509,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08748813703936217,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25450101315611,
+              0.2512037863774974,
+              1.2384039680259746
+            ],
+            "held_grasp_finger_b": [
+              0.24417237949717663,
+              0.2767020745046412,
+              1.2384039680259746
+            ],
+            "held_grasp_midpoint": [
+              0.24933669632664332,
+              0.26395293044106927,
+              1.2384039680259746
+            ],
+            "held_grasp_object_position": [
+              0.25450101315611,
+              0.2767020745046412,
+              1.2384039680259746
+            ],
+            "held_grasp_finger_gap": 0.027510786442326452,
+            "held_grasp_max_gap": 0.12496579200029373,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024582149537030543,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08009932092659398,
+              -0.9965165485819986,
+              0.023213513075791
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004137469285480528,
+            "held_grasp_line_xy_max_dist": 0.047482896000146865,
+            "held_grasp_object_top_z": 0.045200638473033905,
+            "held_grasp_top_clearance": 0.032082247162338505,
+            "held_grasp_min_top_clearance": 0.01356019154191017
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3422955285381383,
+              0.11573971447014161,
+              0.76258521905299
+            ],
+            "target_position": [
+              0.3401469236981299,
+              0.11147823782872271,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0047724926321437815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.175856975389046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76258521905299,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758272980662634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612115612722086,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14378217572536348,
+            "release_required_pad_clearance": 0.053060578063610433,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1439556190915572,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "398e02cfa061983b681cf57e913ff53a66d1fbcf89124d73d091b1b5c6052f56",
+    "visual_seed": 3265522738103529298,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_39_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48f85fa19d24149d833901afdfe988eb5c45d678
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_39_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2421137329237326,
+              0.2703779796553078,
+              1.048135314112977
+            ],
+            "current_z": 1.048135314112977,
+            "required_z": 0.856586576582186,
+            "initial_z": 0.756586576582186,
+            "lift_margin": 0.19154873753079105,
+            "gripper_z": 1.051159828314012,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2367761302580866,
+              0.2653892562236624,
+              1.051159828314012
+            ],
+            "object_minus_gripper": [
+              0.00533760266564598,
+              0.004988723431645414,
+              -0.003024514201035
+            ],
+            "object_to_gripper_xy": 0.0073059813641809315,
+            "object_to_gripper_z": -0.003024514201035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2421137329237326,
+              0.2457383864388605,
+              1.048135314112977
+            ],
+            "finger_b": [
+              0.230094183522948,
+              0.2703779796553078,
+              1.048135314112977
+            ],
+            "finger_midpoint": [
+              0.2361039582233403,
+              0.25805818304708417,
+              1.048135314112977
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009774700392295,
+              0.012319796608223632,
+              0.0
+            ],
+            "finger_gap": 0.02741494340081512,
+            "fingertip_max_gap": 0.09227770528797871,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013707471700407549,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048135314112977,
+            "object_top_z": 1.0943735452819334,
+            "finger_top_clearance": 0.04623823116895642,
+            "fingertip_min_top_clearance": 0.013871469350686927,
+            "object_projection_between_fingers": 0.807778630842071,
+            "object_to_finger_line_xy": 0.010802751023426118,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863885264398936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7969763172855996,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24146225885677045,
+              0.269819737089925,
+              1.2386590945446303
+            ],
+            "held_position": [
+              0.24707617320119576,
+              0.2744162267554681,
+              1.2355160211011877
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007907127302811227,
+            "max_held_gripper_dist": 0.007913501937471312,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031430734434425567,
+            "max_held_gripper_z_dist": 0.0032266869911439233,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08714859081269588,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24707617320119576,
+              0.24899079219059583,
+              1.2355160211011877
+            ],
+            "held_grasp_finger_b": [
+              0.23678234889563096,
+              0.2744162267554681,
+              1.2355160211011877
+            ],
+            "held_grasp_midpoint": [
+              0.24192926104841336,
+              0.261703509473032,
+              1.2355160211011877
+            ],
+            "held_grasp_object_position": [
+              0.24707617320119576,
+              0.2744162267554681,
+              1.2355160211011877
+            ],
+            "held_grasp_finger_gap": 0.02743019397755763,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460977777789613,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07213377192604721,
+              -0.9971239660787244,
+              0.023248983185420014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004227136593534564,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.04520072042942047,
+            "held_grasp_top_clearance": 0.03215329916576799,
+            "held_grasp_min_top_clearance": 0.01356021612882614
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3448673398194556,
+              0.11118026832834343,
+              0.7625849779565651
+            ],
+            "target_position": [
+              0.34632179798681756,
+              0.1067235009091527,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046880938972428815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1710639406319771,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849779565651,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525312589447941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533353420328126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14075025653711526,
+            "release_required_pad_clearance": 0.05266676710164063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.385611804433093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9118392f89f559ffc53233d3897ff1e1454609569f68882097fdccc7ebb2feee",
+    "visual_seed": 5530706660932189728,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_3_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a237c47e69ab170e142855d58857ec3ecd9b39c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_3_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2496204203145461,
+              0.27681087888644546,
+              1.0463749295015807
+            ],
+            "current_z": 1.0463749295015807,
+            "required_z": 0.8565865855555292,
+            "initial_z": 0.7565865855555293,
+            "lift_margin": 0.18978834394605149,
+            "gripper_z": 1.0494567998613928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24367468934551023,
+              0.2715368513394109,
+              1.0494567998613928
+            ],
+            "object_minus_gripper": [
+              0.005945730969035862,
+              0.005274027547034543,
+              -0.003081870359812111
+            ],
+            "object_to_gripper_xy": 0.0079477722239022,
+            "object_to_gripper_z": -0.003081870359812111,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2496204203145461,
+              0.2517090306633086,
+              1.0463749295015807
+            ],
+            "finger_b": [
+              0.2372280634525672,
+              0.27681087888644546,
+              1.0463749295015807
+            ],
+            "finger_midpoint": [
+              0.24342424188355666,
+              0.264259954774877,
+              1.0463749295015807
+            ],
+            "object_minus_finger_midpoint": [
+              0.006196178430989435,
+              0.01255092411156844,
+              0.0
+            ],
+            "finger_gap": 0.027994165335155745,
+            "fingertip_max_gap": 0.09166533075057448,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013997082667577867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463749295015807,
+            "object_top_z": 1.0919489361762984,
+            "finger_top_clearance": 0.04557400667471767,
+            "fingertip_min_top_clearance": 0.0136722020024153,
+            "object_projection_between_fingers": 0.8040375881081998,
+            "object_to_finger_line_xy": 0.011111996280371053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833266537528724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8886363329401327,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24838239175570812,
+              0.2758618872095214,
+              1.2381915347186063
+            ],
+            "held_position": [
+              0.2545920379382217,
+              0.28075743119172886,
+              1.2349996475355232
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008527262185676258,
+            "max_held_gripper_dist": 0.008530455517249345,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003191887183083164,
+            "max_held_gripper_z_dist": 0.0032929353509330017,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08691687789233041,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2545920379382217,
+              0.25501479607088995,
+              1.2349996475355232
+            ],
+            "held_grasp_finger_b": [
+              0.24368065447581155,
+              0.28075743119172886,
+              1.2349996475355232
+            ],
+            "held_grasp_midpoint": [
+              0.24913634620701663,
+              0.26788611363130943,
+              1.2349996475355232
+            ],
+            "held_grasp_object_position": [
+              0.2545920379382217,
+              0.28075743119172886,
+              1.2349996475355232
+            ],
+            "held_grasp_finger_gap": 0.027959641486049257,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025262085028595622,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.041792488913534896,
+              -0.9990468644820546,
+              0.012599620589024862
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004915724070664442,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.04520077630877495,
+            "held_grasp_top_clearance": 0.03211371992209303,
+            "held_grasp_min_top_clearance": 0.013560232892632484
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3433499757654359,
+              0.11771980045726656,
+              0.7625847013639618
+            ],
+            "target_position": [
+              0.3433990969139945,
+              0.11321355207162301,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004506516104525847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17223092169558699,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847013639618,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567694594742201,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0878289109322201,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14083706639811533,
+            "release_required_pad_clearance": 0.05391445546611005,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8299784592741353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d842051bc3a1e9dbd3a53c2c2cda6fd996dc68f84aa646c26c32bdb11d8be87",
+    "visual_seed": 6725609162098525263,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_40_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c29478a2d62ce3825a1f61ee8c506300ebef74d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_40_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24846144214987173,
+              0.2693304823421555,
+              1.0462723815580062
+            ],
+            "current_z": 1.0462723815580062,
+            "required_z": 0.8565866639321323,
+            "initial_z": 0.7565866639321324,
+            "lift_margin": 0.18968571762587383,
+            "gripper_z": 1.0492524888179793,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2429670622102928,
+              0.26424291895976926,
+              1.0492524888179793
+            ],
+            "object_minus_gripper": [
+              0.005494379939578936,
+              0.005087563382386251,
+              -0.002980107259973108
+            ],
+            "object_to_gripper_xy": 0.00748809135162258,
+            "object_to_gripper_z": -0.002980107259973108,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24846144214987173,
+              0.24462216695627542,
+              1.0462723815580062
+            ],
+            "finger_b": [
+              0.23624788322540946,
+              0.2693304823421555,
+              1.0462723815580062
+            ],
+            "finger_midpoint": [
+              0.2423546626876406,
+              0.2569763246492155,
+              1.0462723815580062
+            ],
+            "object_minus_finger_midpoint": [
+              0.006106779462231121,
+              0.012354157692940015,
+              0.0
+            ],
+            "finger_gap": 0.027562145613312303,
+            "fingertip_max_gap": 0.0918013746504743,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01378107280665612,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462723815580062,
+            "object_top_z": 1.0924107864959907,
+            "finger_top_clearance": 0.04613840493798449,
+            "fingertip_min_top_clearance": 0.013841521481395346,
+            "object_projection_between_fingers": 0.8036375607242503,
+            "object_to_finger_line_xy": 0.010948946795487816,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048400687325237154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6117021397753369,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2476096337861164,
+              0.2685684022137632,
+              1.2370681307064861
+            ],
+            "held_position": [
+              0.2533879523183492,
+              0.27324871338614903,
+              1.2339618078277204
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008058754218702073,
+            "max_held_gripper_dist": 0.008065685428193999,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003106322878765777,
+            "max_held_gripper_z_dist": 0.0031945861334425896,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08761661059938514,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2533879523183492,
+              0.24775064303047722,
+              1.2339618078277204
+            ],
+            "held_grasp_finger_b": [
+              0.24292276130893234,
+              0.27324871338614903,
+              1.2339618078277204
+            ],
+            "held_grasp_midpoint": [
+              0.24815535681364076,
+              0.2604996782083131,
+              1.2339618078277204
+            ],
+            "held_grasp_object_position": [
+              0.2533879523183492,
+              0.27324871338614903,
+              1.2339618078277204
+            ],
+            "held_grasp_finger_gap": 0.0275621445959194,
+            "held_grasp_max_gap": 0.12496577709913254,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024724630949418496,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06773735076017869,
+              -0.9974682361772598,
+              0.021651076865107807
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004365969509812084,
+            "held_grasp_line_xy_max_dist": 0.04748288854956627,
+            "held_grasp_object_top_z": 0.045200638473033905,
+            "held_grasp_top_clearance": 0.03212943868414751,
+            "held_grasp_min_top_clearance": 0.01356019154191017
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.349533804636168,
+              0.11824302105867016,
+              0.762587179504043
+            ],
+            "target_position": [
+              0.3460276315567614,
+              0.11412860405576436,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005405707810875078,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17860559462720585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762587179504043,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572140210038285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514808814369733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14659381779574632,
+            "release_required_pad_clearance": 0.052574044071848666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2130618450329081,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e33903184ede77d83c7e9b4e5370053e4090674b10f806400eeeed39ae506d06",
+    "visual_seed": 576762091801312632,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_41_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce1dfcb5198abc9f9931704cfbd2911b8a9c48a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_41_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2432376300699211,
+              0.272717484848468,
+              1.0480849046224239
+            ],
+            "current_z": 1.0480849046224239,
+            "required_z": 0.8565866706605592,
+            "initial_z": 0.7565866706605592,
+            "lift_margin": 0.19149823396186472,
+            "gripper_z": 1.0509084886617817,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23801078442964294,
+              0.26783468918711845,
+              1.0509084886617817
+            ],
+            "object_minus_gripper": [
+              0.0052268456402781716,
+              0.004882795661349526,
+              -0.002823584039357785
+            ],
+            "object_to_gripper_xy": 0.0071527343595151555,
+            "object_to_gripper_z": -0.002823584039357785,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2432376300699211,
+              0.2481039905895517,
+              1.0480849046224239
+            ],
+            "finger_b": [
+              0.23143886493040886,
+              0.272717484848468,
+              1.0480849046224239
+            ],
+            "finger_midpoint": [
+              0.23733824750016497,
+              0.26041073771900985,
+              1.0480849046224239
+            ],
+            "object_minus_finger_midpoint": [
+              0.00589938256975614,
+              0.012306747129458118,
+              0.0
+            ],
+            "finger_gap": 0.027295328509674935,
+            "fingertip_max_gap": 0.0913982751460054,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013647664254837462,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480849046224239,
+            "object_top_z": 1.0940393718234016,
+            "finger_top_clearance": 0.04595446720097773,
+            "fingertip_min_top_clearance": 0.01378634016029332,
+            "object_projection_between_fingers": 0.8131485546573698,
+            "object_to_finger_line_xy": 0.010639506973537589,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048199137573002704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44854798510760036,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24255878844666592,
+              0.2723494177142717,
+              1.2393573820764547
+            ],
+            "held_position": [
+              0.24803367681091654,
+              0.2768887969556226,
+              1.2364341510334689
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007689320270901088,
+            "max_held_gripper_dist": 0.0076927751360168755,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029232310429858632,
+            "max_held_gripper_z_dist": 0.003007198756534324,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669271144194038,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24803367681091654,
+              0.2515668809769458,
+              1.2364341510334689
+            ],
+            "held_grasp_finger_b": [
+              0.2377643122232669,
+              0.2768887969556226,
+              1.2364341510334689
+            ],
+            "held_grasp_midpoint": [
+              0.24289899451709174,
+              0.2642278389662842,
+              1.2364341510334689
+            ],
+            "held_grasp_object_position": [
+              0.24803367681091654,
+              0.2768887969556226,
+              1.2364341510334689
+            ],
+            "held_grasp_finger_gap": 0.02732506684100221,
+            "held_grasp_max_gap": 0.12496580690145492,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024671441347256625,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05867925544666476,
+              -0.998109307228298,
+              0.0182908666954853
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004389158470890681,
+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.03226235638439495,
+            "held_grasp_min_top_clearance": 0.013560202717781066
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3430847953539019,
+              0.11221451700929863,
+              0.7625855239079371
+            ],
+            "target_position": [
+              0.3434906598497526,
+              0.10794592662791164,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004287842095164149,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.171819472225402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625855239079371,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545906953805596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554770967894686,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14090061367865156,
+            "release_required_pad_clearance": 0.05277385483947343,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908150689405718,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd5237d54be440f69a39012e1d248cdfa05b3126e238b0f95ac848f4e8f9c131",
+    "visual_seed": 6665699903375647889,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_42_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..598b1ec7a79a3c550354090e8a702e972fc856f6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_42_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24903055398352575,
+              0.27398726912583593,
+              1.0482418994117293
+            ],
+            "current_z": 1.0482418994117293,
+            "required_z": 0.8565865941397007,
+            "initial_z": 0.7565865941397008,
+            "lift_margin": 0.19165530527202856,
+            "gripper_z": 1.0505731406482712,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24387212777874115,
+              0.2690679364264939,
+              1.0505731406482712
+            ],
+            "object_minus_gripper": [
+              0.0051584262047846,
+              0.004919332699342027,
+              -0.0023312412365419366
+            ],
+            "object_to_gripper_xy": 0.007128056896309412,
+            "object_to_gripper_z": -0.0023312412365419366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24903055398352575,
+              0.24949665193468473,
+              1.0482418994117293
+            ],
+            "finger_b": [
+              0.23708382479401258,
+              0.27398726912583593,
+              1.0482418994117293
+            ],
+            "finger_midpoint": [
+              0.24305718938876916,
+              0.26174196053026033,
+              1.0482418994117293
+            ],
+            "object_minus_finger_midpoint": [
+              0.005973364594756586,
+              0.0122453085955756,
+              0.0
+            ],
+            "finger_gap": 0.02724912234790465,
+            "fingertip_max_gap": 0.091543674256331,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013624561173952325,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482418994117293,
+            "object_top_z": 1.09414416658638,
+            "finger_top_clearance": 0.045902267174650735,
+            "fingertip_min_top_clearance": 0.01377068015239522,
+            "object_projection_between_fingers": 0.8077824663430887,
+            "object_to_finger_line_xy": 0.010737328253407683,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048271837128165504,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5169896232477161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24869941938537005,
+              0.27331692283811215,
+              1.239026382858552
+            ],
+            "held_position": [
+              0.25416776565933824,
+              0.2778331762896643,
+              1.236589381166288
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007499222190252515,
+            "max_held_gripper_dist": 0.007505343539653182,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002437001692263907,
+            "max_held_gripper_z_dist": 0.002524100048749034,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08726762441372923,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25416776565933824,
+              0.2524510552988998,
+              1.236589381166288
+            ],
+            "held_grasp_finger_b": [
+              0.24404848529072218,
+              0.2778331762896643,
+              1.236589381166288
+            ],
+            "held_grasp_midpoint": [
+              0.2491081254750302,
+              0.26514211579428204,
+              1.236589381166288
+            ],
+            "held_grasp_object_position": [
+              0.25416776565933824,
+              0.2778331762896643,
+              1.236589381166288
+            ],
+            "held_grasp_finger_gap": 0.02732493186027127,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024542305324093423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0754138540641681,
+              -0.9969789075646672,
+              0.018595926606415403
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004095161565985194,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.03216647853790413,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34252001675328836,
+              0.11638504104116952,
+              0.7625849331890218
+            ],
+            "target_position": [
+              0.34435625288932487,
+              0.11195815299505053,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004792608988865821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17174855185676893,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849331890218,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529044664286211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500535873481573,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14130639782502027,
+            "release_required_pad_clearance": 0.052502679367407865,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06823692642014623,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "741d53ae06bdeee70990dcf5e71f4e6a9163238be468836a7b295e430729bdf9",
+    "visual_seed": 7515313560103293675,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_43_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b6ec85ace96df63e7a6ea6a972b7dba3a912c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_43_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24873130926227374,
+              0.2670393060592868,
+              1.0456229897885787
+            ],
+            "current_z": 1.0456229897885787,
+            "required_z": 0.8565865741143578,
+            "initial_z": 0.7565865741143578,
+            "lift_margin": 0.18903641567422091,
+            "gripper_z": 1.0482479299704561,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24348593757681575,
+              0.26199167884232644,
+              1.0482479299704561
+            ],
+            "object_minus_gripper": [
+              0.005245371685457995,
+              0.0050476272169603376,
+              -0.002624940181877422
+            ],
+            "object_to_gripper_xy": 0.007279592340234665,
+            "object_to_gripper_z": -0.002624940181877422,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24873130926227374,
+              0.24261375799853555,
+              1.0456229897885787
+            ],
+            "finger_b": [
+              0.23643596234936115,
+              0.2670393060592868,
+              1.0456229897885787
+            ],
+            "finger_midpoint": [
+              0.24258363580581743,
+              0.25482653202891115,
+              1.0456229897885787
+            ],
+            "object_minus_finger_midpoint": [
+              0.00614767345645631,
+              0.012212774030375628,
+              0.0
+            ],
+            "finger_gap": 0.0273456203765235,
+            "fingertip_max_gap": 0.09125862368654405,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01367281018826177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456229897885787,
+            "object_top_z": 1.0914431299391576,
+            "finger_top_clearance": 0.04582014015057889,
+            "fingertip_min_top_clearance": 0.0137460420451737,
+            "object_projection_between_fingers": 0.7978349801298563,
+            "object_to_finger_line_xy": 0.010982401671998059,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812931184327203,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.40916269354446066,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24828002844748698,
+              0.26616772576634706,
+              1.2395472058513801
+            ],
+            "held_position": [
+              0.253895965397822,
+              0.2707488837591352,
+              1.2368356540456495
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077381050380687854,
+            "max_held_gripper_dist": 0.007741218914199095,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002711551805730572,
+            "max_held_gripper_z_dist": 0.0027936244397708254,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08690116964240568,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.253895965397822,
+              0.2452941715357452,
+              1.2368356540456495
+            ],
+            "held_grasp_finger_b": [
+              0.24357925129535649,
+              0.2707488837591352,
+              1.2368356540456495
+            ],
+            "held_grasp_midpoint": [
+              0.24873760834658926,
+              0.2580215276474402,
+              1.2368356540456495
+            ],
+            "held_grasp_object_position": [
+              0.253895965397822,
+              0.2707488837591352,
+              1.2368356540456495
+            ],
+            "held_grasp_finger_gap": 0.027465923691869724,
+            "held_grasp_max_gap": 0.12496619433164596,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024509030177435845,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08281469416970731,
+              -0.9964129815367444,
+              0.017403926414273463
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004092826405533732,
+            "held_grasp_line_xy_max_dist": 0.04748309716582298,
+            "held_grasp_object_top_z": 0.04520082473754883,
+            "held_grasp_top_clearance": 0.032091934125598916,
+            "held_grasp_min_top_clearance": 0.013560247421264647
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33901214369102994,
+              0.11409298701379308,
+              0.7625840082111562
+            ],
+            "target_position": [
+              0.34179898215333804,
+              0.10984647835935471,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005079301562933605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17177666628159657,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625840082111562,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529454346525265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505256048851738,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14116204013826647,
+            "release_required_pad_clearance": 0.05252628024425869,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11166755525840408,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "585cba47d007806954d185c0ba1b5d175e784d0c57663046cd84991c86ecd1eb",
+    "visual_seed": 7269226969536307282,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_45_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a59aa557143623fbab2c86d32a387424453eec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_45_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2502794085591195,
+              0.27456389655733354,
+              1.0466073306572323
+            ],
+            "current_z": 1.0466073306572323,
+            "required_z": 0.8565866130860668,
+            "initial_z": 0.7565866130860668,
+            "lift_margin": 0.19002071757116556,
+            "gripper_z": 1.0490805791150335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2449356149092757,
+              0.26945502601563576,
+              1.0490805791150335
+            ],
+            "object_minus_gripper": [
+              0.005343793649843803,
+              0.005108870541697785,
+              -0.0024732484578011693
+            ],
+            "object_to_gripper_xy": 0.007393016216940038,
+            "object_to_gripper_z": -0.0024732484578011693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2502794085591195,
+              0.2500746835827672,
+              1.0466073306572323
+            ],
+            "finger_b": [
+              0.23788988667504854,
+              0.27456389655733354,
+              1.0466073306572323
+            ],
+            "finger_midpoint": [
+              0.24408464761708404,
+              0.2623192900700504,
+              1.0466073306572323
+            ],
+            "object_minus_finger_midpoint": [
+              0.006194760942035471,
+              0.01224460648728315,
+              0.0
+            ],
+            "finger_gap": 0.027444886675472766,
+            "fingertip_max_gap": 0.09153882517729883,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013722443337736352,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466073306572323,
+            "object_top_z": 1.092510246729463,
+            "finger_top_clearance": 0.045902916072230626,
+            "fingertip_min_top_clearance": 0.013770874821669154,
+            "object_projection_between_fingers": 0.7962084321345828,
+            "object_to_finger_line_xy": 0.011055233845917785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826941258864942,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.511528253959688,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24973766416711557,
+              0.2737289136778521,
+              1.2369860485187334
+            ],
+            "held_position": [
+              0.2554400381723796,
+              0.2783691309564074,
+              1.2343963665410673
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077945582577566485,
+            "max_held_gripper_dist": 0.007797301512406089,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025896819776660696,
+            "max_held_gripper_z_dist": 0.002681016808655734,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08726356061620405,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2554400381723796,
+              0.25287057113443046,
+              1.2343963665410673
+            ],
+            "held_grasp_finger_b": [
+              0.24508508063633946,
+              0.2783691309564074,
+              1.2343963665410673
+            ],
+            "held_grasp_midpoint": [
+              0.25026255940435954,
+              0.26561985104541896,
+              1.2343963665410673
+            ],
+            "held_grasp_object_position": [
+              0.2554400381723796,
+              0.2783691309564074,
+              1.2343963665410673
+            ],
+            "held_grasp_finger_gap": 0.027520932007621617,
+            "held_grasp_max_gap": 0.1249660974740982,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02453483695419983,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08393510206571063,
+              -0.9962908316876004,
+              0.01895988756423661
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004096478970248962,
+            "held_grasp_line_xy_max_dist": 0.0474830487370491,
+            "held_grasp_object_top_z": 0.04520080238580704,
+            "held_grasp_top_clearance": 0.03206423949103349,
+            "held_grasp_min_top_clearance": 0.01356024071574211
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33830862668954365,
+              0.11674262450513818,
+              0.7625847572535087
+            ],
+            "target_position": [
+              0.3403845228166105,
+              0.11234230165444264,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004865407066292048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17039451736820688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847572535087,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541951750255839,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852605667669457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1396679690576551,
+            "release_required_pad_clearance": 0.05263028338347285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3114654482174772,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93550b9019567fe1604b6e62ca99bad4aceacbab9760ffb25b0459accc8882f6",
+    "visual_seed": 5801327943512773211,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_46_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..261b1f19ae6e4f6a2ebc316458934145696637d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_46_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2422259043340922,
+              0.27516250982582197,
+              1.0456840782511132
+            ],
+            "current_z": 1.0456840782511132,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18909751123790286,
+            "gripper_z": 1.0484438089519732,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23709674244620535,
+              0.27022515941859837,
+              1.0484438089519732
+            ],
+            "object_minus_gripper": [
+              0.005129161887886841,
+              0.004937350407223595,
+              -0.002759730700859997
+            ],
+            "object_to_gripper_xy": 0.007119391175926626,
+            "object_to_gripper_z": -0.002759730700859997,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2422259043340922,
+              0.25074885957973003,
+              1.0456840782511132
+            ],
+            "finger_b": [
+              0.23017957120071011,
+              0.27516250982582197,
+              1.0456840782511132
+            ],
+            "finger_midpoint": [
+              0.23620273776740114,
+              0.26295568470277597,
+              1.0456840782511132
+            ],
+            "object_minus_finger_midpoint": [
+              0.006023166566691052,
+              0.012206825123045995,
+              0.0
+            ],
+            "finger_gap": 0.027223895024388475,
+            "fingertip_max_gap": 0.09198724637854125,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013611947512194269,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456840782511132,
+            "object_top_z": 1.0919863025881102,
+            "finger_top_clearance": 0.046302224336997044,
+            "fingertip_min_top_clearance": 0.013890667301099096,
+            "object_projection_between_fingers": 0.8042015653795367,
+            "object_to_finger_line_xy": 0.010802824636329018,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849362318927063,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7350262377642932,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24180311874671478,
+              0.2742638793435582,
+              1.237811078493202
+            ],
+            "held_position": [
+              0.24726660043309104,
+              0.27876765510709284,
+              1.2349495649549616
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007636876848234719,
+            "max_held_gripper_dist": 0.007642525233183559,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002861513538240379,
+            "max_held_gripper_z_dist": 0.0029458228746117587,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08744815250186283,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24726660043309104,
+              0.25338360031521096,
+              1.2349495649549616
+            ],
+            "held_grasp_finger_b": [
+              0.23716134368278766,
+              0.27876765510709284,
+              1.2349495649549616
+            ],
+            "held_grasp_midpoint": [
+              0.24221397205793935,
+              0.2660756277111519,
+              1.2349495649549616
+            ],
+            "held_grasp_object_position": [
+              0.24726660043309104,
+              0.27876765510709284,
+              1.2349495649549616
+            ],
+            "held_grasp_finger_gap": 0.027321538237566598,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024528123351724482,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07661063215910716,
+              -0.9967790278953889,
+              0.023714564893867467
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040769013813144695,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321619931821777,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34726307715103333,
+              0.11490185533135322,
+              0.7625853639150771
+            ],
+            "target_position": [
+              0.34617348088915845,
+              0.11130338749779929,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037598125967944224,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17693638759936334,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853639150771,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531966226655819,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606882212226978,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14585819979084552,
+            "release_required_pad_clearance": 0.05303441106113489,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0907099871576817,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ff829d5048b80d8efa4d7db990c22d71f8cdc41af7815f04bc68982a8331448",
+    "visual_seed": 2385371346499204818,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_47_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e8b50a194e63bab41e0beb4e06f10bd0681beaf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_47_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2468661392952846,
+              0.2725545655604914,
+              1.046973333566873
+            ],
+            "current_z": 1.046973333566873,
+            "required_z": 0.8565865472852157,
+            "initial_z": 0.7565865472852157,
+            "lift_margin": 0.19038678628165728,
+            "gripper_z": 1.049798426967897,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24139129456979017,
+              0.26755452582004896,
+              1.049798426967897
+            ],
+            "object_minus_gripper": [
+              0.005474844725494421,
+              0.005000039740442441,
+              -0.0028250934010241036
+            ],
+            "object_to_gripper_xy": 0.007414467086330466,
+            "object_to_gripper_z": -0.0028250934010241036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2468661392952846,
+              0.24776085818298887,
+              1.046973333566873
+            ],
+            "finger_b": [
+              0.23490617690408663,
+              0.2725545655604914,
+              1.046973333566873
+            ],
+            "finger_midpoint": [
+              0.2408861580996856,
+              0.26015771187174014,
+              1.046973333566873
+            ],
+            "object_minus_finger_midpoint": [
+              0.005979981195598977,
+              0.012396853688751264,
+              0.0
+            ],
+            "finger_gap": 0.027527597532659705,
+            "fingertip_max_gap": 0.09208106884741077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013763798766329853,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046973333566873,
+            "object_top_z": 1.093247653364001,
+            "finger_top_clearance": 0.04627431979712804,
+            "fingertip_min_top_clearance": 0.01388229593913841,
+            "object_projection_between_fingers": 0.811234332610185,
+            "object_to_finger_line_xy": 0.010772164458648516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048540534423705387,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6577654617035054,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24591903041463092,
+              0.27217481657811055,
+              1.238616717327048
+            ],
+            "held_position": [
+              0.25162718596883643,
+              0.276840376592709,
+              1.2356847493487009
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00793390990035049,
+            "max_held_gripper_dist": 0.007937125145477564,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00293196797834705,
+            "max_held_gripper_z_dist": 0.0030210007914031056,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08681979461179118,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25162718596883643,
+              0.25141150302971477,
+              1.2356847493487009
+            ],
+            "held_grasp_finger_b": [
+              0.2411077653304361,
+              0.276840376592709,
+              1.2356847493487009
+            ],
+            "held_grasp_midpoint": [
+              0.24636747564963626,
+              0.2641259398112119,
+              1.2356847493487009
+            ],
+            "held_grasp_object_position": [
+              0.25162718596883643,
+              0.276840376592709,
+              1.2356847493487009
+            ],
+            "held_grasp_finger_gap": 0.027518826669215922,
+            "held_grasp_max_gap": 0.12496606767177582,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024795960022166035,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05582649833080042,
+              -0.9982047524832567,
+              0.02169502717125571
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004550267503353379,
+            "held_grasp_line_xy_max_dist": 0.04748303383588791,
+            "held_grasp_object_top_z": 0.04520078003406525,
+            "held_grasp_top_clearance": 0.03221553760427159,
+            "held_grasp_min_top_clearance": 0.013560234010219574
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33896251125284127,
+              0.11747239981362642,
+              0.7625859734644082
+            ],
+            "target_position": [
+              0.3411364232485559,
+              0.11304595912585892,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004931457241773031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17359514447420146,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625859734644082,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751458347344031,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539734026665889,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14338717029416223,
+            "release_required_pad_clearance": 0.05269867013332945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44936477975199746,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "256d1e5f7ab15a9c699640e9454fed4792bacbd9b6f30265fc8797e3c8d5f013",
+    "visual_seed": 7605145646178027789,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_48_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..053d4282029fd9922a2fc32e448a5af2a7bf2812
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_48_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2421289291718842,
+              0.26765808605340036,
+              1.046974516438138
+            ],
+            "current_z": 1.046974516438138,
+            "required_z": 0.8565867955609012,
+            "initial_z": 0.7565867955609012,
+            "lift_margin": 0.19038772087723688,
+            "gripper_z": 1.0499275781876445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23667027712516914,
+              0.26262987053734,
+              1.0499275781876445
+            ],
+            "object_minus_gripper": [
+              0.005458652046715057,
+              0.005028215516060364,
+              -0.0029530617495063805
+            ],
+            "object_to_gripper_xy": 0.007421578904994319,
+            "object_to_gripper_z": -0.0029530617495063805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2421289291718842,
+              0.24285239068700043,
+              1.046974516438138
+            ],
+            "finger_b": [
+              0.23015646167867365,
+              0.26765808605340036,
+              1.046974516438138
+            ],
+            "finger_midpoint": [
+              0.23614269542527894,
+              0.25525523837020037,
+              1.046974516438138
+            ],
+            "object_minus_finger_midpoint": [
+              0.005986233746605257,
+              0.012402847683199991,
+              0.0
+            ],
+            "finger_gap": 0.027543828718727865,
+            "fingertip_max_gap": 0.09054105108852081,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013771914359363951,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046974516438138,
+            "object_top_z": 1.0924321240957098,
+            "finger_top_clearance": 0.045457607657571675,
+            "fingertip_min_top_clearance": 0.013637282297271501,
+            "object_projection_between_fingers": 0.8110622605123587,
+            "object_to_finger_line_xy": 0.010782283917514242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777052554426041,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.16016735339980093,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24125593344656415,
+              0.267004828592494,
+              1.238373976493144
+            ],
+            "held_position": [
+              0.2469619504642244,
+              0.2716737549743806,
+              1.2353070766648884
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007985197450399068,
+            "max_held_gripper_dist": 0.007991284496607314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003066899828255698,
+            "max_held_gripper_z_dist": 0.0031486742529045486,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673282747477093,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2469619504642244,
+              0.24619184662293078,
+              1.2353070766648884
+            ],
+            "held_grasp_finger_b": [
+              0.23652848500529608,
+              0.2716737549743806,
+              1.2353070766648884
+            ],
+            "held_grasp_midpoint": [
+              0.24174521773476024,
+              0.2589328007986557,
+              1.2353070766648884
+            ],
+            "held_grasp_object_position": [
+              0.2469619504642244,
+              0.2716737549743806,
+              1.2353070766648884
+            ],
+            "held_grasp_finger_gap": 0.027535156704009137,
+            "held_grasp_max_gap": 0.12496583670377731,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02481295224789041,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0595594803329459,
+              -0.9981341930086953,
+              0.013446228071480437
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004452005213365646,
+            "held_grasp_line_xy_max_dist": 0.047482918351888656,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.032172813898218265,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3483742649648346,
+              0.11230270999819064,
+              0.7625873291421584
+            ],
+            "target_position": [
+              0.3439769335113604,
+              0.10801109009911386,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006144471113925542,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17708020921629866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625873291421584,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584435105794579,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578643012603958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14494800457664037,
+            "release_required_pad_clearance": 0.05289321506301979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8223333112537943,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "212f4610b044c5df2b33cfebc7abbad7f683087de7d648dbe6eae56d9c1eb7f0",
+    "visual_seed": 6618870804462939577,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_49_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb602c36184de61aadabb39b163250c1e7dd877
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_49_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24223217465591051,
+              0.27526360496486474,
+              1.0450067842662432
+            ],
+            "current_z": 1.0450067842662432,
+            "required_z": 0.8565866266178551,
+            "initial_z": 0.7565866266178551,
+            "lift_margin": 0.18842015764838804,
+            "gripper_z": 1.0477778867860492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2371591086376791,
+              0.27047934935807805,
+              1.0477778867860492
+            ],
+            "object_minus_gripper": [
+              0.005073066018231404,
+              0.0047842556067866915,
+              -0.002771102519806057
+            ],
+            "object_to_gripper_xy": 0.006973170049296383,
+            "object_to_gripper_z": -0.002771102519806057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24223217465591051,
+              0.2506391298982934,
+              1.0450067842662432
+            ],
+            "finger_b": [
+              0.23072931488630963,
+              0.27526360496486474,
+              1.0450067842662432
+            ],
+            "finger_midpoint": [
+              0.23648074477111009,
+              0.2629513674315791,
+              1.0450067842662432
+            ],
+            "object_minus_finger_midpoint": [
+              0.00575142988480043,
+              0.012312237533285642,
+              0.0
+            ],
+            "finger_gap": 0.02717867831928727,
+            "fingertip_max_gap": 0.09213292608018098,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013589339159643606,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450067842662432,
+            "object_top_z": 1.0911618678734116,
+            "finger_top_clearance": 0.04615508360716847,
+            "fingertip_min_top_clearance": 0.013846525082150557,
+            "object_projection_between_fingers": 0.8208755030159557,
+            "object_to_finger_line_xy": 0.010421841719573046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856646304009049,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7416215056823064,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24171748170065555,
+              0.27490911859038614,
+              1.23570688046708
+            ],
+            "held_position": [
+              0.24701056802769591,
+              0.2793795173180405,
+              1.2328260051762039
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007503377245700541,
+            "max_held_gripper_dist": 0.007507865339541235,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002880875290876217,
+            "max_held_gripper_z_dist": 0.002962418073411799,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865730780923318,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24701056802769591,
+              0.25410243019470724,
+              1.2328260051762039
+            ],
+            "held_grasp_finger_b": [
+              0.23698846115003283,
+              0.2793795173180405,
+              1.2328260051762039
+            ],
+            "held_grasp_midpoint": [
+              0.24199951458886437,
+              0.26674097375637384,
+              1.2328260051762039
+            ],
+            "held_grasp_object_position": [
+              0.24701056802769591,
+              0.2793795173180405,
+              1.2328260051762039
+            ],
+            "held_grasp_finger_gap": 0.027191428055692145,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024604856105647478,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06168120195864418,
+              -0.9978614854215685,
+              0.021630655033951337
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004231009479506193,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03227962131461478,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33583954931572535,
+              0.11452679807737179,
+              0.7625846349346553
+            ],
+            "target_position": [
+              0.3377708955208343,
+              0.1109034911295571,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00410590445603291,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17462926200567438,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846349346553,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521737569365992,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550507155445496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14400346436817982,
+            "release_required_pad_clearance": 0.05275253577722748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482031098222422,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59f5b266f260ac0ef2596f1046fc558c2a7f9e4d86bbfb979917a421ca2c6bc3",
+    "visual_seed": 2608706151760144296,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_4_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a28cce8c4c2a08c11e570c8c3f5a60ec348987c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_4_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24188931251597776,
+              0.2687272638439786,
+              1.0465449301690628
+            ],
+            "current_z": 1.0465449301690628,
+            "required_z": 0.8565865403695857,
+            "initial_z": 0.7565865403695857,
+            "lift_margin": 0.1899583897994771,
+            "gripper_z": 1.0497948414538751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23640476200426405,
+              0.2636761031565497,
+              1.0497948414538751
+            ],
+            "object_minus_gripper": [
+              0.005484550511713704,
+              0.005051160687428891,
+              -0.0032499112848123346
+            ],
+            "object_to_gripper_xy": 0.007456173187752962,
+            "object_to_gripper_z": -0.0032499112848123346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24188931251597776,
+              0.24398232915584003,
+              1.0465449301690628
+            ],
+            "finger_b": [
+              0.2297804410796408,
+              0.2687272638439786,
+              1.0465449301690628
+            ],
+            "finger_midpoint": [
+              0.2358348767978093,
+              0.25635479649990933,
+              1.0465449301690628
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054435718168466,
+              0.012372467344069271,
+              0.0
+            ],
+            "finger_gap": 0.0275488032440972,
+            "fingertip_max_gap": 0.09141251291527003,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013774401622048583,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465449301690628,
+            "object_top_z": 1.092399531403721,
+            "finger_top_clearance": 0.04585460123465812,
+            "fingertip_min_top_clearance": 0.01375638037039747,
+            "object_projection_between_fingers": 0.8068023400709818,
+            "object_to_finger_line_xy": 0.010876451880116636,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048206256457635016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.386430392667835,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24100376293836587,
+              0.2682103724585377,
+              1.239976606588459
+            ],
+            "held_position": [
+              0.2467652364361527,
+              0.27287954579554685,
+              1.2366360531946812
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008133575689290523,
+            "max_held_gripper_dist": 0.00813664491856396,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003340553393777812,
+            "max_held_gripper_z_dist": 0.0034238318588044603,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678507146719538,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2467652364361527,
+              0.2474046917989435,
+              1.2366360531946812
+            ],
+            "held_grasp_finger_b": [
+              0.2362119919407703,
+              0.27287954579554685,
+              1.2366360531946812
+            ],
+            "held_grasp_midpoint": [
+              0.24148861418846151,
+              0.2601421187972452,
+              1.2366360531946812
+            ],
+            "held_grasp_object_position": [
+              0.2467652364361527,
+              0.27287954579554685,
+              1.2366360531946812
+            ],
+            "held_grasp_finger_gap": 0.027574248050084273,
+            "held_grasp_max_gap": 0.12496603786945343,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02474039810875362,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06427058688735499,
+              -0.9977941906723687,
+              0.01661459363413964
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004452237777448452,
+            "held_grasp_line_xy_max_dist": 0.047483018934726715,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.032152280509501474,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3438558819555345,
+              0.11843423792409566,
+              0.762587773692591
+            ],
+            "target_position": [
+              0.340666936695125,
+              0.1143179673671472,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005207019797531905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17654744678200912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762587773692591,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588428463938095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544131208865645,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1442906857260946,
+            "release_required_pad_clearance": 0.052720656044328226,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48288881051670646,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e8f6471dd3ba44503c27f491b14885d621bbf75d6e0ccbd8e01a31a8f50bab8",
+    "visual_seed": 4185449802529222818,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_50_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f7a6699944da85b58b2f272acff5e9671292732
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_50_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2500477638547654,
+              0.27190364570463904,
+              1.0480653147204968
+            ],
+            "current_z": 1.0480653147204968,
+            "required_z": 0.856586544804158,
+            "initial_z": 0.756586544804158,
+            "lift_margin": 0.19147876991633883,
+            "gripper_z": 1.0505504687379492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2448907153536256,
+              0.2670339051756782,
+              1.0505504687379492
+            ],
+            "object_minus_gripper": [
+              0.005157048501139794,
+              0.004869740528960831,
+              -0.002485154017452418
+            ],
+            "object_to_gripper_xy": 0.007092920559438961,
+            "object_to_gripper_z": -0.002485154017452418,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2500477638547654,
+              0.24735725109192594,
+              1.0480653147204968
+            ],
+            "finger_b": [
+              0.23824670829013456,
+              0.27190364570463904,
+              1.0480653147204968
+            ],
+            "finger_midpoint": [
+              0.24414723607244998,
+              0.2596304483982825,
+              1.0480653147204968
+            ],
+            "object_minus_finger_midpoint": [
+              0.005900527782315423,
+              0.012273197306356565,
+              0.0
+            ],
+            "finger_gap": 0.027235829359917342,
+            "fingertip_max_gap": 0.09252717653640902,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013617914679958683,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480653147204968,
+            "object_top_z": 1.0945438223754187,
+            "finger_top_clearance": 0.0464785076549219,
+            "fingertip_min_top_clearance": 0.013943552296476569,
+            "object_projection_between_fingers": 0.8122584057891468,
+            "object_to_finger_line_xy": 0.010635746130877588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876358826820451,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8465832651791584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24964454826983956,
+              0.27133883418319427,
+              1.2399055258566563
+            ],
+            "held_position": [
+              0.2550795804116142,
+              0.2758396768755303,
+              1.2373230358232123
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007514413755983583,
+            "max_held_gripper_dist": 0.0075174840044641335,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002582490033443907,
+            "max_held_gripper_z_dist": 0.002667294657837882,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08679525095163831,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2550795804116142,
+              0.25050036900664807,
+              1.2373230358232123
+            ],
+            "held_grasp_finger_b": [
+              0.24492804674257773,
+              0.2758396768755303,
+              1.2373230358232123
+            ],
+            "held_grasp_midpoint": [
+              0.250003813577096,
+              0.26317002294108915,
+              1.2373230358232123
+            ],
+            "held_grasp_object_position": [
+              0.2550795804116142,
+              0.2758396768755303,
+              1.2373230358232123
+            ],
+            "held_grasp_finger_gap": 0.027297145621979924,
+            "held_grasp_max_gap": 0.12496606022119522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459045884865728,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06732074756230691,
+              -0.9974174438757326,
+              0.025027177229008823
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042235635069591175,
+            "held_grasp_line_xy_max_dist": 0.04748303011059761,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.03222211197191076,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33858556153608454,
+              0.1124519599744239,
+              0.7625857373170826
+            ],
+            "target_position": [
+              0.33920456415773875,
+              0.10868709774715041,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038154097861128307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17414728879048932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857373170826,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584698825697737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597344194512672,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14191636293721338,
+            "release_required_pad_clearance": 0.052986720972563364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0024764106766177,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a55c5fa5288ab40d0b4d459101b847b4bcde4154911d5618af42f1b526990c1",
+    "visual_seed": 2554112485172009281,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_51_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c766fb56ab302d4fcc8fb888b1e081d769922a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_51_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24274708864117447,
+              0.2693841420241915,
+              1.0479432516076694
+            ],
+            "current_z": 1.0479432516076694,
+            "required_z": 0.8565866917491463,
+            "initial_z": 0.7565866917491463,
+            "lift_margin": 0.19135655985852318,
+            "gripper_z": 1.0511769542843745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23728717797321636,
+              0.2643543632326625,
+              1.0511769542843745
+            ],
+            "object_minus_gripper": [
+              0.005459910667958118,
+              0.005029778791528994,
+              -0.003233702676705086
+            ],
+            "object_to_gripper_xy": 0.007423563779869998,
+            "object_to_gripper_z": -0.003233702676705086,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24274708864117447,
+              0.24464445577676697,
+              1.0479432516076694
+            ],
+            "finger_b": [
+              0.23068316010827858,
+              0.2693841420241915,
+              1.0479432516076694
+            ],
+            "finger_midpoint": [
+              0.23671512437472653,
+              0.2570142989004792,
+              1.0479432516076694
+            ],
+            "object_minus_finger_midpoint": [
+              0.006031964266447948,
+              0.012369843123712254,
+              0.0
+            ],
+            "finger_gap": 0.027524360978373776,
+            "fingertip_max_gap": 0.09175594327390904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013762180489186888,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479432516076694,
+            "object_top_z": 1.093984069313592,
+            "finger_top_clearance": 0.04604081770592261,
+            "fingertip_min_top_clearance": 0.013812245311776782,
+            "object_projection_between_fingers": 0.807893074455084,
+            "object_to_finger_line_xy": 0.010843405485406143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837797163695452,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5550810021329059,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24197494266325406,
+              0.2687062421599379,
+              1.2419312916814653
+            ],
+            "held_position": [
+              0.24772064872936353,
+              0.27334952904755355,
+              1.2386155612945378
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008097364961370184,
+            "max_held_gripper_dist": 0.008101157402603467,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033157303869275623,
+            "max_held_gripper_z_dist": 0.003399563771383729,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693234861093413,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24772064872936353,
+              0.24786343659319557,
+              1.2386155612945378
+            ],
+            "held_grasp_finger_b": [
+              0.23721865211368534,
+              0.27334952904755355,
+              1.2386155612945378
+            ],
+            "held_grasp_midpoint": [
+              0.24246965042152444,
+              0.2606064828203746,
+              1.2386155612945378
+            ],
+            "held_grasp_object_position": [
+              0.24772064872936353,
+              0.27334952904755355,
+              1.2386155612945378
+            ],
+            "held_grasp_finger_gap": 0.02756506559955552,
+            "held_grasp_max_gap": 0.12496618688106537,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024728412772722787,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06634573866031473,
+              -0.9976097960537107,
+              0.0193115970155513
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004401056271455155,
+            "held_grasp_line_xy_max_dist": 0.047483093440532684,
+            "held_grasp_object_top_z": 0.0452008917927742,
+            "held_grasp_top_clearance": 0.03213992268353751,
+            "held_grasp_min_top_clearance": 0.01356026753783226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34443856373394,
+              0.11947186327229793,
+              0.7625850203908123
+            ],
+            "target_position": [
+              0.3429371024971237,
+              0.11518010623704242,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004546819140380123,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17540469981145776,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850203908123,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548408497126731,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518461558642641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14425320689047755,
+            "release_required_pad_clearance": 0.05259230779321321,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24060370625594835,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70fa1df83eeda8e4f147625b4e07008721fbf4fadb866f907342b6f11006f037",
+    "visual_seed": 5480944930848323520,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_52_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..497ae5eef999dc3365aaa14cca74ecf519990f5b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_52_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24511487573230145,
+              0.27276576963631527,
+              1.0444841869127672
+            ],
+            "current_z": 1.0444841869127672,
+            "required_z": 0.856586540609399,
+            "initial_z": 0.756586540609399,
+            "lift_margin": 0.18789764630336825,
+            "gripper_z": 1.0476127045148265,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23932938820292912,
+              0.2676441307715557,
+              1.0476127045148265
+            ],
+            "object_minus_gripper": [
+              0.00578548752937233,
+              0.005121638864759581,
+              -0.003128517602059233
+            ],
+            "object_to_gripper_xy": 0.007726774916712571,
+            "object_to_gripper_z": -0.003128517602059233,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24511487573230145,
+              0.24766126486512063,
+              1.0444841869127672
+            ],
+            "finger_b": [
+              0.23311326225342896,
+              0.27276576963631527,
+              1.0444841869127672
+            ],
+            "finger_midpoint": [
+              0.2391140689928652,
+              0.26021351725071795,
+              1.0444841869127672
+            ],
+            "object_minus_finger_midpoint": [
+              0.00600080673943626,
+              0.012552252385597318,
+              0.0
+            ],
+            "finger_gap": 0.027825795332805638,
+            "fingertip_max_gap": 0.09488089563995103,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013912897666402826,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0444841869127672,
+            "object_top_z": 1.091449836953903,
+            "finger_top_clearance": 0.04696565004113573,
+            "fingertip_min_top_clearance": 0.014089695012340735,
+            "object_projection_between_fingers": 0.8139695233324876,
+            "object_to_finger_line_xy": 0.010827886830863455,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04994044781997552,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.632733062069673,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24343340635345584,
+              0.27279535336924166,
+              1.2357722255026842
+            ],
+            "held_position": [
+              0.24936760731955926,
+              0.2776787337607017,
+              1.232542275155016
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008336349584932326,
+            "max_held_gripper_dist": 0.008339762072560479,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032299503476682645,
+            "max_held_gripper_z_dist": 0.0033211897087537245,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622079182510975,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24936760731955926,
+              0.2522008730490301,
+              1.232542275155016
+            ],
+            "held_grasp_finger_b": [
+              0.2383565263966517,
+              0.2776787337607017,
+              1.232542275155016
+            ],
+            "held_grasp_midpoint": [
+              0.24386206685810546,
+              0.2649398034048659,
+              1.232542275155016
+            ],
+            "held_grasp_object_position": [
+              0.24936760731955926,
+              0.2776787337607017,
+              1.232542275155016
+            ],
+            "held_grasp_finger_gap": 0.02775545513109372,
+            "held_grasp_max_gap": 0.12496603786945343,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02533216282163464,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012323682996570315,
+              -0.9996074702108385,
+              0.02516013386466142
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0053577784661728665,
+            "held_grasp_line_xy_max_dist": 0.047483018934726715,
+            "held_grasp_object_top_z": 0.04520077258348465,
+            "held_grasp_top_clearance": 0.03239899410192383,
+            "held_grasp_min_top_clearance": 0.013560231775045395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33872769809480396,
+              0.10971455426712914,
+              0.7625853933099108
+            ],
+            "target_position": [
+              0.33816095940006363,
+              0.10676770997201784,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003000847221660242,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1733418903582957,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853933099108,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586593197109616,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08846672585151814,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14099099400485895,
+            "release_required_pad_clearance": 0.054233362925759074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4752950093159227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b2a43e01f9c5910c626b0ed0221b5894481e487a8611602fbefaec8e2c5545d",
+    "visual_seed": 6498500356093049851,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_53_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4966c97c87437b5d86ee729858baf0d1e4f18ef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_53_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2442698339441613,
+              0.27614272375256,
+              1.0449589574319154
+            ],
+            "current_z": 1.0449589574319154,
+            "required_z": 0.856586624284624,
+            "initial_z": 0.756586624284624,
+            "lift_margin": 0.1883723331472914,
+            "gripper_z": 1.0479600459602358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2387299689241,
+              0.27104004492935596,
+              1.0479600459602358
+            ],
+            "object_minus_gripper": [
+              0.005539865020061291,
+              0.005102678823204032,
+              -0.0030010885283204836
+            ],
+            "object_to_gripper_xy": 0.007531761786811474,
+            "object_to_gripper_z": -0.0030010885283204836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2442698339441613,
+              0.25139590909617693,
+              1.0449589574319154
+            ],
+            "finger_b": [
+              0.2320444535543549,
+              0.27614272375256,
+              1.0449589574319154
+            ],
+            "finger_midpoint": [
+              0.23815714374925812,
+              0.26376931642436846,
+              1.0449589574319154
+            ],
+            "object_minus_finger_midpoint": [
+              0.006112690194903181,
+              0.012373407328191532,
+              0.0
+            ],
+            "finger_gap": 0.027601897784624126,
+            "fingertip_max_gap": 0.09176243188979688,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013800948892312058,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449589574319154,
+            "object_top_z": 1.0910778602150313,
+            "finger_top_clearance": 0.04611890278311592,
+            "fingertip_min_top_clearance": 0.013835670834934777,
+            "object_projection_between_fingers": 0.8038235481348229,
+            "object_to_finger_line_xy": 0.010960812367722427,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838121594489844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5575497284767668,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24325981323985707,
+              0.2754867907486142,
+              1.2368259961522634
+            ],
+            "held_position": [
+              0.2490889469061631,
+              0.28019610863368705,
+              1.2337151808388345
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008113793573698631,
+            "max_held_gripper_dist": 0.008115928618853036,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031108153134289385,
+            "max_held_gripper_z_dist": 0.0032020775969381354,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08669671339379512,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2490889469061631,
+              0.25468951360557246,
+              1.2337151808388345
+            ],
+            "held_grasp_finger_b": [
+              0.23849726054399462,
+              0.28019610863368705,
+              1.2337151808388345
+            ],
+            "held_grasp_midpoint": [
+              0.24379310372507884,
+              0.26744281111962975,
+              1.2337151808388345
+            ],
+            "held_grasp_object_position": [
+              0.2490889469061631,
+              0.28019610863368705,
+              1.2337151808388345
+            ],
+            "held_grasp_finger_gap": 0.027618294840970642,
+            "held_grasp_max_gap": 0.1249658665060997,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024793511242507612,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06218996997751485,
+              -0.997867722890001,
+              0.01980947370628472
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004499746469992559,
+            "held_grasp_line_xy_max_dist": 0.04748293325304985,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.03214526070071155,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34156895295919043,
+              0.11072427536492793,
+              0.7625847778034034
+            ],
+            "target_position": [
+              0.3416970725561622,
+              0.10642765590483516,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004298529215438242,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17488854328673983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847778034034,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517581196437861,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085746115393295,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14453738938038707,
+            "release_required_pad_clearance": 0.052873057696647505,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7793158008837449,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5de251ac8929dfb964fb19c1c056b141bea157b21df8fa1c68c722190b690fd",
+    "visual_seed": 5953455401945612376,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_54_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..50fbd3e93da304f43c4cfd0452f57eac8edbe5e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_54_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24973759637954349,
+              0.2702087060179737,
+              1.04632775300663
+            ],
+            "current_z": 1.04632775300663,
+            "required_z": 0.8565865900657509,
+            "initial_z": 0.7565865900657509,
+            "lift_margin": 0.18974116294087906,
+            "gripper_z": 1.04893840231964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24436159350349407,
+              0.26523854323487367,
+              1.04893840231964
+            ],
+            "object_minus_gripper": [
+              0.005376002876049418,
+              0.0049701627831000295,
+              -0.0026106493130100272
+            ],
+            "object_to_gripper_xy": 0.007321470140197544,
+            "object_to_gripper_z": -0.0026106493130100272,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24973759637954349,
+              0.24551163990658875,
+              1.04632775300663
+            ],
+            "finger_b": [
+              0.2377865065937528,
+              0.2702087060179737,
+              1.04632775300663
+            ],
+            "finger_midpoint": [
+              0.24376205148664815,
+              0.25786017296228125,
+              1.04632775300663
+            ],
+            "object_minus_finger_midpoint": [
+              0.00597554489289534,
+              0.012348533055692446,
+              0.0
+            ],
+            "finger_gap": 0.027436720313808446,
+            "fingertip_max_gap": 0.09217215216343674,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013718360156904199,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04632775300663,
+            "object_top_z": 1.0926495415151485,
+            "finger_top_clearance": 0.046321788508518535,
+            "fingertip_min_top_clearance": 0.013896536552555527,
+            "object_projection_between_fingers": 0.810263613158232,
+            "object_to_finger_line_xy": 0.010757730922898334,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048586076081718374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.689026609835447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24890351066709152,
+              0.2697148201007419,
+              1.2376455330406932
+            ],
+            "held_position": [
+              0.2545299219672711,
+              0.27433509703166503,
+              1.2349265913875869
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007771493212388845,
+            "max_held_gripper_dist": 0.00777542946822623,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002718941653106377,
+            "max_held_gripper_z_dist": 0.0028064017073390346,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867440884341053,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2545299219672711,
+              0.24893882202757422,
+              1.2349265913875869
+            ],
+            "held_grasp_finger_b": [
+              0.24411585151098578,
+              0.27433509703166503,
+              1.2349265913875869
+            ],
+            "held_grasp_midpoint": [
+              0.24932288673912845,
+              0.26163695952961963,
+              1.2349265913875869
+            ],
+            "held_grasp_object_position": [
+              0.2545299219672711,
+              0.27433509703166503,
+              1.2349265913875869
+            ],
+            "held_grasp_finger_gap": 0.027448563670106348,
+            "held_grasp_max_gap": 0.12496598571538925,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024760915184335295,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056494796526640294,
+              -0.9981485856368304,
+              0.02253306363122143
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00449067705065239,
+            "held_grasp_line_xy_max_dist": 0.047482992857694625,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.03223195929871388,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3420012821819284,
+              0.11145641732986294,
+              0.7625819511387302
+            ],
+            "target_position": [
+              0.33893573162693197,
+              0.10767534910981297,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004867656221418137,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17600282964039513,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625819511387302,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758729140213385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608630353595524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1437407637536415,
+            "release_required_pad_clearance": 0.05304315176797762,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.110629340274931,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "daab117a286b2d12511bc998dfe56d4acf2456ce63b68905573bb40544bf1268",
+    "visual_seed": 1057897003294624843,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_55_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06ff6bda2759f829a78236cf4bc054d7bd69aeed
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_55_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24167592614716035,
+              0.2712766237414322,
+              1.0481769010675872
+            ],
+            "current_z": 1.0481769010675872,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19159033405437687,
+            "gripper_z": 1.050929990524842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2364998372067595,
+              0.26628178764019994,
+              1.050929990524842
+            ],
+            "object_minus_gripper": [
+              0.005176088940400864,
+              0.004994836101232247,
+              -0.0027530894572547204
+            ],
+            "object_to_gripper_xy": 0.0071930719721905395,
+            "object_to_gripper_z": -0.0027530894572547204,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24167592614716035,
+              0.2468684038574421,
+              1.0481769010675872
+            ],
+            "finger_b": [
+              0.22949394775058826,
+              0.2712766237414322,
+              1.0481769010675872
+            ],
+            "finger_midpoint": [
+              0.2355849369488743,
+              0.25907251379943713,
+              1.0481769010675872
+            ],
+            "object_minus_finger_midpoint": [
+              0.006090989198286045,
+              0.012204109941995056,
+              0.0
+            ],
+            "finger_gap": 0.027279329089252874,
+            "fingertip_max_gap": 0.09150019717537414,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013639664544626449,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481769010675872,
+            "object_top_z": 1.0941497388690322,
+            "finger_top_clearance": 0.04597283780144501,
+            "fingertip_min_top_clearance": 0.013791851340433503,
+            "object_projection_between_fingers": 0.8005801983654344,
+            "object_to_finger_line_xy": 0.010899843113908927,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825009858768707,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5757059752001276,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2413913979413116,
+              0.27031394153950294,
+              1.2406617501032715
+            ],
+            "held_position": [
+              0.2469335367914238,
+              0.274840355329479,
+              1.2378029542993894
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007705610831095901,
+            "max_held_gripper_dist": 0.007711596342379782,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028587958038821526,
+            "max_held_gripper_z_dist": 0.0029400764790044054,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08722511325091789,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2469335367914238,
+              0.2493879829650318,
+              1.2378029542993894
+            ],
+            "held_grasp_finger_b": [
+              0.2368244484377518,
+              0.274840355329479,
+              1.2378029542993894
+            ],
+            "held_grasp_midpoint": [
+              0.24187899261458778,
+              0.2621141691472554,
+              1.2378029542993894
+            ],
+            "held_grasp_object_position": [
+              0.2469335367914238,
+              0.274840355329479,
+              1.2378029542993894
+            ],
+            "held_grasp_finger_gap": 0.02738643690443904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024494152974805693,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08509174222766666,
+              -0.9961489071474128,
+              0.021136465969398666
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003962768757667909,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032092948538060564,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33791419852123716,
+              0.11749996711695836,
+              0.7625862312302575
+            ],
+            "target_position": [
+              0.33986362117260943,
+              0.11324352002368648,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00468162263873391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17118582992871575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625862312302575,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535602393344691,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526064230720475,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14060891362474298,
+            "release_required_pad_clearance": 0.052630321153602375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31650150185489595,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9fc7dbb6a9805a98d95257851d070736738854ec1c2b29c07df13fa75cae8a55",
+    "visual_seed": 235804573816093015,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_56_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56d949c2867cb32d41e951ca832a877a8bc366e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_56_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24635473805532912,
+              0.2725222791885229,
+              1.0458234902329122
+            ],
+            "current_z": 1.0458234902329122,
+            "required_z": 0.85658662608611,
+            "initial_z": 0.75658662608611,
+            "lift_margin": 0.1892368641468022,
+            "gripper_z": 1.0485387901999297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24107820223813267,
+              0.2675902144782952,
+              1.0485387901999297
+            ],
+            "object_minus_gripper": [
+              0.005276535817196448,
+              0.004932064710227724,
+              -0.0027152999670174705
+            ],
+            "object_to_gripper_xy": 0.007222679041465892,
+            "object_to_gripper_z": -0.0027152999670174705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24635473805532912,
+              0.24789909846118438,
+              1.0458234902329122
+            ],
+            "finger_b": [
+              0.23445258526772245,
+              0.2725222791885229,
+              1.0458234902329122
+            ],
+            "finger_midpoint": [
+              0.24040366166152577,
+              0.26021068882485365,
+              1.0458234902329122
+            ],
+            "object_minus_finger_midpoint": [
+              0.005951076393803351,
+              0.012311590363669245,
+              0.0
+            ],
+            "finger_gap": 0.02734889888296617,
+            "fingertip_max_gap": 0.09208611222777888,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01367444944148308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458234902329122,
+            "object_top_z": 1.0920346670249896,
+            "finger_top_clearance": 0.046211176792077424,
+            "fingertip_min_top_clearance": 0.013863353037623228,
+            "object_projection_between_fingers": 0.8106037608573952,
+            "object_to_finger_line_xy": 0.01071592901738973,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854305611388944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7027556515947981,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24573569032890907,
+              0.2719490751081078,
+              1.2378972770169872
+            ],
+            "held_position": [
+              0.2512853206922865,
+              0.2765091241656816,
+              1.2350798788739017
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007715580138541852,
+            "max_held_gripper_dist": 0.007719187694002699,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002817398143085459,
+            "max_held_gripper_z_dist": 0.002902629770651366,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675194249968768,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2512853206922865,
+              0.25111999507162047,
+              1.2350798788739017
+            ],
+            "held_grasp_finger_b": [
+              0.2410133085304908,
+              0.2765091241656816,
+              1.2350798788739017
+            ],
+            "held_grasp_midpoint": [
+              0.24614931461138864,
+              0.263814559618651,
+              1.2350798788739017
+            ],
+            "held_grasp_object_position": [
+              0.2512853206922865,
+              0.2765091241656816,
+              1.2350798788739017
+            ],
+            "held_grasp_finger_gap": 0.027388357198031767,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024633800070916128,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06732024267382342,
+              -0.9974865356181378,
+              0.02210421197109247
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042792151896618915,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.03219229859190126,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3401735148460887,
+              0.11627134470201761,
+              0.7625857679560782
+            ],
+            "target_position": [
+              0.34137433921567334,
+              0.11202647308297695,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004411452621158389,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17211342368394156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857679560782,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533370227336438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498565364418607,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1415523686156659,
+            "release_required_pad_clearance": 0.05249282682209304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05591729758175565,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "341fddc90f932eca7367a78dd219c0a979785dddc5e60c4769a99a92d5e3f7f5",
+    "visual_seed": 111113261479414737,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_57_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ceccdbe950e93347630fc35d3c86deeeaf4e57
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_57_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2446401138352231,
+              0.2668884407106936,
+              1.0453473147694976
+            ],
+            "current_z": 1.0453473147694976,
+            "required_z": 0.8565865584599935,
+            "initial_z": 0.7565865584599936,
+            "lift_margin": 0.18876075630950406,
+            "gripper_z": 1.0482090002414461,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23941898062002143,
+              0.2618593257265203,
+              1.0482090002414461
+            ],
+            "object_minus_gripper": [
+              0.005221133215201679,
+              0.0050291149841733,
+              -0.0028616854719485385
+            ],
+            "object_to_gripper_xy": 0.007249291660218854,
+            "object_to_gripper_z": -0.0028616854719485385,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2446401138352231,
+              0.24247485532367455,
+              1.0453473147694976
+            ],
+            "finger_b": [
+              0.23238244659574517,
+              0.2668884407106936,
+              1.0453473147694976
+            ],
+            "finger_midpoint": [
+              0.23851128021548412,
+              0.25468164801718407,
+              1.0453473147694976
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061288336197389826,
+              0.01220679269350955,
+              0.0
+            ],
+            "finger_gap": 0.02731800793621383,
+            "fingertip_max_gap": 0.09188599614684306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013659003968106933,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453473147694976,
+            "object_top_z": 1.0915460373768135,
+            "finger_top_clearance": 0.046198722607315945,
+            "fingertip_min_top_clearance": 0.013859616782194767,
+            "object_projection_between_fingers": 0.7986657779536495,
+            "object_to_finger_line_xy": 0.010954444646747406,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048442998073421534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.655940278131996,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24409631752054206,
+              0.26605539900887454,
+              1.235972919170676
+            ],
+            "held_position": [
+              0.24966302095872095,
+              0.27062340614046687,
+              1.2329927201250732
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007793360165828558,
+            "max_held_gripper_dist": 0.007799585552681693,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029801990456028715,
+            "max_held_gripper_z_dist": 0.0030600881082973874,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08729104419158679,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24966302095872095,
+              0.24520572050710268,
+              1.2329927201250732
+            ],
+            "held_grasp_finger_b": [
+              0.23944800962698587,
+              0.27062340614046687,
+              1.2329927201250732
+            ],
+            "held_grasp_midpoint": [
+              0.2445555152928534,
+              0.25791456332378476,
+              1.2329927201250732
+            ],
+            "held_grasp_object_position": [
+              0.24966302095872095,
+              0.27062340614046687,
+              1.2329927201250732
+            ],
+            "held_grasp_finger_gap": 0.027393524772544413,
+            "held_grasp_max_gap": 0.12496584415435791,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024549592765315213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07694619923096246,
+              -0.996770493893315,
+              0.0229753112620108
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004125134328359071,
+            "held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "held_grasp_object_top_z": 0.04520067200064659,
+            "held_grasp_top_clearance": 0.03213986932091076,
+            "held_grasp_min_top_clearance": 0.013560201600193977
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.342708919808952,
+              0.116875834261808,
+              0.7625857153161733
+            ],
+            "target_position": [
+              0.3420289343110232,
+              0.1130953522373157,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038411488665375717,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17448433294778268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857153161733,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546360221016209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560763301455886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14330491264862033,
+            "release_required_pad_clearance": 0.05280381650727943,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6476882514856755,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99f575f061b62a4c1074384974fd8702966fcd89c4f3d850a5d85c327725d0f6",
+    "visual_seed": 4338024357250162552,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_58_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..898389b60b74d93ff05a8a0cb9f6bfda66fd46fc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_58_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24322517912732486,
+              0.26748879611911996,
+              1.047356991828417
+            ],
+            "current_z": 1.047356991828417,
+            "required_z": 0.856586582066503,
+            "initial_z": 0.756586582066503,
+            "lift_margin": 0.19077040976191395,
+            "gripper_z": 1.050445902254322,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2377771316933095,
+              0.26245544339930515,
+              1.050445902254322
+            ],
+            "object_minus_gripper": [
+              0.005448047434015363,
+              0.00503335271981481,
+              -0.0030889104259050892
+            ],
+            "object_to_gripper_xy": 0.007417267721024267,
+            "object_to_gripper_z": -0.0030889104259050892,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24322517912732486,
+              0.24277277469664751,
+              1.047356991828417
+            ],
+            "finger_b": [
+              0.231142297066518,
+              0.26748879611911996,
+              1.047356991828417
+            ],
+            "finger_midpoint": [
+              0.23718373809692145,
+              0.25513078540788375,
+              1.047356991828417
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060414410304034105,
+              0.012358010711236211,
+              0.0
+            ],
+            "finger_gap": 0.02751141133877877,
+            "fingertip_max_gap": 0.09160857683109427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013755705669389367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047356991828417,
+            "object_top_z": 1.0933851264868295,
+            "finger_top_clearance": 0.0460281346584126,
+            "fingertip_min_top_clearance": 0.01380844039752378,
+            "object_projection_between_fingers": 0.8071075042799906,
+            "object_to_finger_line_xy": 0.010855159998249918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830428841554714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5170855699935469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24235577053821541,
+              0.2669658954489039,
+              1.2387438244324354
+            ],
+            "held_position": [
+              0.2480787972894351,
+              0.2716174264608823,
+              1.2355404672215005
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00804060155532045,
+            "max_held_gripper_dist": 0.008043040484726724,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032033572109348984,
+            "max_held_gripper_z_dist": 0.0032862577321159936,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668807360459313,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2480787972894351,
+              0.2461667354365347,
+              1.2355404672215005
+            ],
+            "held_grasp_finger_b": [
+              0.23761323900446873,
+              0.2716174264608823,
+              1.2355404672215005
+            ],
+            "held_grasp_midpoint": [
+              0.24284601814695192,
+              0.2588920809487085,
+              1.2355404672215005
+            ],
+            "held_grasp_object_position": [
+              0.2480787972894351,
+              0.2716174264608823,
+              1.2355404672215005
+            ],
+            "held_grasp_finger_gap": 0.02751845896544422,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02472727811004376,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06371960257282293,
+              -0.9977779896180815,
+              0.019465242912979352
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044184226462678,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.032170235060939016,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34626375158566514,
+              0.11631363290304132,
+              0.7625880347569904
+            ],
+            "target_position": [
+              0.3445565655859236,
+              0.11200498953720471,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004634532521374866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.175822020786244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625880347569904,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526979768791257,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862369972116414,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14519714770466438,
+            "release_required_pad_clearance": 0.0531184986058207,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2611198291663246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7259dc667fdcc77497a4afc6e3cb4546cf17e840ab4cf6c90dc4b8b7e59c098",
+    "visual_seed": 6291383954202752167,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_59_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab0f29e92259e08e70b003fef20d1e650fe8dfb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_59_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24681797374332748,
+              0.268573378092744,
+              1.0456115883108945
+            ],
+            "current_z": 1.0456115883108945,
+            "required_z": 0.8565866222425885,
+            "initial_z": 0.7565866222425885,
+            "lift_margin": 0.189024966068306,
+            "gripper_z": 1.048415223195892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24148345570984447,
+              0.2636460656882402,
+              1.048415223195892
+            ],
+            "object_minus_gripper": [
+              0.0053345180334830045,
+              0.004927312404503781,
+              -0.0028036348849975745
+            ],
+            "object_to_gripper_xy": 0.007261920557341027,
+            "object_to_gripper_z": -0.0028036348849975745,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24681797374332748,
+              0.24383022828592607,
+              1.0456115883108945
+            ],
+            "finger_b": [
+              0.23502740047898635,
+              0.268573378092744,
+              1.0456115883108945
+            ],
+            "finger_midpoint": [
+              0.2409226871111569,
+              0.25620180318933505,
+              1.0456115883108945
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058952866321705655,
+              0.012371574903408955,
+              0.0
+            ],
+            "finger_gap": 0.027408777431042603,
+            "fingertip_max_gap": 0.09091212624023748,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370438871552129,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456115883108945,
+            "object_top_z": 1.0911569486083446,
+            "finger_top_clearance": 0.045545360297450044,
+            "fingertip_min_top_clearance": 0.01366360808923498,
+            "object_projection_between_fingers": 0.8149493930059537,
+            "object_to_finger_line_xy": 0.010643886664475624,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795606312011874,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2221095421904761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24617083546538046,
+              0.2678824826488391,
+              1.2381182692949637
+            ],
+            "held_position": [
+              0.25176900302200045,
+              0.27245399896867284,
+              1.2352105592222105
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007790572464311548,
+            "max_held_gripper_dist": 0.00779210935713052,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029077100727532557,
+            "max_held_gripper_z_dist": 0.002991940267422555,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08742318269406407,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25176900302200045,
+              0.24701549843057022,
+              1.2352105592222105
+            ],
+            "held_grasp_finger_b": [
+              0.24151192555874534,
+              0.27245399896867284,
+              1.2352105592222105
+            ],
+            "held_grasp_midpoint": [
+              0.2466404642903729,
+              0.25973474869962154,
+              1.2352105592222105
+            ],
+            "held_grasp_object_position": [
+              0.25176900302200045,
+              0.27245399896867284,
+              1.2352105592222105
+            ],
+            "held_grasp_finger_gap": 0.027428542573645125,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024747044628978938,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06237476495642469,
+              -0.9979687044393238,
+              0.012955834837179214
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004328409295827627,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.04520071670413017,
+            "held_grasp_top_clearance": 0.03218741159373033,
+            "held_grasp_min_top_clearance": 0.013560215011239052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3439499938717442,
+              0.11332298920775452,
+              0.762586025080705
+            ],
+            "target_position": [
+              0.3418396757406278,
+              0.10950125971498004,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004365668211220467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1754807857990275,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762586025080705,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548793090396089,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515154600773521,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14417426282314452,
+            "release_required_pad_clearance": 0.05257577300386761,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2130458037366348,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9405a2761a5b449bf6fdbb875a5021272d12a98714f7fefb7d3bdc05cbfd944f",
+    "visual_seed": 286843340126556373,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_5_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7067096e8220befb47471d7c0041f17c4cfac3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_5_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.25120253669500225,
+              0.2735201112142138,
+              1.048412652227425
+            ],
+            "current_z": 1.048412652227425,
+            "required_z": 0.8565865255991233,
+            "initial_z": 0.7565865255991233,
+            "lift_margin": 0.19182612662830179,
+            "gripper_z": 1.0509024201058814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24589848515467558,
+              0.26855492097091,
+              1.0509024201058814
+            ],
+            "object_minus_gripper": [
+              0.005304051540326676,
+              0.00496519024330383,
+              -0.0024897678784563393
+            ],
+            "object_to_gripper_xy": 0.007265402734511098,
+            "object_to_gripper_z": -0.0024897678784563393,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25120253669500225,
+              0.24890039582218662,
+              1.048412652227425
+            ],
+            "finger_b": [
+              0.2392233307912524,
+              0.2735201112142138,
+              1.048412652227425
+            ],
+            "finger_midpoint": [
+              0.24521293374312733,
+              0.2612102535182002,
+              1.048412652227425
+            ],
+            "object_minus_finger_midpoint": [
+              0.005989602951874923,
+              0.012309857696013615,
+              0.0
+            ],
+            "finger_gap": 0.027379403939254345,
+            "fingertip_max_gap": 0.09218277064469452,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013689701969627184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048412652227425,
+            "object_top_z": 1.09472010500718,
+            "finger_top_clearance": 0.0463074527797549,
+            "fingertip_min_top_clearance": 0.013892235833926502,
+            "object_projection_between_fingers": 0.8085708454091458,
+            "object_to_finger_line_xy": 0.010771769927028042,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859138532234726,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7468109527225729,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2506604707176707,
+              0.27263324136950495,
+              1.2384987394217888
+            ],
+            "held_position": [
+              0.25625050826870577,
+              0.2772068136381781,
+              1.235891031821822
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007678946675533242,
+            "max_held_gripper_dist": 0.007684474050100686,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026077075999668686,
+            "max_held_gripper_z_dist": 0.0026974427749262286,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0871890362802149,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25625050826870577,
+              0.25177637158965643,
+              1.235891031821822
+            ],
+            "held_grasp_finger_b": [
+              0.24601801112924254,
+              0.2772068136381781,
+              1.235891031821822
+            ],
+            "held_grasp_midpoint": [
+              0.2511342596989742,
+              0.2644915926139173,
+              1.235891031821822
+            ],
+            "held_grasp_object_position": [
+              0.25625050826870577,
+              0.2772068136381781,
+              1.235891031821822
+            ],
+            "held_grasp_finger_gap": 0.027411883928186016,
+            "held_grasp_max_gap": 0.12496596336364746,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024652047910740826,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06938390705219902,
+              -0.997309385844969,
+              0.023661410518031945
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004232693029490914,
+            "held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.032164733294194246,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34338944996741816,
+              0.11398043777827092,
+              0.762585929425883
+            ],
+            "target_position": [
+              0.3423690314376843,
+              0.10982115716000573,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042826241064679756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17378584820668858,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585929425883,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576794855153726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518258527181231,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14192075540904903,
+            "release_required_pad_clearance": 0.05259129263590616,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2406290091743667,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ad73669eaa750f7616c112b64558f5d16874a243b0b9b4ba276ffe7bd1af786",
+    "visual_seed": 2346888038152145511,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_60_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e170b7bcd4b5f5326b527f3d74a5d228b72c025d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_60_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24774973992798105,
+              0.2701249780250757,
+              1.0461534365606169
+            ],
+            "current_z": 1.0461534365606169,
+            "required_z": 0.8565865438732534,
+            "initial_z": 0.7565865438732534,
+            "lift_margin": 0.1895668926873635,
+            "gripper_z": 1.0490307589003227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24230850470047977,
+              0.26510984826611406,
+              1.0490307589003227
+            ],
+            "object_minus_gripper": [
+              0.005441235227501284,
+              0.005015129758961623,
+              -0.0028773223397058345
+            ],
+            "object_to_gripper_xy": 0.0073999031953278565,
+            "object_to_gripper_z": -0.0028773223397058345,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24774973992798105,
+              0.24539018009047098,
+              1.0461534365606169
+            ],
+            "finger_b": [
+              0.23572289079541145,
+              0.2701249780250757,
+              1.0461534365606169
+            ],
+            "finger_midpoint": [
+              0.24173631536169626,
+              0.2577575790577733,
+              1.0461534365606169
+            ],
+            "object_minus_finger_midpoint": [
+              0.006013424566284786,
+              0.012367398967302379,
+              0.0
+            ],
+            "finger_gap": 0.027503732999782322,
+            "fingertip_max_gap": 0.09180909953944272,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01375186649989118,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461534365606169,
+            "object_top_z": 1.0922744654508199,
+            "finger_top_clearance": 0.046121028890202975,
+            "fingertip_min_top_clearance": 0.013836308667060893,
+            "object_projection_between_fingers": 0.8087856684631097,
+            "object_to_finger_line_xy": 0.01081604751931089,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840454976972136,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5911741227521765,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24695094076338536,
+              0.26949699520950116,
+              1.2386387992198782
+            ],
+            "held_position": [
+              0.2526715135410779,
+              0.2741359368997302,
+              1.2356577494713414
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007945526446590764,
+            "max_held_gripper_dist": 0.007947865786075831,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002981049748536746,
+            "max_held_gripper_z_dist": 0.003067573237766741,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08681517159155006,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2526715135410779,
+              0.2486699295584127,
+              1.2356577494713414
+            ],
+            "held_grasp_finger_b": [
+              0.24222250290066952,
+              0.2741359368997302,
+              1.2356577494713414
+            ],
+            "held_grasp_midpoint": [
+              0.24744700822087373,
+              0.26140293322907143,
+              1.2356577494713414
+            ],
+            "held_grasp_object_position": [
+              0.2526715135410779,
+              0.2741359368997302,
+              1.2356577494713414
+            ],
+            "held_grasp_finger_gap": 0.0275263392639015,
+            "held_grasp_max_gap": 0.12496576964855194,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024741031717978333,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06389836568100506,
+              -0.997749905602961,
+              0.020300855464213893
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004407995597725961,
+            "held_grasp_line_xy_max_dist": 0.04748288482427597,
+            "held_grasp_object_top_z": 0.045200638473033905,
+            "held_grasp_top_clearance": 0.03216244791113921,
+            "held_grasp_min_top_clearance": 0.01356019154191017
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3475180329765757,
+              0.11845150405805263,
+              0.7625835691379967
+            ],
+            "target_position": [
+              0.34392662575801514,
+              0.11450041838029687,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005339408566732417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17804330373691352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625835691379967,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579537357555452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14588129798620625,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "667b21703377abe8fbb971c693634e1796b30d636969f1edce904918479ac33a",
+    "visual_seed": 6652620771864799215,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_61_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f175927ad3be570792f036cb62d208e79d4299d4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_61_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24436810844936124,
+              0.27265546781144484,
+              1.048449938618172
+            ],
+            "current_z": 1.048449938618172,
+            "required_z": 0.8565866210927763,
+            "initial_z": 0.7565866210927763,
+            "lift_margin": 0.19186331752539576,
+            "gripper_z": 1.0512108155627105,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23915926498182777,
+              0.2677793582738648,
+              1.0512108155627105
+            ],
+            "object_minus_gripper": [
+              0.005208843467533475,
+              0.004876109537580053,
+              -0.002760876944538415
+            ],
+            "object_to_gripper_xy": 0.007135018885170895,
+            "object_to_gripper_z": -0.002760876944538415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24436810844936124,
+              0.24804337923364955,
+              1.048449938618172
+            ],
+            "finger_b": [
+              0.2325952413215626,
+              0.27265546781144484,
+              1.048449938618172
+            ],
+            "finger_midpoint": [
+              0.2384816748854619,
+              0.2603494235225472,
+              1.048449938618172
+            ],
+            "object_minus_finger_midpoint": [
+              0.00588643356389934,
+              0.012306044288897644,
+              0.0
+            ],
+            "finger_gap": 0.027282875665333436,
+            "fingertip_max_gap": 0.09223262141095745,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013641437832666725,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048449938618172,
+            "object_top_z": 1.0946830993001642,
+            "finger_top_clearance": 0.046233160681992125,
+            "fingertip_min_top_clearance": 0.013869948204597637,
+            "object_projection_between_fingers": 0.8137980618155723,
+            "object_to_finger_line_xy": 0.010620392517206938,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861631070547873,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7330632683707475,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24384506643975096,
+              0.2721614096648925,
+              1.2405995378741808
+            ],
+            "held_position": [
+              0.24932245169007472,
+              0.27667442778078866,
+              1.237736422556799
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007652875996349149,
+            "max_held_gripper_dist": 0.007655869580196838,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028631153173817037,
+            "max_held_gripper_z_dist": 0.0029472827258079093,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867815616334551,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24932245169007472,
+              0.2513230772989334,
+              1.237736422556799
+            ],
+            "held_grasp_finger_b": [
+              0.23913859421623282,
+              0.27667442778078866,
+              1.237736422556799
+            ],
+            "held_grasp_midpoint": [
+              0.24423052295315378,
+              0.26399875253986105,
+              1.237736422556799
+            ],
+            "held_grasp_object_position": [
+              0.24932245169007472,
+              0.27667442778078866,
+              1.237736422556799
+            ],
+            "held_grasp_finger_gap": 0.027320357323823367,
+            "held_grasp_max_gap": 0.1249658516049385,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460434530206683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0671351473485251,
+              -0.9975026810602851,
+              0.021937941289813967
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00423883572984346,
+            "held_grasp_line_xy_max_dist": 0.04748292580246925,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.032214834379852814,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33607882086466406,
+              0.11219557451209931,
+              0.7625857471877889
+            ],
+            "target_position": [
+              0.33708343736471497,
+              0.10770141399273761,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004605076881656156,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17258431758052664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625857471877889,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533304206255279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506648023435719,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14197296585595456,
+            "release_required_pad_clearance": 0.052533240117178595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13118373350941034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "052f0afcb38149624c4d56363725c59baa5c769687b22090ca0fe57b435fcc4a",
+    "visual_seed": 7624856965713388882,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_62_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dfeefeb3eebd651d4dace80e01e077f2fbf286a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_62_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2513435827413195,
+              0.26643263602865386,
+              1.048368945654586
+            ],
+            "current_z": 1.048368945654586,
+            "required_z": 0.8565865393912088,
+            "initial_z": 0.7565865393912088,
+            "lift_margin": 0.19178240626337717,
+            "gripper_z": 1.0508622676167392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2460297225627803,
+              0.26156389887428644,
+              1.0508622676167392
+            ],
+            "object_minus_gripper": [
+              0.005313860178539215,
+              0.00486873715436742,
+              -0.0024933219621532388
+            ],
+            "object_to_gripper_xy": 0.007207059835701558,
+            "object_to_gripper_z": -0.0024933219621532388,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2513435827413195,
+              0.24166540720480856,
+              1.048368945654586
+            ],
+            "finger_b": [
+              0.23968688396864804,
+              0.26643263602865386,
+              1.048368945654586
+            ],
+            "finger_midpoint": [
+              0.24551523335498376,
+              0.2540490216167312,
+              1.048368945654586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005828349386335752,
+              0.01238361441192265,
+              0.0
+            ],
+            "finger_gap": 0.027373239667410836,
+            "fingertip_max_gap": 0.09305225446583129,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013686619833705425,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048368945654586,
+            "object_top_z": 1.0951130106223275,
+            "finger_top_clearance": 0.04674406496774153,
+            "fingertip_min_top_clearance": 0.014023219490322458,
+            "object_projection_between_fingers": 0.818657855312734,
+            "object_to_finger_line_xy": 0.010546947651837765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902612723291565,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9471464979575506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2506172823453079,
+              0.26603864795101867,
+              1.2407793373285905
+            ],
+            "held_position": [
+              0.25614485985169644,
+              0.27060946295834126,
+              1.2381915409803568
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076251657595248195,
+            "max_held_gripper_dist": 0.007626672689083482,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002587796348233695,
+            "max_held_gripper_z_dist": 0.0026724595774834103,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666419399879918,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25614485985169644,
+              0.24526210952246738,
+              1.2381915409803568
+            ],
+            "held_grasp_finger_b": [
+              0.24580090909403632,
+              0.27060946295834126,
+              1.2381915409803568
+            ],
+            "held_grasp_midpoint": [
+              0.25097288447286636,
+              0.2579357862404043,
+              1.2381915409803568
+            ],
+            "held_grasp_object_position": [
+              0.25614485985169644,
+              0.27060946295834126,
+              1.2381915409803568
+            ],
+            "held_grasp_finger_gap": 0.02737673544234237,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024820073762274013,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04737097573689164,
+              -0.998529367835997,
+              0.026364601775467733
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004578250855257162,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.032300710310241135,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33846408630501745,
+              0.11394003290746647,
+              0.7625849241280627
+            ],
+            "target_position": [
+              0.3415711488799107,
+              0.1097658977115197,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005203579775341564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17128613051301086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849241280627,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530607967671447,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603114570070779,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1406427861828824,
+            "release_required_pad_clearance": 0.053015572850353895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0549645587979612,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63d372f6bdd1939f6f63f19e4d60d3b1a656fb74404c416a96c6d25bdeda15ac",
+    "visual_seed": 6248155391423502187,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_63_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3783304872728f416e8cba883bf03ea7f4164050
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_63_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24235590493483122,
+              0.271064695791628,
+              1.045877314042457
+            ],
+            "current_z": 1.045877314042457,
+            "required_z": 0.8565866529062499,
+            "initial_z": 0.7565866529062499,
+            "lift_margin": 0.18929066113620718,
+            "gripper_z": 1.0488068370439054,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23702484872084023,
+              0.2660173695636891,
+              1.0488068370439054
+            ],
+            "object_minus_gripper": [
+              0.005331056213990992,
+              0.005047326227938909,
+              -0.002929523001448331
+            ],
+            "object_to_gripper_xy": 0.0073413665218385596,
+            "object_to_gripper_z": -0.002929523001448331,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24235590493483122,
+              0.24651650303995445,
+              1.045877314042457
+            ],
+            "finger_b": [
+              0.2301429856316756,
+              0.271064695791628,
+              1.045877314042457
+            ],
+            "finger_midpoint": [
+              0.23624944528325342,
+              0.25879059941579124,
+              1.045877314042457
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061064596515778,
+              0.012274096375836763,
+              0.0
+            ],
+            "finger_gap": 0.02741840924048493,
+            "fingertip_max_gap": 0.09180558137140646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013709204620242445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045877314042457,
+            "object_top_z": 1.0920230796669839,
+            "finger_top_clearance": 0.04614576562452677,
+            "fingertip_min_top_clearance": 0.013843729687358064,
+            "object_projection_between_fingers": 0.8015941531067002,
+            "object_to_finger_line_xy": 0.010934445338711303,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840279068570323,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6216485335727103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24165578709658964,
+              0.2702442207705955,
+              1.2371451224717263
+            ],
+            "held_position": [
+              0.24730885597342367,
+              0.2748572354050504,
+              1.2341059376952515
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007904032885146727,
+            "max_held_gripper_dist": 0.007908590890947868,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030391847764748015,
+            "max_held_gripper_z_dist": 0.0031233482603139073,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875375966261783,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24730885597342367,
+              0.24940299731840423,
+              1.2341059376952515
+            ],
+            "held_grasp_finger_b": [
+              0.2369683979603147,
+              0.2748572354050504,
+              1.2341059376952515
+            ],
+            "held_grasp_midpoint": [
+              0.24213862696686916,
+              0.26213011636172734,
+              1.2341059376952515
+            ],
+            "held_grasp_object_position": [
+              0.24730885597342367,
+              0.2748572354050504,
+              1.2341059376952515
+            ],
+            "held_grasp_finger_gap": 0.027474411886199472,
+            "held_grasp_max_gap": 0.12496572494506836,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024604437496353458,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07471411442468914,
+              -0.9969662251592548,
+              0.021820792777548892
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004214322347604172,
+            "held_grasp_line_xy_max_dist": 0.04748286247253418,
+            "held_grasp_object_top_z": 0.04520062729716301,
+            "held_grasp_top_clearance": 0.032125830385791164,
+            "held_grasp_min_top_clearance": 0.013560188189148902
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.345287211190058,
+              0.11645054591478148,
+              0.7625854084582439
+            ],
+            "target_position": [
+              0.34614404947497496,
+              0.11194454024483108,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004586748188436392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1732334898104719,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625854084582439,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559229275882315,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519225858189043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14187593985919125,
+            "release_required_pad_clearance": 0.05259612929094522,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2502002598063191,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c12f5e1c5fcdfe1fbd0aeac98c87814cc2fb13764f9483d5ea487fcd655d8e54",
+    "visual_seed": 6370000035948320498,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_64_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e48d440ec324c856c7764f083867a342247693d8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_64_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24742865966489871,
+              0.2660384694367451,
+              1.0457530180000671
+            ],
+            "current_z": 1.0457530180000671,
+            "required_z": 0.8565865915622511,
+            "initial_z": 0.7565865915622512,
+            "lift_margin": 0.189166426437816,
+            "gripper_z": 1.048610851901698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2419489740520241,
+              0.2610876584975932,
+              1.048610851901698
+            ],
+            "object_minus_gripper": [
+              0.005479685612874624,
+              0.004950810939151895,
+              -0.0028578339016307464
+            ],
+            "object_to_gripper_xy": 0.00738494978799255,
+            "object_to_gripper_z": -0.0028578339016307464,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24742865966489871,
+              0.24113566213861606,
+              1.0457530180000671
+            ],
+            "finger_b": [
+              0.2356670782917081,
+              0.2660384694367451,
+              1.0457530180000671
+            ],
+            "finger_midpoint": [
+              0.2415478689783034,
+              0.2535870657876806,
+              1.0457530180000671
+            ],
+            "object_minus_finger_midpoint": [
+              0.005880790686595305,
+              0.012451403649064496,
+              0.0
+            ],
+            "finger_gap": 0.027540599262287892,
+            "fingertip_max_gap": 0.09052478141390782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013770299631143932,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457530180000671,
+            "object_top_z": 1.091233475638395,
+            "finger_top_clearance": 0.045480457638327865,
+            "fingertip_min_top_clearance": 0.013644137291498359,
+            "object_projection_between_fingers": 0.8176168705480578,
+            "object_to_finger_line_xy": 0.010635077024591127,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047762390706953914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.12682822799232063,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24673707086916333,
+              0.264990200189467,
+              1.2376987447555714
+            ],
+            "held_position": [
+              0.2524551155806791,
+              0.2695918211931741,
+              1.2347245458183953
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007919394579294015,
+            "max_held_gripper_dist": 0.007923195917331592,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002974198937176098,
+            "max_held_gripper_z_dist": 0.0030565762358882864,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08725807583816192,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2524551155806791,
+              0.244058705809358,
+              1.2347245458183953
+            ],
+            "held_grasp_finger_b": [
+              0.24219969484412443,
+              0.2695918211931741,
+              1.2347245458183953
+            ],
+            "held_grasp_midpoint": [
+              0.24732740521240176,
+              0.25682526350126605,
+              1.2347245458183953
+            ],
+            "held_grasp_object_position": [
+              0.2524551155806791,
+              0.2695918211931741,
+              1.2347245458183953
+            ],
+            "held_grasp_finger_gap": 0.027515697986549816,
+            "held_grasp_max_gap": 0.12496599316596985,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024915456384311536,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05607715216156588,
+              -0.9983329801420601,
+              0.0136606649223916
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004407259245876544,
+            "held_grasp_line_xy_max_dist": 0.047482996582984924,
+            "held_grasp_object_top_z": 0.045200806111097336,
+            "held_grasp_top_clearance": 0.03216798312981692,
+            "held_grasp_min_top_clearance": 0.0135602418333292
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34313516292256097,
+              0.1151803689001496,
+              0.7625844677823581
+            ],
+            "target_position": [
+              0.3408607576749827,
+              0.11136732475517587,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00443984514163839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1770532987678141,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844677823581,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567771385134384,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644495166819498,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14514828982132777,
+            "release_required_pad_clearance": 0.05322247583409749,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4633667209601386,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ee5e29f255aa54acf16139cfbd190b0d17e9aa3a7255cf692e3514a4126b88f",
+    "visual_seed": 7450236986185220171,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_65_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ea3d3b1924f75c380bf0218ce68b1b75a03504
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_65_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2454997614767971,
+              0.2692712404511409,
+              1.044833484594858
+            ],
+            "current_z": 1.044833484594858,
+            "required_z": 0.8565866182913194,
+            "initial_z": 0.7565866182913195,
+            "lift_margin": 0.18824686630353848,
+            "gripper_z": 1.0475777469040721,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2403960321981952,
+              0.2643721456653355,
+              1.0475777469040721
+            ],
+            "object_minus_gripper": [
+              0.005103729278601921,
+              0.0048990947858054135,
+              -0.002744262309214207
+            ],
+            "object_to_gripper_xy": 0.007074544668709377,
+            "object_to_gripper_z": -0.002744262309214207,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2454997614767971,
+              0.24483527995467616,
+              1.044833484594858
+            ],
+            "finger_b": [
+              0.23356162481540643,
+              0.2692712404511409,
+              1.044833484594858
+            ],
+            "finger_midpoint": [
+              0.23953069314610176,
+              0.25705326020290853,
+              1.044833484594858
+            ],
+            "object_minus_finger_midpoint": [
+              0.005969068330695354,
+              0.012217980248232396,
+              0.0
+            ],
+            "finger_gap": 0.02719623636334312,
+            "fingertip_max_gap": 0.09235293499854949,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01359811818167158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044833484594858,
+            "object_top_z": 1.0912636416353108,
+            "finger_top_clearance": 0.046430157040452835,
+            "fingertip_min_top_clearance": 0.013929047112135884,
+            "object_projection_between_fingers": 0.8073116409160463,
+            "object_to_finger_line_xy": 0.010726478177412077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867646749927475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8190477804060559,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24507756215866497,
+              0.2684173549027595,
+              1.2383120458429386
+            ],
+            "held_position": [
+              0.2505017788159766,
+              0.272901934253572,
+              1.2354781276465492
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075871385016367055,
+            "max_held_gripper_dist": 0.007592930541902471,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002833918196389451,
+            "max_held_gripper_z_dist": 0.002914683507254212,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743607086474892,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2505017788159766,
+              0.24754498777686543,
+              1.2354781276465492
+            ],
+            "held_grasp_finger_b": [
+              0.24039535017396024,
+              0.272901934253572,
+              1.2354781276465492
+            ],
+            "held_grasp_midpoint": [
+              0.2454485644949684,
+              0.2602234610152187,
+              1.2354781276465492
+            ],
+            "held_grasp_object_position": [
+              0.2505017788159766,
+              0.272901934253572,
+              1.2354781276465492
+            ],
+            "held_grasp_finger_gap": 0.027296787989042417,
+            "held_grasp_max_gap": 0.12496584415435791,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024519686250587175,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0749942190524746,
+              -0.9968712122820186,
+              0.024973050115835276
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004100781011256174,
+            "held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "held_grasp_object_top_z": 0.04520067200064659,
+            "held_grasp_top_clearance": 0.03218290515193543,
+            "held_grasp_min_top_clearance": 0.013560201600193977
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34809067691611917,
+              0.11401911817319946,
+              0.7625850190333575
+            ],
+            "target_position": [
+              0.3442841671324496,
+              0.11011255982866949,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005454421585501893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17838239502838582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850190333575,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584965665938458,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531143814368024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14608120052506904,
+            "release_required_pad_clearance": 0.05265571907184012,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35596165930220414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5d4b0f8c7c54afb3392d7337ad93d1eb86dec31dc93f1ff7891bed8f45fa149",
+    "visual_seed": 5939258068176204948,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_67_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da1ee427a66109ce6835526b1c70ca64799c097d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_67_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2496020752187354,
+              0.2718216623629703,
+              1.0461606572846396
+            ],
+            "current_z": 1.0461606572846396,
+            "required_z": 0.8565866740348272,
+            "initial_z": 0.7565866740348273,
+            "lift_margin": 0.18957398324981234,
+            "gripper_z": 1.0485664869685447,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24448636844770966,
+              0.26687551957804434,
+              1.0485664869685447
+            ],
+            "object_minus_gripper": [
+              0.005115706771025741,
+              0.004946142784925944,
+              -0.002405829683905125
+            ],
+            "object_to_gripper_xy": 0.0071158122667755635,
+            "object_to_gripper_z": -0.002405829683905125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2496020752187354,
+              0.24743917894303413,
+              1.0461606572846396
+            ],
+            "finger_b": [
+              0.2375190484415809,
+              0.2718216623629703,
+              1.0461606572846396
+            ],
+            "finger_midpoint": [
+              0.24356056183015815,
+              0.25963042065300224,
+              1.0461606572846396
+            ],
+            "object_minus_finger_midpoint": [
+              0.006041513388577252,
+              0.012191241709968048,
+              0.0
+            ],
+            "finger_gap": 0.02721222214044443,
+            "fingertip_max_gap": 0.09173856042971407,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013606111070222192,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461606572846396,
+            "object_top_z": 1.0922964550022356,
+            "finger_top_clearance": 0.04613579771759602,
+            "fingertip_min_top_clearance": 0.013840739315278804,
+            "object_projection_between_fingers": 0.8028378884285267,
+            "object_to_finger_line_xy": 0.01082653957975526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048369280214857036,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5990951460690329,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24927167728286595,
+              0.2710575997263892,
+              1.237097751970236
+            ],
+            "held_position": [
+              0.2547287190088221,
+              0.2755655403694914,
+              1.234583708575375
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00751140781956371,
+            "max_held_gripper_dist": 0.007517447565499907,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002514043394860943,
+            "max_held_gripper_z_dist": 0.0025981843853137843,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732742219282899,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2547287190088221,
+              0.25018960525047507,
+              1.234583708575375
+            ],
+            "held_grasp_finger_b": [
+              0.24462973436841362,
+              0.2755655403694914,
+              1.234583708575375
+            ],
+            "held_grasp_midpoint": [
+              0.24967922668861786,
+              0.26287757280998325,
+              1.234583708575375
+            ],
+            "held_grasp_object_position": [
+              0.2547287190088221,
+              0.2755655403694914,
+              1.234583708575375
+            ],
+            "held_grasp_finger_gap": 0.02731167468193285,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02452815689497242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07607561110422373,
+              -0.9968674338257951,
+              0.02162916486350941
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004079137069747791,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.045200664550065994,
+            "held_grasp_top_clearance": 0.03216829967452854,
+            "held_grasp_min_top_clearance": 0.013560199365019798
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34318383816895803,
+              0.11547470117600189,
+              0.7625843594211357
+            ],
+            "target_position": [
+              0.3456315348412817,
+              0.11100389974116592,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005096987783920576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1716189133933135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625843594211357,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531234296505042,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860438086433498,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1410662766753645,
+            "release_required_pad_clearance": 0.053021904321674904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0660306732701637,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5ce656d89226861d2c3a868853c0b5d0fbf284fed724ad083da890261476a81",
+    "visual_seed": 1502355442713883744,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_69_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8a906a4a4874097aa089c524d4d9f050dfcb65
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_69_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24777495977420538,
+              0.26933795639623004,
+              1.0457724020351566
+            ],
+            "current_z": 1.0457724020351566,
+            "required_z": 0.8565865977991548,
+            "initial_z": 0.7565865977991548,
+            "lift_margin": 0.18918580423600184,
+            "gripper_z": 1.048844158513422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24234991536393236,
+              0.26430844550118365,
+              1.048844158513422
+            ],
+            "object_minus_gripper": [
+              0.005425044410273028,
+              0.005029510895046385,
+              -0.0030717564782654083
+            ],
+            "object_to_gripper_xy": 0.00739777579390082,
+            "object_to_gripper_z": -0.0030717564782654083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24777495977420538,
+              0.24464815132764578,
+              1.0457724020351566
+            ],
+            "finger_b": [
+              0.2356861572057955,
+              0.26933795639623004,
+              1.0457724020351566
+            ],
+            "finger_midpoint": [
+              0.24173055849000044,
+              0.25699305386193794,
+              1.0457724020351566
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044401284204942,
+              0.012344902534292101,
+              0.0
+            ],
+            "finger_gap": 0.02749046419874867,
+            "fingertip_max_gap": 0.09184691368517234,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01374523209937431,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457724020351566,
+            "object_top_z": 1.0919397221716447,
+            "finger_top_clearance": 0.046167320136488055,
+            "fingertip_min_top_clearance": 0.013850196040946432,
+            "object_projection_between_fingers": 0.8066240665788259,
+            "object_to_finger_line_xy": 0.010857225864531845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842345684258617,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5928754352700762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24697848299277766,
+              0.26889717356792414,
+              1.2394198208474387
+            ],
+            "held_position": [
+              0.25270329060769736,
+              0.2735403130466171,
+              1.2362692236668729
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008016135542805466,
+            "max_held_gripper_dist": 0.008019029181467916,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003150597180565873,
+            "max_held_gripper_z_dist": 0.003236668712041313,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08682586722869709,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25270329060769736,
+              0.24808511383627277,
+              1.2362692236668729
+            ],
+            "held_grasp_finger_b": [
+              0.24217018851307073,
+              0.2735403130466171,
+              1.2362692236668729
+            ],
+            "held_grasp_midpoint": [
+              0.24743673956038403,
+              0.2608127134414449,
+              1.2362692236668729
+            ],
+            "held_grasp_object_position": [
+              0.25270329060769736,
+              0.2735403130466171,
+              1.2362692236668729
+            ],
+            "held_grasp_finger_gap": 0.027548383011968984,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02471614240167785,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06462835279220382,
+              -0.9977089250012654,
+              0.02000192461204109
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004440476477805607,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.032161982970929384,
+            "held_grasp_min_top_clearance": 0.013560237362980843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3459577203533018,
+              0.11945455635922711,
+              0.7625849553631658
+            ],
+            "target_position": [
+              0.34245048772379505,
+              0.1154596313154509,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005316023591263232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1765669906365566,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849553631658,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586647329792509,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518381643839688,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14438624649358553,
+            "release_required_pad_clearance": 0.052591908219198444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24061463361303895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efab443415be4c6ffcce23f40cd428583502a5444d81bc7f39b76931028c58db",
+    "visual_seed": 6793016284281998521,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_6_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45d41d2195c1afbab9603eea4dcd28d79d980389
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_6_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2497974875641366,
+              0.2748526141961118,
+              1.0483390951355187
+            ],
+            "current_z": 1.0483390951355187,
+            "required_z": 0.8565866591786547,
+            "initial_z": 0.7565866591786548,
+            "lift_margin": 0.19175243595686398,
+            "gripper_z": 1.0506181689391116,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24471561648946213,
+              0.2699283334060625,
+              1.0506181689391116
+            ],
+            "object_minus_gripper": [
+              0.005081871074674477,
+              0.004924280790049307,
+              -0.0022790738035929348
+            ],
+            "object_to_gripper_xy": 0.0070762952820569705,
+            "object_to_gripper_z": -0.0022790738035929348,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2497974875641366,
+              0.2504849320301784,
+              1.0483390951355187
+            ],
+            "finger_b": [
+              0.23775011508756777,
+              0.2748526141961118,
+              1.0483390951355187
+            ],
+            "finger_midpoint": [
+              0.2437738013258522,
+              0.26266877311314507,
+              1.0483390951355187
+            ],
+            "object_minus_finger_midpoint": [
+              0.00602368623828442,
+              0.012183841082966718,
+              0.0
+            ],
+            "finger_gap": 0.027183140321330356,
+            "fingertip_max_gap": 0.09204667228511526,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013591570160665202,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483390951355187,
+            "object_top_z": 1.0946006068767828,
+            "finger_top_clearance": 0.04626151174126414,
+            "fingertip_min_top_clearance": 0.013878453522379208,
+            "object_projection_between_fingers": 0.8035801288295983,
+            "object_to_finger_line_xy": 0.010799581651472556,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852333614255763,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.727255899584522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2496410377473898,
+              0.2739341322203457,
+              1.240084437473849
+            ],
+            "held_position": [
+              0.2550746381289066,
+              0.2784116814759987,
+              1.2376986169051023
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007434016426473211,
+            "max_held_gripper_dist": 0.007437383289292194,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023858205687468104,
+            "max_held_gripper_z_dist": 0.0024727887864215425,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749738867757684,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2550746381289066,
+              0.2530136684708513,
+              1.2376986169051023
+            ],
+            "held_grasp_finger_b": [
+              0.2450664847818285,
+              0.2784116814759987,
+              1.2376986169051023
+            ],
+            "held_grasp_midpoint": [
+              0.25007056145536755,
+              0.265712674973425,
+              1.2376986169051023
+            ],
+            "held_grasp_object_position": [
+              0.2550746381289066,
+              0.2784116814759987,
+              1.2376986169051023
+            ],
+            "held_grasp_finger_gap": 0.027298758177401874,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02447820084661244,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0825389992758729,
+              -0.9963087979894869,
+              0.02358161672322511
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003950576568779236,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.03213562782476262,
+            "held_grasp_min_top_clearance": 0.013560237362980843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3411731668488343,
+              0.1190371994609266,
+              0.7625844304009937
+            ],
+            "target_position": [
+              0.3439220022876368,
+              0.11486109442364399,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004999594938795911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17073392081337893,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625844304009937,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536967302292366,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524455960401416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14005811286960632,
+            "release_required_pad_clearance": 0.05262227980200708,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29600221940920357,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "937d8c9b3133c98eed109ea4f3cb51d9f526bf2b969c1fabfafed6f705fb478f",
+    "visual_seed": 4267318231646377283,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_70_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f601fc12015466f7805c5da5b3502f6d79a65aea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_70_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2485730197369313,
+              0.2707215660077177,
+              1.0464968289746799
+            ],
+            "current_z": 1.0464968289746799,
+            "required_z": 0.8565865832680207,
+            "initial_z": 0.7565865832680208,
+            "lift_margin": 0.18991024570665915,
+            "gripper_z": 1.0490684452123908,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24331899133783128,
+              0.26578375214370903,
+              1.0490684452123908
+            ],
+            "object_minus_gripper": [
+              0.005254028399100025,
+              0.0049378138640086555,
+              -0.002571616237710961
+            ],
+            "object_to_gripper_xy": 0.007210188636516084,
+            "object_to_gripper_z": -0.002571616237710961,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2485730197369313,
+              0.2461308604033558,
+              1.0464968289746799
+            ],
+            "finger_b": [
+              0.23664133283477295,
+              0.2707215660077177,
+              1.0464968289746799
+            ],
+            "finger_midpoint": [
+              0.24260717628585213,
+              0.2584262132055367,
+              1.0464968289746799
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059658434510791725,
+              0.01229535280218097,
+              0.0
+            ],
+            "finger_gap": 0.027332543870842538,
+            "fingertip_max_gap": 0.09231621716233768,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013666271935421295,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464968289746799,
+            "object_top_z": 1.0928622946604278,
+            "finger_top_clearance": 0.04636546568574795,
+            "fingertip_min_top_clearance": 0.013909639705724385,
+            "object_projection_between_fingers": 0.8094348024395507,
+            "object_to_finger_line_xy": 0.010734771024639073,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865810858116884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7857794583181245,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24801979837482255,
+              0.2700105480397078,
+              1.2390495017842118
+            ],
+            "held_position": [
+              0.25356529926607,
+              0.27456347991068636,
+              1.2363837548802123
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007654278235913654,
+            "max_held_gripper_dist": 0.007659606273540339,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026657469039994552,
+            "max_held_gripper_z_dist": 0.0027518820242178332,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08750500059308203,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25356529926607,
+              0.24916219824635527,
+              1.2363837548802123
+            ],
+            "held_grasp_finger_b": [
+              0.24330920892124638,
+              0.27456347991068636,
+              1.2363837548802123
+            ],
+            "held_grasp_midpoint": [
+              0.2484372540936582,
+              0.2618628390785208,
+              1.2363837548802123
+            ],
+            "held_grasp_object_position": [
+              0.25356529926607,
+              0.27456347991068636,
+              1.2363837548802123
+            ],
+            "held_grasp_finger_gap": 0.02739365801334074,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024622550516776098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06927722989509671,
+              -0.9973144024851488,
+              0.023762323408131336
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00424689788244471,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520077258348465,
+            "held_grasp_top_clearance": 0.03217898379645337,
+            "held_grasp_min_top_clearance": 0.013560231775045395
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34176373118740255,
+              0.11336625347762422,
+              0.7625858694854721
+            ],
+            "target_position": [
+              0.3431966516031773,
+              0.10885728851477394,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004731175958908681,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17125985785573114,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858694854721,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563442864248952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571124050525751,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13993137380120074,
+            "release_required_pad_clearance": 0.05285562025262876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7506850914660113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9faf3036d0c0f8b23c0629658de892f4ea80b85298c90a9dc489d413f996487a",
+    "visual_seed": 5982302054800726295,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_71_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25decfb142e3719e574f7a8e032267a4a7938e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_71_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24658981383976067,
+              0.26993973359006906,
+              1.0470890849774155
+            ],
+            "current_z": 1.0470890849774155,
+            "required_z": 0.8565866388058395,
+            "initial_z": 0.7565866388058395,
+            "lift_margin": 0.19050244617157597,
+            "gripper_z": 1.0498105336333048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24139020416749066,
+              0.26493913232354377,
+              1.0498105336333048
+            ],
+            "object_minus_gripper": [
+              0.005199609672270011,
+              0.005000601266525295,
+              -0.0027214486558893025
+            ],
+            "object_to_gripper_xy": 0.007214010935030404,
+            "object_to_gripper_z": -0.0027214486558893025,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24658981383976067,
+              0.2455037394422763,
+              1.0470890849774155
+            ],
+            "finger_b": [
+              0.23441888696291704,
+              0.26993973359006906,
+              1.0470890849774155
+            ],
+            "finger_midpoint": [
+              0.24050435040133886,
+              0.2577217365161727,
+              1.0470890849774155
+            ],
+            "object_minus_finger_midpoint": [
+              0.006085463438421812,
+              0.01221799707389637,
+              0.0
+            ],
+            "finger_gap": 0.027299254038021567,
+            "fingertip_max_gap": 0.09194608584254413,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013649627019010771,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470890849774155,
+            "object_top_z": 1.0932851901015839,
+            "finger_top_clearance": 0.046196105124168385,
+            "fingertip_min_top_clearance": 0.013858831537250515,
+            "object_projection_between_fingers": 0.8012323301755673,
+            "object_to_finger_line_xy": 0.010894389184464273,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048473042921272066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6750379403597659,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24623274094892758,
+              0.269099518157094,
+              1.2414532903142075
+            ],
+            "held_position": [
+              0.2517934448729371,
+              0.2736510147489118,
+              1.238653352490915
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007712146340035839,
+            "max_held_gripper_dist": 0.007716953670013884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027999378232925753,
+            "max_held_gripper_z_dist": 0.002883401077237391,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08688620849056705,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2517934448729371,
+              0.2482140512959084,
+              1.238653352490915
+            ],
+            "held_grasp_finger_b": [
+              0.24153796000759067,
+              0.2736510147489118,
+              1.238653352490915
+            ],
+            "held_grasp_midpoint": [
+              0.24666570244026387,
+              0.2609325330224101,
+              1.238653352490915
+            ],
+            "held_grasp_object_position": [
+              0.2517934448729371,
+              0.2736510147489118,
+              1.238653352490915
+            ],
+            "held_grasp_finger_gap": 0.027426521462496474,
+            "held_grasp_max_gap": 0.12496621668338775,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024515408638883306,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08109386939925066,
+              -0.9964658570984786,
+              0.02189931466625716
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004089271504006121,
+            "held_grasp_line_xy_max_dist": 0.04748310834169388,
+            "held_grasp_object_top_z": 0.04520091414451599,
+            "held_grasp_top_clearance": 0.03211155287477794,
+            "held_grasp_min_top_clearance": 0.013560274243354797
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3425325933761404,
+              0.11301984239157768,
+              0.7625851119933841
+            ],
+            "target_position": [
+              0.344807233000729,
+              0.10876200137977804,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004827338345663342,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17049841003460742,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851119933841,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552243992127353,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562150530217404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13945000288655918,
+            "release_required_pad_clearance": 0.05281075265108702,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6596552486177587,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d740250f7c39ed56acb13a57274a9a99350da90d77721d9355d73e25bb9eb4b2",
+    "visual_seed": 542526773096288957,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_72_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7088ba74242f8bf62970e62aad7a28ed1267258
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_72_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.25011243913247133,
+              0.2647439091336117,
+              1.0478474498014225
+            ],
+            "current_z": 1.0478474498014225,
+            "required_z": 0.8565866302496297,
+            "initial_z": 0.7565866302496297,
+            "lift_margin": 0.19126081955179286,
+            "gripper_z": 1.0505949353434412,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2448013474199297,
+              0.2597560029923803,
+              1.0505949353434412
+            ],
+            "object_minus_gripper": [
+              0.005311091712541627,
+              0.004987906141231402,
+              -0.002747485542018646
+            ],
+            "object_to_gripper_xy": 0.007286075957109031,
+            "object_to_gripper_z": -0.002747485542018646,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25011243913247133,
+              0.2401365943320178,
+              1.0478474498014225
+            ],
+            "finger_b": [
+              0.23807786398130565,
+              0.2647439091336117,
+              1.0478474498014225
+            ],
+            "finger_midpoint": [
+              0.2440951515568885,
+              0.25244025173281476,
+              1.0478474498014225
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060172875755828414,
+              0.012303657400796919,
+              0.0
+            ],
+            "finger_gap": 0.027392534399244533,
+            "fingertip_max_gap": 0.09212697463576411,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013696267199622254,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478474498014225,
+            "object_top_z": 1.094006131373677,
+            "finger_top_clearance": 0.046158681572254556,
+            "fingertip_min_top_clearance": 0.013847604471676333,
+            "object_projection_between_fingers": 0.8069823182843249,
+            "object_to_finger_line_xy": 0.010810922966526982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048563487317882056,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7384339057658443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2496008631240624,
+              0.2640235083743271,
+              1.2413427310260468
+            ],
+            "held_position": [
+              0.2552182380456397,
+              0.26860940241995324,
+              1.238503433696678
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007787614174561759,
+            "max_held_gripper_dist": 0.007794843342988548,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028392973293687174,
+            "max_held_gripper_z_dist": 0.0029218105280723883,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868932796340863,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2552182380456397,
+              0.2431689025233865,
+              1.238503433696678
+            ],
+            "held_grasp_finger_b": [
+              0.24489357050518684,
+              0.26860940241995324,
+              1.238503433696678
+            ],
+            "held_grasp_midpoint": [
+              0.25005590427541324,
+              0.2558891524716699,
+              1.238503433696678
+            ],
+            "held_grasp_object_position": [
+              0.2552182380456397,
+              0.26860940241995324,
+              1.238503433696678
+            ],
+            "held_grasp_finger_gap": 0.027455742474172744,
+            "held_grasp_max_gap": 0.12496589630842209,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459226306043215,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07469769412836155,
+              -0.9969730163112394,
+              0.021565232184583838
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004206963416617545,
+            "held_grasp_line_xy_max_dist": 0.047482948154211044,
+            "held_grasp_object_top_z": 0.045200686901807785,
+            "held_grasp_top_clearance": 0.03213332651367794,
+            "held_grasp_min_top_clearance": 0.013560206070542336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34135657723820384,
+              0.11398398390103562,
+              0.7625852210473687
+            ],
+            "target_position": [
+              0.34295476823781207,
+              0.10961075943084728,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046561042447396785,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1722850213569952,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852210473687,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529434973432417,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516009272850432,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14175537283203446,
+            "release_required_pad_clearance": 0.05258004636425216,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22026239863491387,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fd0041a4517db9087c3ba2ba7fc997bd05f139f68a3aef0f161ecff64b59da2c",
+    "visual_seed": 1694685135398756360,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_73_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0ea6347d4d7717868a2058ff148f1d2309750fa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_73_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2472977050286785,
+              0.2760347354186247,
+              1.0479959511987231
+            ],
+            "current_z": 1.0479959511987231,
+            "required_z": 0.8565865745925489,
+            "initial_z": 0.756586574592549,
+            "lift_margin": 0.1914093766061742,
+            "gripper_z": 1.0504645026997936,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24213045980074444,
+              0.2711530473106112,
+              1.0504645026997936
+            ],
+            "object_minus_gripper": [
+              0.005167245227934075,
+              0.004881688108013538,
+              -0.002468551501070504
+            ],
+            "object_to_gripper_xy": 0.007108537263708214,
+            "object_to_gripper_z": -0.002468551501070504,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2472977050286785,
+              0.2514919933359664,
+              1.0479959511987231
+            ],
+            "finger_b": [
+              0.23546474045074353,
+              0.2760347354186247,
+              1.0479959511987231
+            ],
+            "finger_midpoint": [
+              0.24138122273971102,
+              0.26376336437729553,
+              1.0479959511987231
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059164822889674895,
+              0.012271371041329193,
+              0.0
+            ],
+            "finger_gap": 0.02724638030341924,
+            "fingertip_max_gap": 0.09227622879079916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013623190151709647,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479959511987231,
+            "object_top_z": 1.0943572190934634,
+            "finger_top_clearance": 0.046361267894740266,
+            "fingertip_min_top_clearance": 0.013908380368422079,
+            "object_projection_between_fingers": 0.8113879217043658,
+            "object_to_finger_line_xy": 0.010658788230781794,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048638114395399584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7669000600262412,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24686396027102733,
+              0.275523015384955,
+              1.2388855487728672
+            ],
+            "held_position": [
+              0.25230847888920005,
+              0.28003292994123224,
+              1.2363116342091964
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007523772223401441,
+            "max_held_gripper_dist": 0.007527224033798284,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025739145636707317,
+            "max_held_gripper_z_dist": 0.0026610098014199224,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665812041842072,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25230847888920005,
+              0.25469019414247973,
+              1.2363116342091964
+            ],
+            "held_grasp_finger_b": [
+              0.24215964120859435,
+              0.28003292994123224,
+              1.2363116342091964
+            ],
+            "held_grasp_midpoint": [
+              0.2472340600488972,
+              0.267361562041856,
+              1.2363116342091964
+            ],
+            "held_grasp_object_position": [
+              0.25230847888920005,
+              0.28003292994123224,
+              1.2363116342091964
+            ],
+            "held_grasp_finger_gap": 0.027299325340247045,
+            "held_grasp_max_gap": 0.12496591866016388,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459492730274057,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0673126207359302,
+              -0.9974484351326428,
+              0.02378298427664216
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004221029926266535,
+            "held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.03222011564163535,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3431605747810452,
+              0.11576687436498417,
+              0.7625849485764605
+            ],
+            "target_position": [
+              0.343725036977436,
+              0.11185388421750762,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003953493324314948,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17379537803371906,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625849485764605,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075204668919321,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560904254329914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14342343593655302,
+            "release_required_pad_clearance": 0.05280452127164957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6452453357516507,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2e378468dc6d416e7189c99044f8bf2b62ab15cb393c9be2c20273479de6221",
+    "visual_seed": 5605089035142977436,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_74_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3316dcef722e3df2565d0e959b22c84a10eced86
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_74_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24946872942110804,
+              0.27038338431519837,
+              1.0475045308887385
+            ],
+            "current_z": 1.0475045308887385,
+            "required_z": 0.8565867980619603,
+            "initial_z": 0.7565867980619603,
+            "lift_margin": 0.19091773282677826,
+            "gripper_z": 1.050126599472577,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24416536566048985,
+              0.2654921524344366,
+              1.050126599472577
+            ],
+            "object_minus_gripper": [
+              0.005303363760618185,
+              0.004891231880761793,
+              -0.0026220685838385105
+            ],
+            "object_to_gripper_xy": 0.007214555876061866,
+            "object_to_gripper_z": -0.0026220685838385105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24946872942110804,
+              0.2456757319730614,
+              1.0475045308887385
+            ],
+            "finger_b": [
+              0.237710309915026,
+              0.27038338431519837,
+              1.0475045308887385
+            ],
+            "finger_midpoint": [
+              0.24358951966806702,
+              0.25802955814412987,
+              1.0475045308887385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005879209753041015,
+              0.012353826171068505,
+              0.0
+            ],
+            "finger_gap": 0.02736290396761494,
+            "fingertip_max_gap": 0.09392311107515677,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013681451983807482,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475045308887385,
+            "object_top_z": 1.0946761645229945,
+            "finger_top_clearance": 0.04717163363425603,
+            "fingertip_min_top_clearance": 0.014151490090276775,
+            "object_projection_between_fingers": 0.8153397035366752,
+            "object_to_finger_line_xy": 0.010617401632265402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946155553757839,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2786696611782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24872598081502612,
+              0.27000190874684016,
+              1.238479070667466
+            ],
+            "held_position": [
+              0.2542532922921562,
+              0.27457255975314787,
+              1.2357463056728968
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007675286789574613,
+            "max_held_gripper_dist": 0.007676910284704797,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027327649945692034,
+            "max_held_gripper_z_dist": 0.002818403888530163,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673035651361821,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2542532922921562,
+              0.24922959609609718,
+              1.2357463056728968
+            ],
+            "held_grasp_finger_b": [
+              0.24394150573275525,
+              0.27457255975314787,
+              1.2357463056728968
+            ],
+            "held_grasp_midpoint": [
+              0.24909739901245573,
+              0.2619010779246225,
+              1.2357463056728968
+            ],
+            "held_grasp_object_position": [
+              0.2542532922921562,
+              0.27457255975314787,
+              1.2357463056728968
+            ],
+            "held_grasp_finger_gap": 0.0273605326879656,
+            "held_grasp_max_gap": 0.12496584415435791,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02479331453163228,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04904530615812689,
+              -0.9982675902799113,
+              0.032501940566599385
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045472750093349746,
+            "held_grasp_line_xy_max_dist": 0.047482922077178955,
+            "held_grasp_object_top_z": 0.04520071670413017,
+            "held_grasp_top_clearance": 0.032298314709470956,
+            "held_grasp_min_top_clearance": 0.013560215011239052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3400960582963226,
+              0.11228299707204836,
+              0.762583720688617
+            ],
+            "target_position": [
+              0.34343120315756653,
+              0.10828934696824243,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005203117565182523,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1706208592930454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762583720688617,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528611510947211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604220386319882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14006092215517016,
+            "release_required_pad_clearance": 0.05302110193159941,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0601197727783216,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d505c82b938623a773abd96c325ac7f47fba2bb0e5daa9714b9c34b8a5a0bd1a",
+    "visual_seed": 8442551279370937476,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_75_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d6d9057ac0dc8514eb16123279fd8574384589
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_75_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2511098623373116,
+              0.26935040062122295,
+              1.0452301247537203
+            ],
+            "current_z": 1.0452301247537203,
+            "required_z": 0.8565866208608793,
+            "initial_z": 0.7565866208608794,
+            "lift_margin": 0.188643503892841,
+            "gripper_z": 1.047689210579355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24594843343013517,
+              0.26440335642656654,
+              1.047689210579355
+            ],
+            "object_minus_gripper": [
+              0.005161428907176413,
+              0.004947044194656414,
+              -0.0024590858256345882
+            ],
+            "object_to_gripper_xy": 0.007149377219570948,
+            "object_to_gripper_z": -0.0024590858256345882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2511098623373116,
+              0.24489833924733315,
+              1.0452301247537203
+            ],
+            "finger_b": [
+              0.23907237288275993,
+              0.26935040062122295,
+              1.0452301247537203
+            ],
+            "finger_midpoint": [
+              0.24509111761003577,
+              0.25712436993427806,
+              1.0452301247537203
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060187447272758154,
+              0.012226030686944889,
+              0.0
+            ],
+            "finger_gap": 0.027254439231085205,
+            "fingertip_max_gap": 0.09149316535167229,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013627219615542583,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452301247537203,
+            "object_top_z": 1.0912062663607707,
+            "finger_top_clearance": 0.045976141607050325,
+            "fingertip_min_top_clearance": 0.013792842482115113,
+            "object_projection_between_fingers": 0.804926921416944,
+            "object_to_finger_line_xy": 0.010799761038360889,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824658267583615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4953475720003622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2507204081688944,
+              0.2686452026151586,
+              1.2372595459967457
+            ],
+            "held_position": [
+              0.25621138998573945,
+              0.2731719814947487,
+              1.2347037714776412
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007561388214483466,
+            "max_held_gripper_dist": 0.007566908558568077,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025557745191044923,
+            "max_held_gripper_z_dist": 0.0026397893368714787,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08684852967331819,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25621138998573945,
+              0.24778451956039768,
+              1.2347037714776412
+            ],
+            "held_grasp_finger_b": [
+              0.24604054804697922,
+              0.2731719814947487,
+              1.2347037714776412
+            ],
+            "held_grasp_midpoint": [
+              0.2511259690163593,
+              0.2604782505275732,
+              1.2347037714776412
+            ],
+            "held_grasp_object_position": [
+              0.25621138998573945,
+              0.2731719814947487,
+              1.2347037714776412
+            ],
+            "held_grasp_finger_gap": 0.027349026476482952,
+            "held_grasp_max_gap": 0.1249658516049385,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024545094226066072,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07527262359837227,
+              -0.9969756034869239,
+              0.019330757577029845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004123032664514256,
+            "held_grasp_line_xy_max_dist": 0.04748292580246925,
+            "held_grasp_object_top_z": 0.04520066827535629,
+            "held_grasp_top_clearance": 0.03216253520538842,
+            "held_grasp_min_top_clearance": 0.013560200482606888
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.336913074098279,
+              0.11302158579482033,
+              0.7625858372556613
+            ],
+            "target_position": [
+              0.3381574668300285,
+              0.10856300287126514,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00462898206488738,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1734099111420546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858372556613,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755412522308812,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543079847774625,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14213416083972322,
+            "release_required_pad_clearance": 0.052715399238873126,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48132146457408725,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d382bca90c8f227ead38b1cf4314ee62a716d97f4a1e99e14a3141197e62296c",
+    "visual_seed": 249962010005460338,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_76_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34a6d5fe996c7901edbdd24ca2f8f90aa5e06b75
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_76_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24921060448468957,
+              0.275521170363402,
+              1.045434322342315
+            ],
+            "current_z": 1.045434322342315,
+            "required_z": 0.8565866426373138,
+            "initial_z": 0.7565866426373138,
+            "lift_margin": 0.18884767970500127,
+            "gripper_z": 1.0480227278239738,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2439645640904486,
+              0.27053442163740277,
+              1.0480227278239738
+            ],
+            "object_minus_gripper": [
+              0.0052460403942409806,
+              0.004986748725999246,
+              -0.0025884054816587287
+            ],
+            "object_to_gripper_xy": 0.007237997145223474,
+            "object_to_gripper_z": -0.0025884054816587287,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24921060448468957,
+              0.25101815562659247,
+              1.045434322342315
+            ],
+            "finger_b": [
+              0.23710192200900698,
+              0.275521170363402,
+              1.045434322342315
+            ],
+            "finger_midpoint": [
+              0.24315626324684828,
+              0.2632696629949972,
+              1.045434322342315
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054341237841293,
+              0.012251507368404801,
+              0.0
+            ],
+            "finger_gap": 0.027331628610260464,
+            "fingertip_max_gap": 0.09238036175450978,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013665814305130258,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045434322342315,
+            "object_top_z": 1.0918372196953592,
+            "finger_top_clearance": 0.04640289735304415,
+            "fingertip_min_top_clearance": 0.01392086920591321,
+            "object_projection_between_fingers": 0.8037260059191944,
+            "object_to_finger_line_xy": 0.010855526737020537,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869018087725489,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7977226554966154,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24869064666893198,
+              0.2746073500136307,
+              1.2366873103954321
+            ],
+            "held_position": [
+              0.25427576112359807,
+              0.27917108318915185,
+              1.2339940717679645
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007699006317282525,
+            "max_held_gripper_dist": 0.007700348918830986,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00269323862746762,
+            "max_held_gripper_z_dist": 0.0027825186869836482,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08743992577459841,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25427576112359807,
+              0.2537294948451967,
+              1.2339940717679645
+            ],
+            "held_grasp_finger_b": [
+              0.24404709933977942,
+              0.27917108318915185,
+              1.2339940717679645
+            ],
+            "held_grasp_midpoint": [
+              0.24916143023168874,
+              0.26645028901717427,
+              1.2339940717679645
+            ],
+            "held_grasp_object_position": [
+              0.25427576112359807,
+              0.27917108318915185,
+              1.2339940717679645
+            ],
+            "held_grasp_finger_gap": 0.02742079392269719,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024565362010874146,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07748737899843298,
+              -0.996712699708022,
+              0.023653759462284873
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041245867238511,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.032125469583435644,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3362397944210218,
+              0.11352796931840758,
+              0.7625852677336258
+            ],
+            "target_position": [
+              0.3383303663595593,
+              0.10880259267919362,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00516717286459719,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17159842466034958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625852677336258,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754003302366896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509098081731435,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14084398531292192,
+            "release_required_pad_clearance": 0.05254549040865718,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.15318006127281902,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d910919a67dc1d4019f314d8aa840a6f30e587d44a877f4b75cbdaa39cb0e93",
+    "visual_seed": 5964911358003891162,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_77_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ec146e17f391c260d8f17704c5819dfebe2c5c2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_77_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24676989597702406,
+              0.2714847714582322,
+              1.0445978679903871
+            ],
+            "current_z": 1.0445978679903871,
+            "required_z": 0.8565865482860322,
+            "initial_z": 0.7565865482860322,
+            "lift_margin": 0.18801131970435492,
+            "gripper_z": 1.0475880700797826,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24134582688639095,
+              0.266439524694225,
+              1.0475880700797826
+            ],
+            "object_minus_gripper": [
+              0.005424069090633116,
+              0.005045246764007194,
+              -0.0029902020893954884
+            ],
+            "object_to_gripper_xy": 0.00740776892253576,
+            "object_to_gripper_z": -0.0029902020893954884,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24676989597702406,
+              0.24683427408216646,
+              1.0445978679903871
+            ],
+            "finger_b": [
+              0.23460595692645214,
+              0.2714847714582322,
+              1.0445978679903871
+            ],
+            "finger_midpoint": [
+              0.2406879264517381,
+              0.2591595227701993,
+              1.0445978679903871
+            ],
+            "object_minus_finger_midpoint": [
+              0.006081969525285974,
+              0.012325248688032864,
+              0.0
+            ],
+            "finger_gap": 0.027488332690679,
+            "fingertip_max_gap": 0.09195030666754045,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013744166345339506,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445978679903871,
+            "object_top_z": 1.0907764961187107,
+            "finger_top_clearance": 0.04617862812832363,
+            "fingertip_min_top_clearance": 0.013853588438497105,
+            "object_projection_between_fingers": 0.8041824223420292,
+            "object_to_finger_line_xy": 0.0109081606011856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847515333377023,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6085081730204586,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24593287587104198,
+              0.2710239355911609,
+              1.2362141610378081
+            ],
+            "held_position": [
+              0.2516457091456401,
+              0.27567434689547576,
+              1.2331235646515857
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00798840255277526,
+            "max_held_gripper_dist": 0.00799099701007052,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003090596386222444,
+            "max_held_gripper_z_dist": 0.003177708937104562,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665225780898655,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2516457091456401,
+              0.25023106978775184,
+              1.2331235646515857
+            ],
+            "held_grasp_finger_b": [
+              0.24114862160872566,
+              0.27567434689547576,
+              1.2331235646515857
+            ],
+            "held_grasp_midpoint": [
+              0.24639716537718287,
+              0.2629527083416138,
+              1.2331235646515857
+            ],
+            "held_grasp_object_position": [
+              0.2516457091456401,
+              0.27567434689547576,
+              1.2331235646515857
+            ],
+            "held_grasp_finger_gap": 0.027523611622352055,
+            "held_grasp_max_gap": 0.12496607512235641,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024732759486959237,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06242943742852933,
+              -0.9978308473800986,
+              0.020884572274093793
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004452240520330782,
+            "held_grasp_line_xy_max_dist": 0.04748303756117821,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03217902086695386,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34592162966117124,
+              0.11082375874827088,
+              0.7625862098589218
+            ],
+            "target_position": [
+              0.34236346147594654,
+              0.10681560485637878,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00535965096395605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17868026905173645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625862098589218,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559098942098028,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528203881177097,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14693729370832923,
+            "release_required_pad_clearance": 0.05264101940588549,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3380318958048489,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc9a3c0bac7e46be4f0e67344556acf15ad773ed3c5c67cd41c5405f82399c74",
+    "visual_seed": 4563384992919206454,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_78_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5b2bd176bd106acd3acd0910ba9ac207bd84992
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_78_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2435008490360165,
+              0.26707230339598864,
+              1.045322275244311
+            ],
+            "current_z": 1.045322275244311,
+            "required_z": 0.8565866225151689,
+            "initial_z": 0.756586622515169,
+            "lift_margin": 0.18873565272914206,
+            "gripper_z": 1.0482807612185017,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.238273418781953,
+              0.2620743861609356,
+              1.0482807612185017
+            ],
+            "object_minus_gripper": [
+              0.005227430254063498,
+              0.004997917235053051,
+              -0.0029584859741906833
+            ],
+            "object_to_gripper_xy": 0.00723223366253737,
+            "object_to_gripper_z": -0.0029584859741906833,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2435008490360165,
+              0.24259730279360256,
+              1.045322275244311
+            ],
+            "finger_b": [
+              0.23135956997801363,
+              0.26707230339598864,
+              1.045322275244311
+            ],
+            "finger_midpoint": [
+              0.23743020950701504,
+              0.2548348030947956,
+              1.045322275244311
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060706395290014425,
+              0.012237500301193027,
+              0.0
+            ],
+            "finger_gap": 0.027320986652225755,
+            "fingertip_max_gap": 0.09189137096396055,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01366049332611287,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045322275244311,
+            "object_top_z": 1.0914917911761906,
+            "finger_top_clearance": 0.04616951593187957,
+            "fingertip_min_top_clearance": 0.013850854779563854,
+            "object_projection_between_fingers": 0.80251408611375,
+            "object_to_finger_line_xy": 0.010876540296327432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844568548198028,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6360302533638889,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2429189281943711,
+              0.2663379052265113,
+              1.2356490009143488
+            ],
+            "held_position": [
+              0.24846362114766934,
+              0.27090096706402733,
+              1.2325664736423942
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007814545902462538,
+            "max_held_gripper_dist": 0.00781909414710906,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030825272719545715,
+            "max_held_gripper_z_dist": 0.0031621552263529917,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08726111202084685,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24846362114766934,
+              0.24549744907098314,
+              1.2325664736423942
+            ],
+            "held_grasp_finger_b": [
+              0.23827044585549972,
+              0.27090096706402733,
+              1.2325664736423942
+            ],
+            "held_grasp_midpoint": [
+              0.24336703350158453,
+              0.25819920806750524,
+              1.2325664736423942
+            ],
+            "held_grasp_object_position": [
+              0.24846362114766934,
+              0.27090096706402733,
+              1.2325664736423942
+            ],
+            "held_grasp_finger_gap": 0.027372240481184897,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02454297583265623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07648967306992996,
+              -0.9968166017491137,
+              0.02249427462721176
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004120327077504415,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.045200690627098083,
+            "held_grasp_top_clearance": 0.03214953006512743,
+            "held_grasp_min_top_clearance": 0.013560207188129425
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3373871104053079,
+              0.11147159690950009,
+              0.7625832132235867
+            ],
+            "target_position": [
+              0.339164177033264,
+              0.10669744367650687,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0050941638069750975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17043818832214364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625832132235867,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548456787627227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850501302175911,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13960198770892696,
+            "release_required_pad_clearance": 0.05252506510879555,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10412238067918436,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa4eea3d2e8128e7b291961d5f196b06d06b19a302aaef7be231f68fe50bc49b",
+    "visual_seed": 8727975366436271945,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_79_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a3e587dbf621c4de4b067c223d1a5adb3c876d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_79_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24711870884221754,
+              0.2665363248332959,
+              1.048153325762495
+            ],
+            "current_z": 1.048153325762495,
+            "required_z": 0.8565865866439927,
+            "initial_z": 0.7565865866439927,
+            "lift_margin": 0.19156673911850242,
+            "gripper_z": 1.0509592928129994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2417845141046965,
+              0.2616488457255768,
+              1.0509592928129994
+            ],
+            "object_minus_gripper": [
+              0.005334194737521031,
+              0.004887479107719139,
+              -0.0028059670505042877
+            ],
+            "object_to_gripper_xy": 0.007234713921516741,
+            "object_to_gripper_z": -0.0028059670505042877,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24711870884221754,
+              0.24177891657985556,
+              1.048153325762495
+            ],
+            "finger_b": [
+              0.23540064661018484,
+              0.2665363248332959,
+              1.048153325762495
+            ],
+            "finger_midpoint": [
+              0.2412596777262012,
+              0.25415762070657577,
+              1.048153325762495
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585903111601635,
+              0.012378704126720153,
+              0.0
+            ],
+            "finger_gap": 0.027390550303002456,
+            "fingertip_max_gap": 0.09240758542616151,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013695275151501204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048153325762495,
+            "object_top_z": 1.0945569888664881,
+            "finger_top_clearance": 0.04640366310399302,
+            "fingertip_min_top_clearance": 0.013921098931197872,
+            "object_projection_between_fingers": 0.8169751393980362,
+            "object_to_finger_line_xy": 0.010591567069970609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870379271308076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7442254331368146,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24641612346008143,
+              0.2660736833476278,
+              1.239266984674344
+            ],
+            "held_position": [
+              0.25197325521728564,
+              0.2706397245541321,
+              1.2363539490620654
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007759911220163933,
+            "max_held_gripper_dist": 0.007762937957054083,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002913035612278625,
+            "max_held_gripper_z_dist": 0.002994370474258101,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673672395176013,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25197325521728564,
+              0.24526626483470257,
+              1.2363539490620654
+            ],
+            "held_grasp_finger_b": [
+              0.24167691869577154,
+              0.2706397245541321,
+              1.2363539490620654
+            ],
+            "held_grasp_midpoint": [
+              0.2468250869565286,
+              0.25795299469441735,
+              1.2363539490620654
+            ],
+            "held_grasp_object_position": [
+              0.25197325521728564,
+              0.2706397245541321,
+              1.2363539490620654
+            ],
+            "held_grasp_finger_gap": 0.027382969230851827,
+            "held_grasp_max_gap": 0.12496597081422806,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024752246434655043,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05580934135290664,
+              -0.9981641634339192,
+              0.023529136278641727
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004442375096913785,
+            "held_grasp_line_xy_max_dist": 0.04748298540711403,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.03224998407893086,
+            "held_grasp_min_top_clearance": 0.013560221716761588
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3430853907946663,
+              0.1163471480033151,
+              0.7625848933983148
+            ],
+            "target_position": [
+              0.3433249196408941,
+              0.11212388046617285,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004230054699227279,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17581538668687505,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848933983148,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513921044557205,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577375077507664,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14553002975485335,
+            "release_required_pad_clearance": 0.05288687538753832,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.807924096497645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e9e9ba8d8b89d5af48e02f4ebe25e02f1e21d453e37d6534e266f4df1d2373c",
+    "visual_seed": 5693701751468119766,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_7_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..adbf357ba156257ee26139ae610b52acfa73c77e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_7_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2511042637691464,
+              0.2681768104728102,
+              1.0480381554732179
+            ],
+            "current_z": 1.0480381554732179,
+            "required_z": 0.856586706811984,
+            "initial_z": 0.756586706811984,
+            "lift_margin": 0.19145144866123387,
+            "gripper_z": 1.0505101343394492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.245913992141308,
+              0.2633107575595748,
+              1.0505101343394492
+            ],
+            "object_minus_gripper": [
+              0.0051902716278384164,
+              0.004866052913235441,
+              -0.0024719788662312947
+            ],
+            "object_to_gripper_xy": 0.00711458997589823,
+            "object_to_gripper_z": -0.0024719788662312947,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2511042637691464,
+              0.24357604516589493,
+              1.0480381554732179
+            ],
+            "finger_b": [
+              0.23934801806265318,
+              0.2681768104728102,
+              1.0480381554732179
+            ],
+            "finger_midpoint": [
+              0.24522614091589978,
+              0.2558764278193526,
+              1.0480381554732179
+            ],
+            "object_minus_finger_midpoint": [
+              0.005878122853246626,
+              0.01230038265345762,
+              0.0
+            ],
+            "finger_gap": 0.027265490400822934,
+            "fingertip_max_gap": 0.09213904936563769,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013632745200411448,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480381554732179,
+            "object_top_z": 1.094222683433314,
+            "finger_top_clearance": 0.04618452796009609,
+            "fingertip_min_top_clearance": 0.013855358388028826,
+            "object_projection_between_fingers": 0.8140866049361192,
+            "object_to_finger_line_xy": 0.010607278184409302,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048569524682818846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7141501433143722,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.250659773644341,
+              0.26747856891662564,
+              1.240431358157296
+            ],
+            "held_position": [
+              0.25612039484751936,
+              0.27198424392064563,
+              1.2378640546008721
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007530639993870302,
+            "max_held_gripper_dist": 0.007533714251911471,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025673035564239832,
+            "max_held_gripper_z_dist": 0.0026498835599941817,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874802901295107,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25612039484751936,
+              0.24662598208657144,
+              1.2378640546008721
+            ],
+            "held_grasp_finger_b": [
+              0.245958984169986,
+              0.27198424392064563,
+              1.2378640546008721
+            ],
+            "held_grasp_midpoint": [
+              0.25103968950875266,
+              0.25930511300360853,
+              1.2378640546008721
+            ],
+            "held_grasp_object_position": [
+              0.25612039484751936,
+              0.27198424392064563,
+              1.2378640546008721
+            ],
+            "held_grasp_finger_gap": 0.027318413391025347,
+            "held_grasp_max_gap": 0.12496569514274597,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02460329867365817,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06794505369276432,
+              -0.9974546533686288,
+              0.02162600638018719
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004216648481144328,
+            "held_grasp_line_xy_max_dist": 0.047482847571372985,
+            "held_grasp_object_top_z": 0.045200567692518234,
+            "held_grasp_top_clearance": 0.032208500761609915,
+            "held_grasp_min_top_clearance": 0.01356017030775547
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34301696603833987,
+              0.11096056387524617,
+              0.762587551540824
+            ],
+            "target_position": [
+              0.34109937776634536,
+              0.10724501629545631,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004181200616877063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17550528322682418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762587551540824,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559849102814988,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624427302053327,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14386428477288338,
+            "release_required_pad_clearance": 0.053122136510266635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2666915376455734,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c479614e978b2ffe6bc0e8ad64a41efcdca6d3e13e7b3ad06e44e2795a66dfe0",
+    "visual_seed": 4321273407423830361,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_80_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecd27cc69b355021a6ec7b8b7584b85d4ae4bc6c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_80_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24364323447296876,
+              0.2715999727082393,
+              1.0449320816721175
+            ],
+            "current_z": 1.0449320816721175,
+            "required_z": 0.8565866660969143,
+            "initial_z": 0.7565866660969143,
+            "lift_margin": 0.18834541557520323,
+            "gripper_z": 1.0476583235084171,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23832920865354368,
+              0.2666391266797362,
+              1.0476583235084171
+            ],
+            "object_minus_gripper": [
+              0.005314025819425083,
+              0.0049608460285031075,
+              -0.0027262418362996588
+            ],
+            "object_to_gripper_xy": 0.007269722396902888,
+            "object_to_gripper_z": -0.0027262418362996588,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24364323447296876,
+              0.24695821630108478,
+              1.0449320816721175
+            ],
+            "finger_b": [
+              0.23168935309682256,
+              0.2715999727082393,
+              1.0449320816721175
+            ],
+            "finger_midpoint": [
+              0.23766629378489568,
+              0.259279094504662,
+              1.0449320816721175
+            ],
+            "object_minus_finger_midpoint": [
+              0.005976940688073085,
+              0.012320878203577301,
+              0.0
+            ],
+            "finger_gap": 0.027388162384222075,
+            "fingertip_max_gap": 0.0911546534950819,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694081192111057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449320816721175,
+            "object_top_z": 1.0906106785062517,
+            "finger_top_clearance": 0.04567859683413422,
+            "fingertip_min_top_clearance": 0.013703579050240283,
+            "object_projection_between_fingers": 0.8095012653232926,
+            "object_to_finger_line_xy": 0.01075518060900319,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807732674754095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4141910975169965,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2429158384505783,
+              0.2710205460009191,
+              1.2362723635715192
+            ],
+            "held_position": [
+              0.248498498812771,
+              0.2756054365714646,
+              1.2334301947731854
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007763069092935876,
+            "max_held_gripper_dist": 0.00776632672297561,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028421687983337662,
+            "max_held_gripper_z_dist": 0.0029256333518916655,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668706950470106,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.248498498812771,
+              0.25020426722081235,
+              1.2334301947731854
+            ],
+            "held_grasp_finger_b": [
+              0.23820686985426862,
+              0.2756054365714646,
+              1.2334301947731854
+            ],
+            "held_grasp_midpoint": [
+              0.2433526843335198,
+              0.26290485189613844,
+              1.2334301947731854
+            ],
+            "held_grasp_object_position": [
+              0.248498498812771,
+              0.2756054365714646,
+              1.2334301947731854
+            ],
+            "held_grasp_finger_gap": 0.027406879264155543,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024640055917297964,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06792963012586024,
+              -0.9975588964447019,
+              0.016180651253655087
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004276259397373552,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.0452006496489048,
+            "held_grasp_top_clearance": 0.03218151514171216,
+            "held_grasp_min_top_clearance": 0.01356019489467144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33744202192818845,
+              0.11635105137057984,
+              0.7625863073705927
+            ],
+            "target_position": [
+              0.3375447840552428,
+              0.11158172682668074,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004770431496185127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1719484003468865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863073705927,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578787382644896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613449681786549,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14033439180257104,
+            "release_required_pad_clearance": 0.053067248408932746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1609419080079184,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f5b1e84ea9f70f5ff64c7a6f63c0dcf0ac232bf62fa973e6e15a73dfd118331",
+    "visual_seed": 6172132642955948490,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_81_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..918950421bdfb5af0dfcd194b8a7b20b48d66837
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_81_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2461090798734483,
+              0.27082348561667235,
+              1.047715861360685
+            ],
+            "current_z": 1.047715861360685,
+            "required_z": 0.8565865730802621,
+            "initial_z": 0.7565865730802621,
+            "lift_margin": 0.19112928828042286,
+            "gripper_z": 1.050693470739659,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2405716248648117,
+              0.2657752743579355,
+              1.050693470739659
+            ],
+            "object_minus_gripper": [
+              0.005537455008636588,
+              0.005048211258736834,
+              -0.0029776093789739555
+            ],
+            "object_to_gripper_xy": 0.007493186564173601,
+            "object_to_gripper_z": -0.0029776093789739555,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2461090798734483,
+              0.24600918583841383,
+              1.047715861360685
+            ],
+            "finger_b": [
+              0.23404608256928872,
+              0.27082348561667235,
+              1.047715861360685
+            ],
+            "finger_midpoint": [
+              0.24007758122136852,
+              0.2584163357275431,
+              1.047715861360685
+            ],
+            "object_minus_finger_midpoint": [
+              0.006031498652079775,
+              0.012407149889129276,
+              0.0
+            ],
+            "finger_gap": 0.02759103799144647,
+            "fingertip_max_gap": 0.0917886498348616,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013795518995723241,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047715861360685,
+            "object_top_z": 1.093818514426541,
+            "finger_top_clearance": 0.04610265306585615,
+            "fingertip_min_top_clearance": 0.013830795919756843,
+            "object_projection_between_fingers": 0.8088499644519958,
+            "object_to_finger_line_xy": 0.010848987682976523,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483943249174308,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5903395900418305,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2452499708020709,
+              0.27028357063272407,
+              1.2409821618214825
+            ],
+            "held_position": [
+              0.2510577524713571,
+              0.27496662410047396,
+              1.2379205151867134
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008064427928631613,
+            "max_held_gripper_dist": 0.008070780953448516,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003061646634769044,
+            "max_held_gripper_z_dist": 0.0031491914491323936,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683867905375173,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2510577524713571,
+              0.24946025246852488,
+              1.2379205151867134
+            ],
+            "held_grasp_finger_b": [
+              0.24046447727579043,
+              0.27496662410047396,
+              1.2379205151867134
+            ],
+            "held_grasp_midpoint": [
+              0.24576111487357377,
+              0.2622134382844994,
+              1.2379205151867134
+            ],
+            "held_grasp_object_position": [
+              0.2510577524713571,
+              0.27496662410047396,
+              1.2379205151867134
+            ],
+            "held_grasp_finger_gap": 0.027618697891032162,
+            "held_grasp_max_gap": 0.12496591120958328,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0248016578361502,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061489632025958,
+              -0.9979088675236361,
+              0.01992278271243031
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00450977267462104,
+            "held_grasp_line_xy_max_dist": 0.04748295560479164,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03214852981878147,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33953681215231,
+              0.11187771203246938,
+              0.7625851122232711
+            ],
+            "target_position": [
+              0.33930820744201545,
+              0.10724761675469725,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004635735367211614,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17397296424562073,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851122232711,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542528441797476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547917218362931,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1430628294676583,
+            "release_required_pad_clearance": 0.05273958609181466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5233693803778567,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12138f48e50b82abc68bda0ab4ae219370c45380af0bed4ac1e06aaaa2281386",
+    "visual_seed": 793230116692399099,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_82_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8250048e47020595bbb248d2fa376faa58048677
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_82_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24308404698390357,
+              0.2719697258482054,
+              1.0463319337047834
+            ],
+            "current_z": 1.0463319337047834,
+            "required_z": 0.8565866881292293,
+            "initial_z": 0.7565866881292294,
+            "lift_margin": 0.18974524557555406,
+            "gripper_z": 1.0494259062809232,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2373497970133455,
+              0.2668959636172426,
+              1.0494259062809232
+            ],
+            "object_minus_gripper": [
+              0.005734249970558075,
+              0.005073762230962786,
+              -0.0030939725761398584
+            ],
+            "object_to_gripper_xy": 0.007656675904149904,
+            "object_to_gripper_z": -0.0030939725761398584,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24308404698390357,
+              0.24690204023124782,
+              1.0463319337047834
+            ],
+            "finger_b": [
+              0.23112963790934848,
+              0.2719697258482054,
+              1.0463319337047834
+            ],
+            "finger_midpoint": [
+              0.23710684244662603,
+              0.2594358830397266,
+              1.0463319337047834
+            ],
+            "object_minus_finger_midpoint": [
+              0.005977204537277542,
+              0.012533842808478801,
+              0.0
+            ],
+            "finger_gap": 0.027772229988109104,
+            "fingertip_max_gap": 0.09282386424201583,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013886114994054564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463319337047834,
+            "object_top_z": 1.0925178140876617,
+            "finger_top_clearance": 0.0461858803828783,
+            "fingertip_min_top_clearance": 0.013855764114863523,
+            "object_projection_between_fingers": 0.8147173643029092,
+            "object_to_finger_line_xy": 0.010790252296836002,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891193212100792,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0932990924232102,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24197819380252486,
+              0.27107316308871765,
+              1.2387117205478002
+            ],
+            "held_position": [
+              0.2479323640891627,
+              0.2758199146415755,
+              1.2355177710436303
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008257427416697462,
+            "max_held_gripper_dist": 0.00826028772216701,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031939495041699573,
+            "max_held_gripper_z_dist": 0.0032826503085023884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08755178642522582,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2479323640891627,
+              0.2502109134344098,
+              1.2355177710436303
+            ],
+            "held_grasp_finger_b": [
+              0.23728620430653333,
+              0.2758199146415755,
+              1.2355177710436303
+            ],
+            "held_grasp_midpoint": [
+              0.242609284197848,
+              0.26301541403799267,
+              1.2355177710436303
+            ],
+            "held_grasp_object_position": [
+              0.2479323640891627,
+              0.2758199146415755,
+              1.2355177710436303
+            ],
+            "held_grasp_finger_gap": 0.027733763915954304,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025231780453472043,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.033577512974157786,
+              -0.9992288185975043,
+              0.020354820232717286
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048971725488782805,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03222736608503885,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3383580416125759,
+              0.11581994152167094,
+              0.7625853446890044
+            ],
+            "target_position": [
+              0.3409762197665424,
+              0.11146950194084528,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005077517246875896,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17094081286218044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853446890044,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519607205495929,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671739698348456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14069500837565316,
+            "release_required_pad_clearance": 0.05335869849174228,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7273166875779322,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0f408bd3c76bb3fb33a50644633bb5eb2319bd9b35c7dda2e49428b7fedbc51",
+    "visual_seed": 5333259837427903242,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_83_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8420ad077e2955ea9d980d8f440b058857ff0916
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_83_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24356910583681646,
+              0.2731096161198823,
+              1.0457294367959877
+            ],
+            "current_z": 1.0457294367959877,
+            "required_z": 0.8565866124694165,
+            "initial_z": 0.7565866124694165,
+            "lift_margin": 0.18914282432657126,
+            "gripper_z": 1.0483525440991173,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23832470143958726,
+              0.26824443752963417,
+              1.0483525440991173
+            ],
+            "object_minus_gripper": [
+              0.005244404397229202,
+              0.004865178590248154,
+              -0.002623107303129535
+            ],
+            "object_to_gripper_xy": 0.0071535823331171635,
+            "object_to_gripper_z": -0.002623107303129535,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24356910583681646,
+              0.24836015373586173,
+              1.0457294367959877
+            ],
+            "finger_b": [
+              0.2319554920427686,
+              0.2731096161198823,
+              1.0457294367959877
+            ],
+            "finger_midpoint": [
+              0.23776229893979253,
+              0.260734884927872,
+              1.0457294367959877
+            ],
+            "object_minus_finger_midpoint": [
+              0.005806806897023925,
+              0.012374731192010324,
+              0.0
+            ],
+            "finger_gap": 0.02733883526515621,
+            "fingertip_max_gap": 0.0914893545189217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01366941763257813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457294367959877,
+            "object_top_z": 1.0916500101377817,
+            "finger_top_clearance": 0.045920573341794,
+            "fingertip_min_top_clearance": 0.013776172002538233,
+            "object_projection_between_fingers": 0.8195425803454702,
+            "object_to_finger_line_xy": 0.010513640941560692,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048244677259460855,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.49108971531690093,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24298564968172875,
+              0.2725658389721179,
+              1.2397730614910216
+            ],
+            "held_position": [
+              0.2484751886791734,
+              0.27710688929399135,
+              1.2370706920050054
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007619644169461205,
+            "max_held_gripper_dist": 0.007623052687505492,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027023694860162095,
+            "max_held_gripper_z_dist": 0.0027854311907338225,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08754903536683378,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2484751886791734,
+              0.2517039196406577,
+              1.2370706920050054
+            ],
+            "held_grasp_finger_b": [
+              0.23825346173658338,
+              0.27710688929399135,
+              1.2370706920050054
+            ],
+            "held_grasp_midpoint": [
+              0.24336432520787837,
+              0.2644054044673245,
+              1.2370706920050054
+            ],
+            "held_grasp_object_position": [
+              0.2484751886791734,
+              0.27710688929399135,
+              1.2370706920050054
+            ],
+            "held_grasp_finger_gap": 0.027382376976753893,
+            "held_grasp_max_gap": 0.1249660974740982,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02475683477793249,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058546757525547416,
+              -0.9981228215735501,
+              0.017975267377704274
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004364582655527969,
+            "held_grasp_line_xy_max_dist": 0.0474830487370491,
+            "held_grasp_object_top_z": 0.04520082101225853,
+            "held_grasp_top_clearance": 0.03222395465449211,
+            "held_grasp_min_top_clearance": 0.013560246303677559
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.346122481992941,
+              0.11079092737921734,
+              0.7625860319222875
+            ],
+            "target_position": [
+              0.34632791657711676,
+              0.10682559705002002,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0039706483082775695,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17416201275384824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625860319222875,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528608310459056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514354475624329,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14345969788945862,
+            "release_required_pad_clearance": 0.05257177237812165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20556793480401472,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "176e77074a066dc810c169bdf55c7319c38206ca190416adb8b83aaa74dc7f6c",
+    "visual_seed": 610952241885208084,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_84_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ab3c91bacea4d1ba53922f9671158bf0d7af03
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_84_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24762647550529465,
+              0.26464603712490037,
+              1.0478999462150878
+            ],
+            "current_z": 1.0478999462150878,
+            "required_z": 0.8565867696453644,
+            "initial_z": 0.7565867696453644,
+            "lift_margin": 0.19131317656972335,
+            "gripper_z": 1.050706371458654,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24239768323631466,
+              0.25976264186839637,
+              1.050706371458654
+            ],
+            "object_minus_gripper": [
+              0.005228792268979987,
+              0.004883395256503997,
+              -0.002806425243566224
+            ],
+            "object_to_gripper_xy": 0.007154566221888692,
+            "object_to_gripper_z": -0.002806425243566224,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24762647550529465,
+              0.24001697388312002,
+              1.0478999462150878
+            ],
+            "finger_b": [
+              0.23584666493062215,
+              0.26464603712490037,
+              1.0478999462150878
+            ],
+            "finger_midpoint": [
+              0.2417365702179584,
+              0.2523315055040102,
+              1.0478999462150878
+            ],
+            "object_minus_finger_midpoint": [
+              0.005889905287336239,
+              0.01231453162089019,
+              0.0
+            ],
+            "finger_gap": 0.027301184834046713,
+            "fingertip_max_gap": 0.09192912772070228,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013650592417023363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478999462150878,
+            "object_top_z": 1.093949578111958,
+            "finger_top_clearance": 0.04604963189687017,
+            "fingertip_min_top_clearance": 0.01381488956906105,
+            "object_projection_between_fingers": 0.8138283176928358,
+            "object_to_finger_line_xy": 0.01062685379346586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846456386035114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6514277896003005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24705791983704747,
+              0.2639517822509687,
+              1.23945579458728
+            ],
+            "held_position": [
+              0.25254322227795645,
+              0.2684774928164357,
+              1.2365450679554333
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007683939648120792,
+            "max_held_gripper_dist": 0.007687983343465648,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029107266318466607,
+            "max_held_gripper_z_dist": 0.002990451809593342,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08679088128168749,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25254322227795645,
+              0.2431224784972739,
+              1.2365450679554333
+            ],
+            "held_grasp_finger_b": [
+              0.24234601643476492,
+              0.2684774928164357,
+              1.2365450679554333
+            ],
+            "held_grasp_midpoint": [
+              0.2474446193563607,
+              0.2557999856568548,
+              1.2365450679554333
+            ],
+            "held_grasp_object_position": [
+              0.25254322227795645,
+              0.2684774928164357,
+              1.2365450679554333
+            ],
+            "held_grasp_finger_gap": 0.027328735026219544,
+            "held_grasp_max_gap": 0.12496571004390716,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02461106541405387,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06687457750410684,
+              -0.9975541298521291,
+              0.020335901716150854
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004247428918577184,
+            "held_grasp_line_xy_max_dist": 0.04748285502195358,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.03221318683468232,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3409952977904761,
+              0.11642943082861933,
+              0.7625846741198677
+            ],
+            "target_position": [
+              0.34345488280496805,
+              0.11205939963055817,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00501465164448551,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17013512760184465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625846741198677,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519664460568967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529266944004647,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14005924649086324,
+            "release_required_pad_clearance": 0.05264633472002324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3425843821973597,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "012180e93c987efb849bf166b79ff647c532ccc0a3dbfad7b01a4c1781850104",
+    "visual_seed": 8061304063441070821,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_85_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86b1d991f47e11aa191e8ebc52219bbeaabb93e3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_85_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24887330939039615,
+              0.2707990134846196,
+              1.0453846610804611
+            ],
+            "current_z": 1.0453846610804611,
+            "required_z": 0.856586605131287,
+            "initial_z": 0.7565866051312871,
+            "lift_margin": 0.1887980559491741,
+            "gripper_z": 1.0483785210054184,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24303371206120805,
+              0.2656241666266054,
+              1.0483785210054184
+            ],
+            "object_minus_gripper": [
+              0.005839597329188095,
+              0.005174846858014226,
+              -0.002993859924957265
+            ],
+            "object_to_gripper_xy": 0.007802559642255895,
+            "object_to_gripper_z": -0.002993859924957265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24887330939039615,
+              0.24559866151579446,
+              1.0453846610804611
+            ],
+            "finger_b": [
+              0.23686207693001712,
+              0.2707990134846196,
+              1.0453846610804611
+            ],
+            "finger_midpoint": [
+              0.24286769316020662,
+              0.258198837500207,
+              1.0453846610804611
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060056162301895255,
+              0.012600175984412598,
+              0.0
+            ],
+            "finger_gap": 0.02791643681722171,
+            "fingertip_max_gap": 0.09293232887989189,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013958218408610886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453846610804611,
+            "object_top_z": 1.0916278159431214,
+            "finger_top_clearance": 0.046243154862660285,
+            "fingertip_min_top_clearance": 0.013872946458798085,
+            "object_projection_between_fingers": 0.8148792189695343,
+            "object_to_finger_line_xy": 0.01084261890450863,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896616443994595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8930618281000968,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2475081843162068,
+              0.27029188048243064,
+              1.237413388073329
+            ],
+            "held_position": [
+              0.25356563546941524,
+              0.27518803352781135,
+              1.2343111353393355
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008383853597413716,
+            "max_held_gripper_dist": 0.008385110249003814,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003102252733993449,
+            "max_held_gripper_z_dist": 0.0031938363559143035,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08697077059292802,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25356563546941524,
+              0.24952796283781237,
+              1.2343111353393355
+            ],
+            "held_grasp_finger_b": [
+              0.24265943314244368,
+              0.27518803352781135,
+              1.2343111353393355
+            ],
+            "held_grasp_midpoint": [
+              0.24811253430592944,
+              0.26235799818281186,
+              1.2343111353393355
+            ],
+            "held_grasp_object_position": [
+              0.25356563546941524,
+              0.27518803352781135,
+              1.2343111353393355
+            ],
+            "held_grasp_finger_gap": 0.02788161539460339,
+            "held_grasp_max_gap": 0.12496606022119522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025310016172845385,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030592804412007985,
+              -0.9993607499104372,
+              0.01849788789720075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005063679118549581,
+            "held_grasp_line_xy_max_dist": 0.04748303011059761,
+            "held_grasp_object_top_z": 0.045200809836387634,
+            "held_grasp_top_clearance": 0.03221215043529811,
+            "held_grasp_min_top_clearance": 0.01356024295091629
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33671123804991115,
+              0.11430813254376404,
+              0.7625851302107216
+            ],
+            "target_position": [
+              0.33723099690634195,
+              0.10976530643770901,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004572463045087769,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17352360315831963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625851302107216,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563425211435384,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800642737808766,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14206090132912239,
+            "release_required_pad_clearance": 0.05400321368904383,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0101204242185653,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e53df708a6f2736346d864ef4163ac6ef67ad4574bde316b8458a26b0fd380c6",
+    "visual_seed": 6498144060216263151,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_86_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb080d329bdf697ea9f4422ac7b0e945d5c30040
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_86_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24520745194968194,
+              0.27248039808390867,
+              1.0472656021773716
+            ],
+            "current_z": 1.0472656021773716,
+            "required_z": 0.8565867665393522,
+            "initial_z": 0.7565867665393522,
+            "lift_margin": 0.19067883563801946,
+            "gripper_z": 1.0502126953446866,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2396866754041627,
+              0.2674387591018061,
+              1.0502126953446866
+            ],
+            "object_minus_gripper": [
+              0.005520776545519246,
+              0.005041638982102581,
+              -0.002947093167315007
+            ],
+            "object_to_gripper_xy": 0.007476436135714112,
+            "object_to_gripper_z": -0.002947093167315007,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24520745194968194,
+              0.2476713807195856,
+              1.0472656021773716
+            ],
+            "finger_b": [
+              0.23316549840519069,
+              0.27248039808390867,
+              1.0472656021773716
+            ],
+            "finger_midpoint": [
+              0.2391864751774363,
+              0.26007588940174714,
+              1.0472656021773716
+            ],
+            "object_minus_finger_midpoint": [
+              0.00602097677224564,
+              0.01240450868216153,
+              0.0
+            ],
+            "finger_gap": 0.027577091720320485,
+            "fingertip_max_gap": 0.09168332592777845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013788545860160248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472656021773716,
+            "object_top_z": 1.0932759436320612,
+            "finger_top_clearance": 0.04601034145468952,
+            "fingertip_min_top_clearance": 0.013803102436406822,
+            "object_projection_between_fingers": 0.809323589468864,
+            "object_to_finger_line_xy": 0.01083323207593783,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048341662963889226,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5414453678682472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24432484873982252,
+              0.2719980941204048,
+              1.239818627797235
+            ],
+            "held_position": [
+              0.25011124635937776,
+              0.2766786708674649,
+              1.2367675806875975
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00804357411614644,
+            "max_held_gripper_dist": 0.008048473904684982,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003051047109637439,
+            "max_held_gripper_z_dist": 0.0031395192795957705,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670697669691202,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25011124635937776,
+              0.2511887914025518,
+              1.2367675806875975
+            ],
+            "held_grasp_finger_b": [
+              0.2395666127223451,
+              0.2766786708674649,
+              1.2367675806875975
+            ],
+            "held_grasp_midpoint": [
+              0.24483892954086145,
+              0.26393373113500834,
+              1.2367675806875975
+            ],
+            "held_grasp_object_position": [
+              0.25011124635937776,
+              0.2766786708674649,
+              1.2367675806875975
+            ],
+            "held_grasp_finger_gap": 0.02758483738714149,
+            "held_grasp_max_gap": 0.12496569514274597,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024785555758490833,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061753025929730115,
+              -0.9979144400393002,
+              0.018797184618239537
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004481787462597886,
+            "held_grasp_line_xy_max_dist": 0.047482847571372985,
+            "held_grasp_object_top_z": 0.04520060494542122,
+            "held_grasp_top_clearance": 0.03215666403176862,
+            "held_grasp_min_top_clearance": 0.013560181483626366
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3467003168549022,
+              0.11154473388831765,
+              0.7625879798817101
+            ],
+            "target_position": [
+              0.34323884121011033,
+              0.10740656412059567,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005395022026458793,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.176770122949855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625879798817101,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560642819862726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14515802662232039,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb90e9e1bcbe4ada0447e18cf5b7aa2fa98dfe24322c0bfcec5c978fa81b44e1",
+    "visual_seed": 8735269297308849270,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_87_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41c449d60b82789fb5d9bbf269b3333809ac399
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_87_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24234730822259556,
+              0.27386649648050476,
+              1.0449128153825853
+            ],
+            "current_z": 1.0449128153825853,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.18832624836937495,
+            "gripper_z": 1.0475169975646486,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2372357767649431,
+              0.26891128422290045,
+              1.0475169975646486
+            ],
+            "object_minus_gripper": [
+              0.005111531457652474,
+              0.004955212257604313,
+              -0.002604182182063264
+            ],
+            "object_to_gripper_xy": 0.007119120898010011,
+            "object_to_gripper_z": -0.002604182182063264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24234730822259556,
+              0.24949258926972878,
+              1.0449128153825853
+            ],
+            "finger_b": [
+              0.23023793701351458,
+              0.27386649648050476,
+              1.0449128153825853
+            ],
+            "finger_midpoint": [
+              0.23629262261805506,
+              0.26167954287511674,
+              1.0449128153825853
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054685604540505,
+              0.012186953605388018,
+              0.0
+            ],
+            "finger_gap": 0.02721624926030104,
+            "fingertip_max_gap": 0.09109888990674472,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013608124630150549,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449128153825853,
+            "object_top_z": 1.0906627333341676,
+            "finger_top_clearance": 0.04574991795158234,
+            "fingertip_min_top_clearance": 0.013724975385474703,
+            "object_projection_between_fingers": 0.8020358098628315,
+            "object_to_finger_line_xy": 0.010844723216931541,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048049444953372364,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.42242558021095955,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24202917642668767,
+              0.2726980376241973,
+              1.23687499576577
+            ],
+            "held_position": [
+              0.2475016942559942,
+              0.2771875493770537,
+              1.234162879931308
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007580220278504663,
+            "max_held_gripper_dist": 0.007584935641806332,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00271211583446207,
+            "max_held_gripper_z_dist": 0.0027944520876002077,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08694642464056204,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2475016942559942,
+              0.2517620213494133,
+              1.234162879931308
+            ],
+            "held_grasp_finger_b": [
+              0.23747955767571322,
+              0.2771875493770537,
+              1.234162879931308
+            ],
+            "held_grasp_midpoint": [
+              0.2424906259658537,
+              0.2644747853632335,
+              1.234162879931308
+            ],
+            "held_grasp_object_position": [
+              0.2475016942559942,
+              0.2771875493770537,
+              1.234162879931308
+            ],
+            "held_grasp_finger_gap": 0.027329484025830686,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024477227806793622,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08501252569579873,
+              -0.9962127403142158,
+              0.018249561925214874
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003919287548083069,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032109603918856026,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34878865873253706,
+              0.11093765743238332,
+              0.7625858072356266
+            ],
+            "target_position": [
+              0.3443028903037887,
+              0.1064912545906018,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006316060214070035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17799291729937142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858072356266,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570176792526066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587970629730178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14617809718733238,
+            "release_required_pad_clearance": 0.05293985314865089,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9125625172272614,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f07b967a38a578be8345f1aa44b1328d1d263e89715f020d44ffe65a03d602ce",
+    "visual_seed": 3754679512992775953,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_88_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e92d74d7c8189f8e665351798bb21d99a53ec6d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_88_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24958377725361933,
+              0.2703181358360794,
+              1.0464914002859744
+            ],
+            "current_z": 1.0464914002859744,
+            "required_z": 0.8565866049262082,
+            "initial_z": 0.7565866049262082,
+            "lift_margin": 0.18990479535976623,
+            "gripper_z": 1.0489447775863119,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.244425417122924,
+              0.26542172331551805,
+              1.0489447775863119
+            ],
+            "object_minus_gripper": [
+              0.005158360130695316,
+              0.004896412520561333,
+              -0.002453377300337456
+            ],
+            "object_to_gripper_xy": 0.007112210261898673,
+            "object_to_gripper_z": -0.002453377300337456,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24958377725361933,
+              0.24579680496971837,
+              1.0464914002859744
+            ],
+            "finger_b": [
+              0.23771028761537535,
+              0.2703181358360794,
+              1.0464914002859744
+            ],
+            "finger_midpoint": [
+              0.24364703243449734,
+              0.2580574704028989,
+              1.0464914002859744
+            ],
+            "object_minus_finger_midpoint": [
+              0.005936744819121986,
+              0.012260665433180495,
+              0.0
+            ],
+            "finger_gap": 0.02724473203478127,
+            "fingertip_max_gap": 0.09198101873795231,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01362236601739062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464914002859744,
+            "object_top_z": 1.092628860722134,
+            "finger_top_clearance": 0.046137460436159516,
+            "fingertip_min_top_clearance": 0.013841238130847821,
+            "object_projection_between_fingers": 0.8100708285654826,
+            "object_to_finger_line_xy": 0.010686607876561094,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048490509368976156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6533967559868558,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24913192382283988,
+              0.26948389708994286,
+              1.2375147816125318
+            ],
+            "held_position": [
+              0.2545822895039841,
+              0.27399249788440266,
+              1.2349525414282636
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075232334766293756,
+            "max_held_gripper_dist": 0.007530490419138468,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002562240184268205,
+            "max_held_gripper_z_dist": 0.002646115718909936,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08679359308089976,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2545822895039841,
+              0.24862889874533858,
+              1.2349525414282636
+            ],
+            "held_grasp_finger_b": [
+              0.24447296725142223,
+              0.27399249788440266,
+              1.2349525414282636
+            ],
+            "held_grasp_midpoint": [
+              0.24952762837770315,
+              0.26131069831487064,
+              1.2349525414282636
+            ],
+            "held_grasp_object_position": [
+              0.2545822895039841,
+              0.27399249788440266,
+              1.2349525414282636
+            ],
+            "held_grasp_finger_gap": 0.02730403921937695,
+            "held_grasp_max_gap": 0.12496606022119522,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024560903839602976,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07226484209669942,
+              -0.9971555013632133,
+              0.021417252340524714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004134187406749836,
+            "held_grasp_line_xy_max_dist": 0.04748303011059761,
+            "held_grasp_object_top_z": 0.04520082473754883,
+            "held_grasp_top_clearance": 0.0321898242414613,
+            "held_grasp_min_top_clearance": 0.013560247421264647
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3397507437336176,
+              0.12009421086999074,
+              0.7625862668738934
+            ],
+            "target_position": [
+              0.3386428796993137,
+              0.11602645077171493,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004215926343714844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1761331924938968,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625862668738934,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581330719376805,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544419309534533,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.143998688085964,
+            "release_required_pad_clearance": 0.05272209654767267,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4909681747104903,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8733b83bedb35b0eee07059fff3c3e1b6578f73d907a4ff455b565308b57183e",
+    "visual_seed": 2400585116574746255,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_89_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbf42623f2486f2f2e082ed79199aa2417b7e3f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_89_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2493371541478829,
+              0.27084869075311924,
+              1.0453340358732108
+            ],
+            "current_z": 1.0453340358732108,
+            "required_z": 0.8565866363593985,
+            "initial_z": 0.7565866363593985,
+            "lift_margin": 0.18874739951381236,
+            "gripper_z": 1.0480329271963347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24405692935417153,
+              0.26580843560629963,
+              1.0480329271963347
+            ],
+            "object_minus_gripper": [
+              0.005280224793711374,
+              0.0050402551468196055,
+              -0.002698891323123842
+            ],
+            "object_to_gripper_xy": 0.007299653814885049,
+            "object_to_gripper_z": -0.002698891323123842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2493371541478829,
+              0.24635392632893108,
+              1.0453340358732108
+            ],
+            "finger_b": [
+              0.2371146612188705,
+              0.27084869075311924,
+              1.0453340358732108
+            ],
+            "finger_midpoint": [
+              0.2432259076833767,
+              0.25860130854102514,
+              1.0453340358732108
+            ],
+            "object_minus_finger_midpoint": [
+              0.006111246464506198,
+              0.012247382212094093,
+              0.0
+            ],
+            "finger_gap": 0.027374857398646514,
+            "fingertip_max_gap": 0.09232551264426361,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013687428699323271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453340358732108,
+            "object_top_z": 1.0917387227792128,
+            "finger_top_clearance": 0.04640468690600197,
+            "fingertip_min_top_clearance": 0.013921406071800558,
+            "object_projection_between_fingers": 0.8006501751949041,
+            "object_to_finger_line_xy": 0.010936571490131925,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866275632213181,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7867475636931321,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24877349536850504,
+              0.2699034746626615,
+              1.2372684090864592
+            ],
+            "held_position": [
+              0.25439536209193286,
+              0.27449804318350235,
+              1.2344668244577008
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00778230825531742,
+            "max_held_gripper_dist": 0.007787128398633525,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002801584628758347,
+            "max_held_gripper_z_dist": 0.002888860359797407,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08750782499756399,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25439536209193286,
+              0.24904351052280999,
+              1.2344668244577008
+            ],
+            "held_grasp_finger_b": [
+              0.24410308442630926,
+              0.27449804318350235,
+              1.2344668244577008
+            ],
+            "held_grasp_midpoint": [
+              0.24924922325912108,
+              0.2617707768531562,
+              1.2344668244577008
+            ],
+            "held_grasp_object_position": [
+              0.25439536209193286,
+              0.27449804318350235,
+              1.2344668244577008
+            ],
+            "held_grasp_finger_gap": 0.027456587779994598,
+            "held_grasp_max_gap": 0.12496592611074447,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024563650397899418,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07822732409947614,
+              -0.9966314477949612,
+              0.02462200297204109
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004146982591802572,
+            "held_grasp_line_xy_max_dist": 0.04748296305537224,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03211377279096142,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34066900570085434,
+              0.1156046486356276,
+              0.7625848106385125
+            ],
+            "target_position": [
+              0.3437036121909715,
+              0.11150354879850743,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005101750329434814,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17199513435655683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625848106385125,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517188111269929,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602190799310509,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14169136057396833,
+            "release_required_pad_clearance": 0.05301095399655255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0460237868490905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e6cb6a938c4414492a5680fa44e961a2854fd304932905ecb89fd7eace9c881",
+    "visual_seed": 4496239172139063682,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_8_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71dd6bc971e5d9a0dbb487230fee9f2d482b6972
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_8_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24686000986799297,
+              0.27175798975897125,
+              1.0470905243468616
+            ],
+            "current_z": 1.0470905243468616,
+            "required_z": 0.8565866556251005,
+            "initial_z": 0.7565866556251005,
+            "lift_margin": 0.19050386872176106,
+            "gripper_z": 1.049792121847745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24158549150512026,
+              0.26675008889170676,
+              1.049792121847745
+            ],
+            "object_minus_gripper": [
+              0.00527451836287271,
+              0.005007900867264492,
+              -0.0027015975008835014
+            ],
+            "object_to_gripper_xy": 0.007273212155343048,
+            "object_to_gripper_z": -0.0027015975008835014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24686000986799297,
+              0.24724178619068277,
+              1.0470905243468616
+            ],
+            "finger_b": [
+              0.23471127082711715,
+              0.27175798975897125,
+              1.0470905243468616
+            ],
+            "finger_midpoint": [
+              0.24078564034755506,
+              0.25949988797482704,
+              1.0470905243468616
+            ],
+            "object_minus_finger_midpoint": [
+              0.006074369520437911,
+              0.012258101784144215,
+              0.0
+            ],
+            "finger_gap": 0.02736121520848556,
+            "fingertip_max_gap": 0.09173651825857579,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013680607604242754,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470905243468616,
+            "object_top_z": 1.093151245247989,
+            "finger_top_clearance": 0.04606072090112745,
+            "fingertip_min_top_clearance": 0.013818216270338234,
+            "object_projection_between_fingers": 0.8028523327425902,
+            "object_to_finger_line_xy": 0.010885516493132805,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483682591292879,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5955153987366986,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2463662944776994,
+              0.2708044351230866,
+              1.240873760328497
+            ],
+            "held_position": [
+              0.251978610370627,
+              0.2753765251386431,
+              1.238086782215902
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077568900851076985,
+            "max_held_gripper_dist": 0.0077622244671634606,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027869781125948734,
+            "max_held_gripper_z_dist": 0.0028718335160802244,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08745910692130249,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.251978610370627,
+              0.24992231541881843,
+              1.238086782215902
+            ],
+            "held_grasp_finger_b": [
+              0.2416738656479492,
+              0.2753765251386431,
+              1.238086782215902
+            ],
+            "held_grasp_midpoint": [
+              0.2468262380092881,
+              0.2626494202787307,
+              1.238086782215902
+            ],
+            "held_grasp_object_position": [
+              0.251978610370627,
+              0.2753765251386431,
+              1.238086782215902
+            ],
+            "held_grasp_finger_gap": 0.027460964226705003,
+            "held_grasp_max_gap": 0.12496573984622955,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024570217436032223,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0777866917880689,
+              -0.9967620176386554,
+              0.02036444876703325
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004155108519084025,
+            "held_grasp_line_xy_max_dist": 0.047482869923114776,
+            "held_grasp_object_top_z": 0.045200612396001816,
+            "held_grasp_top_clearance": 0.03211393167628804,
+            "held_grasp_min_top_clearance": 0.013560183718800545
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33970140199464643,
+              0.12014670094148275,
+              0.7625858468727303
+            ],
+            "target_position": [
+              0.34234174422894076,
+              0.11577763005110593,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005104917977728576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17054152130916672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625858468727303,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566346465411558,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632658794217761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391694709401004,
+            "release_required_pad_clearance": 0.05316329397108881,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3399408927963963,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aeca88e8a60d3d341dc2d122f76f1dd4e9831160a644308df01ba9a142bc656e",
+    "visual_seed": 4749688437487930630,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_90_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..568689efc5200dc7d3362e3dc20f5ad27ceb907d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_90_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24671988817851248,
+              0.2746578307800042,
+              1.0478868994800636
+            ],
+            "current_z": 1.0478868994800636,
+            "required_z": 0.8565866343862576,
+            "initial_z": 0.7565866343862576,
+            "lift_margin": 0.19130026509380604,
+            "gripper_z": 1.0505239663839732,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24148602688828347,
+              0.26968812701713457,
+              1.0505239663839732
+            ],
+            "object_minus_gripper": [
+              0.005233861290229014,
+              0.004969703762869648,
+              -0.002637066903909524
+            ],
+            "object_to_gripper_xy": 0.0072174274846401095,
+            "object_to_gripper_z": -0.002637066903909524,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24671988817851248,
+              0.2501315277539948,
+              1.0478868994800636
+            ],
+            "finger_b": [
+              0.234678329378893,
+              0.2746578307800042,
+              1.0478868994800636
+            ],
+            "finger_midpoint": [
+              0.24069910877870274,
+              0.2623946792669995,
+              1.0478868994800636
+            ],
+            "object_minus_finger_midpoint": [
+              0.006020779399809745,
+              0.012263151513004722,
+              0.0
+            ],
+            "finger_gap": 0.027322859997597863,
+            "fingertip_max_gap": 0.09173181169143715,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013661429998798932,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478868994800636,
+            "object_top_z": 1.0938868444993282,
+            "finger_top_clearance": 0.04599994501926452,
+            "fingertip_min_top_clearance": 0.013799983505779389,
+            "object_projection_between_fingers": 0.8057714321968267,
+            "object_to_finger_line_xy": 0.010809077821682757,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836590584571858,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5792692608678898,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2462689841848524,
+              0.2738575067273799,
+              1.2405006953449784
+            ],
+            "held_position": [
+              0.2518242035898962,
+              0.27841323145110247,
+              1.2377737850703963
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007684473309351399,
+            "max_held_gripper_dist": 0.007690060924021958,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027269102745821616,
+            "max_held_gripper_z_dist": 0.0028148314093421334,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08747264221692064,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2518242035898962,
+              0.2529892074129366,
+              1.2377737850703963
+            ],
+            "held_grasp_finger_b": [
+              0.24157938573285745,
+              0.27841323145110247,
+              1.2377737850703963
+            ],
+            "held_grasp_midpoint": [
+              0.24670179466137682,
+              0.2657012194320195,
+              1.2377737850703963
+            ],
+            "held_grasp_object_position": [
+              0.2518242035898962,
+              0.27841323145110247,
+              1.2377737850703963
+            ],
+            "held_grasp_finger_gap": 0.027410532486931646,
+            "held_grasp_max_gap": 0.12496619433164596,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024563841685124148,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0762735861222161,
+              -0.9969016173128933,
+              0.019222524781997263
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004145327044253349,
+            "held_grasp_line_xy_max_dist": 0.04748309716582298,
+            "held_grasp_object_top_z": 0.04520086199045181,
+            "held_grasp_top_clearance": 0.032137532150764474,
+            "held_grasp_min_top_clearance": 0.013560258597135543
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33935553947797326,
+              0.11529828713773274,
+              0.7625850645212537
+            ],
+            "target_position": [
+              0.33717901642661047,
+              0.11108818276066025,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00473943366436946,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17690776039559783,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625850645212537,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574784027531968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585692778529984,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14493847628380416,
+            "release_required_pad_clearance": 0.05292846389264992,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8846705474673242,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eabc58e4b7ddb4683e74feb8ef4325cd7d42dd3987ab4282d34049d285cb0475",
+    "visual_seed": 8468558817817883602,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_91_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28be5892d9432a9b5e1f9547439acba26010817
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_91_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24851699250398576,
+              0.27417458234762143,
+              1.0468593457203992
+            ],
+            "current_z": 1.0468593457203992,
+            "required_z": 0.85658666923899,
+            "initial_z": 0.75658666923899,
+            "lift_margin": 0.19027267648140922,
+            "gripper_z": 1.0493649844781587,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2433744520134146,
+              0.2692106604734959,
+              1.0493649844781587
+            ],
+            "object_minus_gripper": [
+              0.005142540490571168,
+              0.004963921874125532,
+              -0.002505638757759554
+            ],
+            "object_to_gripper_xy": 0.007147464100615398,
+            "object_to_gripper_z": -0.002505638757759554,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24851699250398576,
+              0.24978196602079736,
+              1.0468593457203992
+            ],
+            "finger_b": [
+              0.23639553662070106,
+              0.27417458234762143,
+              1.0468593457203992
+            ],
+            "finger_midpoint": [
+              0.24245626456234343,
+              0.2619782741842094,
+              1.0468593457203992
+            ],
+            "object_minus_finger_midpoint": [
+              0.006060727941642335,
+              0.01219630816341205,
+              0.0
+            ],
+            "finger_gap": 0.027238381449676146,
+            "fingertip_max_gap": 0.09218903055928476,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01361919072483808,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468593457203992,
+            "object_top_z": 1.0932153907563662,
+            "finger_top_clearance": 0.04635604503596702,
+            "fingertip_min_top_clearance": 0.013906813510790072,
+            "object_projection_between_fingers": 0.8019627096892155,
+            "object_to_finger_line_xy": 0.010855051106092944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048594515279642383,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7711905724188697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24817706551239357,
+              0.2733893253306949,
+              1.2370840937953214
+            ],
+            "held_position": [
+              0.25366052323129284,
+              0.277909836418164,
+              1.2344621683510142
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00757481498667742,
+            "max_held_gripper_dist": 0.007579611089266988,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026219254443071716,
+            "max_held_gripper_z_dist": 0.002708402202681981,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728906868409064,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25366052323129284,
+              0.25251880478861316,
+              1.2344621683510142
+            ],
+            "held_grasp_finger_b": [
+              0.24355746874033665,
+              0.277909836418164,
+              1.2344621683510142
+            ],
+            "held_grasp_midpoint": [
+              0.24860899598581476,
+              0.26521432060338856,
+              1.2344621683510142
+            ],
+            "held_grasp_object_position": [
+              0.25366052323129284,
+              0.277909836418164,
+              1.2344621683510142
+            ],
+            "held_grasp_finger_gap": 0.027327206173703204,
+            "held_grasp_max_gap": 0.12496579945087433,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024548297410729437,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07548377591500781,
+              -0.9968446529176965,
+              0.024554786152807262
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004091063070627308,
+            "held_grasp_line_xy_max_dist": 0.047482899725437164,
+            "held_grasp_object_top_z": 0.04520067572593689,
+            "held_grasp_top_clearance": 0.03216391031931972,
+            "held_grasp_min_top_clearance": 0.013560202717781066
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33610721589766757,
+              0.11967306049901555,
+              0.7625870906754835
+            ],
+            "target_position": [
+              0.3388384214145689,
+              0.11534689345473535,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005116170918818899,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17173863567146289,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625870906754835,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541386007490651,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530070361614527,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1408438605092468,
+            "release_required_pad_clearance": 0.052650351808072635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35827246364779225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9821c39f010326b3cabc738e644fd5823f12255018ff04480b86a4c31db446dc",
+    "visual_seed": 4349909540052911751,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_92_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5f2b1b2a6c854205cd149837bc4c39105fed8aa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_92_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2506398953238427,
+              0.27213551134784997,
+              1.045400809649891
+            ],
+            "current_z": 1.045400809649891,
+            "required_z": 0.8565866428385495,
+            "initial_z": 0.7565866428385495,
+            "lift_margin": 0.18881416681134155,
+            "gripper_z": 1.0481512643762498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24523550559315313,
+              0.267127087565161,
+              1.0481512643762498
+            ],
+            "object_minus_gripper": [
+              0.005404389730689546,
+              0.005008423782688953,
+              -0.0027504547263588197
+            ],
+            "object_to_gripper_xy": 0.007368292688824661,
+            "object_to_gripper_z": -0.0027504547263588197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2506398953238427,
+              0.24744121287942544,
+              1.045400809649891
+            ],
+            "finger_b": [
+              0.23860508653836224,
+              0.27213551134784997,
+              1.045400809649891
+            ],
+            "finger_midpoint": [
+              0.24462249093110244,
+              0.2597883621136377,
+              1.045400809649891
+            ],
+            "object_minus_finger_midpoint": [
+              0.006017404392740233,
+              0.012347149234212262,
+              0.0
+            ],
+            "finger_gap": 0.02747080267030272,
+            "fingertip_max_gap": 0.0923387112262789,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013735401335151365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045400809649891,
+            "object_top_z": 1.09185944024844,
+            "finger_top_clearance": 0.046458630598549044,
+            "fingertip_min_top_clearance": 0.013937589179564697,
+            "object_projection_between_fingers": 0.808073169996895,
+            "object_to_finger_line_xy": 0.010818437441595021,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866935561313945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.798302894087907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24991685628039267,
+              0.2715489023330779,
+              1.2389656776576965
+            ],
+            "held_position": [
+              0.2556200428547828,
+              0.27617375877486966,
+              1.236131270382926
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007870800391876228,
+            "max_held_gripper_dist": 0.007873063649811687,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028344072747705784,
+            "max_held_gripper_z_dist": 0.0029227631301609325,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868790403080959,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2556200428547828,
+              0.25070894558433304,
+              1.236131270382926
+            ],
+            "held_grasp_finger_b": [
+              0.24515830651700163,
+              0.27617375877486966,
+              1.236131270382926
+            ],
+            "held_grasp_midpoint": [
+              0.2503891746858922,
+              0.26344135217960135,
+              1.236131270382926
+            ],
+            "held_grasp_object_position": [
+              0.2556200428547828,
+              0.27617375877486966,
+              1.236131270382926
+            ],
+            "held_grasp_finger_gap": 0.0275300678900394,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02473196857467205,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06432748793366293,
+              -0.9976490148432333,
+              0.023630858606294103
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004411535148792203,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.045200739055871964,
+            "held_grasp_top_clearance": 0.03216177755050216,
+            "held_grasp_min_top_clearance": 0.013560221716761588
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3415405927872427,
+              0.11417676889448825,
+              0.762584061270126
+            ],
+            "target_position": [
+              0.3415424339398729,
+              0.11029469102741707,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038820783036727763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17301325794607758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762584061270126,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753955145085909,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850281839296587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14214996560182117,
+            "release_required_pad_clearance": 0.052514091964829354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08815099214597995,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a94141a372d4e3f0d144617b52b202354e60b257120f7227ef5bbdbe80095cb",
+    "visual_seed": 5043094684580836380,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_93_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd4721bb090400f224b66115ef33d169262ba4a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_93_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24538466770731995,
+              0.2704232605358298,
+              1.0467549675212091
+            ],
+            "current_z": 1.0467549675212091,
+            "required_z": 0.8565867122049359,
+            "initial_z": 0.7565867122049359,
+            "lift_margin": 0.19016825531627324,
+            "gripper_z": 1.0494484439866372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2402002945149201,
+              0.2655301483922987,
+              1.0494484439866372
+            ],
+            "object_minus_gripper": [
+              0.005184373192399866,
+              0.004893112143531109,
+              -0.0026934764654280574
+            ],
+            "object_to_gripper_xy": 0.00712883383501439,
+            "object_to_gripper_z": -0.0026934764654280574,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24538466770731995,
+              0.24586397456095313,
+              1.0467549675212091
+            ],
+            "finger_b": [
+              0.2335411816078645,
+              0.2704232605358298,
+              1.0467549675212091
+            ],
+            "finger_midpoint": [
+              0.23946292465759222,
+              0.2581436175483915,
+              1.0467549675212091
+            ],
+            "object_minus_finger_midpoint": [
+              0.005921743049727729,
+              0.012279642987438333,
+              0.0
+            ],
+            "finger_gap": 0.02726585209715203,
+            "fingertip_max_gap": 0.09219639724541742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013632926048576003,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467549675212091,
+            "object_top_z": 1.0930245456639827,
+            "finger_top_clearance": 0.04626957814277355,
+            "fingertip_min_top_clearance": 0.013880873442832098,
+            "object_projection_between_fingers": 0.8113221320075955,
+            "object_to_finger_line_xy": 0.010667833193681298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859819862270871,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7213927632192592,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24483876794809017,
+              0.2698318403730469,
+              1.2376280870226755
+            ],
+            "held_position": [
+              0.2502917718261578,
+              0.2743505614427204,
+              1.234816961746543
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007619482706709338,
+            "max_held_gripper_dist": 0.007622921155395435,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028111252761324756,
+            "max_held_gripper_z_dist": 0.0028932691075767014,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08754692522769167,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2502917718261578,
+              0.24900641566247164,
+              1.234816961746543
+            ],
+            "held_grasp_finger_b": [
+              0.24015570400374195,
+              0.2743505614427204,
+              1.234816961746543
+            ],
+            "held_grasp_midpoint": [
+              0.2452237379149499,
+              0.261678488552596,
+              1.234816961746543
+            ],
+            "held_grasp_object_position": [
+              0.2502917718261578,
+              0.2743505614427204,
+              1.234816961746543
+            ],
+            "held_grasp_finger_gap": 0.027295889731443368,
+            "held_grasp_max_gap": 0.12496572494506836,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024587002178269944,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06820252424770579,
+              -0.9974022328029922,
+              0.0231776117373379
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004202522956575279,
+            "held_grasp_line_xy_max_dist": 0.04748286247253418,
+            "held_grasp_object_top_z": 0.04520056024193764,
+            "held_grasp_top_clearance": 0.03221575374136795,
+            "held_grasp_min_top_clearance": 0.01356016807258129
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34706983897778243,
+              0.11875974864226137,
+              0.762585278089835
+            ],
+            "target_position": [
+              0.3449961290068765,
+              0.1150766067182867,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004226796360788453,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.177002763860226,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585278089835,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545970292282198,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586412381688456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14564083530155597,
+            "release_required_pad_clearance": 0.05293206190844228,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8926020835943971,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "702e498f2da4d5deeb537c749d148275513af42f1280b81376ff4daf66cfc33b",
+    "visual_seed": 4454379977294689945,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_94_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53e519c3b6ae5028d5f025ca891cd3fc894510c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_94_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24914593087632975,
+              0.2701224744249082,
+              1.0470493845207678
+            ],
+            "current_z": 1.0470493845207678,
+            "required_z": 0.8565866727477963,
+            "initial_z": 0.7565866727477963,
+            "lift_margin": 0.19046271177297147,
+            "gripper_z": 1.0496169325369116,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2439036115964128,
+              0.2652519450248322,
+              1.0496169325369116
+            ],
+            "object_minus_gripper": [
+              0.005242319279916946,
+              0.00487052940007604,
+              -0.0025675480161437836
+            ],
+            "object_to_gripper_xy": 0.007155694799919432,
+            "object_to_gripper_z": -0.0025675480161437836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24914593087632975,
+              0.24545908282298842,
+              1.0470493845207678
+            ],
+            "finger_b": [
+              0.23741412071982693,
+              0.2701224744249082,
+              1.0470493845207678
+            ],
+            "finger_midpoint": [
+              0.24328002579807834,
+              0.25779077862394834,
+              1.0470493845207678
+            ],
+            "object_minus_finger_midpoint": [
+              0.00586590507825141,
+              0.012331695800959885,
+              0.0
+            ],
+            "finger_gap": 0.027311504075350202,
+            "fingertip_max_gap": 0.09130678429472378,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013655752037675089,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470493845207678,
+            "object_top_z": 1.0928476714188526,
+            "finger_top_clearance": 0.04579828689808485,
+            "fingertip_min_top_clearance": 0.013739486069425455,
+            "object_projection_between_fingers": 0.8154819664864642,
+            "object_to_finger_line_xy": 0.010594298552394863,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815339214736189,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3889458835076063,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2486210932233778,
+              0.26959826161809897,
+              1.2408316429620363
+            ],
+            "held_position": [
+              0.25412507768102055,
+              0.27412672473996497,
+              1.238185267477497
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007602902495839622,
+            "max_held_gripper_dist": 0.007605292299904993,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002646375484539387,
+            "max_held_gripper_z_dist": 0.0027306316464641434,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869080112335745,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25412507768102055,
+              0.2487535693334884,
+              1.238185267477497
+            ],
+            "held_grasp_finger_b": [
+              0.24386672600691187,
+              0.27412672473996497,
+              1.238185267477497
+            ],
+            "held_grasp_midpoint": [
+              0.2489959018439662,
+              0.2614401470367267,
+              1.238185267477497
+            ],
+            "held_grasp_object_position": [
+              0.25412507768102055,
+              0.27412672473996497,
+              1.238185267477497
+            ],
+            "held_grasp_finger_gap": 0.02736842696157196,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02468506987546683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061996434808087225,
+              -0.9979464792859735,
+              0.016101756171822856
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00433772021352017,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.04520066827535629,
+            "held_grasp_top_clearance": 0.03222215210682057,
+            "held_grasp_min_top_clearance": 0.013560200482606888
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34272640986507646,
+              0.11502705019441256,
+              0.7625840720070229
+            ],
+            "target_position": [
+              0.34365838622840816,
+              0.11077521943087089,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004352774377751314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17263574993527178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625840720070229,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516331942935035,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08497361915923234,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14251719101048854,
+            "release_required_pad_clearance": 0.05248680957961617,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03904493114669041,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e464fcd7a35cf0b46c434f72e316b443897ca36d1930bfb5503ef68e44359233",
+    "visual_seed": 7280940625533770180,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_95_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca608470c2da87f4fc54545747e14f556a9cd847
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_95_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24752506339937716,
+              0.2690791887409591,
+              1.0469414658699832
+            ],
+            "current_z": 1.0469414658699832,
+            "required_z": 0.8565866917235033,
+            "initial_z": 0.7565866917235033,
+            "lift_margin": 0.19035477414647983,
+            "gripper_z": 1.0496702277506464,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24217311832323102,
+              0.2640750903992222,
+              1.0496702277506464
+            ],
+            "object_minus_gripper": [
+              0.005351945076146142,
+              0.005004098341736873,
+              -0.0027287618806632885
+            ],
+            "object_to_gripper_xy": 0.007326958189580357,
+            "object_to_gripper_z": -0.0027287618806632885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24752506339937716,
+              0.24443969945006816,
+              1.0469414658699832
+            ],
+            "finger_b": [
+              0.23547111100409385,
+              0.2690791887409591,
+              1.0469414658699832
+            ],
+            "finger_midpoint": [
+              0.2414980872017355,
+              0.25675944409551366,
+              1.0469414658699832
+            ],
+            "object_minus_finger_midpoint": [
+              0.00602697619764167,
+              0.01231974464544544,
+              0.0
+            ],
+            "finger_gap": 0.027429950799512666,
+            "fingertip_max_gap": 0.09203692766001256,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013714975399756314,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469414658699832,
+            "object_top_z": 1.0930667888619596,
+            "finger_top_clearance": 0.04612532299197647,
+            "fingertip_min_top_clearance": 0.013837596897592975,
+            "object_projection_between_fingers": 0.8068881667531428,
+            "object_to_finger_line_xy": 0.010827698275046448,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048518463830006284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7099422487894465,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2468844367563173,
+              0.2681534159879678,
+              1.23957123993838
+            ],
+            "held_position": [
+              0.25253627710128157,
+              0.2727566327975553,
+              1.2367435464538403
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00781848800750777,
+            "max_held_gripper_dist": 0.00782579849470418,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002827693484539706,
+            "max_held_gripper_z_dist": 0.0029133028467562827,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683860386279776,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25253627710128157,
+              0.24729666929237182,
+              1.2367435464538403
+            ],
+            "held_grasp_finger_b": [
+              0.24219759754681064,
+              0.2727566327975553,
+              1.2367435464538403
+            ],
+            "held_grasp_midpoint": [
+              0.2473669373240461,
+              0.2600266510449636,
+              1.2367435464538403
+            ],
+            "held_grasp_object_position": [
+              0.25253627710128157,
+              0.2727566327975553,
+              1.2367435464538403
+            ],
+            "held_grasp_finger_gap": 0.027479047229030884,
+            "held_grasp_max_gap": 0.12496590375900268,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02462434400373238,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07358645139345701,
+              -0.9970607671559205,
+              0.02132746515096884
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042275594465388845,
+            "held_grasp_line_xy_max_dist": 0.04748295187950134,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.03212778776407877,
+            "held_grasp_min_top_clearance": 0.013560223951935768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33772384159771207,
+              0.1170701799973388,
+              0.7625866277182898
+            ],
+            "target_position": [
+              0.33987863892923115,
+              0.11242561080907298,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005120075632694302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17085623726980867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625866277182898,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552836574570813,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548483075022538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13986559161231069,
+            "release_required_pad_clearance": 0.05274241537511269,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5308045926156584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32cb6eb54690849f76dd12e1d0a561dabd083766259dc80fee1a23a5575adc6f",
+    "visual_seed": 2566825731321769684,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_96_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8566fa23fcda7b589cb7ceb5d1dd8a0fad55ec7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_96_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24764664249248647,
+              0.2728362394023274,
+              1.0473483063182913
+            ],
+            "current_z": 1.0473483063182913,
+            "required_z": 0.8565865754521845,
+            "initial_z": 0.7565865754521846,
+            "lift_margin": 0.19076173086610682,
+            "gripper_z": 1.0499418631375315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24235082911477238,
+              0.2679475301849267,
+              1.0499418631375315
+            ],
+            "object_minus_gripper": [
+              0.0052958133777140926,
+              0.0048887092174007,
+              -0.002593556819240117
+            ],
+            "object_to_gripper_xy": 0.007207296104911613,
+            "object_to_gripper_z": -0.002593556819240117,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24764664249248647,
+              0.24812251188279302,
+              1.0473483063182913
+            ],
+            "finger_b": [
+              0.23590741368210263,
+              0.2728362394023274,
+              1.0473483063182913
+            ],
+            "finger_midpoint": [
+              0.24177702808729457,
+              0.2604793756425602,
+              1.0473483063182913
+            ],
+            "object_minus_finger_midpoint": [
+              0.005869614405191903,
+              0.01235686375976719,
+              0.0
+            ],
+            "finger_gap": 0.02736015023665505,
+            "fingertip_max_gap": 0.09325986929098024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013680075118327532,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473483063182913,
+            "object_top_z": 1.0941447249869238,
+            "finger_top_clearance": 0.04679641866863249,
+            "fingertip_min_top_clearance": 0.01403892560058978,
+            "object_projection_between_fingers": 0.8159049210360739,
+            "object_to_finger_line_xy": 0.01060374667536045,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912993464549012,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0084731775065687,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2469362496388579,
+              0.272606082044371,
+              1.240789437213094
+            ],
+            "held_position": [
+              0.2524688742055384,
+              0.277178087407592,
+              1.2381166351454742
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007658788319951853,
+            "max_held_gripper_dist": 0.00766046835912634,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002672802067619884,
+            "max_held_gripper_z_dist": 0.002759257741367982,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678789870234044,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2524688742055384,
+              0.2518267753502032,
+              1.2381166351454742
+            ],
+            "held_grasp_finger_b": [
+              0.24208381184872504,
+              0.277178087407592,
+              1.2381166351454742
+            ],
+            "held_grasp_midpoint": [
+              0.2472763430271317,
+              0.2645024313788976,
+              1.2381166351454742
+            ],
+            "held_grasp_object_position": [
+              0.2524688742055384,
+              0.277178087407592,
+              1.2381166351454742
+            ],
+            "held_grasp_finger_gap": 0.027395958519205104,
+            "held_grasp_max_gap": 0.12496591866016388,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02480452574329813,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04885799223401857,
+              -0.9984461152139784,
+              0.02680021658449261
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004579892294598728,
+            "held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.032291056811211825,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3358939296910833,
+              0.11523779662170981,
+              0.7625853944696858
+            ],
+            "target_position": [
+              0.3382508204113144,
+              0.11128036904504501,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004606101050960398,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17038408960855606,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625853944696858,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554964360197584,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675687670406916,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1392370011666714,
+            "release_required_pad_clearance": 0.05337843835203458,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7658561022096888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c6ed18b5c0a43b5ba675408304abd91fccaf9d5a3972553ae7a3d9fbb170049",
+    "visual_seed": 5796199886001469294,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_97_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1bf33f61f6970103a7855f060ec513f272026c0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_97_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24408042993090923,
+              0.2744324099544454,
+              1.0479566457032536
+            ],
+            "current_z": 1.0479566457032536,
+            "required_z": 0.8565866280866062,
+            "initial_z": 0.7565866280866063,
+            "lift_margin": 0.1913700176166474,
+            "gripper_z": 1.0509647348361297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23862587339150926,
+              0.2693988907805259,
+              1.0509647348361297
+            ],
+            "object_minus_gripper": [
+              0.005454556539399968,
+              0.005033519173919476,
+              -0.0030080891328760906
+            ],
+            "object_to_gripper_xy": 0.007422162913580243,
+            "object_to_gripper_z": -0.0030080891328760906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24408042993090923,
+              0.24972090346177794,
+              1.0479566457032536
+            ],
+            "finger_b": [
+              0.2319826773751191,
+              0.2744324099544454,
+              1.0479566457032536
+            ],
+            "finger_midpoint": [
+              0.23803155365301415,
+              0.26207665670811164,
+              1.0479566457032536
+            ],
+            "object_minus_finger_midpoint": [
+              0.006048876277895077,
+              0.012355753246333756,
+              0.0
+            ],
+            "finger_gap": 0.02751389049259069,
+            "fingertip_max_gap": 0.09143699428691948,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013756945246295376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479566457032536,
+            "object_top_z": 1.0939213001439292,
+            "finger_top_clearance": 0.045964654440675545,
+            "fingertip_min_top_clearance": 0.013789396332202664,
+            "object_projection_between_fingers": 0.8066672689974519,
+            "object_to_finger_line_xy": 0.01086555501518764,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821849714345974,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4541730868627222,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24324199762712706,
+              0.27370164315629136,
+              1.2391836712740332
+            ],
+            "held_position": [
+              0.24896347989209927,
+              0.2783530127001963,
+              1.23605872869232
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008008487003258647,
+            "max_held_gripper_dist": 0.008010412913530668,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031249425817132526,
+            "max_held_gripper_z_dist": 0.0032136127489115207,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668997538612197,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24896347989209927,
+              0.2528949672302006,
+              1.23605872869232
+            ],
+            "held_grasp_finger_b": [
+              0.23851770342676584,
+              0.2783530127001963,
+              1.23605872869232
+            ],
+            "held_grasp_midpoint": [
+              0.24374059165943257,
+              0.2656239899651984,
+              1.23605872869232
+            ],
+            "held_grasp_object_position": [
+              0.24896347989209927,
+              0.2783530127001963,
+              1.23605872869232
+            ],
+            "held_grasp_finger_gap": 0.027517745640151595,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024747020754290742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06282228368697163,
+              -0.9978475494776822,
+              0.01880501724908501
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004419560078406224,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520070552825928,
+            "held_grasp_top_clearance": 0.032170967618678034,
+            "held_grasp_min_top_clearance": 0.013560211658477784
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.33764489614908166,
+              0.11479945594969759,
+              0.7625863266616238
+            ],
+            "target_position": [
+              0.338062194197781,
+              0.11000828401053768,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004809310367614221,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17107756297549215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625863266616238,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582036948616429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569137795517999,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13940358093831032,
+            "release_required_pad_clearance": 0.05284568897759,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7348826076832823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "955f1f237a72983f44fe1525635d99dc86603d7e0decb9a35162ef999c56bb61",
+    "visual_seed": 6930199490301885871,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_98_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5566cd3017e3d58ba2621774d2f85b8dcebc255a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_98_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2512898033240829,
+              0.26902698706507344,
+              1.0474597546527933
+            ],
+            "current_z": 1.0474597546527933,
+            "required_z": 0.856586671446352,
+            "initial_z": 0.756586671446352,
+            "lift_margin": 0.19087308320644125,
+            "gripper_z": 1.050010117339631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.245971415327651,
+              0.26403163213170006,
+              1.050010117339631
+            ],
+            "object_minus_gripper": [
+              0.005318387996431917,
+              0.004995354933373386,
+              -0.002550362686837726
+            ],
+            "object_to_gripper_xy": 0.007296493801201296,
+            "object_to_gripper_z": -0.002550362686837726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2512898033240829,
+              0.24442628871100833,
+              1.0474597546527933
+            ],
+            "finger_b": [
+              0.23922973148033677,
+              0.26902698706507344,
+              1.0474597546527933
+            ],
+            "finger_midpoint": [
+              0.24525976740220984,
+              0.2567266378880409,
+              1.0474597546527933
+            ],
+            "object_minus_finger_midpoint": [
+              0.006030035921873067,
+              0.012300349177032543,
+              0.0
+            ],
+            "finger_gap": 0.027397804517589,
+            "fingertip_max_gap": 0.09170679557471911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013698902258794488,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474597546527933,
+            "object_top_z": 1.093489143965635,
+            "finger_top_clearance": 0.04602938931284162,
+            "fingertip_min_top_clearance": 0.013808816793852452,
+            "object_projection_between_fingers": 0.8062381534682956,
+            "object_to_finger_line_xy": 0.010828830805252446,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835339778735956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5780811364134284,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25075213599393453,
+              0.26810866092627894,
+              1.2407216280164461
+            ],
+            "held_position": [
+              0.2563867222978734,
+              0.27269520927977836,
+              1.2380850834719006
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007728929793373503,
+            "max_held_gripper_dist": 0.0077349108411907275,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002636544544545538,
+            "max_held_gripper_z_dist": 0.0027236470578768657,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0874775867896328,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2563867222978734,
+              0.2472369902374489,
+              1.2380850834719006
+            ],
+            "held_grasp_finger_b": [
+              0.24605480783054026,
+              0.27269520927977836,
+              1.2380850834719006
+            ],
+            "held_grasp_midpoint": [
+              0.2512207650642068,
+              0.2599660997586136,
+              1.2380850834719006
+            ],
+            "held_grasp_object_position": [
+              0.2563867222978734,
+              0.27269520927977836,
+              1.2380850834719006
+            ],
+            "held_grasp_finger_gap": 0.02747488623029245,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024630351115054246,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07306088738505068,
+              -0.9971321997118491,
+              0.019735324479680516
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004229839737603504,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.03213061897729817,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3375179055653048,
+              0.11315565434027355,
+              0.7625833840344765
+            ],
+            "target_position": [
+              0.33784469114115967,
+              0.10865513861487917,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0045123641926498904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17195167230363897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625833840344765,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566685425798039,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535588221408218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14050661822793284,
+            "release_required_pad_clearance": 0.05267794110704109,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3974970137188659,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3393f2350cce0b2ff4895bd6d26ae98a40481e4176db71d1e863e72971696d7e",
+    "visual_seed": 9093477625400753585,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_99_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6293125494e1931412188ac2c366fa575b5e0ae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_99_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2421929523858084,
+              0.27076424888556144,
+              1.0465061836562028
+            ],
+            "current_z": 1.0465061836562028,
+            "required_z": 0.8565866704607559,
+            "initial_z": 0.7565866704607559,
+            "lift_margin": 0.18991951319544698,
+            "gripper_z": 1.0495815210597783,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23680021240152732,
+              0.2657650060895434,
+              1.0495815210597783
+            ],
+            "object_minus_gripper": [
+              0.005392739984281081,
+              0.004999242796018044,
+              -0.003075337403575462
+            ],
+            "object_to_gripper_xy": 0.007353507535292408,
+            "object_to_gripper_z": -0.003075337403575462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2421929523858084,
+              0.24600658320894025,
+              1.0465061836562028
+            ],
+            "finger_b": [
+              0.23026130389807103,
+              0.27076424888556144,
+              1.0465061836562028
+            ],
+            "finger_midpoint": [
+              0.23622712814193972,
+              0.25838541604725085,
+              1.0465061836562028
+            ],
+            "object_minus_finger_midpoint": [
+              0.005965824243868684,
+              0.012378832838310594,
+              0.0
+            ],
+            "finger_gap": 0.027482835468529667,
+            "fingertip_max_gap": 0.09180503863734463,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013741417734264834,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465061836562028,
+            "object_top_z": 1.0926482875415422,
+            "finger_top_clearance": 0.04614210388533935,
+            "fingertip_min_top_clearance": 0.013842631165601837,
+            "object_projection_between_fingers": 0.8115145525357534,
+            "object_to_finger_line_xy": 0.010748518455041664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048402519318672316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6002243093902584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24141786858063316,
+              0.2701052331023201,
+              1.2385443331954804
+            ],
+            "held_position": [
+              0.2470710623334763,
+              0.2747393088481863,
+              1.2353659196658116
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007970920285085807,
+            "max_held_gripper_dist": 0.007973977169407774,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031784135296688554,
+            "max_held_gripper_z_dist": 0.0032613792745970205,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868038309124835,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2470710623334763,
+              0.24927471415926467,
+              1.2353659196658116
+            ],
+            "held_grasp_finger_b": [
+              0.23669301710263543,
+              0.2747393088481863,
+              1.2353659196658116
+            ],
+            "held_grasp_midpoint": [
+              0.24188203971805589,
+              0.2620070115037255,
+              1.2353659196658116
+            ],
+            "held_grasp_object_position": [
+              0.2470710623334763,
+              0.2747393088481863,
+              1.2353659196658116
+            ],
+            "held_grasp_finger_gap": 0.0274981709479819,
+            "held_grasp_max_gap": 0.12496580690145492,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024773065692476375,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06145246311449143,
+              -0.9978883404447079,
+              0.021034609139918947
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004405137899536984,
+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
+            "held_grasp_object_top_z": 0.0452006570994854,
+            "held_grasp_top_clearance": 0.032176367811498435,
+            "held_grasp_min_top_clearance": 0.013560197129845618
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.34509282306685485,
+              0.11464967434717512,
+              0.7625847970907769
+            ],
+            "target_position": [
+              0.34547998409420577,
+              0.11022929207845014,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004437304706999235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1731398520088541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7625847970907769,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577914362252043,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606118422144503,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14128769481223713,
+            "release_required_pad_clearance": 0.053030592110722516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0835108657386328,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82445a03b8e89a612f60252c947ef2928c5419691798490159ba384d0f9cec3d",
+    "visual_seed": 49490804372015471,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_9_success.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c034e06a0307b8e1521f9ae8913df51da20f776c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/episode_9_success.json
@@ -0,0 +1,686 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.24687354133152414,
+              0.27502522968570925,
+              1.0470024617820914
+            ],
+            "current_z": 1.0470024617820914,
+            "required_z": 0.8565866126150136,
+            "initial_z": 0.7565866126150136,
+            "lift_margin": 0.19041584916707788,
+            "gripper_z": 1.0498757682481332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24113883537705236,
+              0.2699664919277881,
+              1.0498757682481332
+            ],
+            "object_minus_gripper": [
+              0.005734705954471786,
+              0.00505873775792115,
+              -0.0028733064660417806
+            ],
+            "object_to_gripper_xy": 0.007647070032873458,
+            "object_to_gripper_z": -0.0028733064660417806,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24687354133152414,
+              0.24998608632966157,
+              1.0470024617820914
+            ],
+            "finger_b": [
+              0.2349143533467519,
+              0.27502522968570925,
+              1.0470024617820914
+            ],
+            "finger_midpoint": [
+              0.24089394733913802,
+              0.26250565800768544,
+              1.0470024617820914
+            ],
+            "object_minus_finger_midpoint": [
+              0.005979593992386123,
+              0.012519571678023811,
+              0.0
+            ],
+            "finger_gap": 0.02774852928102366,
+            "fingertip_max_gap": 0.09501661509428569,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013874264640511804,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470024617820914,
+            "object_top_z": 1.0939865972771352,
+            "finger_top_clearance": 0.046984135495043766,
+            "fingertip_min_top_clearance": 0.014095240648513129,
+            "object_projection_between_fingers": 0.8142522996621661,
+            "object_to_finger_line_xy": 0.010791484454544337,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05000830754714285,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.876906208007275,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24544028777228627,
+              0.27501703643853204,
+              1.237929088022153
+            ],
+            "held_position": [
+              0.25133574197982544,
+              0.2798187769632817,
+              1.2349447147979091
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008168205183624997,
+            "max_held_gripper_dist": 0.00817006819867148,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029843732242438303,
+            "max_held_gripper_z_dist": 0.0030806990658738265,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08738676792530942,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25133574197982544,
+              0.25436387958478135,
+              1.2349447147979091
+            ],
+            "held_grasp_finger_b": [
+              0.24047382241010964,
+              0.2798187769632817,
+              1.2349447147979091
+            ],
+            "held_grasp_midpoint": [
+              0.24590478219496753,
+              0.26709132827403154,
+              1.2349447147979091
+            ],
+            "held_grasp_object_position": [
+              0.25133574197982544,
+              0.2798187769632817,
+              1.2349447147979091
+            ],
+            "held_grasp_finger_gap": 0.027675496333199885,
+            "held_grasp_max_gap": 0.1249660974740982,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02531677921786229,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011675714993314967,
+              -0.9995561764286932,
+              0.02740671163503649
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005293550062316609,
+            "held_grasp_line_xy_max_dist": 0.0474830487370491,
+            "held_grasp_object_top_z": 0.045200854539871216,
+            "held_grasp_top_clearance": 0.03241564425376375,
+            "held_grasp_min_top_clearance": 0.013560256361961365
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "inspection_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "inspection_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "inspection_platform",
+            "object_position": [
+              0.3455930062980006,
+              0.11823547917680147,
+              0.762585721717973
+            ],
+            "target_position": [
+              0.3442548603033825,
+              0.11503509809829676,
+              0.7158860691194898
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003468872115048847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17418842266592788,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.762585721717973,
+            "min_z": 0.5158860691194898,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583203845056223,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08936476041092699,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1420374041240353,
+            "release_required_pad_clearance": 0.054682380205463496,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.398890088822505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "inspection_platform",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b",
+                "inspection_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker",
+                "/World/target_plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1421041467881370917,
+    "physical_seed": 6425155320322555435,
+    "layout_id": "layout_00028",
+    "step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "workflow_spec_digest": "9f033187ae9a26fdd0671863584f87713add4f83ac45af291a706a6ad008de76",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29ea5edc6d30c9700a6c09bfdf8dde5967d11b3178cdfb34e78bbf4153b73c71",
+    "visual_seed": 1714210868815361703,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6877381590794877550,
+      7968072635520989123,
+      2549783545291825864
+    ],
+    "runtime_workflow_digest": "042b2ac349436e79b3454c718bf584ff1ab82c245cc02f6dfe275c58179911ee"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/summary.json b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e7a3fecec6308c5fc6e4b08d6986a0aa0f74a4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00028/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_2beaker_dual_target_s03_psl_gqr_00028",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0000.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6966f12ef965fd2dd12f8a5ef34afa93981bdb33
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73227322e998dc0789063961cafd8b3434c9e6231cd3e65e184a400970643e0b
+size 5039791
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0006.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..67964ced997a0da599e65ed50c26799b574536c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e00ab6d136e701c1de0a9c23eaabf60e1a0e3d7f84ac6a6c8bbed4dbe2fe20
+size 5442954
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0008.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..790a8d7c1264477a464f527336fc6311bff65cda
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a18ae711bd30a506f1d8c26b8cc068436ca9bd29e992867341dd0344090f1d
+size 5243028
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0011.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9d7b71d1b1327f59adf312b6b197a2c5db3b0fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2339d34cd5c382a923e84638e14aaf5e9e4b80b9adfdee719e19fee36c210a3
+size 5332202
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0012.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d92e652f17430ae55afffd0acb38cba08b7593f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f383823b2733c5cab6a155992fd51acf055b0b1fee194c8185eabacec0b54e76
+size 5466910
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0013.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38f28ac8875ad61e85ed4d823746191f517205ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d5593c6b84f2b86a7263b31dae8cf8c178bf4e9d8f54e5fd8e88a3f6be8926
+size 3987966
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0017.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..157663b294a24b7862b993b5d475de5d9cafedc1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58dae01b2c65ed085255b9874e2ad699febf123d447c9505794d01deb4522fd
+size 4344586
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0018.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d060e287ddc0ead633ecac8c0ef6b11a2d06e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1baf37236156df748c5811508808a76338d045012c2e7e25574257fc450bf443
+size 4122889
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0019.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c31cd5d50cee3993076e7ddaa75b0bccb302289
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac94507955216a42d2c2599a3d0f7d9653d18649b8ce6016f2a942ac999ad085
+size 6007071
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0020.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efaa16bfecc729ebd7727759bbde4ec9d4774c7d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6323da157d475d916b63accedab4d5eace8ff60ffcd004115114a9aabc167581
+size 4103443
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0022.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..34d01c627a4af41675f8183550972ed77d6efede
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:846ceb7330435e8f51214622c922c2c7f73604d386803f1befa6a3474c5775d7
+size 4356262
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0023.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f453a8729039e3e3574174979cfa3a7c3f19180c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f7edd8e98ecc23b06b8afcb07b28fa2d3748f3fe6ba0bc4ce71e5965ed2486d
+size 4325899
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0024.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..46fcbd657f4c09c6f32fe71ec04fa18e2fc878cc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78cec4cc49073b5a3b77aa658131aa3880590f8a165dccbdb2cdeddda53f583a
+size 5607894
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0026.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4398c0b772870e31cca2d14dbb88179113bc6ccc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a08609ab2f18eeac9ff4e00e295c296aa3fa0cf05553214b1f9d72763c21e54b
+size 4368786
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0027.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3c11f61fd7ca8210eddcc41aeea020ca52ab63f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d82d4408f41c33c23176e8ae666e7fa983666a2cd9a405eaf42803dc690c8271
+size 4219220
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0028.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5594caf97d28e23dac76af5131311f548fe4f429
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:706e631ca81c2aa2269c517213fefd8a69760300293c7202bd75c2aa5397359d
+size 4496270
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0030.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a3b62455eecdcaefb439c48f7d0f721fdadd7b48
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64d580f5c3ffa0395784942ec9220f61c4c79c673c2c520a16b6943f690a7b31
+size 4962092
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0031.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d9c3e40cb08639adf80e5ec40a1c48ae5c93919f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d5b760007d038aa17e26e1a4e79669f27dc5d2b4d1cba861934b758980aba81
+size 4093784
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0032.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..238a4555c672c73da7d5f2d68259b9e054485902
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7474ba9518189958c5443b7210ee50015d0519dde69a07502c10e3881ea062
+size 4549391
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0033.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4a3ac6256227aecb1f6f0a8f291d75189311c9a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f831962e8afc067bb2da7b5a18f3eb43967498300bc312e2a9c8c22f75d757
+size 5864552
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0034.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7dbc2ec419acbc28401de758b49d3ea602f0db97
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb5a677ea9019e1d53369a88f7fc0105c156e86487ad87469819b1b9b30cabe6
+size 4370440
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0035.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..13adb87f7cac11fa9085be233b63343512ebb574
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac687f872a629406ec2c446845ad57a5efb68e76067d9aafb31d20aeb9454fd
+size 4379643
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0036.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fb0b802e17db55f30b46be0f140a069872f12d4c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a14c03432451df5ebb34891bf0d0406726b492c505cf84676fae28fa90a90ace
+size 4920987
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0037.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0a7aede554c013f4fdf75ef159b507296fa50e0c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b245428492ff8411b8fecd9e5c4788bb464a8ae14d69c1c439d956df2ab60f44
+size 5628483
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0040.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dafa9542615653632801f666abd0973019d4f9f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e0ff404163516ae69534d0553e58f4ff34bd9b1ba35ff32eacd7f09b261eb25
+size 4994636
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0041.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57c5bd6143648ffe1b17a680447ba10cca14b888
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3603d56115d7d774cb6f7304cbc2f4356b73267fa84ec68e2d7e1df77caaad8d
+size 5421897
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0042.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cf8acd684f8a20e1324462ad41121a55911bc487
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b70b786262139f11c3b86640ddaab11d13055ed1dba57c7082d86a5d9dafa1
+size 5265128
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0046.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7f0473285d4a8befc0134c54d1b89bcf5f48470
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:212aa8b0a0f46cc4c3e9337780db026f1109093dfb7028f6b1df4873c575aaf5
+size 5163168
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0049.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..980ae6efceb06d0679ebb958a391a843a778f26e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cf7da5b61495aa6946d46271eb8c15e0a7f1a9ad2c8343e731ee129c5b04b35
+size 4334317
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0051.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c5dd66fe80e7fabf9aa7b01374417a2ca5a34411
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:646662557fac296fb8428647fb8e69dbd9866fe9558098a0d650946cb29f1668
+size 4328130
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0052.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d00c8d1f55f015a2e0ba8e69fc67552cef9da234
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5678bc5a7ca2cbef6e0ae250a2c74b8b2f5b02771da580772ba4e18810bcfe4f
+size 5802554
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0055.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b833f4a5bf0f0e50dc2e9d09c4c242aa6a25c1b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf3a53e3c78a8bb5365e5bcd58727b1be634f0e2edb8ec7a5a61401afaaf96d3
+size 4682450
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0056.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..43b17db1f523e2d1be8ed3e8c47ccbcfcff776ce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e265f38d7cbe549c8b489360120514674c310fd618192558f852b6c00727f5
+size 4232085
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0058.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d65a4277304a422d84eedc58a8258bc7e30fc4e4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8791d01c6d5295637f3c13ecc12431bd531c2b3393f90df2abb727dbe671b22
+size 4123804
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0061.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f83b2964f93e31ab1d32e5203fd9831fa99887f0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1781db1cdd1a744f3a05229377935261c6d2cdbbefa7042820dce3ee51246fe
+size 5280288
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0063.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e907525d5fa364837ce62f72750a0980143f486b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8600f5cbdd5019539c76764faa75dcbf8e1b00ba23db290ac3d4a2d00d1511d6
+size 4943619
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0065.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ed419d0638a29d7d200bee6108836ce6d66871b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73832f291e371dfe15a658d47fd788854aa7571e082e378e03d85dff0ebb539b
+size 5085184
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0066.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e748b6e8be1e43852590d129ec224f73d15f935e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b4953b977ff432252d74973b5855d70e54498a3633123fddbaeb33a4327fe31
+size 5976123
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0072.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7441ed4a03fc23ee8c5878ae59e1cbe296098e4a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797606eab6a21f127a739b285cee4b4bc1fc9f2c06f82b748ff6bdac36ac38fc
+size 4661695
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0073.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b477f718632bad4873308a6cf23a7bc1287b65ea
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67d1b6c50c128f9935096c8e983390695906f83a11db0a297734beafc0b8303a
+size 5049671
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0074.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..96f50dffac208e2266484021bf358e4d7744c3f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995f67bf217658c9cd660326c80cd1fac4f6c8b473beb41cb76c39e774a6994d
+size 6299148
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0075.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33c26228d9718b00a936389e5e8649b402099675
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3b1f8363eab4fc31fbd5321c7680ac3c3f25ae189e5eaa69b16760a9cd5423
+size 4995839
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0078.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..590dcd0f72dcd44562fa42eac8dd6ed867884651
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:027a04e2ec4a4bb5b4349133813e1325f9038981945bb3ed5d9863654d0186a0
+size 4741765
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0082.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9bfa555b5a502b4bbde246224780067a3c95a5ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5668393a9ff33d4a1718080ea98e65c25b8c89883c28ccf89fa5457df08ea7
+size 3587417
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0083.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3bca2ed4c4d419a76eb8a3589fd24162675aea14
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65618c9bea0f2f7b2f26ab2d8dabef83219731458aa1ad5b62807ee8c70c4120
+size 4834667
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0084.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd85b9b2f8ca605818cacaf5d6a183af9f97defb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b9d35bad70f8d9fc56e9e7550e8288eb4f877477205f9595cddd20742b5b87f
+size 5657396
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0088.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cc7702ac728ff57cf83efb0f6ed26b733b9406d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:954d852db46da7032eec9846efeebbba70cf49ababb855135d4ab0d6685efcb6
+size 4901352
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0089.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0d6c03c68b92a67fa6d22385ab6ec008a0db115f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73870258c300a949b39772b266ee0439c274a34df962c24d5769adb2f6426b4c
+size 4701243
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0090.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aa17901a7e5c364858683a6278f70dab83bb57e0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d11ed588ed921d2e3f6de18824141c2cdd2ba54e5feaa20ea6a883e72b8822b1
+size 4495118
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0091.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d8bf58efc36615b42e94f2d6518e2600c41020cc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96135120bc4f2829b0014b92005c036c25942037140ab23de1662236d8d8a29d
+size 3744791
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0092.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b206b148503df374027ff3ab163e0d98f79d3e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e34ae0811526e6da531722d7ef76479e06aeb9d1c52abdc4d6ed4294019284b
+size 4794202
diff --git a/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0094.h5 b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0993e31c199eb413fbca7a881e379146604ce682
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00030/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462d93132ae32ea640b2463b5f02a62f2ef6e8d60c54a45262663dac000a6233
+size 4544472